<?xml version="1.0"?>
<!DOCTYPE protocol SYSTEM "messages.dtd">
<protocol>
 <!-- messages from modem or sim to server -->
 <class name="telemetry">

   <message name="BOOT" id="1">
     <field name="version" type="uint16"/>
   </message>

   <message name="ALIVE" id="2">
     <field name="md5sum" type="uint8[]"/>
   </message>

   <message name="PONG" id="3">
   </message>

   <message name="TAKEOFF" id="4">
     <field name="cpu_time" type="uint16" unit="s"></field>
   </message>

   <!-- 5 is free -->

   <message name="ATTITUDE" id="6">
     <field name="phi"   type="float" unit="rad" alt_unit="deg"/>
     <field name="psi"   type="float" unit="rad" alt_unit="deg"/>
     <field name="theta" type="float" unit="rad" alt_unit="deg"/>
   </message>

   <message name="IR_SENSORS" id="7">
     <field name="ir1" type="int16"/>
     <field name="ir2" type="int16"/>
     <field name="longitudinal" type="int16"/>
     <field name="lateral" type="int16"/>
     <field name="vertical" type="int16"/>
   </message>

   <message name="GPS" id="8">
     <field name="mode"       type="uint8"  unit="byte_mask"/>
     <field name="utm_east"   type="int32"  unit="cm" alt_unit="m"/>
     <field name="utm_north"  type="int32"  unit="cm" alt_unit="m"/>
     <field name="course"     type="int16"  unit="decideg" alt_unit="deg"/>
     <field name="alt"        type="int32"  unit="mm" alt_unit="m"/>
     <field name="speed"      type="uint16" unit="cm/s" alt_unit="m/s"/>
     <field name="climb"      type="int16"  unit="cm/s" alt_unit="m/s"/>
     <field name="week"       type="uint16" unit="weeks"/>
     <field name="itow"       type="uint32" unit="ms"/>
     <field name="utm_zone"   type="uint8"/>
     <field name="gps_nb_err" type="uint8"/>
   </message>

   <message name="NAVIGATION_REF" id="9">
     <field name="utm_east"  type="int32" unit="m"/>
     <field name="utm_north" type="int32" unit="m"/>
     <field name="utm_zone" type="uint8"/>
   </message>

   <message name="NAVIGATION" id="10">
     <field name="cur_block" type="uint8"/>
     <field name="cur_stage" type="uint8"/>
     <field name="pos_x" type="float" unit="m" format="%.1f"/>
     <field name="pos_y" type="float" unit="m" format="%.1f"/>
     <field name="dist2_wp" type="float" format="%.1f" unit="m^2"/>
     <field name="dist2_home" type="float" format="%.1f" unit="m^2"/>
     <field name="circle_count" type="uint8"/>
     <field name="oval_count" type="uint8"/>
   </message>

   <message name="PPRZ_MODE" id="11">
     <field name="ap_mode" type="uint8" values="MANUAL|AUTO1|AUTO2|HOME|NOGPS|FAILSAFE"/>
     <field name="ap_gaz" type="uint8" values="MANUAL|AUTO_THROTTLE|AUTO_CLIMB|AUTO_ALT"/>
     <field name="ap_lateral" type="uint8" values="MANUAL|ROLL_RATE|ROLL|COURSE"/>
     <field name="ap_horizontal" type="uint8" values="WAYPOINT|ROUTE|CIRCLE"/>
     <field name="if_calib_mode" type="uint8" values="NONE|DOWN|UP"/>
     <field name="mcu1_status" type="uint8" values="LOST|OK|REALLY_LOST"/>
   </message>

   <message name="BAT" id="12">
     <field name="throttle" type="int16" unit="pprz"/>
     <field name="voltage" type="uint16" unit="1e-1V" alt_unit="V" alt_unit_coef="0.1"/>
     <field name="amps" type="int16" unit="1e-2A" alt_unit="A" alt_unit_coef="0.01"/>
     <field name="flight_time" type="uint16" unit="s"/>
     <field name="kill_auto_throttle" type="uint8" unit="bool"/>
     <field name="block_time" type="uint16" unit="s"/>
     <field name="stage_time" type="uint16" unit="s"/>
     <field name="energy" type="int16" unit="mAh"/>
   </message>

   <message name="DEBUG_MCU_LINK" id="13">
     <field name="i2c_nb_err" type="uint8"></field>
     <field name="i2c_mcu1_nb_err" type="uint8"></field>
     <field name="ppm_rate" type="uint8"></field>
   </message>

   <message name="CALIBRATION" id="14">
     <field name="climb_sum_err" type="float" format="%.1f"/>
     <field name="climb_gaz_submode" type="uint8"/>
   </message>

   <message name="SETTINGS" id="15">
     <field name="slider_1_val" type="float"/>
     <field name="slider_2_val" type="float"/>
   </message>

   <message name="DESIRED" id="16">
     <field name="roll" type="float" format="%.2f" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
     <field name="pitch" type="float" format="%.2f" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
     <field name="course" type="float" format="%.1f" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
     <field name="x" type="float" format="%.0f"  unit="m"/>
     <field name="y" type="float" format="%.0f" unit="m"/>
     <field name="altitude" type="float" format="%.0f"  unit="m"/>
     <field name="climb" type="float" format="%.1f"  unit="m/s"></field>
     <field name="airspeed" type="float" format="%.1f"  unit="m/s"></field>
   </message>

   <message name="GPS_SOL" id="17">
     <field name="Pacc" type="uint32" unit="cm"/>
     <field name="Sacc" type="uint32" unit="cm/s"/>
     <field name="PDOP" type="uint16"/>
     <field name="numSV" type="uint8"/>
   </message>

   <message name="ADC_GENERIC" id="18">
     <field name="val1" type="uint16"/>
     <field name="val2" type="uint16"/>
   </message>

   <message name="TEST_FORMAT" id="19">
     <field name="val1" type="double"/>
     <field name="val2" type="float"/>
   </message>

   <message name="CAM" id="20">
     <field name="phi" type="int16" unit="deg"/>
     <field name="theta" type="int16" unit="deg"/>
     <field name="target_x" type="int16" unit="m"/>
     <field name="target_y" type="int16" unit="m"/>
   </message>

  <message name="CIRCLE" id="21">
    <field name="center_east" type="float" unit="m"/>
    <field name="center_north" type="float" unit="m"/>
    <field name="radius" type="float" unit="m"/>
  </message>

  <message name="SEGMENT" id="22">
    <field name="segment_east_1" type="float" unit="m"/>
    <field name="segment_north_1" type="float" unit="m"/>
    <field name="segment_east_2" type="float" unit="m"/>
    <field name="segment_north_2" type="float" unit="m"/>
  </message>

  <message name="DOWNLINK_STATUS" id="23">
    <field name="run_time" type="uint32" unit="s"/>
    <field name="rx_bytes" type="uint32"/>
    <field name="rx_msgs" type="uint32"/>
    <field name="rx_err" type="uint32"/>
    <field name="rx_bytes_rate" type="float" format="%.1f"/>
    <field name="rx_msgs_rate" type="float" format="%.1f"/>
    <field name="ping_time" type="float" format="%.2f" unit="ms"/>
  </message>

  <message name="MODEM_STATUS" id="24">
    <field name="detected" type="uint8"/>
    <field name="valim" type="float" format="%.1f"/>
    <field name="cd" type="uint8"/>
    <field name="nb_byte" type="uint32"/>
    <field name="nb_msg" type="uint32"/>
    <field name="nb_err" type="uint32"/>
  </message>

  <message name="SVINFO" id="25">
    <field name="chn" type="uint8"/>
    <field name="SVID" type="uint8"/>
    <field name="Flags" type="uint8"/>
    <field name="QI" type="uint8"/>
    <field name="CNO" type="uint8" unit="dbHz"/>
    <field name="Elev" type="int8" unit="deg"/>
    <field name="Azim" type="int16" unit="deg"/>
  </message>

  <message name="DEBUG" id="26">
    <field name="msg" type="uint8[]"/>
  </message>

  <message name="SURVEY" ID="27">
    <field name="east" type="float" unit="m"/>
    <field name="north" type="float" unit="m"/>
    <field name="west" type="float" unit="m"/>
    <field name="south" type="float" unit="m"/>
  </message>

  <message name="WC_RSSI" id="28">
    <field name="raw_level" type="uint8"/>
  </message>

  <message name="RANGEFINDER" id="29">
    <field name="range" type="uint16" unit="cm"/>
    <field name="z_dot" type="float" unit="m/s"/>
    <field name="z_dot_sum_err" type="float" unit="m/s"/>
    <field name="z_dot_setpoint" type="float" unit="m/s"/>
    <field name="z_sum_err" type="float" unit="m/s"/>
    <field name="z_setpoint" type="float" unit="m"/>
    <field name="flying" type="uint8" unit="bool"/>
  </message>

  <message name="DOWNLINK" id="30">
    <field name="nb_ovrn" type="uint8"/>
    <field name="rate" type="uint16" unit="bytes/s"/>
    <field name="nb_msgs" type="uint16"/>
  </message>

<!-- Current value of one variable from the dl_settings (airframe.xml) -->
  <message name="DL_VALUE" id="31">
    <field name="index" type="uint8"/>
    <field name="value" type="float"/>
  </message>


  <message name="MARK" id="32">
    <field name="ac_id" type="uint8"/>
    <field name="lat" type="float" unit="deg"/>
    <field name="long" type="float" unit="deg"/>
  </message>

  <message name="SYS_MON" id="33">
    <field name="periodic_time" type="uint16" unit="usec" alt_unit="msec" alt_unit_coef="0.001"/>
    <field name="periodic_cycle" type="uint16" unit="usec" alt_unit="msec" alt_unit_coef="0.001"/>
    <field name="periodic_cycle_min" type="uint16" unit="usec" alt_unit="msec" alt_unit_coef="0.001"/>
    <field name="periodic_cycle_max" type="uint16" unit="usec" alt_unit="msec" alt_unit_coef="0.001"/>
    <field name="event_number" type="uint16"/>
    <field name="cpu_load" type="uint8" unit="%"/>
  </message>

  <message name="MOTOR" id="34">
    <field name="rpm" type="uint16" unit="Hz"/>
    <field name="current" type="int32" unit="mA"/>
  </message>

  <message name="WP_MOVED" id="35">
    <field name="wp_id" type="uint8"/>
    <field name="utm_east" type="float" unit="m"/>
    <field name="utm_north" type="float" unit="m"/>
    <field name="alt" type="float" unit="m"/>
    <field name="utm_zone" type="uint8"/>
  </message>

  <!-- 36 is free -->

  <message name="ENERGY" id="37">
    <field name="bat"      type="float" unit="V"/>
    <field name="amp"      type="float" unit="A"/>
    <field name="energy"   type="uint16" unit="mAh"/>
    <field name="power"   type="float" unit="W"/>
  </message>

  <message name="BARO_BMP85_CALIB" id="38">
    <field name="a1"  type="int16"/>
    <field name="a2"  type="int16"/>
    <field name="a3"  type="int16"/>
    <field name="a4"  type="uint16"/>
    <field name="a5"  type="uint16"/>
    <field name="a6"  type="uint16"/>
    <field name="b1"  type="int16"/>
    <field name="b2"  type="int16"/>
    <field name="mb"  type="int16"/>
    <field name="mc"  type="int16"/>
    <field name="md"  type="int16"/>
  </message>

  <message name="BARO_BMP85" id="39">
    <field name="UT"  type="int32"/>
    <field name="UP"  type="int32"/>
    <field name="P"  type="uint32"/>
    <field name="T"  type="float"/>
    <field name="MSL"  type="float"/>
  </message>

  <message name="SPEED_LOOP" id="40">
    <field name="ve_set_point" type="float" unit="m/s"/>
    <field name="ve" type="float" unit="m/s"/>
    <field name="vn_set_point" type="float" unit="m/s"/>
    <field name="vn" type="float" unit="m/s"/>
    <field name="north_sp" type="float" unit="rad"/>
    <field name="east_sp" type="float" unit="rad"/>
  </message>

  <message name="ALT_KALMAN" id="41">
    <field name="p00" type="float"/>
    <field name="p01" type="float"/>
    <field name="p10" type="float"/>
    <field name="p11" type="float"/>
  </message>

  <message name="ESTIMATOR" id="42">
    <field name="z" type="float" unit="m"/>
    <field name="z_dot" type="float" unit="m/s"/>
  </message>

  <message name="TUNE_ROLL" id="43">
    <field name="p" type="float"/>
    <field name="phi" type="float"/>
    <field name="phi_sp" type="float"/>
  </message>

  <message name="BARO_MS5534A" id="44">
    <field name="pressure" type="uint32" unit="P"/>
    <field name="temp" type="uint16" unit="dC"/>
    <field name="alt" type="float" unit="m"/>
  </message>

  <message name="PRESSURE" id="45">
    <field name="airspeed_adc" type="float"/>
    <field name="airspeed" type="float" unit="m/s"/>
    <field name="altitude_adc" type="float"/>
    <field name="altitude" type="float" unit="m"/>
  </message>

  <message name="BARO_WORDS" id="46">
    <field name="w1"  type="uint16"/>
    <field name="w2"  type="uint16"/>
    <field name="w3"  type="uint16"/>
    <field name="w4"  type="uint16"/>
  </message>

  <message name="WP_MOVED_LLA" id="47">
    <field name="wp_id" type="uint8"/>
    <field name="lat" type="int32" unit="deg"/>
    <field name="lon" type="int32" unit="deg"/>
    <field name="alt" type="int32" unit="cm"/>
  </message>

  <message name="CHRONO" id="48">
    <field name="tag"  type="uint8"/>
    <field name="time" type="uint32" unit="us"/>
  </message>

  <message name="WP_MOVED_ENU" id="49">
    <field name="wp_id" type="uint8"/>
    <field name="east"  type="int32" unit="2^8m" alt_unit="m" alt_unit_coef="0.0039063"/>
    <field name="north" type="int32" unit="2^8m" alt_unit="m" alt_unit_coef="0.0039063"/>
    <field name="up"    type="int32" unit="2^8m" alt_unit="m" alt_unit_coef="0.0039063"/>
  </message>

  <message name="WINDTURBINE_STATUS_" id="50">
    <field name="ac_id" type="uint8"/>
    <field name="tb_id" type="uint8"/>
    <field name="sync_itow"  type="uint32" unit="ms"/>
    <field name="cycle_time" type="uint32" unit="ms"/>
  </message>

  <message name="RC_3CH_" id="51">
    <field name="throttle_mode" type="uint8" unit="byte_mask"/>
    <field name="roll"  type="int8"/>
    <field name="pitch" type="int8"/>
  </message>

 <message name="MPPT" id="52">
   <field name="values" type="int16[]" alt_unit_coef="1e-3"/>
 </message>

 <message name="DEBUG_IR_I2C" id="53">
   <field name="ir1" type="int16" unit="adc"/>
   <field name="ir2" type="int16" unit="adc"/>
   <field name="top" type="int16" unit="adc"/>
 </message>

  <message name="AIRSPEED" id="54">
    <field name="airspeed" type="float" unit="m/s"/>
    <field name="airspeed_sp" type="float" unit="m/s"/>
    <field name="airspeed_cnt" type="float" unit="m/s"/>
    <field name="groundspeed_sp" type="float" unit="m/s"/>
  </message>

  <message name="XSENS" id="55">
    <field name="counter" type="int16" unit=""/>

    <field name="p" type="float" unit="deg/s"/>
    <field name="q" type="float" unit="deg/s"/>
    <field name="r" type="float" unit="deg/s"/>

    <field name="phi" type="float" unit="deg"/>
    <field name="theta" type="float" unit="deg"/>
    <field name="psi" type="float" unit="deg"/>

    <field name="ax" type="float" unit="m/s2"/>
    <field name="ay" type="float" unit="m/s2"/>
    <field name="az" type="float" unit="m/s2"/>

    <field name="vx" type="float" unit="m/s"/>
    <field name="vy" type="float" unit="m/s"/>
    <field name="vz" type="float" unit="m/s"/>

    <field name="lat" type="float" unit="deg"/>
    <field name="lon" type="float" unit="deg"/>
    <field name="alt" type="float" unit="m"/>

    <field name="status" type="uint8" unit=""/>

    <field name="hour" type="uint8" unit=""/>
    <field name="min" type="uint8" unit=""/>
    <field name="sec" type="uint8" unit=""/>
    <field name="nanosec" type="uint32" unit=""/>
    <field name="year" type="uint16" unit=""/>
    <field name="month" type="uint8" unit=""/>
    <field name="day" type="uint8" unit=""/>

  </message>

 <message name="BARO_ETS" id="56">
   <field name="adc" type="uint16"/>
   <field name="offset" type="uint16"/>
   <field name="scaled" type="float"/>
 </message>

 <message name="AIRSPEED_ETS" id="57">
   <field name="adc" type="uint16"/>
   <field name="offset" type="uint16"/>
   <field name="scaled" type="float"/>
 </message>

 <message name="PBN" id="58">
   <field name="airspeed_adc" type="uint16"></field>
   <field name="altitude_adc" type="uint16"></field>
   <field name="airspeed" type="float"></field>
   <field name="altitude" type="float"></field>
   <field name="airspeed_offset" type="uint16"></field>
   <field name="altitude_offset" type="uint16"></field>
 </message>

  <message name="GPS_LLA" id="59">
    <field name="lat"        type="int32"  alt_unit="deg" alt_unit_coef="0.0000057296"/>
    <field name="lon"        type="int32"  alt_unit="deg" alt_unit_coef="0.0000057296"/>
    <field name="alt"        type="int32"  unit="mm" alt_unit="m"/>
    <field name="course"     type="int16"  unit="decideg" alt_unit="deg"/>
    <field name="speed"      type="uint16" unit="cm/s" alt_unit="m/s"/>
    <field name="climb"      type="int16"  unit="cm/s" alt_unit="m/s"/>
    <field name="week"       type="uint16" unit="weeks"/>
    <field name="itow"       type="uint32" unit="ms"/>
    <field name="mode"       type="uint8"  unit="byte_mask"/>
    <field name="gps_nb_err" type="uint8"/>
  </message>

  <message name="H_CTL_A" id="60">
    <field name="roll_sum_err" type="float"/>
    <field name="ref_roll_angle" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
    <field name="pitch_sum_err" type="float"/>
    <field name="ref_pitch_angle" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
  </message>

  <message name="TURB_PRESSURE_RAW" id="61">
    <field name="ch_0" type="int32" unit="adc"/>
    <field name="ch_1" type="int32" unit="adc"/>
    <field name="ch_2" type="int32" unit="adc"/>
    <field name="ch_3" type="int32" unit="adc"/>
    <field name="ch_4" type="int32" unit="adc"/>
    <field name="ch_5" type="int32" unit="adc"/>
    <field name="ch_6" type="int32" unit="adc"/>
    <field name="ch_7" type="int32" unit="adc"/>
    <field name="ch_8" type="int32" unit="adc"/>
    <field name="ch_9" type="int32" unit="adc"/>
    <field name="ch_10" type="int32" unit="adc"/>
    <field name="ch_11" type="int32" unit="adc"/>
    <field name="ch_12" type="int32" unit="adc"/>
    <field name="ch_13" type="int32" unit="adc"/>
    <field name="ch_14" type="int32" unit="adc"/>
    <field name="ch_15" type="int32" unit="adc"/>
  </message>

  <message name="TURB_PRESSURE_VOLTAGE" id="62">
    <field name="ch_1_p" type="float"/>
    <field name="ch_1_t" type="float"/>
    <field name="ch_2_p" type="float"/>
    <field name="ch_2_t" type="float"/>
    <field name="ch_3_p" type="float"/>
    <field name="ch_3_t" type="float"/>
    <field name="ch_4_p" type="float"/>
    <field name="ch_4_t" type="float"/>
    <field name="ch_5_p" type="float"/>
    <field name="ch_5_t" type="float"/>
    <field name="ch_6_p" type="float"/>
    <field name="ch_6_t" type="float"/>
    <field name="ch_7_p" type="float"/>
    <field name="ch_7_t" type="float"/>
    <field name="gnd1"   type="float"/>
    <field name="gnd2"   type="float"/>
  </message>

  <message name="CAM_POINT" id="63">
      <field name="cam_point_distance_from_home" type="uint16" unit="m"/>
      <field name="cam_point_lat" type="float" unit="deg"/>
      <field name="cam_point_lon" type="float" unit="deg"/>
  </message>

  <message name="DC_INFO" id="64">
    <field name="mode" type="int16" unit=""/>
    <field name="utm_east" type="float" unit="m"/>
    <field name="utm_north" type="float" unit="m"/>
    <field name="course" type="float" unit="deg"/>
    <field name="buffer" type="int8"/>
    <field name="dist" type="float" unit="m"/>
    <field name="next_dist" type="float" unit="m"/>
    <field name="start_x" type="float" unit="m"/>
    <field name="start_y" type="float" unit="m"/>
    <field name="start_angle" type="float" unit="deg"/>
    <field name="angle" type="float" unit="deg"/>
    <field name="last_block" type="float"/>
    <field name="count" type="int16" unit=""/>
    <field name="shutter" type="uint8" unit="s"/>
  </message>

  <message name="AMSYS_BARO" id="65">
    <field name="pBaroRaw" type="uint16"></field>
    <field name="pBaro" type="float" unit="Pa"> </field>
    <field name="pHomePressure" type="float" unit="Pa"></field>
    <field name="AltOffset" type="float" unit="m"></field>
    <field name="aktuell" type="float" unit="m"></field>
    <field name="Over_Ground" type="float" unit="m"></field>
    <field name="tempBaro" type="float" unit="°C"></field>
  </message>

  <message name="AMSYS_AIRSPEED" id="66">
    <field name="asRaw" type="uint16"></field>
    <field name="asPresure" type="float" unit="Pa"></field>
    <field name="asAirspeed" type="float" unit="m/s"></field>
    <field name="asAirsFilt" type="float" unit="m/s"></field>
    <field name="asTemp" type="float" unit="°C"></field>
  </message>

  <message name="FLIGHT_BENCHMARK" id="67">
    <field name="SE_As" type="float"></field>
    <field name="SE_Alt" type="float"></field>
    <field name="SE_Pos" type="float"></field>
    <field name="Err_As" type="float"></field>
    <field name="Err_Alt" type="float"></field>
    <field name="Err_Pos" type="float"></field>
  </message>

  <message name="MPL3115_BARO" id="68">
    <field name="pressure" type="uint32" alt_unit="Pa" alt_unit_coef="0.25"/>
    <field name="temp" type="int16" alt_unit="degC" alt_unit_coef="0.0625"/>
    <field name="alt" type="float" unit="m"/>
  </message>

	<message name="AOA_adc" id="69">
		<field name="adcVal" type="uint16"></field>
		<field name="AOA" type="float" unit="rad"></field>
	</message>

  <message name="XTEND_RSSI" id="70">
    <field name="datalink_time" type="uint16" unit="s"/>
    <field name="rssi_fade_margin" type="uint8" unit="dB"/>
    <field name="duty" type="uint8" unit="%"/>
  </message>
 <!-- 71 is free -->
 <!-- 72 is free -->
 <!-- 73 is free -->
 <!-- 74 is free -->
 <!-- 75 is free -->

  <message name="VF_UPDATE" id="76">
    <field name="baro" type="float" unit="m"/>
    <field name="range_meter" type="float" unit="m"/>
  </message>

  <message name="VF_PREDICT" id="77">
    <field name="accel" type="float" unit="m/s/s"/>
  </message>

 <!-- 78 is free -->
 <!-- 79 is free -->

  <message name="CROSS_TRACK_ERROR" id="80">
    <field name="cross_track_error" type="float" unit="m"/>
    <field name="cte_int" type="float"/>
  </message>

  <message name="GENERIC_COM" id="81">
    <field name="lat" type="int32" unit="1e7deg"/>
    <field name="lon" type="int32" unit="1e7deg"/>
    <field name="alt" type="int16" unit="m"/>
    <field name="gspeed" type="uint16" unit="cm/s" alt_unit="m/s"/>
    <field name="course" type="int16" unit="decideg" alt_unit="deg"/>
    <field name="airspeed" type="uint16" unit="cm/s" alt_unit="m/s"/>
    <field name="vsupply" type="uint8" unit="decivolt"/>
    <field name="energy" type="uint8" unit="deciAh"/>
    <field name="throttle" type="uint8" unit="%"/>
    <field name="ap_mode" type="uint8"/>
    <field name="nav_block" type="uint8"/>
    <field name="flight_time" type="uint16" unit="s"/>
  </message>

  <message name="FORMATION_SLOT_TM" id="82">
    <field name="ac_id" type="uint8"/>
    <field name="mode" type="uint8"/>
    <field name="slot_east" format="%.1f" type="float" unit="m"/>
    <field name="slot_north" format="%.1f" type="float" unit="m"/>
    <field name="slot_alt" format="%.1f" type="float" unit="m"/>
  </message>

  <message name="FORMATION_STATUS_TM" id="83">
    <field name="ac_id" type="uint8"/>
    <field name="leader_id" type="uint8"/>
    <field name="status" type="uint8"/>
  </message>

  <message name="BMP_STATUS" id="84">
    <field name="UP"    type="int32"/>
    <field name="UT"    type="int32"/>
    <field name="press" type="int32" unit="Pa"/>
    <field name="temp"  type="int32" unit="10x_deg_celsius"/>
  </message>

  <message name="MLX_STATUS" id="85">
   <field name="itemp_case" type="uint16"/>
   <field name="temp_case"  type="float" unit="deg_celsius" format="%.2f"/>
   <field name="itemp_obj"  type="uint16"/>
   <field name="temp_obj"   type="float" unit="deg_celsius" format="%.2f"/>
  </message>

  <message name="TMP_STATUS" id="86">
    <field name="itemp"  type="uint16"/>
    <field name="temp"   type="float" unit="deg_celsius" format="%.2f"/>
  </message>

  <message name="WIND_INFO_RET" id="87">
    <field name="east" type="float" unit="m/s"/>
    <field name="north" type="float" unit="m/s"/>
    <field name="airspeed" type="float" unit="m/s"/>
  </message>

  <message name="SCP_STATUS" id="88">
    <field name="press" type="uint32" unit="Pa"/>
    <field name="temp"  type="int16" unit="100x_deg_celsius"/>
  </message>

  <message name="SHT_STATUS" id="89">
    <field name="ihumid" type="uint16"/>
    <field name="itemp"  type="uint16"/>
    <field name="humid"  type="float" unit="rel_hum" format="%.2f"/>
    <field name="temp"   type="float" unit="deg_celsius" format="%.2f"/>
  </message>

  <message name="ENOSE_STATUS" id="90">
    <field name="val1" type="uint16"/>
    <field name="val2" type="uint16"/>
    <field name="val3" type="uint16"/>
    <field name="PID" type="uint16"/>
    <field name="heat" type="uint8[]"/>
  </message>

  <message name="DPICCO_STATUS" id="91">
    <field name="humid" type="uint16"/>
    <field name="temp" type="uint16"/>
    <field name="fhumid" type="float" unit="rel_hum" format="%.2f"/>
    <field name="ftemp" type="float" unit="deg_celsius" format="%.2f"/>
  </message>

  <message name="ANTENNA_DEBUG" id="92">
    <field name="mag_xraw" type="int32"/>
    <field name="mag_yraw" type="int32"/>
    <field name="mag_xcal" type="float"/>
    <field name="mag_ycal" type="float"/>
    <field name="mag_heading" type="float"/>
    <field name="mag_magnitude" type="float"/>
    <field name="mag_temp" type="float"/>
    <field name="mag_distor" type="uint8"/>
    <field name="mag_cal_status" type="uint8"/>
  </message>

  <message name="ANTENNA_STATUS" id="93">
    <field name="azim_sp" type="float"/>
    <field name="elev_sp" type="float"/>
    <field name="id_sp" type="uint8"/>
    <field name="mode" type="uint8"/>
  </message>

 <message name="MOTOR_BENCH_STATUS" id="94">
   <field name="time_ticks" type="uint32"/>
   <field name="throttle" type="float" format="%.3f"/>
   <field name="rpm" type="float"/>
   <field name="current" type="float"/>
   <field name="thrust" type="float"/>
   <field name="torque" type="float"/>
   <field name="time_s" type="uint16"/>
   <field name="mode" type="uint8"/>
  </message>

  <message name="MOTOR_BENCH_STATIC" id="95">
    <field name="av_rpm"     type="float"/>
    <field name="av_thrust"  type="float"/>
    <field name="av_current" type="float"/>
    <field name="throttle"   type="uint16"/>
  </message>

  <message name="HIH_STATUS" id="96">
    <field name="humid" type="uint16"/>
    <field name="fhumid" type="float" unit="rel_hum" format="%.2f"/>
    <field name="ftemp" type="float" unit="deg_celsius" format="%.2f"/>
  </message>

  <message name="TEMT_STATUS" id="97">
    <field name="light"  type="uint16"/>
    <field name="f_light" type="float" unit="percent" format="%.2f"/>
  </message>

  <message name="GP2Y_STATUS" id="98">
    <field name="idensity"  type="uint16"/>
    <field name="density"   type="float" unit="mg/m3" format="%.2f"/>
  </message>

  <message name="SHT_I2C_SERIAL" id="99">
    <field name="serial0" type="uint32"/>
    <field name="serial1" type="uint32"/>
  </message>

  <message name="PPM" id="100">
    <field name="ppm_rate" type="uint8"/>
    <field name="values" type="uint16[]" unit="usec"/>
  </message>

  <message name="RC" id="101">
    <field name="values" type="int16[]" unit="pprz" format="%d"/>
  </message>

  <message name="COMMANDS" id="102">
    <field name="values" type="int16[]" unit="ticks"/>
  </message>

  <message name="FBW_STATUS" id="103">
    <field name="rc_status" type="uint8" values="OK|LOST|REALLY_LOST"/>
    <field name="frame_rate" type="uint8" unit="Hz"/>
    <field name="mode" type="uint8" values="MANUAL|AUTO|FAILSAFE"/>
    <field name="vsupply" type="uint16" unit="decivolt"/>
    <field name="current" type="int32" unit="mA"/>
  </message>

  <message name="ADC" id="104">
    <field name="mcu" type="uint8" values="FBW|AP"/>
    <field name="values" type="uint16[]" unit="none"/>
  </message>

  <message name="ACTUATORS" id="105">
    <field name="values" type="int16[]" unit="none"/>
  </message>

  <message name="BETH" id="106">
    <field name="azimuth" type="int16"/>
    <field name="elevation" type="int16"/>
    <field name="tilt" type="int16"/>
    <field name="counter" type="uint32"/>
    <field name="can_errs" type="uint16"/>
    <field name="spi_errs" type="uint16"/>
    <field name="thrust_out" type="int8"/>
    <field name="pitch_out" type="int8"/>
  </message>

  <message name="BETH_ESTIMATOR" id="107">
    <field name="tilt" type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
    <field name="tilt_dot" type="float" alt_unit="deg/s" alt_unit_coef="57.29578"/>
    <field name="elevation" type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
    <field name="elevation_dot" type="float" alt_unit="deg/s" alt_unit_coef="57.29578"/>
    <field name="azimuth" type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
    <field name="azimuth_dot" type="float" alt_unit="deg/s" alt_unit_coef="57.29578"/>
  </message>

  <message name="BETH_CONTROLLER" id="108">
    <field name="pitch" type="float"/>
    <field name="thrust" type="float"/>
    <field name="pitch_ff" type="float"/>
    <field name="pitch_fb" type="float"/>
    <field name="thrust_ff" type="float"/>
    <field name="thrust_fb" type="float"/>
    <field name="tilt_sp" type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
    <field name="tilt_ref" type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
    <field name="tilt_dot_ref" type="float" alt_unit="deg/s" alt_unit_coef="57.29578"/>
    <field name="elevation_sp " type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
    <field name="elevation_ref " type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
    <field name="elevation_dot_ref" type="float" alt_unit="deg/s" alt_unit_coef="57.29578"/>
    <field name="azimuth_sp" type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
  </message>

  <message name="BETH_CONTROLLER_TWIST" id="109">
    <field name="S" type="float"/>
    <field name="S_dot" type="float"/>
    <field name="U_twt" type="float"/>
    <field name="error" type="float"/>
  </message>

  <message name="DC_SHOT" id="110">
    <field name="photo_nr" type="int16"/>
    <field name="utm_east"  type="int32" unit="cm"/>
    <field name="utm_north" type="int32" unit="cm"/>
    <field name="z" type="float" unit="m"/>
    <field name="utm_zone"  type="uint8"/>
    <field name="phi" type="int16" unit="decideg"/>
    <field name="theta" type="int16" unit="decideg"/>
    <field name="course" type="int16" unit="decideg"/>
    <field name="speed"  type="uint16" unit="cm/s"/>
    <field name="itow"  type="uint32" unit="ms"/>
  </message>

  <message name="TEST_BOARD_RESULTS" ID="111">
    <field name="uart" type="uint8"/>
    <field name="ppm" type="uint8"/>
    <field name="servo" type="uint16[]"/>
  </message>

  <message name="BETH_CONTROLLER_SFB" id="112">
    <field name="one" type="float"/>
  </message>

  <message name="MLX_SERIAL" id="113">
    <field name="serial0" type="uint32"/>
    <field name="serial1" type="uint32"/>
  </message>

  <message name="PAYLOAD" id="114">
    <field name="values" type="uint8[]" unit="none"/>
  </message>

  <message name="HTM_STATUS" id="115">
    <field name="ihumid" type="uint16"/>
    <field name="itemp"  type="uint16"/>
    <field name="humid"  type="float" unit="rel_hum" format="%.2f"/>
    <field name="temp"   type="float" unit="deg_celsius" format="%.2f"/>
  </message>

  <message name="BARO_MS5611" id="116">
    <field name="d1"       type="uint32"/>
    <field name="d2"       type="uint32"/>
    <field name="pressure" type="float" unit="hPa" format="%.2f"/>
    <field name="temp"     type="float" unit="deg_celsius" format="%.2f"/>
  </message>

  <message name="MS5611_COEFF" id="117">
    <field name="c0" type="uint16"/>
    <field name="c1" type="uint16"/>
    <field name="c2" type="uint16"/>
    <field name="c3" type="uint16"/>
    <field name="c4" type="uint16"/>
    <field name="c5" type="uint16"/>
    <field name="c6" type="uint16"/>
    <field name="c7" type="uint16"/>
  </message>

  <message name="ATMOSPHERE_CHARGE" id="118">
    <field name="t0" type="uint16"/>
    <field name="t1" type="uint16"/>
    <field name="t2" type="uint16"/>
    <field name="t3" type="uint16"/>
    <field name="t4" type="uint16"/>
    <field name="t5" type="uint16"/>
    <field name="t6" type="uint16"/>
    <field name="t7" type="uint16"/>
    <field name="t8" type="uint16"/>
    <field name="t9" type="uint16"/>
  </message>

  <message name="SOLAR_RADIATION" id="119">
    <field name="up_t0" type="uint16"/>
    <field name="dn_t0" type="uint16"/>
    <field name="up_t1" type="uint16"/>
    <field name="dn_t1" type="uint16"/>
    <field name="up_t2" type="uint16"/>
    <field name="dn_t2" type="uint16"/>
    <field name="up_t3" type="uint16"/>
    <field name="dn_t3" type="uint16"/>
    <field name="up_t4" type="uint16"/>
    <field name="dn_t4" type="uint16"/>
    <field name="up_t5" type="uint16"/>
    <field name="dn_t5" type="uint16"/>
    <field name="up_t6" type="uint16"/>
    <field name="dn_t6" type="uint16"/>
    <field name="up_t7" type="uint16"/>
    <field name="dn_t7" type="uint16"/>
    <field name="up_t8" type="uint16"/>
    <field name="dn_t8" type="uint16"/>
    <field name="up_t9" type="uint16"/>
    <field name="dn_t9" type="uint16"/>
  </message>

  <message name="TCAS_TA" ID="120">
    <field name="ac_id" type="uint8"/>
  </message>

  <message name="TCAS_RA" id="121">
    <field name="ac_id" type="uint8"/>
    <field name="resolve" type="uint8" values="NONE|LEVEL|CLIMB|DESCEND"/>
  </message>

  <message name="TCAS_RESOLVED" ID="122">
    <field name="ac_id" type="uint8"/>
  </message>

  <message name="TCAS_DEBUG" id="123">
    <field name="ac_id" type="uint8"/>
    <field name="tau" type="float"/>
  </message>

  <message name="POTENTIAL" id="124">
    <field name="east" type="float"/>
    <field name="north" type="float"/>
    <field name="alt" type="float"/>
    <field name="speed" type="float"/>
    <field name="climb" type="float"/>
  </message>

  <message name="VERTICAL_ENERGY" id="125">
    <field name="Epot_err" type="float"/>
    <field name="Ekin_err" type="float"/>
    <field name="Etot_err" type="float"/>
    <field name="Edis_err" type="float"/>
    <field name="throttle" type="float"/>
    <field name="nav_pitch" type="float"/>
    <field name="speed_sp" type="float"/>
  </message>

  <message name="TEMP_TCOUPLE" id="126">
    <field name="fval0" type="float"/>
    <field name="fval1" type="float"/>
    <field name="fval2" type="float"/>
    <field name="fval3" type="float"/>
    <field name="fref0" type="float"/>
    <field name="fref1" type="float"/>
    <field name="fref2" type="float"/>
    <field name="fref3" type="float"/>
    <field name="val0"  type="uint16"/>
    <field name="val1"  type="uint16"/>
    <field name="val2"  type="uint16"/>
    <field name="val3"  type="uint16"/>
    <field name="ref0"  type="uint16"/>
    <field name="ref1"  type="uint16"/>
    <field name="ref2"  type="uint16"/>
    <field name="ref3"  type="uint16"/>
  </message>

  <message name="SHT_I2C_STATUS" id="127">
    <field name="ihumid" type="uint16"/>
    <field name="itemp"  type="uint16"/>
    <field name="humid"  type="float" unit="rel_hum" format="%.2f"/>
    <field name="temp"   type="float" unit="deg_celsius" format="%.2f"/>
  </message>

  <message name="CAMERA_SNAPSHOT" id="128">
    <field name="snapshot_image_number" type="uint16"/>
  </message>

 <message name="TIMESTAMP" id="129">
 	<field name="timestamp" type="uint32"/>
 </message>

  <message name="STAB_ATTITUDE_FLOAT" id="130">
    <field name="est_p"         type="float" alt_unit="deg/s" alt_unit_coef="57.29578"/>
    <field name="est_q"         type="float" alt_unit="deg/s" alt_unit_coef="57.29578"/>
    <field name="est_r"         type="float" alt_unit="deg/s" alt_unit_coef="57.29578"/>
    <field name="est_phi"       type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
    <field name="est_theta"     type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
    <field name="est_psi"       type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
    <field name="ref_phi"       type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
    <field name="ref_theta"     type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
    <field name="ref_psi"       type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
    <field name="sum_err_phi"   type="float"/>
    <field name="sum_err_theta" type="float"/>
    <field name="sum_err_psi"   type="float"/>
    <field name="delta_a_fb"    type="float" alt_unit="motor" alt_unit_coef="0.0000153"/>
    <field name="delta_e_fb"    type="float" alt_unit="motor" alt_unit_coef="0.0000153"/>
    <field name="delta_r_fb"    type="float" alt_unit="motor" alt_unit_coef="0.0000153"/>
    <field name="delta_a_ff"    type="float" alt_unit="motor" alt_unit_coef="0.0000153"/>
    <field name="delta_e_ff"    type="float" alt_unit="motor" alt_unit_coef="0.0000153"/>
    <field name="delta_r_ff"    type="float" alt_unit="motor" alt_unit_coef="0.0000153"/>
    <field name="delta_a"       type="int32"/>
    <field name="delta_e"       type="int32"/>
    <field name="delta_r"       type="int32"/>
    <field name="est_p_d"       type="float" alt_unit="deg/s^2" alt_unit_coef="57.29578"/>
    <field name="est_q_d"       type="float" alt_unit="deg/s^2" alt_unit_coef="57.29578"/>
    <field name="est_r_d"       type="float" alt_unit="deg/s^2" alt_unit_coef="57.29578"/>
  </message>

  <message name="IMU_GYRO_SCALED" id="131">
    <field name="gp"    type="int32" alt_unit="deg/s" alt_unit_coef="0.0139882"/>
    <field name="gq"    type="int32" alt_unit="deg/s" alt_unit_coef="0.0139882"/>
    <field name="gr"    type="int32" alt_unit="deg/s" alt_unit_coef="0.0139882"/>
  </message>

  <message name="IMU_ACCEL_SCALED" id="132">
    <field name="ax"    type="int32" alt_unit="m/s2" alt_unit_coef="0.0009766"/>
    <field name="ay"    type="int32" alt_unit="m/s2" alt_unit_coef="0.0009766"/>
    <field name="az"    type="int32" alt_unit="m/s2" alt_unit_coef="0.0009766"/>
  </message>

  <message name="IMU_MAG_SCALED" id="133">
    <field name="mx"    type="int32" alt_unit="1" alt_unit_coef="0.0004883"/>
    <field name="my"    type="int32" alt_unit="1" alt_unit_coef="0.0004883"/>
    <field name="mz"    type="int32" alt_unit="1" alt_unit_coef="0.0004883"/>
  </message>

  <message name="FILTER" id="134">
    <field name="phi"              type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
    <field name="theta"            type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
    <field name="psi"              type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
    <field name="measure_phi"      type="int32" alt_unit="deg" alt_unit_coef="0.0000273"/>
    <field name="measure_theta"    type="int32" alt_unit="deg" alt_unit_coef="0.0000273"/>
    <field name="measure_psi"      type="int32" alt_unit="deg" alt_unit_coef="0.0000273"/>
    <field name="corrected_phi"    type="int32" alt_unit="deg" alt_unit_coef="0.0000273"/>
    <field name="corrected_theta"  type="int32" alt_unit="deg" alt_unit_coef="0.0000273"/>
    <field name="corrected_psi"    type="int32" alt_unit="deg" alt_unit_coef="0.0000273"/>
    <field name="correction_phi"   type="int32"/>
    <field name="correction_theta" type="int32"/>
    <field name="correction_psi"   type="int32"/>
    <field name="bp"               type="int32"/>
    <field name="bq"               type="int32"/>
    <field name="br"               type="int32"/>
  </message>

  <message name="FILTER2" id="135">
    <field name="px"  type="int32"/>
    <field name="py"  type="int32"/>
    <field name="pz"  type="int32"/>
    <field name="gsx" type="int32"/>
    <field name="gsy" type="int32"/>
    <field name="gsz" type="int32"/>
  </message>

  <message name="RATE_LOOP" id="136">
    <field name="sp_p" type="int32"/>
    <field name="sp_q" type="int32"/>
    <field name="sp_r" type="int32"/>
    <field name="ref_p" type="int32"/>
    <field name="ref_q" type="int32"/>
    <field name="ref_r" type="int32"/>
    <field name="refdot_p" type="int32"/>
    <field name="refdot_q" type="int32"/>
    <field name="refdot_r" type="int32"/>
    <field name="sumerr_p" type="int32"/>
    <field name="sumerr_q" type="int32"/>
    <field name="sumerr_r" type="int32"/>
    <field name="ff_p" type="int32"/>
    <field name="ff_q" type="int32"/>
    <field name="ff_r" type="int32"/>
    <field name="fb_p" type="int32"/>
    <field name="fb_q" type="int32"/>
    <field name="fb_r" type="int32"/>
    <field name="delta_t" type="int32"/>
  </message>

  <message name="FILTER_ALIGNER" id="137">
    <field name="lp_gp"  type="int32" alt_unit="deg/s" alt_unit_coef="0.0139882"/>
    <field name="lp_gq"  type="int32" alt_unit="deg/s" alt_unit_coef="0.0139882"/>
    <field name="lp_gr"  type="int32" alt_unit="deg/s" alt_unit_coef="0.0139882"/>
    <field name="gp"     type="int32" alt_unit="deg/s" alt_unit_coef="0.0139882"/>
    <field name="gq"     type="int32" alt_unit="deg/s" alt_unit_coef="0.0139882"/>
    <field name="gr"     type="int32" alt_unit="deg/s" alt_unit_coef="0.0139882"/>
    <field name="noise"  type="int32"/>
    <field name="cnt"    type="int32"/>
    <field name="status" type="uint8" values="UNINIT|RUNNING|LOCKED"/>
  </message>

  <!-- 138 is free -->

  <message name="FILTER_COR" id="139">
    <field name="mphi"   type="int32"/>
    <field name="mtheta" type="int32"/>
    <field name="mpsi"   type="int32"/>
    <field name="qi"  type="int32"/>
    <field name="qx"  type="int32"/>
    <field name="qy"  type="int32"/>
    <field name="qz"  type="int32"/>
  </message>

 <message name="STAB_ATTITUDE_INT" id="140">
    <field name="est_p"         type="int32" alt_unit="deg/s" alt_unit_coef="0.0139882"/>
    <field name="est_q"         type="int32" alt_unit="deg/s" alt_unit_coef="0.0139882"/>
    <field name="est_r"         type="int32" alt_unit="deg/s" alt_unit_coef="0.0139882"/>
    <field name="est_phi"       type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
    <field name="est_theta"     type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
    <field name="est_psi"       type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
    <field name="sp_phi"        type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
    <field name="sp_theta"      type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
    <field name="sp_psi"        type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
    <field name="sum_err_phi"   type="int32"/>
    <field name="sum_err_theta" type="int32"/>
    <field name="sum_err_psi"   type="int32"/>
    <field name="delta_a_fb"    type="int32" alt_unit_coef="0.0000153"/>
    <field name="delta_e_fb"    type="int32" alt_unit_coef="0.0000153"/>
    <field name="delta_r_fb"    type="int32" alt_unit_coef="0.0000153"/>
    <field name="delta_a_ff"    type="int32" alt_unit_coef="0.0000153"/>
    <field name="delta_e_ff"    type="int32" alt_unit_coef="0.0000153"/>
    <field name="delta_r_ff"    type="int32" alt_unit_coef="0.0000153"/>
    <field name="delta_a"       type="int32"/>
    <field name="delta_e"       type="int32"/>
    <field name="delta_r"       type="int32"/>
 </message>

 <message name="STAB_ATTITUDE_REF_INT" id="141">
    <field name="sp_phi"    type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
    <field name="sp_theta"  type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
    <field name="sp_psi"    type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
    <field name="ref_phi"   type="int32" alt_unit="deg" alt_unit_coef="0.0000546"/>
    <field name="ref_theta" type="int32" alt_unit="deg" alt_unit_coef="0.0000546"/>
    <field name="ref_psi"   type="int32" alt_unit="deg" alt_unit_coef="0.0000546"/>
    <field name="ref_p"     type="int32" alt_unit="deg/s" alt_unit_coef="0.0008743"/>
    <field name="ref_q"     type="int32" alt_unit="deg/s" alt_unit_coef="0.0008743"/>
    <field name="ref_r"     type="int32" alt_unit="deg/s" alt_unit_coef="0.0008743"/>
    <field name="ref_pd"    type="int32" alt_unit="deg/s2" alt_unit_coef="0.0139882"/>
    <field name="ref_qd"    type="int32" alt_unit="deg/s2" alt_unit_coef="0.0139882"/>
    <field name="ref_rd"    type="int32" alt_unit="deg/s2" alt_unit_coef="0.0139882"/>
 </message>

 <message name="STAB_ATTITUDE_REF_FLOAT" id="142">
    <field name="sp_phi"    type="float" alt_unit="deg"    alt_unit_coef="57.29578"/>
    <field name="sp_theta"  type="float" alt_unit="deg"    alt_unit_coef="57.29578"/>
    <field name="sp_psi"    type="float" alt_unit="deg"    alt_unit_coef="57.29578"/>
    <field name="ref_phi"   type="float" alt_unit="deg"    alt_unit_coef="57.29578"/>
    <field name="ref_theta" type="float" alt_unit="deg"    alt_unit_coef="57.29578"/>
    <field name="ref_psi"   type="float" alt_unit="deg"    alt_unit_coef="57.29578"/>
    <field name="ref_p"     type="float" alt_unit="deg/s"  alt_unit_coef="57.29578"/>
    <field name="ref_q"     type="float" alt_unit="deg/s"  alt_unit_coef="57.29578"/>
    <field name="ref_r"     type="float" alt_unit="deg/s"  alt_unit_coef="57.29578"/>
    <field name="ref_pd"    type="float" alt_unit="deg/s2" alt_unit_coef="57.29578"/>
    <field name="ref_qd"    type="float" alt_unit="deg/s2" alt_unit_coef="57.29578"/>
    <field name="ref_rd"    type="float" alt_unit="deg/s2" alt_unit_coef="57.29578"/>
 </message>

 <message name="ROTORCRAFT_CMD" id="143">
    <field name="cmd_roll"   type="int32"/>
    <field name="cmd_pitch"  type="int32"/>
    <field name="cmd_yaw"    type="int32"/>
    <field name="cmd_thrust" type="int32"/>
 </message>

  <message name="GUIDANCE" id="144">
    <field name="pos_n"    type="int32"/>
    <field name="pos_e"    type="int32"/>
    <field name="sp_pos_n" type="int32"/>
    <field name="sp_pos_e" type="int32"/>
  </message>

  <message name="VERT_LOOP" id="145">
    <field name="z_sp"      type="int32" alt_unit="m"    alt_unit_coef="0.0039063"/>
    <field name="zd_sp"     type="int32" alt_unit="m"    alt_unit_coef="0.0000019"/>
    <field name="est_z"     type="int32" alt_unit="m"    alt_unit_coef="0.0039063"/>
    <field name="est_zd"    type="int32" alt_unit="m/s"  alt_unit_coef="0.0000019"/>
    <field name="est_zdd"   type="int32" alt_unit="m/s2" alt_unit_coef="0.0009766"/>
    <field name="ref_z"     type="int32" alt_unit="m"    alt_unit_coef="0.0039063"/>
    <field name="ref_zd"    type="int32" alt_unit="m/s"  alt_unit_coef="0.0000019"/>
    <field name="ref_zdd"   type="int32" alt_unit="m/s2" alt_unit_coef="0.0009766"/>
    <field name="adp_inv_m" type="int32" alt_unit="foo"  alt_unit_coef="0.0000000596"/>
    <field name="adp_cov"   type="int32" alt_unit="foo"  alt_unit_coef="0.0000000596"/>
    <field name="adp_meas"  type="int32" alt_unit="foo"  alt_unit_coef="0.0000000596"/>
    <field name="sum_err"   type="int32" />
    <field name="ff_cmd"    type="int32"/>
    <field name="fb_cmd"    type="int32"/>
    <field name="delta_t"   type="int32"/>
  </message>


  <message name="HOVER_LOOP" id="146">
    <field name="sp_x"      type="int32" alt_unit="m"    alt_unit_coef="0.0039063"/>
    <field name="sp_y"      type="int32" alt_unit="m"    alt_unit_coef="0.0039063"/>
    <field name="est_x"     type="int32" alt_unit="m"    alt_unit_coef="0.0039063"/>
    <field name="est_y"     type="int32" alt_unit="m"    alt_unit_coef="0.0039063"/>
    <field name="est_xd"    type="int32" alt_unit="m/s"  alt_unit_coef="0.0000019"/>
    <field name="est_yd"    type="int32" alt_unit="m/s"  alt_unit_coef="0.0000019"/>
    <field name="est_xdd"   type="int32" alt_unit="m/s2" alt_unit_coef="0.0009765"/>
    <field name="est_ydd"   type="int32" alt_unit="m/s2" alt_unit_coef="0.0009765"/>
    <field name="err_x"     type="int32" alt_unit="m"    alt_unit_coef="0.0039063"/>
    <field name="err_y"     type="int32" alt_unit="m"    alt_unit_coef="0.0039063"/>
    <field name="err_xd"    type="int32" alt_unit="m/s"  alt_unit_coef="0.0000019"/>
    <field name="err_yd"    type="int32" alt_unit="m/s"  alt_unit_coef="0.0000019"/>
    <field name="err_sum_x" type="int32"/>
    <field name="err_sum_y" type="int32"/>
    <field name="err_nav_x" type="int32"/>
    <field name="err_nav_y" type="int32"/>
    <field name="cmd_x"     type="int32"/>
    <field name="cmd_y"     type="int32"/>
    <field name="cmd_phi"   type="int32"/>
    <field name="cmd_theta" type="int32"/>
    <field name="cmd_psi"   type="int32"/>
  </message>


  <message name="ROTORCRAFT_FP" id="147">
    <field name="east"     type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
    <field name="north"    type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
    <field name="up"       type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
    <field name="veast"    type="int32" alt_unit="m/s" alt_unit_coef="0.0000019"/>
    <field name="vnorth"   type="int32" alt_unit="m/s" alt_unit_coef="0.0000019"/>
    <field name="vup"      type="int32" alt_unit="m/s" alt_unit_coef="0.0000019"/>
    <field name="phi"      type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
    <field name="theta"    type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
    <field name="psi"      type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
    <field name="carrot_east"   type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
    <field name="carrot_north"  type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
    <field name="carrot_up"     type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
    <field name="carrot_psi"    type="int32" alt_unit="deg" alt_unit_coef="0.0000546"/>
    <field name="thrust"        type="int32"/>
    <field name="flight_time"   type="uint16" unit="s"/>
  </message>

  <message name="BOOZ2_FMS_INFO" id="148">
    <field name="tbd"      type="float"/>
  </message>

  <message name="GUIDANCE_H_REF_INT" id="149">
    <field name="sp_x"    type="int32" alt_unit="m"     alt_unit_coef="0.0039063"/>
    <field name="ref_x"   type="int32" alt_unit="m"     alt_unit_coef="0.0039063"/>
    <field name="ref_xd"  type="int32" alt_unit="m/s"   alt_unit_coef="0.0000019"/>
    <field name="ref_xdd" type="int32" alt_unit="m/s2"  alt_unit_coef="0.0009766"/>
    <field name="sp_y"    type="int32" alt_unit="m"     alt_unit_coef="0.0039063"/>
    <field name="ref_y"   type="int32" alt_unit="m"     alt_unit_coef="0.0039063"/>
    <field name="ref_yd"  type="int32" alt_unit="m/s"   alt_unit_coef="0.0000019"/>
    <field name="ref_ydd" type="int32" alt_unit="m/s2"  alt_unit_coef="0.0009766"/>
  </message>

  <message name="ROTORCRAFT_TUNE_HOVER" id="150">
    <field name="rc_roll"    type="int16" alt_unit="-100/100" alt_unit_coef="0.01041670"/>
    <field name="rc_pitch"   type="int16" alt_unit="-100/100" alt_unit_coef="0.01041670"/>
    <field name="rc_yaw"     type="int16" alt_unit="-100/100" alt_unit_coef="0.01041670"/>
    <field name="cmd_roll"   type="int32"/>
    <field name="cmd_pitch"  type="int32"/>
    <field name="cmd_yaw"    type="int32"/>
    <field name="cmd_thrust" type="int32"/>
    <field name="imu_phi"    type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
    <field name="imu_theta"  type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
    <field name="imu_psi"    type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
    <field name="body_phi"   type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
    <field name="body_theta" type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
    <field name="body_psi"   type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
  </message>

  <message name="INS_Z" id="151">
    <field name="baro_alt"  type="int32" alt_unit="m"    alt_unit_coef="0.0039063"/>
    <field name="ins_z"     type="int32" alt_unit="m"    alt_unit_coef="0.0039063"/>
    <field name="ins_zd"    type="int32" alt_unit="m/s"  alt_unit_coef="0.0000019"/>
    <field name="ins_zdd"   type="int32" alt_unit="m/s2" alt_unit_coef="0.0009766"/>
  </message>

  <message name="PCAP01_STATUS" id="152">
    <field name="ihumid" type="uint32"/>
    <field name="itemp"  type="uint32"/>
    <field name="humid"  type="float" unit="rel_hum" format="%.2f"/>
    <field name="temp"   type="float" unit="deg_celsius" format="%.2f"/>
  </message>

  <message name="GEIGER_COUNTER" id="153">
    <field name="tube1"   type="uint32" unit="events"/>
    <field name="tube2"   type="uint32" unit="events"/>
    <field name="vsupply" type="uint16" unit="volts"/>
  </message>

  <message name="INS_REF" id="154">
    <field name="ecef_x0" type="int32" alt_unit="m"    alt_unit_coef="0.01"/>
    <field name="ecef_y0" type="int32" alt_unit="m"    alt_unit_coef="0.01"/>
    <field name="ecef_z0" type="int32" alt_unit="m"    alt_unit_coef="0.01"/>
    <field name="lat0"    type="int32" alt_unit="deg"  alt_unit_coef="0.0000057296"/>
    <field name="lon0"    type="int32" alt_unit="deg"  alt_unit_coef="0.0000057296"/>
    <field name="alt0"    type="int32" alt_unit="m"    alt_unit_coef="0.001"/>
    <field name="hmsl0"   type="int32" alt_unit="m"    alt_unit_coef="0.001"/>
    <field name="baro_qfe"    type="int32"/>
  </message>

  <message name="GPS_INT" id="155">
    <field name="ecef_x"  type="int32" unit="cm"   alt_unit="m"/>
    <field name="ecef_y"  type="int32" unit="cm"   alt_unit="m"/>
    <field name="ecef_z"  type="int32" unit="cm"   alt_unit="m"/>
    <field name="lat"     type="int32" alt_unit="deg" alt_unit_coef="0.0000057296"/>
    <field name="lon"     type="int32" alt_unit="deg" alt_unit_coef="0.0000057296"/>
    <field name="alt"     type="int32" unit="mm"   alt_unit="m"/>
    <field name="hmsl"    type="int32" unit="mm"   alt_unit="m"/>
    <field name="ecef_xd" type="int32" unit="cm/s" alt_unit="m/s"/>
    <field name="ecef_yd" type="int32" unit="cm/s" alt_unit="m/s"/>
    <field name="ecef_zd" type="int32" unit="cm/s" alt_unit="m/s"/>
    <field name="pacc"    type="int32" unit="cm"   alt_unit="m"/>
    <field name="sacc"    type="int32" unit="cm/s" alt_unit="m/s"/>
    <field name="tow"     type="uint32"/>
    <field name="pdop"    type="uint16"/>
    <field name="numsv"   type="uint8"/>
    <field name="fix"     type="uint8" values="NONE|UKN1|UKN2|3D"/>
  </message>

  <message name="AHRS_EULER_INT" id="156">
    <field name="imu_phi"    type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
    <field name="imu_theta"  type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
    <field name="imu_psi"    type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
    <field name="body_phi"   type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
    <field name="body_theta" type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
    <field name="body_psi"   type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
  </message>

  <message name="AHRS_QUAT_INT" id="157">
    <field name="imu_qi"  type="int32" alt_unit=""  alt_unit_coef="0.0000305"/>
    <field name="imu_qx"  type="int32" alt_unit=""  alt_unit_coef="0.0000305"/>
    <field name="imu_qy"  type="int32" alt_unit=""  alt_unit_coef="0.0000305"/>
    <field name="imu_qz"  type="int32" alt_unit=""  alt_unit_coef="0.0000305"/>
    <field name="body_qi" type="int32" alt_unit=""  alt_unit_coef="0.0000305"/>
    <field name="body_qx" type="int32" alt_unit=""  alt_unit_coef="0.0000305"/>
    <field name="body_qy" type="int32" alt_unit=""  alt_unit_coef="0.0000305"/>
    <field name="body_qz" type="int32" alt_unit=""  alt_unit_coef="0.0000305"/>
  </message>

  <message name="AHRS_RMAT_INT" id="158">
    <field name="imu_m00"  type="int32" alt_unit=""  alt_unit_coef="0.0000610"/>
    <field name="imu_m01"  type="int32" alt_unit=""  alt_unit_coef="0.0000610"/>
    <field name="imu_m02"  type="int32" alt_unit=""  alt_unit_coef="0.0000610"/>
    <field name="imu_m10"  type="int32" alt_unit=""  alt_unit_coef="0.0000610"/>
    <field name="imu_m11"  type="int32" alt_unit=""  alt_unit_coef="0.0000610"/>
    <field name="imu_m12"  type="int32" alt_unit=""  alt_unit_coef="0.0000610"/>
    <field name="imu_m20"  type="int32" alt_unit=""  alt_unit_coef="0.0000610"/>
    <field name="imu_m21"  type="int32" alt_unit=""  alt_unit_coef="0.0000610"/>
    <field name="imu_m22"  type="int32" alt_unit=""  alt_unit_coef="0.0000610"/>
    <field name="body_m00" type="int32" alt_unit=""  alt_unit_coef="0.0000610"/>
    <field name="body_m01" type="int32" alt_unit=""  alt_unit_coef="0.0000610"/>
    <field name="body_m02" type="int32" alt_unit=""  alt_unit_coef="0.0000610"/>
    <field name="body_m10" type="int32" alt_unit=""  alt_unit_coef="0.0000610"/>
    <field name="body_m11" type="int32" alt_unit=""  alt_unit_coef="0.0000610"/>
    <field name="body_m12" type="int32" alt_unit=""  alt_unit_coef="0.0000610"/>
    <field name="body_m20" type="int32" alt_unit=""  alt_unit_coef="0.0000610"/>
    <field name="body_m21" type="int32" alt_unit=""  alt_unit_coef="0.0000610"/>
    <field name="body_m22" type="int32" alt_unit=""  alt_unit_coef="0.0000610"/>
  </message>

  <message name="ROTORCRAFT_NAV_STATUS" id="159">
    <field name="block_time" type="uint16" unit="s"/>
    <field name="stage_time" type="uint16" unit="s"/>
    <field name="cur_block" type="uint8"/>
    <field name="cur_stage" type="uint8"/>
    <field name="horizontal_mode" type="uint8"/>
  </message>

  <message name="ROTORCRAFT_RADIO_CONTROL" id="160">
     <field name="roll"     type="int16" unit="pprz"/>
     <field name="pitch"    type="int16" unit="pprz"/>
     <field name="yaw"      type="int16" unit="pprz"/>
     <field name="throttle" type="int16" unit="pprz"/>
     <field name="mode"     type="int16" unit="pprz"/>
     <field name="kill"     type="int16" unit="pprz"/>
     <field name="status"   type="uint8" values="OK|LOST|REALLY_LOST"/>
  </message>

  <!-- 161 is free -->
  <message name="VFF_EXTENDED" id="161">
      <field name="measure1"        type="float"/>
      <field name="measure2"        type="float"/>
      <field name="z"              type="float"/>
      <field name="zd"             type="float"/>
      <field name="zdd"             type="float"/>
      <field name="bias"           type="float"/>
      <field name="offset"           type="float"/>
  </message>


  <message name="VFF" id="162">
      <field name="measure"        type="float"/>
      <field name="z"              type="float"/>
      <field name="zd"             type="float"/>
      <field name="bias"           type="float"/>
      <field name="Pzz"            type="float"/>
      <field name="Pzdzd"          type="float"/>
      <field name="Pbb"            type="float"/>
  </message>

  <message name="BOOZ2_TUNE_FF" id="163">
      <field name="fb_rms"         type="float"/>
      <field name="dg"             type="float"/>
      <field name="g"              type="float"/>
  </message>

  <message name="HFF" id="164">
      <field name="x"              type="float"/>
      <field name="y"              type="float"/>
      <field name="xd"             type="float"/>
      <field name="yd"             type="float"/>
      <field name="xdd"            type="float"/>
      <field name="ydd"            type="float"/>
  </message>

  <message name="HFF_DBG" id="165">
      <field name="x_measure"      type="float"/>
      <field name="y_measure"      type="float"/>
      <field name="yd_measure"     type="float"/>
      <field name="xd_measure"     type="float"/>
      <field name="Pxx"            type="float"/>
      <field name="Pyy"            type="float"/>
      <field name="Pxdxd"          type="float"/>
      <field name="Pydyd"          type="float"/>
  </message>

  <message name="HFF_GPS" id="166">
      <field name="lag_cnt"     type="uint16"/>
      <field name="lag_cnt_err" type="int16"/>
      <field name="save_cnt"    type="int16"/>
  </message>

  <message name="INS_SONAR" id="167">
    <field name="raw" type="int32" unit="adc" alt_unit="m" alt_unit_coef="0.0039063"/>
    <field name="scaled" type="float" unit="m"/>
    <field name="var" type="float"/>
  </message>

  <message name="ROTORCRAFT_CAM" id="168">
    <field name="tilt" type="int16" unit="2^12rad" alt_unit="deg" alt_unit_coef="0.0139882"/>
    <field name="pan" type="int16" unit="2^12rad" alt_unit="deg" alt_unit_coef="0.0139882"/>
  </message>

  <message name="AHRS_REF_QUAT" id="169">
    <field name="ref_qi"  type="int32"/>
    <field name="ref_qx"  type="int32"/>
    <field name="ref_qy"  type="int32"/>
    <field name="ref_qz"  type="int32"/>
    <field name="body_qi" type="int32"/>
    <field name="body_qx" type="int32"/>
    <field name="body_qy" type="int32"/>
    <field name="body_qz" type="int32"/>
  </message>

  <message name="EKF7_XHAT" id="170">
    <field name="c"   type="float"/>
    <field name="s1"  type="float"/>
    <field name="s2"  type="float"/>
    <field name="s3"  type="float"/>
    <field name="p"   type="float" alt_unit="deg/s" alt_unit_coef="57.29578"/>
    <field name="q"   type="float" alt_unit="deg/s" alt_unit_coef="57.29578"/>
    <field name="r"   type="float" alt_unit="deg/s" alt_unit_coef="57.29578"/>
    <field name="bp"  type="float"/>
    <field name="bq"  type="float"/>
    <field name="br"  type="float"/>
  </message>

  <message name="EKF7_Y" id="171">
    <field name="timecount" type="uint16"/>
    <field name="g1"  type="float"/>
    <field name="g2"  type="float"/>
    <field name="g3"  type="float"/>
    <field name="m1"  type="float"/>
    <field name="m2"  type="float"/>
    <field name="m3"  type="float"/>
    <field name="p"   type="float" alt_unit="deg/s" alt_unit_coef="57.29578"/>
    <field name="q"   type="float" alt_unit="deg/s" alt_unit_coef="57.29578"/>
    <field name="r"   type="float" alt_unit="deg/s" alt_unit_coef="57.29578"/>
  </message>

  <message name="EKF7_P_DIAG" id="172">
    <field name="c"   type="float"/>
    <field name="s1"  type="float"/>
    <field name="s2"  type="float"/>
    <field name="s3"  type="float"/>
    <field name="p"   type="float" alt_unit="deg^2/s^2" alt_unit_coef="3283"/>
    <field name="q"   type="float" alt_unit="deg^2/s^2" alt_unit_coef="3283"/>
    <field name="r"   type="float" alt_unit="deg^2/s^2" alt_unit_coef="3283"/>
    <field name="bp"  type="float" alt_unit="deg^2/s^2" alt_unit_coef="3283"/>
    <field name="bq"  type="float" alt_unit="deg^2/s^2" alt_unit_coef="3283"/>
    <field name="br"  type="float" alt_unit="deg^2/s^2" alt_unit_coef="3283"/>
  </message>

  <message name="AHRS_EULER" id="173">
    <field name="phi"   type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.29578" />
    <field name="theta" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.29578" />
    <field name="psi"   type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.29578" />
  </message>

  <message name="AHRS_MEASUREMENT_EULER" id="174">
    <field name="phi"   type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.29578" />
    <field name="theta" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.29578" />
    <field name="psi"   type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.29578" />
  </message>

  <message name="WT" id="175">
    <field name="rpm"      type="float"/>
  </message>


  <message name="CSC_CAN_DEBUG" id="176">
    <field name="err_nb"      type="uint32"/>
    <field name="err_code"    type="uint32"/>
  </message>

  <message name="CSC_CAN_MSG" id="177">
    <field name="frame"   type="uint32"/>
    <field name="id"      type="uint32"/>
    <field name="data_a"  type="uint32"/>
    <field name="data_b"  type="uint32"/>
  </message>

  <message name="AHRS_GYRO_BIAS_INT" id="178">
    <field name="bp"     type="int32" alt_unit="deg/s" alt_unit_coef="0.0139882"/>
    <field name="bq"     type="int32" alt_unit="deg/s" alt_unit_coef="0.0139882"/>
    <field name="br"     type="int32" alt_unit="deg/s" alt_unit_coef="0.0139882"/>
  </message>


 <!--179 is free -->

  <message name="FMS_TIME" id="180">
    <field name="tv_sec"   type="uint32"/>
    <field name="tv_nsec"  type="uint32"/>
    <field name="delay_ns" type="uint32"/>
  </message>

  <message name="LOADCELL" id="181">
    <field name="load" type="int32"/>
  </message>

  <message name="FLA_DEBUG" id="182">
    <field name="past_input"    type="float"/>
    <field name="imu_rate"      type="float"/>
    <field name="desired_accel" type="float"/>
    <field name="motor_command" type="float"/>
  </message>

  <message name="BLMC_FAULT_STATUS" id="183">
    <field name="raw_fault"	type="uint16[]"/>
  </message>

  <message name="BLMC_SPEEDS" id="184">
    <field name="speeds"	type="int16[]"/>
  </message>

  <message name="AHRS_DEBUG_QUAT" id="185">
    <field name="jqi"   type="float"/>
    <field name="jqx"   type="float"/>
    <field name="jqy"   type="float"/>
    <field name="jqz"   type="float"/>
    <field name="xqi"   type="float"/>
    <field name="xqx"   type="float"/>
    <field name="xqy"   type="float"/>
    <field name="xqz"   type="float"/>
    <field name="mqi"   type="float"/>
    <field name="mqx"   type="float"/>
    <field name="mqy"   type="float"/>
    <field name="mqz"   type="float"/>
  </message>

  <message name="BLMC_BUSVOLTS" id="186">
    <field name="busvolts"	type="uint16[]"/>
  </message>

  <message name="SYSTEM_STATUS" id="187">
    <field name="csc1_loop_count"  type="uint32"/>
    <field name="csc1_msg_count"   type="uint32"/>
    <field name="csc2_loop_count"  type="uint32"/>
    <field name="csc2_msg_count"   type="uint32"/>
    <field name="can_rx_err"         type="uint32"/>
    <field name="can_tx_err"         type="uint32"/>
    <field name="rc_parser_err"    type="uint32"/>
    <field name="system_fault"     type="uint8"/>
  </message>

  <message name="DYNAMIXEL" id="188">
    <field name="left_wing"    type="uint16"/>
    <field name="right_wing"   type="uint16"/>
    <field name="left_wing_flag"    type="uint8"/>
    <field name="right_wing_flag"   type="uint8"/>
    <field name="invalid_position"   type="uint32"/>
    <field name="timeout_events"   type="uint32"/>
    <field name="checksum_errors"   type="uint32"/>
    <field name="fuse_rotation_angle"  type="float"/>
    <field name="fuse_rotation_rate"   type="float"/>
  </message>

  <message name="RMAT_DEBUG" id="189">
    <field name="a"   type="float" />
    <field name="b"   type="float" />
    <field name="c"   type="float" />
    <field name="d"   type="float" />
    <field name="e"   type="float" />
    <field name="f"   type="float" />
    <field name="g"   type="float" />
    <field name="h"   type="float" />
    <field name="i"   type="float" />
  </message>

  <message name="SIMPLE_COMMANDS" id="190">
    <field name="roll"    type="int16" />
    <field name="pitch"   type="int16" />
    <field name="yaw"       type="int16" />
  </message>

  <message name="VANE_SENSOR" id="191">
    <field name="alpha"   type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
    <field name="alpha_filtered"   type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
    <field name="alpha_target"   type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
    <field name="alpha_vane_error" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
    <field name="alpha2"   type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
    <field name="beta"    type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
    <field name="beta_filtered"   type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
    <field name="beta_target"   type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
    <field name="beta_vane_error" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
    <field name="beta2"   type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
  </message>

    <message name="CONTROLLER_GAINS" id="192">
      <field name="roll_gamma_p"     type="float" />
      <field name="roll_gamma_d"     type="float" />
      <field name="roll_gamma_i"     type="float" />
      <field name="pitch_gamma_p"    type="float" />
      <field name="pitch_gamma_d"    type="float" />
      <field name="pitch_gamma_i"    type="float" />
      <field name="yaw_gamma_p"      type="float" />
      <field name="yaw_gamma_d"      type="float" />
      <field name="yaw_gamma_i"      type="float" />
    </message>

    <message name="AHRS_LKF" id="193">
      <field name="phi"   type="float" unit="rad"   alt_unit="deg"   alt_unit_coef="57.29578" />
      <field name="theta" type="float" unit="rad"   alt_unit="deg"   alt_unit_coef="57.29578" />
      <field name="psi"   type="float" unit="rad"   alt_unit="deg"   alt_unit_coef="57.29578" />
      <field name="qi"    type="float" />
      <field name="qx"    type="float" />
      <field name="qy"    type="float" />
      <field name="qz"    type="float" />
      <field name="p"     type="float" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578" />
      <field name="q"     type="float" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578" />
      <field name="r"     type="float" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578" />
      <field name="ax"    type="float" />
      <field name="ay"    type="float" />
      <field name="az"    type="float" />
      <field name="mx"    type="float" />
      <field name="my"    type="float" />
      <field name="mz"    type="float" />
    </message>

    <message name="AHRS_LKF_DEBUG" id="194">
      <field name="phi_err"   type="float" unit="rad"   alt_unit="deg"   alt_unit_coef="57.29578" />
      <field name="theta_err" type="float" unit="rad"   alt_unit="deg"   alt_unit_coef="57.29578" />
      <field name="psi_err"   type="float" unit="rad"   alt_unit="deg"   alt_unit_coef="57.29578" />
      <field name="bp"        type="float" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578" />
      <field name="bq"        type="float" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578" />
      <field name="br"        type="float" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578" />
      <field name="quat_norm" type="float" />
      <field name="phi_accel" type="float" unit="rad"   alt_unit="deg"   alt_unit_coef="57.29578" />
      <field name="theta_accel" type="float" unit="rad"   alt_unit="deg"   alt_unit_coef="57.29578" />
      <field name="phi_cov"   type="float" />
      <field name="theta_cov" type="float" />
      <field name="psi_cov"   type="float" />
      <field name="bp_cov"    type="float" />
      <field name="bq_cov"    type="float" />
      <field name="br_cov"    type="float" />
    </message>

    <message name="AHRS_LKF_ACC_DBG" id="195">
      <field name="qi_err"    type="float" />
      <field name="qx_err"    type="float" />
      <field name="qy_err"    type="float" />
      <field name="qz_err"    type="float" />
      <field name="bp_err"    type="float" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578" />
      <field name="bq_err"    type="float" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578" />
      <field name="br_err"    type="float" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578" />
    </message>

    <message name="AHRS_LKF_MAG_DBG" id="196">
      <field name="qi_err"    type="float" />
      <field name="qx_err"    type="float" />
      <field name="qy_err"    type="float" />
      <field name="qz_err"    type="float" />
      <field name="bp_err"    type="float" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578" />
      <field name="bq_err"    type="float" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578" />
      <field name="br_err"    type="float" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578" />
    </message>

    <message name="NPS_SENSORS_SCALED" id="197">
      <field name="acc_x"    type="float" />
      <field name="acc_y"    type="float" />
      <field name="acc_z"    type="float" />
      <field name="mag_x"    type="float" />
      <field name="mag_y"    type="float" />
      <field name="mag_z"    type="float" />
    </message>

    <message name="INS" id="198">
      <field name="ins_x"     type="int32" alt_unit="m"    alt_unit_coef="0.0039063"/>
      <field name="ins_y"     type="int32" alt_unit="m"    alt_unit_coef="0.0039063"/>
      <field name="ins_z"     type="int32" alt_unit="m"    alt_unit_coef="0.0039063"/>
      <field name="ins_xd"    type="int32" alt_unit="m/s"  alt_unit_coef="0.0000019"/>
      <field name="ins_yd"    type="int32" alt_unit="m/s"  alt_unit_coef="0.0000019"/>
      <field name="ins_zd"    type="int32" alt_unit="m/s"  alt_unit_coef="0.0000019"/>
      <field name="ins_xdd"   type="int32" alt_unit="m/s2" alt_unit_coef="0.0009766"/>
      <field name="ins_ydd"   type="int32" alt_unit="m/s2" alt_unit_coef="0.0009766"/>
      <field name="ins_zdd"   type="int32" alt_unit="m/s2" alt_unit_coef="0.0009766"/>
    </message>

    <message name="GPS_ERROR" id="199">
      <field name="x_position"    type="float" unit="m"/>
      <field name="y_position"    type="float" unit="m"/>
      <field name="z_position"    type="float" unit="m"/>
      <field name="x_velocity"    type="float" unit="m"/>
      <field name="y_velocity"    type="float" unit="m"/>
      <field name="z_velocity"    type="float" unit="m"/>
    </message>


  <message name="IMU_GYRO" id="200">
    <field name="gp" type="float" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578"/>
    <field name="gq" type="float" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578"/>
    <field name="gr" type="float" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578"/>
  </message>

  <message name="IMU_MAG" id="201">
    <field name="mx" type="float" />
    <field name="my" type="float" />
    <field name="mz" type="float" />
  </message>

  <message name="IMU_ACCEL" id="202">
    <field name="ax" type="float" unit="m/s-2"/>
    <field name="ay" type="float" unit="m/s-2"/>
    <field name="az" type="float" unit="m/s-2"/>
  </message>

  <message name="IMU_GYRO_RAW" id="203">
    <field name="gp" type="int32" unit="adc"/>
    <field name="gq" type="int32" unit="adc"/>
    <field name="gr" type="int32" unit="adc"/>
  </message>

  <message name="IMU_ACCEL_RAW" id="204">
    <field name="ax" type="int32" unit="adc"/>
    <field name="ay" type="int32" unit="adc"/>
    <field name="az" type="int32" unit="adc"/>
  </message>

  <message name="IMU_MAG_RAW" id="205">
    <field name="mx" type="int32" unit="adc"/>
    <field name="my" type="int32" unit="adc"/>
    <field name="mz" type="int32" unit="adc"/>
  </message>

  <message name="IMU_MAG_SETTINGS" id="206">
    <field name="inclination" type="float" />
    <field name="declination" type="float" />
    <field name="hardiron_x" type="float" />
    <field name="hardiron_y" type="float" />
    <field name="hardiron_z" type="float" />
  </message>

  <message name="IMU_MAG_CURRENT_CALIBRATION" id="207">
    <field name="mx" type="int32" unit="adc"/>
    <field name="my" type="int32" unit="adc"/>
    <field name="mz" type="int32" unit="adc"/>
    <field name="electrical_current" type="int32" unit="mA"/>
  </message>

  <!--208 is free -->

  <message name="IMU_GYRO_LP" id="209">
    <field name="gp" type="float" unit="rad/s"/>
    <field name="gq" type="float" unit="rad/s"/>
    <field name="gr" type="float" unit="rad/s"/>
  </message>

  <message name="IMU_PRESSURE" id="210">
    <field name="p" type="float" unit="pascal"/>
  </message>

  <message name="IMU_HS_GYRO" id="211">
    <field name="axis" type="uint8"/>
    <field name="samples"  type="uint32[]"/>
  </message>

  <message name="TEST_PASSTHROUGH_STATUS" id="212">
    <field name="io_proc_msg_cnt" type="uint32"/>
    <field name="io_proc_err_cnt" type="uint32"/>
    <field name="io_link_msg_cnt" type="uint32"/>
    <field name="io_link_err_cnt" type="uint32"/>
    <field name="rc_status"       type="uint8" values="OK|LOST|REALLY_LOST"/>
  </message>

 <!--213 is free -->
 <!--214 is free -->
 <!--215 is free -->
 <!--216 is free -->
 <!--217 is free -->
 <!--218 is free -->
  <message name="WEATHER" id="219">
    <field name="p_amb" type="float" unit="Pa" alt_unit="mBar" alt_unit_coef="0.01"/>
    <field name="t_amb" type="float" unit="deg C"/>
    <field name="windspeed" type="float" unit="m/s"/>
    <field name="wind_from" type="float" unit="deg"/>
    <field name="humidity" type="float" unit="%"/>
  </message>

  <message name="IMU_TURNTABLE" id="220">
    <field name="omega" type="float" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578"/>
  </message>

  <message name="BARO_RAW" id="221">
    <field name="abs"          type="int32"/>
    <field name="diff"         type="int32"/>
  </message>

 <!--222 is free -->
 <!--223 is free -->
 <!--224 is free -->
 <!--225 is free -->
 <!--226 is free -->

  <message name="TIME" id="227">
    <field name="t" type="uint32"/>
  </message>

 <!--228 is free -->
 <!--229 is free -->
 <!--230 is free -->

  <message name="ROTORCRAFT_STATUS" id="231">
    <field name="link_imu_nb_err" type="uint32"/>
    <field name="blmc_nb_err"  type="uint8"/>
    <field name="rc_status"    type="uint8" values="OK|LOST|REALLY_LOST"/>
    <field name="frame_rate"   type="uint8" unit="Hz"/>
    <field name="gps_status"   type="uint8" values="NO_FIX|NA|NA|3Dfix"/>
    <field name="ap_mode"      type="uint8" values="FAILSAFE|KILL|RATE_DIRECT|ATTITUDE_DIRECT|RATE_RC_CLIMB|ATTITUDE_RC_CLIMB|ATTITUDE_CLIMB|RATE_Z_HOLD|ATTITUDE_Z_HOLD|HOVER_DIRECT|HOVER_CLIMB|HOVER_Z_HOLD|NAV"/>
    <field name="ap_in_flight" type="uint8" values="ON_GROUND|IN_FLIGHT"/>
    <field name="ap_motors_on" type="uint8" values="MOTORS_OFF|MOTORS_ON"/>
    <field name="ap_h_mode"    type="uint8" values="KILL|RATE|ATTITUDE|HOVER|NAV"/>
    <field name="ap_v_mode"    type="uint8" values="KILL|RC_DIRECT|RC_CLIMB|CLIMB|HOVER|NAV"/>
    <field name="vsupply"      type="uint16" unit="decivolt"/>
    <field name="cpu_time"     type="uint16" unit="s"/>
  </message>

   <message name="STATE_FILTER_STATUS" id="232">
     <field name="state_filter_mode" type="uint8" values="UNKNOWN|INIT|ALIGN|OK|GPS_LOST|IMU_LOST|COV_ERR|IR_CONTRAST|ERROR"/>
     <field name="value" type="uint16" />
   </message>

 <!--233 is free -->

  <message name="OPTICFLOW" id="234">
    <field name="flow" type="uint16"></field>
    <field name="ref_alt" type="float"></field>
  </message>

  <message name="VISUALTARGET" id="235">
    <field name="x" type="uint16"></field>
    <field name="y" type="uint16"></field>
  </message>

 <!--236 is free -->
 <!--237 is free -->

  <message name="NPS_POS_LLH" id="238">
    <field name="pprz_lat"   type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
    <field name="lat_geod"   type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
    <field name="lat_geoc"   type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
    <field name="pprz_lon"   type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
    <field name="lon"        type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
    <field name="pprz_alt"   type="float" unit="m"/>
    <field name="alt_geod"   type="float" unit="m"/>
    <field name="agl"        type="float" unit="m"/>
    <field name="asl"        type="float" unit="m"/>
  </message>

  <message name="NPS_RPMS" id="239">
    <field name="front"    type="float" unit="RPM"/>
    <field name="back"     type="float" unit="RPM"/>
    <field name="right"    type="float" unit="RPM"/>
    <field name="left"     type="float" unit="RPM"/>
  </message>

  <message name="NPS_SPEED_POS" id="240">
    <field name="ltpp_xdd" type="float" unit="m/s2"/>
    <field name="ltpp_ydd" type="float" unit="m/s2"/>
    <field name="ltpp_zdd" type="float" unit="m/s2"/>
    <field name="ltpp_xd"  type="float" unit="m/s"/>
    <field name="ltpp_yd"  type="float" unit="m/s"/>
    <field name="ltpp_zd"  type="float" unit="m/s"/>
    <field name="ltpp_x"   type="float" unit="m"/>
    <field name="ltpp_y"   type="float" unit="m"/>
    <field name="ltpp_z"   type="float" unit="m"/>
  </message>

  <message name="NPS_RATE_ATTITUDE" id="241">
    <field name="p"     type="float" unit="deg/s"/>
    <field name="q"     type="float" unit="deg/s"/>
    <field name="r"     type="float" unit="deg/s"/>
    <field name="phi"   type="float" unit="deg"/>
    <field name="theta" type="float" unit="deg"/>
    <field name="psi"   type="float" unit="deg"/>
  </message>

  <message name="NPS_GYRO_BIAS" id="242">
    <field name="bp"     type="float" unit="deg/s"/>
    <field name="bq"     type="float" unit="deg/s"/>
    <field name="br"     type="float" unit="deg/s"/>
  </message>


  <message name="NPS_RANGE_METER" id="243">
    <field name="dist"   type="float" unit="adc"/>
  </message>

  <message name="NPS_WIND" id="244">
    <field name="vx"   type="float" unit="m/s"/>
    <field name="vy"   type="float" unit="m/s"/>
    <field name="vz"   type="float" unit="m/s"/>
  </message>

  <message name="BOOZ_DEBUG_FOO" id="245">
    <field name="ami_stat"   type="uint8"/>
  </message>

  <message name="BOOZ_MAX1167_ERR" id="246">
    <field name="erno"   type="uint8"/>
  </message>

  <message name="PPRZ_DEBUG" id="247">
    <field name="module"   type="uint8"/>
    <field name="errno"   type="uint8"/>
  </message>

  <message name="NPS_ACCEL_LTP" id="248">
    <field name="xdd"   type="float" unit="m/s2"/>
    <field name="ydd"   type="float" unit="m/s2"/>
    <field name="zdd"   type="float" unit="m/s2"/>
  </message>

  <message name="LOOSE_INS_GPS" id="249">
    <field name="status"        type="uint8" values="UNINITIALIZED|STARTUP_TRANSIENTS|LOWPASSING|GPS_LOST|NOMINAL"/>
    <field name="time_running"  type="double" alt_unit="minutes" alt_unit_coef="0.016666666666667"/>
    <field name="q0"            type="double" />
    <field name="q1"            type="double" />
    <field name="q2"            type="double" />
    <field name="q3"            type="double" />
    <field name="phi"           type="double" alt_unit="deg" alt_unit_coef="57.29578"/>
    <field name="theta"         type="double" alt_unit="deg" alt_unit_coef="57.29578"/>
    <field name="psi"           type="double" alt_unit="deg" alt_unit_coef="57.29578"/>
    <field name="north"         type="double" unit="m"  />
    <field name="east"          type="double" unit="m"  />
    <field name="down"          type="double" unit="m"  />
    <field name="v_north"       type="double" unit="m/s"/>
    <field name="v_east"        type="double" unit="m/s"/>
    <field name="v_down"        type="double" unit="m/s"/>
    <field name="est_p"         type="double" alt_unit="deg/s" alt_unit_coef="57.29578"/>
    <field name="est_q"         type="double" alt_unit="deg/s" alt_unit_coef="57.29578"/>
    <field name="est_r"         type="double" alt_unit="deg/s" alt_unit_coef="57.29578"/>
    <field name="gyroBias_x"    type="double" alt_unit="deg/s" alt_unit_coef="57.29578"/>
    <field name="gyroBias_y"    type="double" alt_unit="deg/s" alt_unit_coef="57.29578"/>
    <field name="gyroBias_z"    type="double" alt_unit="deg/s" alt_unit_coef="57.29578"/>
    <field name="imuCallbacks"  type="uint32" />
    <field name="gpsCallbacks"  type="uint32" />
    <field name="baroCallbacks" type="uint32" />
<!--    <field name="mahrs_gbx"      type="float"  alt_unit="deg/s" alt_unit_coef="57.29578"/>
    <field name="mahrs_gby"      type="float"  alt_unit="deg/s" alt_unit_coef="57.29578"/>
    <field name="mahrs_gbz"      type="float"  alt_unit="deg/s" alt_unit_coef="57.29578"/>
    <field name="alpha"   type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3" />
    <field name="beta"    type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3" />
    <field name="airspeed" type="float" unit="m/s" />
    <field name="barometer" type="float" unit="Pa" /> -->
  </message>

  <message name="AFL_COEFFS" id="250">
      <field name="roll_a"   type="float"/>
      <field name="roll_b"  type="float"/>
      <field name="roll_c"  type="float"/>
      <field name="pitch_a"  type="float"/>
      <field name="pitch_b"   type="float"/>
      <field name="pitch_c"   type="float"/>
      <field name="yaw_a"   type="float"/>
      <field name="yaw_b"  type="float"/>
      <field name="yaw_c"  type="float"/>
  </message>

  <message name="BOOZ_ATT_REF_MODEL" id="251">
    <field name="omega_p" type="float" />
    <field name="zeta_p" type="float" />
    <field name="omega_q" type="float" />
    <field name="zeta_q" type="float" />
    <field name="omega_r" type="float" />
    <field name="zeta_r" type="float" />
  </message>

  <message name="BOOZ2_FF_ADAP" id="252">
     <field name="roll" type="float"/>
     <field name="pitch" type="float"/>
     <field name="yaw" type="float"/>
  </message>

  <message name="I2C_ERRORS" id="253">
    <field name="acknowledge_failure_cnt"     type="uint16"/>
    <field name="misplaced_start_or_stop_cnt" type="uint16"/>
    <field name="arbitration_lost_cnt"        type="uint16"/>
    <field name="overrun_or_underrun_cnt"     type="uint16"/>
    <field name="pec_error_in_reception_cnt"  type="uint16"/>
    <field name="timeout_or_tlow_error_cnt"   type="uint16"/>
    <field name="smbus_alert_cnt"             type="uint16"/>
    <field name="unexpected_event_cnt"        type="uint16"/>
    <field name="last_unexpected_event"       type="uint32"/>
    <field name="bus_number"                  type="uint8"/>
  </message>

  <message name="RDYB_TRAJECTORY" id="254">
    <field name="commanded_phi" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
    <field name="commanded_theta" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
    <field name="commanded_psi" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
    <field name="setpoint_x" type="float" unit="m N"/>
    <field name="setpoint_y" type="float" unit="m E"/>
    <field name="setpoint_z" type="float" unit="m D"/>
  </message>

  <message name="HENRY_GNSS" id="255">
    <field name="last_imu_update" type="uint32"/>
    <field name="GPS_time" type="double"/>
    <field name="GPS_solution_valid" type="uint8"/>
    <field name="latitude" type="double" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
    <field name="longitude" type="double" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
    <field name="altitude" type="double" />
    <field name="North" type="double" />
    <field name="East" type="double" />
    <field name="Down" type="double" />
    <field name="SVs_Tracked" type="uint8" />
    <field name="SVs_PVT" type="uint8" />
    <field name="V_North" type="double"/>
    <field name="V_East" type="double"/>
    <field name="V_Down" type="double"/>
  </message>

</class>



<class name="datalink">
 <message name="ACINFO" id="1" link="broadcasted">
  <field name="course" type="int16" unit="decideg"></field>
  <field name="utm_east"  type="int32" unit="cm"></field>
  <field name="utm_north"  type="int32" unit="cm"></field>
  <field name="alt"    type="int32" unit="cm"></field>
  <field name="itow"  type="uint32" unit="ms"></field>
  <field name="speed"  type="uint16" unit="cm/s"></field>
  <field name="climb"  type="int16" unit="cm/s"></field>
  <field name="ac_id" type="uint8"/>
 </message>

 <message name="MOVE_WP" id="2" link="forwarded">
  <field name="wp_id" type="uint8"/>
  <field name="ac_id" type="uint8"/>
  <field name="lat" type="int32" unit="e-7deg"/>
  <field name="lon" type="int32" unit="e-7deg"/>
  <field name="alt" type="int32" unit="cm"/>
 </message>

 <message name="WIND_INFO" id="3" link="forwarded">
  <field name="ac_id" type="uint8"/>
  <field name="pad0" type="uint8"/>
  <field name="east" type="float" unit="m/s"/>
  <field name="north" type="float" unit="m/s"/>
  <field name="airspeed" type="float" unit="m/s"/>
 </message>

 <message name="SETTING" id="4" link="forwarded">
  <field name="index" type="uint8"/>
  <field name="ac_id" type="uint8"/>
  <field name="value" type="float"/>
 </message>

 <message name="BLOCK" id="5" link="forwarded">
  <field name="block_id" type="uint8"/>
  <field name="ac_id" type="uint8"/>
 </message>

 <message name="HITL_UBX" id="6" link="forwarded">
  <field name="class" type="uint8"/>
  <field name="id" type="uint8"/>
  <field name="ac_id" type="uint8"/>
  <field name="ubx_payload" type="uint8[]"/>
 </message>

 <message name="HITL_INFRARED" id="7" link="forwarded">
  <field name="roll" type="int16"/>
  <field name="pitch" type="int16"/>
  <field name="top" type="int16"/>
  <field name="ac_id" type="uint8"/>
 </message>

 <message name="PING" id="8"/>

 <message name="FORMATION_SLOT" id="9" link="broadcasted">
  <field name="ac_id" type="uint8"/>
  <field name="mode" type="uint8"/>
  <field name="slot_east" format="%.1f" type="float" unit="m"/>
  <field name="slot_north" format="%.1f" type="float" unit="m"/>
  <field name="slot_alt" format="%.1f" type="float" unit="m"/>
 </message>

 <message name="FORMATION_STATUS" id="10" link="broadcasted">
  <field name="ac_id" type="uint8"/>
  <field name="leader_id" type="uint8"/>
  <field name="status" type="uint8"/>
 </message>

 <message name="JOYSTICK_RAW" id="11" link="forwarded">
   <field name="ac_id" type="uint8"/>
   <field name="roll" type="int8"/>
   <field name="pitch" type="int8"/>
   <field name="throttle" type="int8"/>
 </message>

 <message name="COMMANDS_RAW" id="12" link="forwarded">
   <field name="ac_id" type="uint8"/>
   <field name="commands" type="int8[]"/>
 </message>

 <message name="DGPS_RAW" id="13" link="forwarded">
   <field name="ac_id" type="uint8"/>
   <field name="length" type="uint8"/>
   <field name="rtcm" type="uint8[]"/>
 </message>

 <message name="GET_SETTING" id="16" link="forwarded">
  <field name="index" type="uint8"/>
  <field name="ac_id" type="uint8"/>
 </message>

  <message name="TCAS_RESOLVE" id="17" link="forwarded">
    <field name="ac_id" type="uint8"/>
    <field name="ac_id_conflict" type="uint8"/>
    <field name="resolve" type="uint8" values="NONE|LEVEL|CLIMB|DESCEND"/>
  </message>

 <message name="WINDTURBINE_STATUS" id="50" link="broadcasted">
   <field name="ac_id" type="uint8"/>
   <field name="tb_id" type="uint8"/>
   <field name="sync_itow"  type="uint32" unit="ms"/>
   <field name="cycle_time" type="uint32" unit="ms"/>
 </message>

  <message name="RC_3CH" id="51" link="broadcasted">
    <field name="throttle_mode" type="uint8" unit="byte_mask"/>
    <field name="roll"  type="int8"/>
    <field name="pitch" type="int8"/>
  </message>

  <message name="RC_4CH" id="52" link="broadcasted">
    <field name="ac_id"       type="uint8"/>
    <field name="mode"        type="uint8"/>
    <field name="throttle"    type="uint8"/>
    <field name="roll"        type="int8"/>
    <field name="pitch"       type="int8"/>
    <field name="yaw"         type="int8"/>
  </message>

  <message name="KITE_COMMAND" id="96">
    <field name="POWER"     type="uint16"/>
    <field name="TURN"      type="uint16"/>
  </message>

  <message name="PAYLOAD_COMMAND" id="97" link="forwarded">
    <field name="ac_id" type="uint8"/>
    <field name="command"     type="uint8[]"/>
  </message>

 <message name="SET_ACTUATOR" id="100" link="forwarded">
   <field name="value" type="uint16"/>
   <field name="no" type="uint8"/>
   <field name="ac_id" type="uint8"/>
 </message>

 <message name="CSC_SERVO_CMD" id="101">
   <field name="servo_1" type="uint16"/>
   <field name="servo_2" type="uint16"/>
   <field name="servo_3" type="uint16"/>
   <field name="servo_4" type="uint16"/>
 </message>

 <message name="BOOZ2_FMS_COMMAND" id="149" link="forwarded">
   <field name="h_mode" type="uint8" values="KILL|RATE|ATTITUDE|HOVER|NAV"/>
   <field name="v_mode" type="uint8" values="KILL|DIRECT|CLIMB_RC|CLIMB|ALT|NAV"/>
   <field name="v_sp"   type="int32"/>
   <field name="h_sp_1" type="int32"/>
   <field name="h_sp_2" type="int32"/>
   <field name="h_sp_3" type="int32"/>
   <field name="ac_id"  type="uint8"/>
 </message>

 <message name="BOOZ_NAV_STICK" id="150" link="forwarded">
   <field name="ac_id" type="uint8"/>
   <field name="vx_sp" type="int8"/>
   <field name="vy_sp" type="int8"/>
   <field name="vz_sp" type="int8"/>
   <field name="r_sp"  type="int8"/>
 </message>

 <message name="EXTERNAL_FILTER_SOLUTION" id="151" link="forwarded">
   <field name="ac_id"  type="uint8"/>
   <field name="status" type="uint8"/>
   <field name="x"      type="float" unit="m"/>
   <field name="xd"     type="float" unit="m"/>
   <field name="y"      type="float" unit="m"/>
   <field name="yd"     type="float" unit="m"/>
 </message>

 <message name="ROTORCRAFT_CAM_STICK" id="152" link="forwarded">
   <field name="ac_id" type="uint8"/>
   <field name="tilt" type="int8"/>
   <field name="pan" type="int8"/>
 </message>

</class>




<class name="ground">
  <message name="NEW_AIRCRAFT" id="1">
    <field name="ac_id" type="string"/>
  </message>

  <message name="AIRCRAFT_DIE" id="2">
    <field name="ac_id" type="string"/>
  </message>

  <message name="AIRCRAFTS" id="3">
    <field name="ac_list" type="string" format="csv"/>
  </message>

  <message name="AIRCRAFTS_REQ" id="4">
  </message>

  <message name="SELECTED" id="5">
    <field name="aircraft_id" type="string"/>
  </message>

  <message name="SELECTED_REQ" id="6">
  </message>

  <message name="WIND_CLEAR" id="7">
    <field name="ac_id" type="string"/>
  </message>

  <message name="WIND" id="8">
    <field name="ac_id" type="string"/>
    <field name="dir" type="float"   unit="deg_wind"/>
    <field name="wspeed" type="float" unit="m/s"/>
    <field name="mean_aspeed" type="float" unit="m/s"/>
    <field name="stddev" type="float" unit="m/s"/>
  </message>

  <message name="CONFIG_REQ" id="9">
    <field name="ac_id" type="string"/>
  </message>

  <message name="CONFIG" id="10">
    <field name="ac_id" type="string"/>
    <field name="flight_plan" type="string" unit="url"/>
    <field name="airframe" type="string" unit="url"/>
    <field name="radio" type="string" unit="url"/>
    <field name="settings" type="string" unit="url"/>
    <field name="default_gui_color" type="string"/>
    <field name="ac_name" type="string"/>
  </message>

  <message name="FLIGHT_PARAM" id="11">
    <field name="ac_id"  type="string"/>
    <field name="roll"   type="float" unit="deg"/>
    <field name="pitch"  type="float" unit="deg"/>
    <field name="heading" type="float" unit="deg"/>
    <field name="lat"    type="float" unit="deg"/>
    <field name="long"   type="float" unit="deg"/>
    <field name="speed"  type="float" unit="m/s"/>
    <field name="course" type="float" unit="deg" format="%.1f"/>
    <field name="alt"    type="float" unit="m"/>
    <field name="climb"  type="float" unit="m/s"/>
    <field name="agl"    type="float" unit="m"/>
    <field name="unix_time"    type="float" unit="s (Unix time)"/>
    <field name="itow"   type="uint32" unit="ms"/>
  </message>

  <message name="AP_STATUS" id="12">
    <field name="ac_id" type="string"/>
    <field name="ap_mode" type="string" values="MANUAL|AUTO1|AUTO2|HOME|FAILSAFE"/>
    <field name="lat_mode" type="string" values="MANUAL|ROLL_RATE|ROLL|COURSE"/>
    <field name="horiz_mode" type="string" values="WAYPOINT|ROUTE|CIRCLE"/>
    <field name="gaz_mode" type="string" values="MANUAL|THROTTLE|CLIMB|ALT"/>
    <field name="gps_mode" type="string" values="NOFIX|DRO|2D|3D|GPSDRO"/>
    <field name="kill_mode" type="string" values="OFF|ON"/>
    <field name="flight_time" type="uint32" />
    <field name="state_filter_mode" type="string" values="UNKNOWN|INIT|ALIGN|OK|GPS_LOST|IMU_LOST|COV_ERR|IR_CONTRAST|ERROR"/>
  </message>

  <message name="NAV_STATUS" id="13">
    <field name="ac_id" type="string"/>
    <field name="cur_block"   type="uint8"/>
    <field name="cur_stage"   type="uint8"/>
    <field name="block_time"  type="uint32"/>
    <field name="stage_time"  type="uint32"/>
    <field name="target_lat" type="float" unit="deg"/>
    <field name="target_long" type="float" unit="deg"/>
    <field name="target_climb"   type="float" unit="m/s"/>
    <field name="target_alt"     type="float" unit="m"/>
    <field name="target_course" type="float" unit="deg"/>
    <field name="dist_to_wp" type="float" unit="m"/>
  </message>

  <message name="CAM_STATUS" id="14">
     <field name="ac_id" type="string"/>
     <field name="cam_lat" type="float" unit="deg"/>
     <field name="cam_long" type="float" unit="deg"/>
     <field name="cam_target_lat" type="float" unit="deg"/>
     <field name="cam_target_long" type="float" unit="deg"/>
  </message>

  <message name="ENGINE_STATUS" id="15">
    <field name="ac_id" type="string"/>
    <field name="throttle" type="float" unit="%"  format="%.1f"/>
    <field name="throttle_accu" type="float" format="%.1f"/>
    <field name="rpm"      type="float" unit="rpm"  format="%.1f"/>
    <field name="temp"     type="float" unit="celcius"/>
    <field name="bat"      type="float" unit="V"/>
    <field name="amp"      type="float" unit="A"/>
    <field name="energy"   type="uint16" unit="Wh"/>
  </message>

  <message name="SVSINFO" id="16">
      <field name="ac_id" type="string"/>
      <field name="pacc"  type="uint16" unit="cm"/>
      <field name="svid"  type="string" format="csv"/>
      <field name="flags" type="string" format="csv"/>
      <field name="qi"    type="string" format="csv" values="IDLE|SEARCH|SEARCH|UNUSABLE|CODELOCK|CARRIERLOCK|CARRIERLOCK|RECEIVING"/>
      <field name="cno"   type="string" format="csv" unit="dbHz"/>
      <field name="elev"  type="string" format="csv" unit="deg"/>
      <field name="azim"  type="string" format="csv" unit="deg"/>
      <field name="msg_age"  type="string" format="csv" unit="s"/>
  </message>

  <message name="FLY_BY_WIRE" id="17">
    <field name="ac_id" type="string"/>
    <field name="rc_status" type="string" values="OK|LOST|REALLY_LOST"/>
    <field name="rc_mode" type="string" values="MANUAL|AUTO|FAILSAFE"/>
    <field name="rc_rate" type="uint8" unit="Hz"/>
  </message>

  <message name="INFLIGH_CALIB" id="19">
    <field name="ac_id" type="string"/>
    <field name="if_mode" type="string" values="OFF|DOWN|UP"></field>
    <field name="if_value1" type="float"></field>
    <field name="if_value2" type="float"></field>
  </message>

  <message name="WORLD_ENV" id="20">
    <field name="wind_east" type="float" unit="m/s" format="%.1f"/>
    <field name="wind_north" type="float" unit="m/s" format="%.1f"/>
    <field name="wind_up" type="float" unit="m/s" format="%.1f"/>
    <field name="ir_contrast" type="float"/>
    <field name="time_scale" type="float"/>
    <field name="gps_availability" type="uint8" values="OFF|ON"/>
  </message>

  <message name="WORLD_ENV_REQ" id="21">
    <field name="lat"  type="float" unit="deg"></field>
    <field name="long" type="float" unit="deg"></field>
    <field name="alt"  type="float" unit="m"></field>
    <field name="east" type="float" unit="m"></field> <!-- local ref. -->
    <field name="north" type="float" unit="m"></field> <!-- local ref. -->
    <field name="up"   type="float" unit="m"></field> <!-- local ref. -->
  </message>

  <message name="CIRCLE_STATUS" id="22">
     <field name="ac_id" type="string"/>
     <field name="circle_lat" type="float" unit="deg"/>
     <field name="circle_long" type="float" unit="deg"/>
     <field name="radius" type="int16" unit="m"/>
     </message>

   <message name="SEGMENT_STATUS" id="23">
      <field name="ac_id" type="string"/>
      <field name="segment1_lat" type="float" unit="deg"/>
      <field name="segment1_long" type="float" unit="deg"/>
      <field name="segment2_lat" type="float" unit="deg"/>
      <field name="segment2_long" type="float" unit="deg"/>
  </message>

 <message name="MOVE_WAYPOINT" id="24">
  <field name="ac_id" type="string"/>
  <field name="wp_id" type="uint8"/>
  <field name="lat"  type="float" unit="deg"></field>
  <field name="long"  type="float" unit="deg"></field>
  <field name="alt"    type="float" unit="m"></field>
 </message>

 <message name="GET_DL_SETTING" id="25">
  <field name="ac_id" type="string"/>
  <field name="index" type="uint8"/>
 </message>

 <message name="DL_SETTING" id="26">
  <field name="ac_id" type="string"/>
  <field name="index" type="uint8"/>
  <field name="value" type="float"/>
 </message>

 <message name="JUMP_TO_BLOCK" id="27">
  <field name="ac_id" type="string"/>
  <field name="block_id" type="uint8"/>
 </message>

 <message name="DL_VALUES" id="28">
  <field name="ac_id" type="string"/>
  <field name="values" type="string" format="csv"/>
 </message>

 <message name="RAW_DATALINK" id="29">
  <field name="ac_id" type="string"/>
  <field name="message" type="string" format=";sv"/>
 </message>

 <message name="WAYPOINT_MOVED" id="30">
    <field name="ac_id" type="string"/>
    <field name="wp_id" type="uint8"/>
    <field name="lat"  type="float" unit="deg"></field>
    <field name="long"  type="float" unit="deg"></field>
    <field name="alt" type="float" unit="m"></field>
 </message>

  <message name="SURVEY_STATUS" id="31">
    <field name="ac_id" type="string"/>
    <field name="east_long" type="float" unit="deg"/>
    <field name="north_lat" type="float" unit="deg"/>
    <field name="west_long" type="float" unit="deg"/>
    <field name="south_lat" type="float" unit="deg"/>
  </message>

  <message name="TELEMETRY_STATUS" id="32">
    <field name="ac_id" type="string"/>
    <field name="time_since_last_msg" type="float" unit="s"/>
  </message>

  <message name="TELEMETRY_ERROR" id="33">
    <field name="ac_id" type="string"/>
    <field name="message" type="string"/>
  </message>

  <message name="PLUMES" id="100">
    <field name="ids" type="string" format="csv"/>
    <field name="lats" type="string" format="csv"/>
    <field name="longs" type="string" format="csv"/>
    <field name="values" type="string" format="csv"/>
  </message>
</class>


  <class name="airborne">
    <message name="TEST_ABI" id="0">
      <field name="value" type="int8_t"/>
      <field name="boo" type="struct abi_boo"/>
      <field name="vect" type="struct Int32Vect3 *"/>
    </message>
  </class>


  <class name="alert">
    <message name="BAT_LOW" id="1">
      <field name="ac_id" type="string"/>
      <field name="level" type="string" values="CATASTROPHIC|CRITIC|WARNING"/>
      <field name="value" type="float"/>
    </message>
    <message name="AIR_PROX" id="2">
      <field name="ac_id" type="string"/>
      <field name="level" type="string" values="CATASTROPHIC|CRITIC|WARNING"/>
    </message>
  </class>



  <class name="DIA"> <!-- data in audio -->
    <message name="NAV_INFO" id="1">
      <field name="unix_time" type="float"/>

      <field name="lat"   type="float" unit="deg"/>
      <field name="long"  type="float" unit="deg"/>
      <field name="alt"   type="uint16" unit="m"/>

      <field name="course" type="uint16" unit="deg"/>
      <field name="speed" type="uint16" unit="cm/s"/>

      <field name="cam_roll"  type="int16" unit="deg"/>
      <field name="cam_pitch" type="int16" unit="deg"/>
    </message>
  </class>



</protocol>
