mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-07 17:49:49 +08:00
Antoine Drouin
541 lines
19 KiB
XML
541 lines
19 KiB
XML
<?xml version="1.0"?>
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<!DOCTYPE protocol SYSTEM "messages.dtd">
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<protocol>
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<!-- messages from modem or sim to server -->
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<class name="telemetry">
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<message name="BOOT" id="1">
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<field name="version" type="uint16"></field>
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</message>
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<message name="CALIB_START" ID="2">
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</message>
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<message name="CALIB_CONTRAST" ID="3">
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<field name="adc" type="int16"></field>
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</message>
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<message name="TAKEOFF" ID="4">
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<field name="cpu_time" type="uint16" unit="s"></field>
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</message>
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<message name="RAD_OF_IR" ID="5">
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<field name="ir" type="int16"></field>
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<field name="rad" type="int16" unit="decideg"></field>
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<field name="rad_of_ir" type="float" format="%.5f"></field>
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</message>
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<message name="ATTITUDE" ID="6">
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<field name="phi" type="int8" unit="deg"></field>
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<field name="psi" type="int8" unit="deg"></field>
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<field name="theta" type="int8" unit="deg"></field>
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</message>
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<message name="IR_SENSORS" ID="7">
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<field name="longitudinal" type="int16"></field>
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<field name="lateral" type="int16"></field>
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<field name="vertical" type="int16"></field>
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</message>
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<message name="GPS" ID="8">
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<field name="mode" type="uint8" unit="byte_mask"></field>
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<field name="utm_east" type="int32" unit="cm"></field>
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<field name="utm_north" type="int32" unit="cm"></field>
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<field name="course" type="int16" unit="decideg"></field>
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<field name="alt" type="int32" unit="cm"></field>
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<field name="speed" type="uint16" unit="cm/s"></field>
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<field name="climb" type="int16" unit="cm/s"></field>
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<field name="itow" type="uint32" unit="ms"></field>
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<field name="utm_zone" type="uint8"></field>
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<field name="gps_nb_err" type="uint8"></field>
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</message>
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<message name="NAVIGATION_REF" ID="0x09">
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<field name="utm_east" type="int32" unit="m"></field>
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<field name="utm_north" type="int32" unit="m"></field>
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<field name="utm_zone" type="uint8"></field>
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</message>
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<message name="NAVIGATION" ID="10">
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<field name="cur_block" type="uint8"></field>
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<field name="cur_stage" type="uint8"></field>
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<field name="pos_x" type="int16" unit="m"></field>
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<field name="pos_y" type="int16" unit="m"></field>
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<field name="desired_course" type="int16" unit="decideg"></field>
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<field name="dist2_wp" type="float" format="%.1f" unit="m^2"></field>
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<field name="dist2_home" type="float" format="%.1f" unit="m^2"></field>
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</message>
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<message name="PPRZ_MODE" ID="11">
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<field name="ap_mode" type="uint8" values="MANUAL|AUTO1|AUTO2|HOME|NOGPS|FAILSAFE"/>
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<field name="ap_gaz" type="uint8" values="MANUAL|AUTO_GAZ|AUTO_CLIMB|AUTO_ALT"/>
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<field name="ap_lateral" type="uint8" values="MANUAL|ROLL_RATE|ROLL|COURSE"/>
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<field name="ap_horizontal" type="uint8" values="WAYPOINT|ROUTE|CIRCLE"/>
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<field name="if_calib_mode" type="uint8" values="NONE|DOWN|UP"/>
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<field name="mcu1_status" type="uint8" values="LOST|OK|REALLY_LOST"/>
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<field name="lls_calib" type="uint8" values="LLS_CALIB_MODE_OFF|LLS_CALIB_MODE_ON"/>
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</message>
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<message name="BAT" ID="12">
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<field name="desired_gaz" type="int16" unit="pprz"></field>
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<field name="voltage" type="uint8" unit="1e-1V"></field>
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<field name="flight_time" type="uint16" unit="s"></field>
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<field name="status_battery" type="uint8" values="LOW|OK"></field>
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<field name="block_time" type="uint16" unit="s"></field>
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<field name="stage_time" type="uint16" unit="s"></field>
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<field name="energy" type="uint16" unit="mAh"/>
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</message>
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<message name="DEBUG_MCU_LINK" ID="13">
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<field name="i2c_nb_err" type="uint8"></field>
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<field name="i2c_mcu1_nb_err" type="uint8"></field>
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<field name="ppm_rate" type="uint8"></field>
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</message>
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<message name="CALIBRATION" ID="14">
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<field name="climb_sum_err" type="float" format="%.1f"></field>
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<field name="climb_pgain" type="float" format="%.3f"></field>
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<field name="course_pgain" type="float" format="%.3f"></field>
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</message>
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<message name="SETTINGS" ID="15">
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<field name="slider_1_val" type="float"></field>
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<field name="slider_2_val" type="float"></field>
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</message>
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<message name="DESIRED" ID="16">
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<field name="roll" type="float" format="%.2f"/>
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<field name="pitch" type="float" format="%.2f"/>
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<field name="desired_x" type="float" format="%.0f"/>
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<field name="desired_y" type="float" format="%.0f"/>
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<field name="desired_altitude" type="float" format="%.0f"/>
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<field name="desired_climb" type="float" format="%.1f"></field>
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</message>
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<message name="CAM" ID="20">
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<field name="phi" type="int8" unit="deg"/>
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<field name="theta" type="int8" unit="deg"/>
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<field name="target_x" type="int16" unit="m"/>
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<field name="target_y" type="int16" unit="m"/>
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</message>
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<message name="CIRCLE" ID="21">
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<field name="center_east" type="int16" unit="m"/>
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<field name="center_north" type="int16" unit="m"/>
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<field name="radius" type="int16" unit="m"/>
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</message>
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<message name="SEGMENT" ID="22">
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<field name="segment_east_1" type="int16" unit="m"/>
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<field name="segment_north_1" type="int16" unit="m"/>
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<field name="segment_east_2" type="int16" unit="m"/>
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<field name="segment_north_2" type="int16" unit="m"/>
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</message>
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<message name="DOWNLINK_STATUS" ID="23">
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<field name="run_time" type="uint32" unit="s"></field>
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<field name="rx_bytes" type="uint32"></field>
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<field name="rx_msgs" type="uint32"></field>
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<field name="rx_err" type="uint32"></field>
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<field name="rx_bytes_rate" type="float" format="%.1f"></field>
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<field name="rx_msgs_rate" type="float" format="%.1f"></field>
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</message>
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<message name="MODEM_STATUS" ID="24">
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<field name="detected" type="uint8"></field>
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<field name="valim" type="float" format="%.1f"></field>
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<field name="cd" type="uint8"></field>
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<field name="nb_byte" type="uint32"></field>
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<field name="nb_msg" type="uint32"></field>
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<field name="nb_err" type="uint32"></field>
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</message>
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<message name="SVINFO" id="25">
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<field name="chn" type="uint8"/>
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<field name="SVID" type="uint8"/>
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<field name="Flags" type="uint8"/>
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<field name="QI" type="int8"/>
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<field name="CNO" type="uint8" unit="dbHz"/>
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<field name="Elev" type="int8" unit="deg"/>
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<field name="Azim" type="int16" unit="deg"/>
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</message>
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<message name="SURVEY" ID="27">
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<field name="east" type="float" unit="m"/>
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<field name="north" type="float" unit="m"/>
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<field name="west" type="float" unit="m"/>
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<field name="south" type="float" unit="m"/>
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</message>
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<message name="WC_RSSI" id="28">
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<field name="raw_level" type="uint8"/>
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</message>
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<message name="RANGEFINDER" id="29">
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<field name="range" type="uint16"/>
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</message>
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<message name="DEBUG_MODEM" id="30">
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<field name="modem_nb_err" type="uint8"></field>
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</message>
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<!-- Current value of one variable from the dl_settings (airframe.xml) -->
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<message name="DL_VALUE" id="31">
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<field name="index" type="uint8"/>
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<field name="value" type="float"/>
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</message>
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<message name="DEBUG" id="32">
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<field name="channels" type="int16[]"/>
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</message>
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<message name="DEBUG1" id="33">
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<field name="foo" type="uint8[]"/>
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</message>
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<message name="DEBUG2" id="34">
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<field name="foo" type="uint8[]"/>
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</message>
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<message name="WP_MOVED" id="35">
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<field name="wp_id" type="uint8"/>
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<field name="utm_east" type="float" unit="m"></field>
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<field name="utm_north" type="float" unit="m"></field>
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<field name="alt" type="float" unit="m"></field>
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</message>
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<message name="GYRO_RATES" id="36">
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<field name="roll_adc" type="int16"></field>
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<field name="roll" type="float" unit="rad/s"></field>
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<field name="pitch" type="float" unit="rad/s"></field>
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</message>
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<message name="PPM" ID="100">
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<field name="values" type="uint16[]" unit="ticks"/>
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</message>
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<message name="RC" ID="101">
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<field name="values" type="int16[]" unit="pprz" format="%d"/>
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</message>
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<message name="COMMANDS" ID="102">
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<field name="values" type="int16[]" unit="ticks"/>
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</message>
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<message name="FBW_STATUS" ID="103">
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<field name="rc_status" type="uint8" values="OK|LOST|REALLY_LOST"/>
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<field name="mode" type="uint8" values="MANUAL|AUTO|FAILSAFE"/>
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<field name="vsupply" type="uint8" unit="decivolt"/>
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</message>
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<message name="ADC" ID="104">
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<field name="mcu" type="uint8" values="FBW|AP"/>
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<field name="values" type="uint16[]" unit="none"/>
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</message>
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<message name="ACTUATORS" ID="105">
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<field name="values" type="uint16[]" unit="none"/>
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</message>
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<message name="IMU_SENSORS" ID="200">
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<field name="accel_x" type="int16"/>
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<field name="accel_y" type="int16"/>
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<field name="accel_z" type="int16"/>
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<field name="gyro_p" type="float" unit="rad/s"/>
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<field name="gyro_q" type="float" unit="rad/s"/>
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<field name="gyro_r" type="float" unit="rad/s"/>
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<field name="mag_x" type="int16"/>
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<field name="mag_y" type="int16"/>
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<field name="mag_z" type="int16"/>
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</message>
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</class>
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<class name="datalink">
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<message name="ACINFO" ID="1">
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<field name="course" type="int16" unit="decideg"></field>
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<field name="utm_east" type="int32" unit="cm"></field>
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<field name="utm_north" type="int32" unit="cm"></field>
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<field name="alt" type="int32" unit="cm"></field>
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<field name="itow" type="uint32" unit="ms"></field>
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<field name="speed" type="uint16" unit="cm/s"></field>
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<field name="climb" type="int16" unit="cm/s"></field>
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<field name="ac_id" type="uint8"/>
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</message>
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<message name="MOVE_WP" ID="2">
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<field name="wp_id" type="uint8"/>
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<field name="pad0" type="uint8"/>
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<field name="utm_east" type="int32" unit="cm"></field>
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<field name="utm_north" type="int32" unit="cm"></field>
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<field name="alt" type="int32" unit="cm"></field>
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</message>
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<message name="EVENT" ID="3">
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<field name="event" type="uint8"/>
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</message>
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<message name="SETTING" ID="4">
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<field name="index" type="uint8"/>
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<field name="pad0" type="uint8"/>
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<field name="value" type="float"/>
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</message>
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<message name="BLOCK" ID="5">
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<field name="block_id" type="uint8"/>
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</message>
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<message name="HITL_UBX" id="6">
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<field name="class" type="uint8"/>
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<field name="id" type="uint8"/>
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<field name="ubx_payload" type="uint8[]"/>
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</message>
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<message name="HITL_INFRARED" id="7">
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<field name="roll" type="int16"/>
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<field name="pitch" type="int16"/>
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</message>
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<message name="TELEMETRY_MODE" id="8">
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<field name="mode" type="uint8"/>
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</message>
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<message name="SET_ACTUATOR" id="100">
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<field name="value" type="uint16"/>
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<field name="no" type="uint8"/>
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</message>
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</class>
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<class name="ground">
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<message name="NEW_AIRCRAFT" ID="1">
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<field name="ac_id" type="string"/>
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</message>
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<message name="AIRCRAFT_DIE" ID="2">
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<field name="ac_id" type="string"/>
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</message>
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<message name="AIRCRAFTS" ID="3">
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<field name="ac_list" type="string" format="csv"/>
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</message>
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<message name="AIRCRAFTS_REQ" ID="4">
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</message>
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<message name="SELECTED" ID="5">
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<field name="aircraft_id" type="string"/>
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</message>
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<message name="SELECTED_REQ" ID="6">
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</message>
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<message name="WIND_CLEAR" ID="7">
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<field name="ac_id" type="string"/>
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</message>
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<message name="WIND" ID="8">
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<field name="ac_id" type="string"/>
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<field name="dir" type="float" unit="deg_wind"/>
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<field name="wspeed" type="float" unit="m/s"/>
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<field name="mean_aspeed" type="float" unit="m/s"/>
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<field name="stddev" type="float" unit="m/s"/>
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</message>
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<message name="CONFIG_REQ" ID="9">
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<field name="ac_id" type="string"/>
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</message>
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<message name="CONFIG" ID="10">
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<field name="ac_id" type="string"/>
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<field name="flight_plan" type="string" unit="url"/>
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<field name="airframe" type="string" unit="url"/>
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<field name="radio" type="string" unit="url"/>
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<field name="default_gui_color" type="string"/>
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<field name="ac_name" type="string"/>
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</message>
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<message name="FLIGHT_PARAM" ID="11">
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<field name="ac_id" type="string"/>
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<field name="roll" type="float" unit="deg"/>
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<field name="pitch" type="float" unit="deg"/>
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<field name="lat" type="float" unit="deg"/>
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<field name="long" type="float" unit="deg"/>
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<field name="speed" type="float" unit="m/s"/>
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<field name="course" type="float" unit="deg" format="%.1f"/>
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<field name="alt" type="float" unit="m"/>
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<field name="climb" type="float" unit="m/s"/>
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</message>
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<message name="AP_STATUS" ID="12">
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<field name="ac_id" type="string"/>
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<field name="ap_mode" type="string" values="MANUAL|AUTO1|AUTO2|HOME|FAILSAFE"/>
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<field name="lat_mode" type="string" values="MANUAL|ROLL_RATE|ROLL|COURSE"/>
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<field name="horiz_mode" type="string" values="WAYPOINT|ROUTE|CIRCLE"/>
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<field name="gaz_mode" type="string" values="MANUAL|GAZ|CLIMB|ALT"/>
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<field name="gps_mode" type="string" values="NOFIX|DRO|2D|3D|GPSDRO"/>
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<field name="flight_time" type="uint32" />
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</message>
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<message name="NAV_STATUS" ID="13">
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<field name="ac_id" type="string"/>
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<field name="cur_block" type="uint8"/>
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<field name="cur_stage" type="uint8"/>
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<field name="block_time" type="uint32"/>
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<field name="stage_time" type="uint32"/>
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<field name="target_lat" type="float" unit="deg"/>
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<field name="target_long" type="float" unit="deg"/>
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<field name="target_climb" type="float" unit="m/s"/>
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<field name="target_alt" type="float" unit="m"/>
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<field name="target_course" type="float" unit="deg"/>
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</message>
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<message name="CAM_STATUS" ID="14">
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<field name="ac_id" type="string"/>
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<field name="cam_lat" type="float" unit="deg"/>
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<field name="cam_long" type="float" unit="deg"/>
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<field name="cam_target_lat" type="float" unit="deg"/>
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<field name="cam_target_long" type="float" unit="deg"/>
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</message>
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<message name="ENGINE_STATUS" ID="15">
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<field name="ac_id" type="string"/>
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<field name="throttle" type="float" unit="%" format="%.1f"/>
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<field name="throttle_accu" type="float" format="%.1f"/>
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<field name="rpm" type="float" unit="rpm" format="%.1f"/>
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<field name="temp" type="float" unit="celcius"/>
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<field name="bat" type="float" unit="V"/>
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<field name="amp" type="float" unit="A"/>
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<field name="energy" type="uint16" unit="Wh"/>
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</message>
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<message name="SVSINFO" ID="16">
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<field name="ac_id" type="string"/>
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<field name="svid" type="string" format="csv"/>
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<field name="flags" type="string" format="csv"/>
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<field name="qi" type="string" format="csv" values="IDLE|SEARCH|SEARCH|UNUSABLE|CODELOCK|CARRIERLOCK|CARRIERLOCK|RECEIVING"/>
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<field name="cno" type="string" format="csv" unit="dbHz"/>
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<field name="elev" type="string" format="csv" unit="deg"/>
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<field name="azim" type="string" format="csv" unit="deg"/>
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</message>
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<message name="FLY_BY_WIRE" id="17">
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<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"/>
|
|
</message>
|
|
|
|
<message name="INFRARED" id="18">
|
|
<field name="ac_id" type="string"/>
|
|
<field name="gps_hybrid_mode" type="string" values="OFF|ON"/>
|
|
<field name="gps_hybrid_factor" type="float"/>
|
|
<field name="contrast_status" type="string" values="DEFAULT|WAITING|SET|SKIPPED"/>
|
|
<field name="contrast_value" type="int16"/>
|
|
</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="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"/>
|
|
|
|
<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="SEND_EVENT" ID="25">
|
|
<field name="ac_id" type="string"/>
|
|
<field name="event_id" 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="uint8"/>
|
|
<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="uint8"/>
|
|
<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>
|
|
|
|
</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>
|
|
|
|
|
|
|
|
</protocol>
|