From 1d482d466676f7c540887b4df57e1a36735d4fad Mon Sep 17 00:00:00 2001
From: Felix Ruess <felix.ruess@gmail.com>
Date: Tue, 7 Jul 2015 19:43:58 +0200
Subject: [PATCH] [conf] remove default_ardrone.xml telemetry file

use default_rotorcraft.xml instead...

basically we now have two extra ARDrone specific messages in the default_rotorcraft file (ARDRONE_NAVDATA and OPTIC_FLOW_EST)
but they are only sent if a publisher is present for it... so it doesn't really hurt...
---
 conf/airframes/TUDelft/IMAV2013/conf.xml |  32 ++---
 conf/conf_example.xml                    |   2 +-
 conf/conf_tests.xml                      |   4 +-
 conf/telemetry/default_ardrone.xml       | 146 -----------------------
 conf/telemetry/default_rotorcraft.xml    |  12 +-
 5 files changed, 30 insertions(+), 166 deletions(-)
 delete mode 100644 conf/telemetry/default_ardrone.xml

diff --git a/conf/airframes/TUDelft/IMAV2013/conf.xml b/conf/airframes/TUDelft/IMAV2013/conf.xml
index 14d504ce77..aa0994d26c 100644
--- a/conf/airframes/TUDelft/IMAV2013/conf.xml
+++ b/conf/airframes/TUDelft/IMAV2013/conf.xml
@@ -4,7 +4,7 @@
    ac_id="181"
    airframe="airframes/TUDelft/IMAV2013/ardrone2.xml"
    radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_ardrone.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/TUDelft/IMAV2013_rotorcraft.xml"
    settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml settings/modules/flight_time.xml"
    gui_color="red"
@@ -14,7 +14,7 @@
    ac_id="182"
    airframe="airframes/TUDelft/IMAV2013/ardrone2.xml"
    radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_ardrone.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/TUDelft/IMAV2013_rotorcraft.xml"
    settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml settings/modules/flight_time.xml"
    gui_color="red"
@@ -24,7 +24,7 @@
    ac_id="183"
    airframe="airframes/TUDelft/IMAV2013/ardrone2.xml"
    radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_ardrone.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/TUDelft/IMAV2013_rotorcraft.xml"
    settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml settings/modules/flight_time.xml"
    gui_color="red"
@@ -34,7 +34,7 @@
    ac_id="184"
    airframe="airframes/TUDelft/IMAV2013/ardrone2.xml"
    radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_ardrone.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/TUDelft/IMAV2013_rotorcraft.xml"
    settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml settings/modules/flight_time.xml"
    gui_color="red"
@@ -44,7 +44,7 @@
    ac_id="185"
    airframe="airframes/TUDelft/IMAV2013/ardrone2.xml"
    radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_ardrone.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/TUDelft/IMAV2013_rotorcraft.xml"
    settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml settings/modules/flight_time.xml"
    gui_color="red"
@@ -54,7 +54,7 @@
    ac_id="186"
    airframe="airframes/TUDelft/IMAV2013/ardrone2.xml"
    radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_ardrone.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/TUDelft/IMAV2013_rotorcraft.xml"
    settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml settings/modules/flight_time.xml"
    gui_color="red"
@@ -64,7 +64,7 @@
    ac_id="187"
    airframe="airframes/TUDelft/IMAV2013/ardrone2.xml"
    radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_ardrone.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/TUDelft/IMAV2013_rotorcraft.xml"
    settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml settings/modules/flight_time.xml"
    gui_color="red"
@@ -74,7 +74,7 @@
    ac_id="188"
    airframe="airframes/TUDelft/IMAV2013/ardrone2.xml"
    radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_ardrone.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/TUDelft/IMAV2013_rotorcraft.xml"
    settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml settings/modules/flight_time.xml"
    gui_color="red"
@@ -84,7 +84,7 @@
    ac_id="189"
    airframe="airframes/TUDelft/IMAV2013/ardrone2.xml"
    radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_ardrone.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/TUDelft/IMAV2013_rotorcraft.xml"
    settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml settings/modules/flight_time.xml"
    gui_color="red"
@@ -94,7 +94,7 @@
    ac_id="190"
    airframe="airframes/TUDelft/IMAV2013/ardrone2.xml"
    radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_ardrone.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/TUDelft/IMAV2013_rotorcraft.xml"
    settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml settings/modules/flight_time.xml"
    gui_color="red"
@@ -104,7 +104,7 @@
    ac_id="191"
    airframe="airframes/TUDelft/IMAV2013/ardrone2.xml"
    radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_ardrone.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/TUDelft/IMAV2013_rotorcraft.xml"
    settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml settings/modules/flight_time.xml"
    gui_color="red"
@@ -114,7 +114,7 @@
    ac_id="192"
    airframe="airframes/TUDelft/IMAV2013/ardrone2.xml"
    radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_ardrone.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/TUDelft/IMAV2013_rotorcraft.xml"
    settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml settings/modules/flight_time.xml"
    gui_color="red"
@@ -124,7 +124,7 @@
    ac_id="193"
    airframe="airframes/TUDelft/IMAV2013/ardrone2.xml"
    radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_ardrone.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/TUDelft/IMAV2013_rotorcraft.xml"
    settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml settings/modules/flight_time.xml"
    gui_color="red"
@@ -134,7 +134,7 @@
    ac_id="194"
    airframe="airframes/TUDelft/IMAV2013/ardrone2.xml"
    radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_ardrone.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/TUDelft/IMAV2013_rotorcraft.xml"
    settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml settings/modules/flight_time.xml"
    gui_color="red"
@@ -144,7 +144,7 @@
    ac_id="195"
    airframe="airframes/TUDelft/IMAV2013/ardrone2.xml"
    radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_ardrone.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/TUDelft/IMAV2013_rotorcraft_vision.xml"
    settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml settings/modules/flight_time.xml"
    gui_color="red"
@@ -154,7 +154,7 @@
    ac_id="196"
    airframe="airframes/TUDelft/IMAV2013/ardrone2.xml"
    radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_ardrone.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/TUDelft/IMAV2013_rotorcraft.xml"
    settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml settings/modules/flight_time.xml"
    gui_color="red"
diff --git a/conf/conf_example.xml b/conf/conf_example.xml
index 85a0752b5c..d459b40965 100644
--- a/conf/conf_example.xml
+++ b/conf/conf_example.xml
@@ -202,7 +202,7 @@
    ac_id="201"
    airframe="airframes/ardrone2.xml"
    radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_ardrone.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml"
    settings_modules="modules/gps_ubx_ucenter.xml"
diff --git a/conf/conf_tests.xml b/conf/conf_tests.xml
index 9c69951320..7885abbca4 100644
--- a/conf/conf_tests.xml
+++ b/conf/conf_tests.xml
@@ -323,7 +323,7 @@
    ac_id="2"
    airframe="airframes/ardrone2_opticflow_hover.xml"
    radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_ardrone.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml"
    settings_modules="modules/gps_ubx_ucenter.xml modules/cv_opticflow.xml"
@@ -334,7 +334,7 @@
    ac_id="201"
    airframe="airframes/ardrone2.xml"
    radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_ardrone.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml"
    settings_modules="modules/gps_ubx_ucenter.xml"
diff --git a/conf/telemetry/default_ardrone.xml b/conf/telemetry/default_ardrone.xml
deleted file mode 100644
index 9006107b58..0000000000
--- a/conf/telemetry/default_ardrone.xml
+++ /dev/null
@@ -1,146 +0,0 @@
-<?xml version="1.0"?>
-<!DOCTYPE telemetry SYSTEM "telemetry.dtd">
-<telemetry>
-
-
-  <process name="Main">
-
-    <mode name="default" key_press="d">
-      <message name="AUTOPILOT_VERSION"      period="11.1"/>
-      <message name="DL_VALUE"               period="1.1"/>
-      <message name="ROTORCRAFT_STATUS"      period="1.2"/>
-      <message name="ROTORCRAFT_FP"          period="0.25"/>
-      <message name="ALIVE"                  period="2.1"/>
-      <message name="INS_REF"                period="5.1"/>
-      <message name="ROTORCRAFT_NAV_STATUS"  period="1.6"/>
-      <message name="WP_MOVED"               period="1.3"/>
-      <message name="ROTORCRAFT_CAM"         period="1."/>
-      <message name="GPS_INT"                period=".25"/>
-      <message name="INS"                    period=".25"/>
-      <message name="I2C_ERRORS"             period="4.1"/>
-      <message name="UART_ERRORS"            period="3.1"/>
-      <message name="DATALINK_REPORT"        period="5.1"/>
-      <message name="STATE_FILTER_STATUS"    period="3.2"/>
-      <message name="OPTIC_FLOW_EST"         period="0.25"/>
-    </mode>
-
-    <mode name="ppm">
-      <message name="DL_VALUE"                 period="0.5"/>
-      <message name="ALIVE"                    period="2.1"/>
-      <message name="ROTORCRAFT_CMD"           period=".05"/>
-      <message name="PPM"                      period="0.5"/>
-      <message name="RC"                       period="0.5"/>
-      <message name="ROTORCRAFT_RADIO_CONTROL" period="0.5"/>
-      <message name="ROTORCRAFT_STATUS"        period="1"/>
-    </mode>
-
-    <mode name="raw_sensors">
-      <message name="ROTORCRAFT_STATUS" period="1.2"/>
-      <message name="DL_VALUE"          period="0.5"/>
-      <message name="ALIVE"             period="2.1"/>
-      <message name="IMU_ACCEL_RAW"     period=".05"/>
-      <message name="IMU_GYRO_RAW"      period=".05"/>
-      <message name="IMU_MAG_RAW"       period=".05"/>
-      <message name="BARO_RAW"          period=".1"/>
-      <message name="ARDRONE_NAVDATA" period=".05"/>
-    </mode>
-
-    <mode name="scaled_sensors">
-      <message name="ROTORCRAFT_STATUS"      period="1.2"/>
-      <message name="DL_VALUE"               period="0.5"/>
-      <message name="ALIVE"                  period="2.1"/>
-      <message name="IMU_GYRO_SCALED"        period=".075"/>
-      <message name="IMU_ACCEL_SCALED"       period=".075"/>
-      <message name="IMU_MAG_SCALED"         period=".1"/>
-    </mode>
-
-    <mode name="ahrs">
-      <message name="ROTORCRAFT_STATUS"  period="1.2"/>
-      <message name="DL_VALUE"           period="0.5"/>
-      <message name="ALIVE"              period="2.1"/>
-      <message name="FILTER_ALIGNER"     period="2.2"/>
-      <message name="FILTER"             period=".5"/>
-      <message name="AHRS_GYRO_BIAS_INT" period="0.08"/>
-      <message name="AHRS_QUAT_INT"   period=".25"/>
-<!--      <message name="AHRS_EULER_INT"     period=".1"/> -->
-<!--      <message name="AHRS_RMAT_INT"   period=".5"/> -->
-    </mode>
-
-    <mode name="rate_loop">
-      <message name="ROTORCRAFT_STATUS" period="1.2"/>
-      <message name="DL_VALUE"          period="0.5"/>
-      <message name="ALIVE"             period="2.1"/>
-      <message name="RATE_LOOP"         period=".02"/>
-    </mode>
-
-    <mode name="attitude_setpoint_viz" key_press="v">
-      <message name="ROTORCRAFT_STATUS" period="1.2"/>
-      <message name="DL_VALUE"          period="0.5"/>
-      <message name="ALIVE"             period="0.9"/>
-      <message name="ROTORCRAFT_RADIO_CONTROL" period="0.1"/>
-      <message name="AHRS_REF_QUAT" period="0.05"/>
-    </mode>
-
-    <mode name="attitude_loop" key_press="a">
-      <message name="ROTORCRAFT_STATUS" period="1.2"/>
-      <message name="DL_VALUE"          period="0.5"/>
-      <message name="ALIVE"             period="0.9"/>
-      <message name="STAB_ATTITUDE"     period=".03"/>
-      <message name="STAB_ATTITUDE_REF" period=".03"/>
-    </mode>
-
-    <mode name="vert_loop" key_press="v">
-      <message name="ROTORCRAFT_STATUS" period="1.2"/>
-      <message name="DL_VALUE"          period="0.5"/>
-      <message name="ALIVE"             period="0.9"/>
-      <message name="VFF_EXTENDED"      period=".04"/>
-      <message name="VERT_LOOP"         period=".05"/>
-      <message name="INS_Z"             period=".05"/>
-      <message name="INS"               period=".11"/>
-      <message name="INS_REF"           period="5.1"/>
-    </mode>
-
-    <mode name="h_loop" key_press="h">
-      <message name="ALIVE"                 period="0.9"/>
-      <message name="HOVER_LOOP"            period="0.062"/>
-      <message name="GUIDANCE_H_REF"        period="0.062"/>
-      <message name="STAB_ATTITUDE"         period="0.4"/>
-      <!--<message name="STAB_ATTITUDE_REF" period="0.4"/>-->
-      <message name="ROTORCRAFT_FP"         period="0.8"/>
-      <message name="ROTORCRAFT_STATUS"     period="1.2"/>
-      <message name="ROTORCRAFT_NAV_STATUS" period="1.6"/>
-      <message name="INS_REF"               period="5.1"/>
-      <!-- HFF messages are only sent if USE_HFF -->
-      <message name="HFF"                   period=".05"/>
-	  <message name="HFF_GPS"               period=".03"/>
-      <message name="HFF_DBG"               period=".2"/>
-    </mode>
-
-    <mode name="aligner">
-      <message name="ALIVE"             period="0.9"/>
-      <message name="FILTER_ALIGNER"    period="0.02"/>
-    </mode>
-
-    <mode name="tune_hover">
-      <message name="DL_VALUE"          period="1.1"/>
-      <message name="ROTORCRAFT_STATUS" period="1.2"/>
-      <message name="ALIVE"             period="2.1"/>
-      <message name="GUIDANCE_H_INT"    period="0.05"/>
-      <!--<message name="ROTORCRAFT_TUNE_HOVER"    period=".1"/>-->
-      <!-- <message name="GPS_INT"               period=".20"/> -->
-      <!--<message name="INS2"              period=".05"/>
-      <message name="INS3"              period=".20"/>-->
-      <message name="INS_REF"           period="5.1"/>
-    </mode>
-
-    <mode name="mag_current_calibration">
-      <message name="ROTORCRAFT_STATUS" period="1.2"/>
-      <message name="DL_VALUE"          period="0.5"/>
-      <message name="ALIVE"             period="2.1"/>
-      <message name="IMU_MAG_CURRENT_CALIBRATION"   period="0.05"/>
-    </mode>
-
-  </process>
-
-</telemetry>
-
diff --git a/conf/telemetry/default_rotorcraft.xml b/conf/telemetry/default_rotorcraft.xml
index eb714ad745..485f1e5703 100644
--- a/conf/telemetry/default_rotorcraft.xml
+++ b/conf/telemetry/default_rotorcraft.xml
@@ -25,6 +25,7 @@
       <message name="STATE_FILTER_STATUS"    period="3.2"/>
       <message name="AIR_DATA"               period="1.3"/>
       <message name="SURVEY"                 period="2.5"/>
+      <message name="OPTIC_FLOW_EST"         period="0.25"/>
     </mode>
 
     <mode name="ppm">
@@ -46,6 +47,7 @@
       <message name="IMU_GYRO_RAW"      period=".05"/>
       <message name="IMU_MAG_RAW"       period=".05"/>
       <message name="BARO_RAW"          period=".1"/>
+      <message name="ARDRONE_NAVDATA" period=".05"/>
     </mode>
 
     <mode name="scaled_sensors">
@@ -101,7 +103,8 @@
       <message name="VFF"               period=".05"/>
       <message name="VFF_EXTENDED"      period=".05"/>
       <message name="VERT_LOOP"         period=".05"/>
-      <message name="INS"               period=".05"/>
+      <message name="INS_Z"             period=".05"/>
+      <message name="INS"               period=".11"/>
       <message name="INS_REF"           period="5.1"/>
     </mode>
 
@@ -138,6 +141,13 @@
       <message name="INS_REF"           period="5.1"/>
     </mode>
 
+    <mode name="mag_current_calibration">
+      <message name="ROTORCRAFT_STATUS" period="1.2"/>
+      <message name="DL_VALUE"          period="0.5"/>
+      <message name="ALIVE"             period="2.1"/>
+      <message name="IMU_MAG_CURRENT_CALIBRATION"   period="0.05"/>
+    </mode>
+
   </process>
 
 </telemetry>