From 45d08b6f7f7cc9a8902dbdbd403e713df407eb85 Mon Sep 17 00:00:00 2001
From: Felix Ruess <felix.ruess@gmail.com>
Date: Sun, 29 Nov 2015 21:44:16 +0100
Subject: [PATCH] [telemetry] cleanup

---
 conf/telemetry/default_rotorcraft_mavlink.xml | 158 ++++++++++++++++++
 conf/telemetry/fixedwing_flight_recorder.xml  |   2 +-
 conf/telemetry/hitl_fixedwing.xml             |  33 ----
 conf/telemetry/telemetry_test_passthrough.xml |  23 ---
 sw/airborne/boards/bebop/actuators.c          |   2 +-
 5 files changed, 160 insertions(+), 58 deletions(-)
 create mode 100644 conf/telemetry/default_rotorcraft_mavlink.xml
 delete mode 100644 conf/telemetry/hitl_fixedwing.xml
 delete mode 100644 conf/telemetry/telemetry_test_passthrough.xml

diff --git a/conf/telemetry/default_rotorcraft_mavlink.xml b/conf/telemetry/default_rotorcraft_mavlink.xml
new file mode 100644
index 0000000000..0e06bfd170
--- /dev/null
+++ b/conf/telemetry/default_rotorcraft_mavlink.xml
@@ -0,0 +1,158 @@
+<?xml version="1.0"?>
+<!DOCTYPE telemetry SYSTEM "telemetry.dtd">
+<telemetry>
+
+  <process name="Mavlink" type="mavlink">
+    <mode name="default">
+      <message name="HEARTBEAT"      period="1.0"/>
+      <message name="SYS_STATUS"     period="1.2"/>
+    </mode>
+  </process>
+
+  <process name="Main">
+
+    <mode name="default" key_press="d">
+      <message name="AUTOPILOT_VERSION"      period="11.1"/>
+      <message name="DL_VALUE"               period="1.1"/>
+      <message name="ROTORCRAFT_STATUS"      period="1.2"/>
+      <message name="ROTORCRAFT_FP"          period="0.25"/>
+      <message name="ALIVE"                  period="2.1"/>
+      <message name="INS_REF"                period="5.1"/>
+      <message name="ROTORCRAFT_NAV_STATUS"  period="1.6"/>
+      <message name="WP_MOVED"               period="1.3"/>
+      <message name="ROTORCRAFT_CAM"         period="1."/>
+      <message name="GPS_INT"                period=".25"/>
+      <message name="INS"                    period=".25"/>
+      <message name="I2C_ERRORS"             period="4.1"/>
+      <message name="UART_ERRORS"            period="3.1"/>
+      <message name="SUPERBITRF"             period="3"/>
+      <message name="ENERGY"                 period="2.5"/>
+      <message name="DATALINK_REPORT"        period="5.1"/>
+      <message name="STATE_FILTER_STATUS"    period="3.2"/>
+      <message name="AIR_DATA"               period="1.3"/>
+      <message name="SURVEY"                 period="2.5"/>
+      <message name="OPTIC_FLOW_EST"         period="0.25"/>
+      <message name="VECTORNAV_INFO"      period="0.5"/>
+    </mode>
+
+    <mode name="ppm">
+      <message name="DL_VALUE"                 period="0.5"/>
+      <message name="ALIVE"                    period="2.1"/>
+      <message name="ROTORCRAFT_CMD"           period=".05"/>
+      <message name="PPM"                      period="0.5"/>
+      <message name="RC"                       period="0.5"/>
+      <message name="ROTORCRAFT_RADIO_CONTROL" period="0.5"/>
+      <message name="ROTORCRAFT_STATUS"        period="1"/>
+      <message name="BEBOP_ACTUATORS"          period="0.2"/>
+    </mode>
+
+    <mode name="raw_sensors">
+      <message name="ROTORCRAFT_STATUS" period="1.2"/>
+      <message name="DL_VALUE"          period="0.5"/>
+      <message name="ALIVE"             period="2.1"/>
+      <message name="IMU_ACCEL_RAW"     period=".05"/>
+      <message name="IMU_GYRO_RAW"      period=".05"/>
+      <message name="IMU_MAG_RAW"       period=".05"/>
+      <message name="BARO_RAW"          period=".1"/>
+      <message name="ARDRONE_NAVDATA" period=".05"/>
+    </mode>
+
+    <mode name="scaled_sensors">
+      <message name="ROTORCRAFT_STATUS"      period="1.2"/>
+      <message name="DL_VALUE"               period="0.5"/>
+      <message name="ALIVE"                  period="2.1"/>
+      <message name="IMU_GYRO_SCALED"        period=".075"/>
+      <message name="IMU_ACCEL_SCALED"       period=".075"/>
+      <message name="IMU_MAG_SCALED"         period=".1"/>
+    </mode>
+
+    <mode name="ahrs">
+      <message name="ROTORCRAFT_STATUS"  period="1.2"/>
+      <message name="DL_VALUE"           period="0.5"/>
+      <message name="ALIVE"              period="2.1"/>
+      <message name="FILTER_ALIGNER"     period="2.2"/>
+      <message name="FILTER"             period=".5"/>
+      <message name="GEO_MAG"            period="5."/>
+      <message name="AHRS_GYRO_BIAS_INT" period="0.08"/>
+      <message name="AHRS_QUAT_INT"      period=".25"/>
+      <message name="AHRS_EULER_INT"     period=".1"/>
+      <message name="AHRS_EULER"         period=".1"/>
+<!--      <message name="AHRS_RMAT_INT"   period=".5"/> -->
+    </mode>
+
+    <mode name="rate_loop">
+      <message name="ROTORCRAFT_STATUS" period="1.2"/>
+      <message name="DL_VALUE"          period="0.5"/>
+      <message name="ALIVE"             period="2.1"/>
+      <message name="RATE_LOOP"         period=".02"/>
+    </mode>
+
+    <mode name="attitude_setpoint_viz" key_press="v">
+      <message name="ROTORCRAFT_STATUS" period="1.2"/>
+      <message name="DL_VALUE"          period="0.5"/>
+      <message name="ALIVE"             period="0.9"/>
+      <message name="ROTORCRAFT_RADIO_CONTROL" period="0.1"/>
+      <message name="AHRS_REF_QUAT" period="0.05"/>
+    </mode>
+
+    <mode name="attitude_loop" key_press="a">
+      <message name="ROTORCRAFT_STATUS" period="1.2"/>
+      <message name="DL_VALUE"          period="0.5"/>
+      <message name="ALIVE"             period="0.9"/>
+      <message name="STAB_ATTITUDE_INT"     period=".03"/>
+      <message name="STAB_ATTITUDE_REF_INT" period=".03"/>
+      <message name="STAB_ATTITUDE_FLOAT"     period=".03"/>
+      <message name="STAB_ATTITUDE_REF_FLOAT" period=".03"/>
+      <message name="STAB_ATTITUDE_INDI"     period=".25"/>
+    </mode>
+
+    <mode name="vert_loop" key_press="v">
+      <message name="ROTORCRAFT_STATUS" period="1.2"/>
+      <message name="DL_VALUE"          period="0.5"/>
+      <message name="ALIVE"             period="0.9"/>
+      <message name="VFF"               period=".05"/>
+      <message name="VFF_EXTENDED"      period=".05"/>
+      <message name="VERT_LOOP"         period=".05"/>
+      <message name="INS_Z"             period=".05"/>
+      <message name="INS"               period=".11"/>
+      <message name="INS_REF"           period="5.1"/>
+    </mode>
+
+    <mode name="h_loop" key_press="h">
+      <message name="ALIVE"                 period="0.9"/>
+      <message name="HOVER_LOOP"            period="0.062"/>
+      <message name="GUIDANCE_H_REF_INT"    period="0.062"/>
+      <message name="STAB_ATTITUDE_INT"     period="0.4"/>
+      <message name="STAB_ATTITUDE_FLOAT"   period="0.4"/>
+      <!--<message name="STAB_ATTITUDE_REF_INT" period="0.4"/>-->
+      <message name="ROTORCRAFT_FP"         period="0.8"/>
+      <message name="ROTORCRAFT_STATUS"     period="1.2"/>
+      <message name="ROTORCRAFT_NAV_STATUS" period="1.6"/>
+      <message name="INS_REF"               period="5.1"/>
+      <!-- HFF messages are only sent if USE_HFF -->
+      <message name="HFF"                   period=".05"/>
+      <message name="HFF_GPS"               period=".03"/>
+      <message name="HFF_DBG"               period=".2"/>
+    </mode>
+
+    <mode name="aligner">
+      <message name="ALIVE"             period="0.9"/>
+      <message name="FILTER_ALIGNER"    period="0.02"/>
+    </mode>
+
+    <mode name="tune_hover">
+      <message name="DL_VALUE"          period="1.1"/>
+      <message name="ROTORCRAFT_STATUS" period="1.2"/>
+      <message name="ALIVE"             period="2.1"/>
+      <message name="GUIDANCE_H_INT"    period="0.05"/>
+      <message name="ROTORCRAFT_TUNE_HOVER"    period=".1"/>
+      <!-- <message name="GPS_INT"               period=".20"/> -->
+      <!--<message name="INS2"              period=".05"/>
+      <message name="INS3"              period=".20"/>-->
+      <message name="INS_REF"           period="5.1"/>
+    </mode>
+
+  </process>
+
+</telemetry>
+
diff --git a/conf/telemetry/fixedwing_flight_recorder.xml b/conf/telemetry/fixedwing_flight_recorder.xml
index c833ac2bef..8ce7fdb4cd 100644
--- a/conf/telemetry/fixedwing_flight_recorder.xml
+++ b/conf/telemetry/fixedwing_flight_recorder.xml
@@ -131,7 +131,7 @@
       <message name="COMMANDS"            period="0.05"/>
       <message name="ACTUATORS"           period="0.05"/>
       <message name="PPRZ_MODE"           period="1.0"/>
-      <message name="FBW_MODE"            period="1.0"/>
+      <message name="FBW_STATUS"          period="1.0"/>
       <message name="NAVIGATION"          period="1.0"/>
       <message name="DATALINK_REPORT"     period="1.0"/>
     </mode>
diff --git a/conf/telemetry/hitl_fixedwing.xml b/conf/telemetry/hitl_fixedwing.xml
deleted file mode 100644
index 93a8be09ed..0000000000
--- a/conf/telemetry/hitl_fixedwing.xml
+++ /dev/null
@@ -1,33 +0,0 @@
-<?xml version="1.0"?>
-<!DOCTYPE telemetry SYSTEM "telemetry.dtd">
-<telemetry>
-  <process name="Ap">
-    <mode name="default">
-      <message name="ALIVE"          period="5"/>
-      <message name="ATTITUDE"       period="0.5"/>
-      <message name="ESTIMATOR"      period="0.5"/>
-      <message name="WP_MOVED"       period="0.5"/>
-      <message name="CIRCLE"         period="1.05"/>
-      <message name="DESIRED"        period="1.05"/>
-      <message name="BAT"            period="1.1"/>
-      <message name="SEGMENT"        period="1.2"/>
-      <message name="CALIBRATION"    period="2.1"/>
-      <message name="NAVIGATION_REF" period="9."/>
-      <message name="PPRZ_MODE"      period="5."/>
-      <message name="DATALINK_REPORT"       period="5.1"/>
-      <message name="DL_VALUE"       period="1.5"/>
-      <message name="IR_SENSORS"     period="1.2"/>
-      <message name="SURVEY"         period="2.1"/>
-      <message name="GPS_SOL"        period="2.0"/>
-    </mode>
-  </process>
-  <process name="Fbw">
-    <mode name="default">
-      <message name="COMMANDS"       period="0.05"/> <!--High freq for sim -->
-      <message name="PPM"            period="0.5"/>
-      <message name="RC"             period="0.5"/>
-      <message name="FBW_STATUS"     period="1"/>
-      <message name="ACTUATORS"      period="5"/> <!-- For trimming -->
-    </mode>
-  </process>
-</telemetry>
diff --git a/conf/telemetry/telemetry_test_passthrough.xml b/conf/telemetry/telemetry_test_passthrough.xml
deleted file mode 100644
index cae4318522..0000000000
--- a/conf/telemetry/telemetry_test_passthrough.xml
+++ /dev/null
@@ -1,23 +0,0 @@
-<?xml version="1.0"?>
-<!DOCTYPE telemetry SYSTEM "telemetry.dtd">
-<telemetry>
-
-  <process name="Main">
-    <mode name="DefaultMode">
-      <message name="ALIVE"                   period="1."/>
-      <message name="TEST_PASSTHROUGH_STATUS" period="0.5"/>
-      <message name="DL_VALUE"                period="0.5"/>
-    </mode>
-
-    <mode name="OtherMode">
-      <message name="ALIVE"                   period="1."/>
-      <message name="TEST_PASSTHROUGH_STATUS" period="0.5"/>
-      <message name="DL_VALUE"                period="0.5"/>
-      <message name="IMU_GYRO"                period="0.05"/>
-      <message name="IMU_ACCEL"               period="0.05"/>
-      <message name="IMU_MAG"                 period="0.05"/>
-      <message name="BARO_RAW"                period="0.05"/>
-   </mode>
-  </process>
-
-</telemetry>
\ No newline at end of file
diff --git a/sw/airborne/boards/bebop/actuators.c b/sw/airborne/boards/bebop/actuators.c
index 547152e2ae..f3faaa60c2 100644
--- a/sw/airborne/boards/bebop/actuators.c
+++ b/sw/airborne/boards/bebop/actuators.c
@@ -66,7 +66,7 @@ void actuators_bebop_init(void)
   actuators_bebop.led = 0;
 
 #if PERIODIC_TELEMETRY
-  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_BEBOP_ACTUATORS, send_actuators_bebop);
+  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_BEBOP_ACTUATORS, send_bebop_actuators);
 #endif
 }