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Merge pull request #1144 from paparazzi/flight_recorder

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Flight recorder module

Allow to define the messages to be logged from the telemetry file (with FlightRecorder process).
Working with SD log on Apogee, but should also work with data logger over uart.

The periodic telemetry structures had to be merged in a single one, so messages are registering for all telemetries.
This commit is contained in:
Felix Ruess
2015-03-24 13:38:36 +01:00
parent 2c23b9754d b2e0cd3863
commit 90f54ecbbc
37 changed files with 460 additions and 191 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/airframes/ENAC/fixed-wing/apogee.xml
+6 -5
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@@ -11,21 +11,22 @@
<!-- <load name="mcp355x.xml"> -->
<!-- <define name="USE_SPI1"/> -->
<!-- </load> -->
<load name="extra_dl.xml">
<!--load name="extra_dl.xml">
<configure name="EXTRA_DL_PORT" value="UART6"/>
<configure name="EXTRA_DL_BAUD" value="B57600"/>
</load>
<load name="meteo_france_DAQ.xml"/>
<load name="meteo_france_DAQ.xml"/-->
<load name="flight_recorder.xml"/>
</modules>
<firmware name="fixedwing">
<target name="sim" board="pc">
<subsystem name="radio_control" type="ppm"/>
</target>
<target name="ap" board="apogee_1.0_chibios">
<subsystem name="radio_control" type="sbus"/>
<configure name="PERIODIC_FREQUENCY" value="100"/>
</target>
<target name="sim" board="pc">
<subsystem name="radio_control" type="ppm"/>
</target>
<define name="USE_I2C1"/>
<!--define name="USE_I2C2"/-->
conf/conf_tests.xml
+2 -2
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@@ -312,10 +312,10 @@
ac_id="14"
airframe="airframes/ENAC/fixed-wing/apogee.xml"
radio="radios/T10CG_SBUS.xml"
telemetry="telemetry/default_fixedwing_imu.xml"
telemetry="telemetry/fixedwing_flight_recorder.xml"
flight_plan="flight_plans/basic.xml"
settings="settings/fixedwing_basic.xml"
settings_modules="modules/meteo_france_DAQ.xml"
settings_modules=""
gui_color="blue"
/>
<aircraft
conf/firmwares/subsystems/fixedwing/autopilot.makefile
+1 -1
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@@ -195,7 +195,7 @@ sim.srcs += $(fbw_srcs) $(ap_srcs)
sim.CFLAGS += -DSITL
sim.srcs += $(SRC_ARCH)/sim_ap.c
sim.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_TRANSPORT=ivy_tp -DDOWNLINK_DEVICE=ivy_tp -DDefaultPeriodic='&telemetry_Ap'
sim.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_TRANSPORT=ivy_tp -DDOWNLINK_DEVICE=ivy_tp
sim.srcs += subsystems/datalink/downlink.c $(SRC_FIRMWARE)/datalink.c subsystems/datalink/ivy_transport.c subsystems/datalink/telemetry.c $(SRC_FIRMWARE)/ap_downlink.c $(SRC_FIRMWARE)/fbw_downlink.c
sim.srcs += $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_adc_generic.c
conf/firmwares/subsystems/fixedwing/fdm_crrcsim.makefile
+1 -1
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@@ -50,7 +50,7 @@ nps.srcs += $(NPSDIR)/nps_main.c \
$(NPSDIR)/nps_flightgear.c \
nps.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_TRANSPORT=ivy_tp -DDOWNLINK_DEVICE=ivy_tp -DDefaultPeriodic='&telemetry_Ap'
nps.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_TRANSPORT=ivy_tp -DDOWNLINK_DEVICE=ivy_tp
nps.srcs += subsystems/datalink/ivy_transport.c
nps.srcs += subsystems/datalink/downlink.c subsystems/datalink/telemetry.c
nps.srcs += $(SRC_FIRMWARE)/datalink.c
conf/firmwares/subsystems/fixedwing/fdm_jsbsim.makefile
+1 -1
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@@ -67,7 +67,7 @@ nps.srcs += $(NPSDIR)/nps_main.c \
nps.srcs += math/pprz_geodetic_wmm2010.c
nps.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_TRANSPORT=ivy_tp -DDOWNLINK_DEVICE=ivy_tp -DDefaultPeriodic='&telemetry_Ap'
nps.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_TRANSPORT=ivy_tp -DDOWNLINK_DEVICE=ivy_tp
nps.srcs += subsystems/datalink/ivy_transport.c
nps.srcs += subsystems/datalink/downlink.c subsystems/datalink/telemetry.c
nps.srcs += $(SRC_FIRMWARE)/datalink.c
conf/firmwares/subsystems/fixedwing/telemetry_superbitrf.makefile
+1 -1
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@@ -3,7 +3,7 @@
#
#
ap.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_FBW_DEVICE=superbitrf -DDOWNLINK_AP_DEVICE=superbitrf
ap.CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=SUPERBITRF -DDefaultPeriodic='&telemetry_Ap'
ap.CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=SUPERBITRF
#ap.CFLAGS += -DUSE_SUPERBITRF -DUSE_SPI2 -DUSE_SPI_SLAVE2
ap.srcs += peripherals/cyrf6936.c
conf/firmwares/subsystems/fixedwing/telemetry_transparent.makefile
+1 -1
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@@ -5,7 +5,7 @@ PPRZ_MODEM_PORT_LOWER=$(shell echo $(MODEM_PORT) | tr A-Z a-z)
telemetry_CFLAGS = -DUSE_$(MODEM_PORT)
telemetry_CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
telemetry_CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=$(PPRZ_MODEM_PORT_LOWER) -DPPRZ_UART=$(PPRZ_MODEM_PORT_LOWER)
telemetry_CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=PPRZ -DDefaultPeriodic='&telemetry_Ap'
telemetry_CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=PPRZ
telemetry_srcs = subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c subsystems/datalink/telemetry.c
ap.CFLAGS += $(telemetry_CFLAGS)
conf/firmwares/subsystems/fixedwing/telemetry_transparent_usb.makefile
-1
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@@ -4,7 +4,6 @@
telemetry_CFLAGS = -DDOWNLINK -DDOWNLINK_DEVICE=usb_serial -DPPRZ_UART=usb_serial
telemetry_CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=PPRZ -DUSE_USB_SERIAL
telemetry_CFLAGS += -DDefaultPeriodic='&telemetry_Ap'
telemetry_srcs = subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c subsystems/datalink/telemetry.c
telemetry_srcs += $(SRC_FIRMWARE)/datalink.c $(SRC_FIRMWARE)/ap_downlink.c $(SRC_FIRMWARE)/fbw_downlink.c
# avoid fbw_telemetry_mode error
conf/firmwares/subsystems/fixedwing/telemetry_w5100.makefile
+1 -1
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@@ -8,7 +8,7 @@ W5100_MULTICAST_IP ?= "224,1,1,11"
W5100_MULTICAST_PORT ?= "1234"
ap.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=chip0
ap.CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=W5100 -DDefaultPeriodic='&telemetry_Ap'
ap.CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=W5100
ap.CFLAGS += -DW5100_IP=$(W5100_IP) -DW5100_SUBNET=$(W5100_SUBNET) -DW5100_MULTICAST_IP=$(W5100_MULTICAST_IP) -DW5100_MULTICAST_PORT=$(W5100_MULTICAST_PORT)
ap.srcs += subsystems/datalink/downlink.c subsystems/datalink/w5100.c subsystems/datalink/pprz_transport.c subsystems/datalink/telemetry.c
ap.srcs += $(SRC_FIRMWARE)/datalink.c $(SRC_FIRMWARE)/ap_downlink.c
conf/firmwares/subsystems/fixedwing/telemetry_xbee_api.makefile
+1 -1
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@@ -8,7 +8,7 @@ ap.CFLAGS += -DUSE_$(MODEM_PORT)
ap.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD) -DXBEE_BAUD=$(MODEM_BAUD)
ap.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=$(XBEE_MODEM_PORT_LOWER) -DXBEE_UART=$(XBEE_MODEM_PORT_LOWER)
ap.CFLAGS += -DDOWNLINK_TRANSPORT=xbee_tp -DDATALINK=XBEE -DDefaultPeriodic='&telemetry_Ap'
ap.CFLAGS += -DDOWNLINK_TRANSPORT=xbee_tp -DDATALINK=XBEE
ap.srcs += subsystems/datalink/downlink.c subsystems/datalink/xbee.c subsystems/datalink/telemetry.c
ap.srcs += $(SRC_FIRMWARE)/datalink.c $(SRC_FIRMWARE)/ap_downlink.c
conf/firmwares/subsystems/rotorcraft/fdm_jsbsim.makefile
+1 -1
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@@ -65,7 +65,7 @@ nps.srcs += $(NPSDIR)/nps_main.c \
# for geo mag calculation
nps.srcs += math/pprz_geodetic_wmm2010.c
nps.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_TRANSPORT=ivy_tp -DDOWNLINK_DEVICE=ivy_tp -DDefaultPeriodic='&telemetry_Main'
nps.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_TRANSPORT=ivy_tp -DDOWNLINK_DEVICE=ivy_tp
nps.srcs += subsystems/datalink/ivy_transport.c
nps.srcs += subsystems/datalink/downlink.c subsystems/datalink/telemetry.c
nps.srcs += $(SRC_FIRMWARE)/rotorcraft_telemetry.c
conf/firmwares/subsystems/rotorcraft/telemetry_superbitrf.makefile
-1
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@@ -4,7 +4,6 @@
#
ap.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=superbitrf
ap.CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=SUPERBITRF
ap.CFLAGS += -DDefaultPeriodic='&telemetry_Main'
#ap.CFLAGS += -DUSE_SUPERBITRF -DUSE_SPI2 -DUSE_SPI_SLAVE2
ap.srcs += peripherals/cyrf6936.c
conf/firmwares/subsystems/rotorcraft/telemetry_transparent.makefile
+1 -1
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@@ -11,6 +11,6 @@ ap.CFLAGS += -DUSE_$(MODEM_PORT)
ap.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
ap.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=$(PPRZ_MODEM_PORT_LOWER) -DPPRZ_UART=$(PPRZ_MODEM_PORT_LOWER)
ap.CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=PPRZ -DDefaultPeriodic='&telemetry_Main'
ap.CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=PPRZ
ap.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c subsystems/datalink/telemetry.c
ap.srcs += $(SRC_FIRMWARE)/datalink.c $(SRC_FIRMWARE)/rotorcraft_telemetry.c
conf/firmwares/subsystems/rotorcraft/telemetry_transparent_udp.makefile
+1 -1
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@@ -15,7 +15,7 @@ MODEM_CFLAGS = -DUSE_$(MODEM_DEV) -D$(MODEM_DEV)_PORT_OUT=$(MODEM_PORT_OUT) -D$
MODEM_CFLAGS += -D$(MODEM_DEV)_BROADCAST=$(MODEM_BROADCAST) -D$(MODEM_DEV)_HOST=\"$(MODEM_HOST)\"
TELEM_CFLAGS = -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=$(UDP_MODEM_PORT_LOWER) -DPPRZ_UART=$(UDP_MODEM_PORT_LOWER)
TELEM_CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=PPRZ -DDefaultPeriodic='&telemetry_Main'
TELEM_CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=PPRZ
ap.CFLAGS += $(MODEM_CFLAGS) $(TELEM_CFLAGS)
conf/firmwares/subsystems/rotorcraft/telemetry_transparent_usb.makefile
+2 -2
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@@ -3,7 +3,7 @@
ifeq ($(ARCH), lpc21)
ap.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=usb_serial -DPPRZ_UART=usb_serial
ap.CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=PPRZ -DUSE_USB_SERIAL -DDefaultPeriodic='&telemetry_Main'
ap.CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=PPRZ -DUSE_USB_SERIAL
ap.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c subsystems/datalink/telemetry.c
ap.srcs += $(SRC_FIRMWARE)/datalink.c $(SRC_FIRMWARE)/rotorcraft_telemetry.c
ap.srcs += $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbcontrol.c
@@ -11,7 +11,7 @@ ap.srcs += $(SRC_ARCH)/lpcusb/usbstdreq.c $(SRC_ARCH)/lpcusb/usbinit.c
else
ifeq ($(ARCH), stm32)
ap.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=usb_serial -DPPRZ_UART=usb_serial
ap.CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=PPRZ -DUSE_USB_SERIAL -DDefaultPeriodic='&telemetry_Main'
ap.CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=PPRZ -DUSE_USB_SERIAL
ap.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c subsystems/datalink/telemetry.c
ap.srcs += $(SRC_FIRMWARE)/datalink.c $(SRC_FIRMWARE)/rotorcraft_telemetry.c
ap.srcs += $(SRC_ARCH)/usb_ser_hw.c
conf/firmwares/subsystems/rotorcraft/telemetry_xbee_api.makefile
+1 -1
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@@ -12,6 +12,6 @@ ap.CFLAGS += -DUSE_$(MODEM_PORT)
ap.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD) -DXBEE_BAUD=$(MODEM_BAUD)
ap.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=$(XBEE_MODEM_PORT_LOWER) -DXBEE_UART=$(XBEE_MODEM_PORT_LOWER)
ap.CFLAGS += -DDOWNLINK_TRANSPORT=xbee_tp -DDATALINK=XBEE -DDefaultPeriodic='&telemetry_Main'
ap.CFLAGS += -DDOWNLINK_TRANSPORT=xbee_tp -DDATALINK=XBEE
ap.srcs += subsystems/datalink/downlink.c subsystems/datalink/xbee.c subsystems/datalink/telemetry.c
ap.srcs += $(SRC_FIRMWARE)/datalink.c $(SRC_FIRMWARE)/rotorcraft_telemetry.c
conf/firmwares/test_progs.makefile
+2
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@@ -429,6 +429,8 @@ test_ahrs.CFLAGS += $(COMMON_TEST_CFLAGS)
test_ahrs.srcs += $(COMMON_TEST_SRCS)
test_ahrs.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
test_ahrs.srcs += $(COMMON_TELEMETRY_SRCS)
test_ahrs.srcs += subsystems/datalink/telemetry.c
test_ahrs.CFLAGS += -DPERIODIC_TELEMETRY
test_ahrs.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
test_ahrs.srcs += test/subsystems/test_ahrs.c
test_ahrs.srcs += state.c
conf/modules/flight_recorder.xml
+24
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@@ -0,0 +1,24 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="flight_recorder" dir="loggers">
<doc>
<description>
Record flight data according to your telemetry file.
Data are stored on a SD card with the pprzlog format.
Currently only supported on Apogee/Fixedwing using chibios-libopencm3 implementation.
The selected telemetry file should include a FlightRecorder process.
</description>
<configure name="FLIGHTRECORDER_SDLOG" value="TRUE|FALSE" description="Enable/disable logging on internal SD card (default=TRUE)"/>
<define name="FLIGHTRECORDER_DEVICE" value="dev" description="Device to be used when not internal SD card (ex: uart0)"/>
</doc>
<header>
<file name="flight_recorder.h"/>
</header>
<init fun="flight_recorder_init()"/>
<periodic fun="flight_recorder_periodic()" freq="100" autorun="TRUE"/>
<makefile target="ap">
<file name="flight_recorder.c"/>
<define name="FLIGHTRECORDER_SDLOG" cond="ifneq (FALSE,$(findstring $(FLIGHTRECORDER_SDLOG),FALSE))"/>
</makefile>
</module>
conf/telemetry/fixedwing_flight_recorder.xml
+138
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@@ -0,0 +1,138 @@
<?xml version="1.0"?>
<!DOCTYPE telemetry SYSTEM "telemetry.dtd">
<telemetry>
<process name="Ap">
<mode name="default">
<message name="AUTOPILOT_VERSION" period="11.1"/>
<message name="AIRSPEED" period="1"/>
<message name="ALIVE" period="5.1"/>
<message name="GPS" period="0.25"/>
<message name="NAVIGATION" period="1."/>
<message name="ATTITUDE" period="0.1"/>
<message name="ESTIMATOR" period="0.5"/>
<message name="ENERGY" period="2.4"/>
<message name="WP_MOVED" period="0.5"/>
<message name="CIRCLE" period="1.05"/>
<message name="DESIRED" period="0.2"/>
<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="4.9"/>
<message name="SETTINGS" period="5."/>
<message name="STATE_FILTER_STATUS" period="2.2"/>
<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"/>
<message name="IMU_ACCEL" period=".8"/>
<message name="IMU_GYRO" period=".6"/>
<message name="IMU_MAG" period="1.3"/>
<message name="CAM" period="0.5"/>
<message name="CAM_POINT" period="1.0"/>
<message name="COMMANDS" period="5"/>
<message name="FBW_STATUS" period="2"/>
<message name="AIR_DATA" period="1.3"/>
</mode>
<mode name="minimal">
<message name="ALIVE" period="5"/>
<message name="ATTITUDE" period="4"/>
<message name="GPS" period="1.05"/>
<message name="ESTIMATOR" period="1.3"/>
<message name="WP_MOVED" period="1.4"/>
<message name="CIRCLE" period="3.05"/>
<message name="DESIRED" period="4.05"/>
<message name="BAT" period="1.1"/>
<message name="SEGMENT" period="3.2"/>
<message name="CALIBRATION" period="5.1"/>
<message name="NAVIGATION_REF" period="9."/>
<message name="NAVIGATION" period="3."/>
<message name="PPRZ_MODE" period="5."/>
<message name="STATE_FILTER_STATUS" period="5."/>
<message name="DATALINK_REPORT" period="5.1"/>
<message name="DL_VALUE" period="1.5"/>
<message name="IR_SENSORS" period="5.2"/>
<message name="SURVEY" period="2.1"/>
<message name="GPS_SOL" period="5.0"/>
</mode>
<mode name="extremal">
<message name="ALIVE" period="5"/>
<message name="GPS" period="5.1"/>
<message name="ESTIMATOR" period="5.3"/>
<message name="BAT" period="10.1"/>
<message name="DESIRED" period="10.2"/>
<message name="NAVIGATION" period="5.4"/>
<message name="PPRZ_MODE" period="7.5"/>
<message name="STATE_FILTER_STATUS" period="8."/>
<message name="DATALINK_REPORT" period="5.7"/>
</mode>
<mode name="raw_sensors">
<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="0.5"/>
</mode>
<mode name="scaled_sensors">
<message name="DL_VALUE" period="0.5"/>
<message name="ALIVE" period="2.1"/>
<message name="IMU_GYRO" period=".075"/>
<message name="IMU_ACCEL" period=".075"/>
<message name="IMU_MAG" period=".1"/>
</mode>
<mode name="debug_imu">
<message name="ATTITUDE" period="0.1"/>
<message name="ALIVE" period="5"/>
<message name="GPS" period="5.1"/>
<message name="ESTIMATOR" period="5.3"/>
<message name="BAT" period="10.1"/>
<message name="DESIRED" period="10.2"/>
<message name="NAVIGATION" period="5.4"/>
<message name="PPRZ_MODE" period="5.5"/>
<message name="STATE_FILTER_STATUS" period="5."/>
<message name="DATALINK_REPORT" period="5.7"/>
<message name="IMU_ACCEL" period=".5"/>
<message name="IMU_GYRO" period=".5"/>
<message name="IMU_MAG" period=".5"/>
<message name="IMU_ACCEL_RAW" period=".5"/>
<message name="IMU_GYRO_RAW" period=".5"/>
<message name="IMU_MAG_RAW" period=".5"/>
</mode>
</process>
<process name="Fbw">
<mode name="default">
<message name="COMMANDS" period="5"/>
<message name="FBW_STATUS" period="2"/>
<message name="ACTUATORS" period="5"/> <!-- For trimming -->
</mode>
<mode name="debug">
<message name="PPM" period="0.5"/>
<message name="RC" period="0.5"/>
<message name="COMMANDS" period="0.5"/>
<message name="FBW_STATUS" period="1"/>
<message name="ACTUATORS" period="5"/> <!-- For trimming -->
</mode>
</process>
<process name="FlightRecorder">
<mode name="default">
<message name="BAT" period="0.5"/>
<message name="ENERGY" period="0.5"/>
<message name="GPS" period="0.2"/>
<message name="ATTITUDE" period="0.05"/>
<message name="DESIRED" period="0.05"/>
<message name="IMU_ACCEL" period=".02"/>
<message name="IMU_GYRO" period=".02"/>
<message name="IMU_MAG" period=".02"/>
<message name="AIR_DATA" period="0.5"/>
<message name="RC" period="0.05"/>
<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="NAVIGATION" period="1.0"/>
<message name="DATALINK_REPORT" period="1.0"/>
</mode>
</process>
</telemetry>