mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Christophe De Wagter
36828c0560
* Actuators in PPRZ values * New messages * Dual Actuator messages * ACTUATORS_RAW for driver_val and ACTUATORS for pprz_val * New PPRZLINK --------- Co-authored-by: Freek van Tienen <freek.v.tienen@gmail.com>
116 lines
5.5 KiB
XML
116 lines
5.5 KiB
XML
<?xml version="1.0"?>
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<!DOCTYPE telemetry SYSTEM "telemetry.dtd">
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<telemetry>
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<process name="Ap">
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<mode name="default">
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<message name="AUTOPILOT_VERSION" period="11.1"/>
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<message name="AIRSPEED" period="1"/>
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<message name="ALIVE" period="5.1"/>
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<message name="GPS" period="0.25"/>
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<message name="NAVIGATION" period="1."/>
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<message name="ATTITUDE" period="0.1"/>
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<message name="ESTIMATOR" period="0.5"/>
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<message name="ENERGY" period="1.1"/>
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<message name="WP_MOVED" period="0.5"/>
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<message name="CIRCLE" period="1.05"/>
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<message name="DESIRED" period="0.2"/>
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<message name="SEGMENT" period="1.2"/>
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<message name="CALIBRATION" period="2.1"/>
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<message name="NAVIGATION_REF" period="9."/>
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<message name="PPRZ_MODE" period="4.9"/>
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<message name="SETTINGS" period="5."/>
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<message name="STATE_FILTER_STATUS" period="2.2"/>
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<message name="DATALINK_REPORT" period="5.1"/>
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<message name="DL_VALUE" period="1.5"/>
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<message name="SURVEY" period="2.1"/>
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<message name="GPS_SOL" period="2.0"/>
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<message name="IMU_ACCEL" period=".8"/>
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<message name="IMU_GYRO" period=".6"/>
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<message name="IMU_MAG" period="1.3"/>
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<message name="CAM" period="0.5"/>
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<message name="CAM_POINT" period="1.0"/>
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<message name="COMMANDS" period="5"/>
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<message name="FBW_STATUS" period="2"/>
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<message name="AIR_DATA" period="1.3"/>
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</mode>
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<mode name="minimal">
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<message name="ALIVE" period="5"/>
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<message name="ATTITUDE" period="4"/>
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<message name="GPS" period="1.05"/>
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<message name="ESTIMATOR" period="1.3"/>
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<message name="WP_MOVED" period="1.4"/>
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<message name="CIRCLE" period="3.05"/>
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<message name="DESIRED" period="4.05"/>
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<message name="ENERGY" period="1.1"/>
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<message name="SEGMENT" period="3.2"/>
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<message name="CALIBRATION" period="5.1"/>
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<message name="NAVIGATION_REF" period="9."/>
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<message name="NAVIGATION" period="3."/>
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<message name="PPRZ_MODE" period="5."/>
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<message name="STATE_FILTER_STATUS" period="5."/>
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<message name="DATALINK_REPORT" period="5.1"/>
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<message name="DL_VALUE" period="1.5"/>
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<message name="SURVEY" period="2.1"/>
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<message name="GPS_SOL" period="5.0"/>
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</mode>
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<mode name="extremal">
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<message name="ALIVE" period="5"/>
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<message name="GPS" period="5.1"/>
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<message name="ESTIMATOR" period="5.3"/>
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<message name="ENERGY" period="10.1"/>
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<message name="DESIRED" period="10.2"/>
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<message name="NAVIGATION" period="5.4"/>
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<message name="PPRZ_MODE" period="7.5"/>
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<message name="STATE_FILTER_STATUS" period="8."/>
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<message name="DATALINK_REPORT" period="5.7"/>
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</mode>
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<mode name="raw_sensors">
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<message name="DL_VALUE" period="0.5"/>
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<message name="ALIVE" period="2.1"/>
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<message name="IMU_ACCEL_RAW" period=".05"/>
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<message name="IMU_GYRO_RAW" period=".05"/>
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<message name="IMU_MAG_RAW" period=".05"/>
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<message name="BARO_RAW" period="0.5"/>
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</mode>
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<mode name="scaled_sensors">
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<message name="DL_VALUE" period="0.5"/>
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<message name="ALIVE" period="2.1"/>
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<message name="IMU_GYRO" period=".075"/>
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<message name="IMU_ACCEL" period=".075"/>
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<message name="IMU_MAG" period=".1"/>
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</mode>
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<mode name="debug_imu">
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<message name="ATTITUDE" period="0.1"/>
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<message name="ALIVE" period="5"/>
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<message name="GPS" period="5.1"/>
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<message name="ESTIMATOR" period="5.3"/>
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<message name="ENERGY" period="10.1"/>
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<message name="DESIRED" period="10.2"/>
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<message name="NAVIGATION" period="5.4"/>
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<message name="PPRZ_MODE" period="5.5"/>
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<message name="STATE_FILTER_STATUS" period="5."/>
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<message name="DATALINK_REPORT" period="5.7"/>
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<message name="IMU_ACCEL" period=".5"/>
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<message name="IMU_GYRO" period=".5"/>
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<message name="IMU_MAG" period=".5"/>
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<message name="IMU_ACCEL_RAW" period=".5"/>
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<message name="IMU_GYRO_RAW" period=".5"/>
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<message name="IMU_MAG_RAW" period=".5"/>
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</mode>
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</process>
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<process name="Fbw">
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<mode name="default">
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<message name="COMMANDS" period="5"/>
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<message name="FBW_STATUS" period="2"/>
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<message name="ACTUATORS_RAW" period="5"/> <!-- For trimming -->
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</mode>
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<mode name="debug">
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<message name="PPM" period="0.5"/>
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<message name="RC" period="0.5"/>
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<message name="COMMANDS" period="0.5"/>
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<message name="FBW_STATUS" period="1"/>
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<message name="ACTUATORS_RAW" period="5"/> <!-- For trimming -->
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</mode>
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</process>
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</telemetry>
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