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219363e102d559bb73dd126e2fc4f7f188cbbd3d
paparazzi/conf/telemetry/highspeed_rotorcraft.xml
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NoahWe 219363e102 [Rotwing] Changes to ground detect and add hx711 based strain gauges (#3616) 
* changes to ground detect and hx711
* keep reverse thrust even if ground_detect cuts out e.g. during tip over
* force sensor struct
* update pprzlink
2026-04-03 10:08:58 +02:00

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<?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="0.7"/>
<message name="ROTORCRAFT_STATUS" period="0.4"/>
<message name="ROTORCRAFT_FP" period="0.20"/>
<message name="ROTORCRAFT_RADIO_CONTROL" period="0.20"/>
<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=".2"/>
<message name="INS" period=".2"/>
<message name="I2C_ERRORS" period="4.1"/>
<message name="UART_ERRORS" period="3.1"/>
<message name="SUPERBITRF" period="3"/>
<message name="ENERGY" period="0.5"/>
<message name="DATALINK_REPORT" period="5.1"/>
<message name="STATE_FILTER_STATUS" period="3.2"/>
<message name="AIR_DATA" period="0.05"/>
<message name="SURVEY" period="2.5"/>
<message name="OPTIC_FLOW_EST" period="0.05"/>
<message name="VECTORNAV_INFO" period="0.5"/>
<message name="OPTICAL_FLOW_HOVER" period="0.05"/>
<message name="VISUALTARGET" period="0.10"/>
<message name="VISION_POSITION_ESTIMATE" period="0.1"/>
<message name="DIVERGENCE" period="0.05"/>
<message name="DRAGSPEED" period="0.02"/>
<message name="LOGGER_STATUS" period="5.1"/>
<message name="LIDAR" period="1.2"/>
<message name="INS_EKF2" period=".25"/>
<message name="INS_EKF2_EXT" period="4.25"/>
<message name="FBW_STATUS" period="2.1"/>
<message name="WIND_INFO_RET" period="9.2"/>
<message name="AHRS_BIAS" period="7.5"/>
<message name="HOVER_LOOP" period="0.3"/>
<message name="GUIDANCE_H_REF_INT" period="0.31"/>
<message name="GUIDANCE_INDI_HYBRID" period="0.05"/>
<message name="HYBRID_GUIDANCE" period="0.4"/>
<message name="ESC" period="0.5"/>
<message name="AHRS_REF_QUAT" period="0.1"/>
<message name="INS_FLOW_INFO" period="0.1"/>
<message name="GPS_RELPOS" period="0.1"/>
<message name="AOA" period="0.2"/>
<message name="APPROACH_MOVING_TARGET" period="0.1"/>
<message name="AIRSPEED_RAW" period="0.1"/>
<message name="TARGET_POS_INFO" period="0.1"/>
<message name="ROTATING_WING_STATE" period="0.2"/>
<message name="ACTUATORS" period="0.02"/>
<message name="EFF_MAT_STAB" period="0.02"/>
<message name="EFF_MAT_GUID" period="0.02"/>
<message name="GUIDANCE" period="0.02"/>
<message name="STAB_ATTITUDE" period="0.02"/>
<message name="ROTORCRAFT_CMD" period="0.2"/>
<message name="DEBUG_VECT" period="0.2"/>
<message name="EXTERNAL_POSE_DOWN" period="0.2"/>
<message name="WLS_V" period="0.2"/>
<message name="WLS_U" period="0.2"/>
<message name="FUELCELL" period="1.5"/>
<message name="POWER_DEVICE" period="0.12"/>
<message name="IMU_HEATER" period="15.1"/>
<message name="GROUND_DETECT" period="0.13"/>
</mode>
<mode name="sim" key_press="d">
<message name="AUTOPILOT_VERSION" period="11.1"/>
<message name="DL_VALUE" period="0.7"/>
<message name="ROTORCRAFT_STATUS" period="0.4"/>
<message name="ROTORCRAFT_FP" period="0.20"/>
<message name="ROTORCRAFT_RADIO_CONTROL" period="0.20"/>
<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=".2"/>
<message name="INS" period=".2"/>
<message name="I2C_ERRORS" period="4.1"/>
<message name="UART_ERRORS" period="3.1"/>
<message name="SUPERBITRF" period="3"/>
<message name="ENERGY" period="0.5"/>
<message name="DATALINK_REPORT" period="5.1"/>
<message name="STATE_FILTER_STATUS" period="3.2"/>
<message name="AIR_DATA" period="0.1"/>
<message name="SURVEY" period="2.5"/>
<message name="OPTIC_FLOW_EST" period="0.05"/>
<message name="VECTORNAV_INFO" period="0.5"/>
<message name="OPTICAL_FLOW_HOVER" period="0.05"/>
<message name="VISUALTARGET" period="0.10"/>
<message name="VISION_POSITION_ESTIMATE" period="0.1"/>
<message name="DIVERGENCE" period="0.05"/>
<message name="DRAGSPEED" period="0.02"/>
<message name="LOGGER_STATUS" period="5.1"/>
<message name="LIDAR" period="1.2"/>
<message name="INS_EKF2" period=".25"/>
<message name="INS_EKF2_EXT" period="4.25"/>
<message name="FBW_STATUS" period="2.1"/>
<message name="WIND_INFO_RET" period="9.2"/>
<message name="AHRS_BIAS" period="7.5"/>
<message name="HOVER_LOOP" period="0.3"/>
<message name="GUIDANCE_H_REF_INT" period="0.31"/>
<message name="GUIDANCE_INDI_HYBRID" period="0.4"/>
<message name="HYBRID_GUIDANCE" period="0.4"/>
<message name="ESC" period="0.5"/>
<message name="AHRS_REF_QUAT" period="0.2"/>
<message name="INS_FLOW_INFO" period="0.2"/>
<message name="GPS_RELPOS" period="0.2"/>
<message name="AOA" period="0.2"/>
<message name="APPROACH_MOVING_TARGET" period="0.2"/>
<message name="AIRSPEED_RAW" period="0.2"/>
<message name="TARGET_POS_INFO" period="0.2"/>
<message name="ROTATING_WING_STATE" period="0.2"/>
<message name="ACTUATORS" period="0.002"/>
<message name="EFF_MAT_STAB" period="0.002"/>
<message name="EFF_MAT_GUID" period="0.002"/>
<message name="GUIDANCE" period="0.002"/>
<message name="STAB_ATTITUDE" period="0.002"/>
<message name="ROTORCRAFT_CMD" period="0.2"/>
<message name="DEBUG_VECT" period="0.002"/>
<message name="EXTERNAL_POSE_DOWN" period="0.2"/>
<message name="WLS_V" period="0.002"/>
<message name="WLS_U" period="0.002"/>
</mode>
<mode name="calibration">
<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="IMU_MAG_CURRENT_CALIBRATION" period=".05"/>
<message name="BARO_RAW" period=".1"/>
<message name="GPS_INT" period=".2"/>
<message name="IMU_HEATER" period="0.1"/>
</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"/>
<message name="AIRSPEED_RAW" period="0.1"/>
<message name="ACTUATORS_RAW" period="0.1"/>
</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" period=".25"/>
<message name="EFF_MAT_STAB" period="2.0"/>
<message name="EFF_MAT_GUID" period="2.0"/>
</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="vel_guidance" key_press="q">
<message name="ALIVE" period="0.9"/>
<message name="HYBRID_GUIDANCE" period="0.062"/>
<message name="GUIDANCE_INDI_HYBRID" period="0.1"/>
<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"/>
<message name="WP_MOVED" period="1.3"/>
<message name="GPS_INT" period="1.0"/>
<message name="INS" period="1.0"/>
</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="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="INS3" period=".20"/>-->
<message name="INS_REF" period="5.1"/>
</mode>
<mode name="RTCM3" >
<message name="GPS_RXMRTCM" period="1"/>
<message name="GPS_INT" period=".25"/>
<message name="GPS_RELPOS" period="1"/>
</mode>
<mode name="Reduced">
<message name="DL_VALUE" period="0.7"/>
<message name="ROTORCRAFT_STATUS" period="0.4"/>
<message name="ROTORCRAFT_FP" period="0.20"/>
<message name="ROTORCRAFT_RADIO_CONTROL" period="0.20"/>
<message name="ROTORCRAFT_NAV_STATUS" period="1.6"/>
<message name="ALIVE" period="2.1"/>
<message name="INS_REF" period="2.1"/>
<message name="WP_MOVED" period="1.3"/>
<message name="GPS_INT" period="0.6"/>
<message name="INS" period="0.6"/>
<message name="ENERGY" period="1.5"/>
<message name="DATALINK_REPORT" period="5.1"/>
<message name="AIR_DATA" period="0.2"/>
<message name="INS_EKF2" period="0.55"/>
<message name="INS_EKF2_EXT" period="4.25"/>
<message name="GUIDANCE_H_REF_INT" period="0.9"/>
<message name="GUIDANCE_INDI_HYBRID" period="0.1"/>
<message name="ESC" period="0.1"/>
<message name="AHRS_REF_QUAT" period="0.07"/>
<message name="GPS_RELPOS" period="0.9"/>
<message name="APPROACH_MOVING_TARGET" period="2.1"/>
<message name="TARGET_POS_INFO" period="2.1"/>
<message name="ROTATING_WING_STATE" period="0.07"/>
<message name="ACTUATORS" period="0.07"/>
<message name="GUIDANCE" period="0.07"/>
<message name="STAB_ATTITUDE" period="0.07"/>
<message name="IMU_HEATER" period="15.1"/>
<message name="I2C_ERRORS" period="4.1"/>
<message name="UART_ERRORS" period="3.1"/>
<message name="DEBUG_VECT" period="0.9"/>
</mode>
<mode name="Minimal">
<message name="ACTUATORS" period="0.3"/>
<message name="AHRS_REF_QUAT" period="0.3"/>
<message name="AIR_DATA" period="0.4"/>
<message name="ALIVE" period="2.1"/>
<message name="DATALINK_REPORT" period="11.1"/>
<message name="ENERGY" period="3.3"/>
<message name="ESC" period="0.4"/>
<message name="GPS_INT" period="1.7"/>
<message name="IMU_HEATER" period="15.1"/>
<message name="INS" period="1.7"/>
<message name="ROTATING_WING_STATE" period="0.3"/>
<message name="ROTORCRAFT_FP" period="0.9"/>
<message name="ROTORCRAFT_NAV_STATUS" period="1.6"/>
<message name="ROTORCRAFT_RADIO_CONTROL" period="0.9"/>
<message name="ROTORCRAFT_STATUS" period="0.9"/>
<message name="STAB_ATTITUDE" period="0.3"/>
<message name="TARGET_POS_INFO" period="2.1"/>
<message name="WP_MOVED" period="2.1"/>
</mode>
</process>
<process name="FlightRecorder">
<mode name="default">
<message name="ALIVE" period="15.1"/>
<message name="AUTOPILOT_VERSION" period="11.1"/>
<message name="GPS" period="11.1"/>
<message name="DL_VALUE" period="2.5"/>
<message name="ROTORCRAFT_STATUS" period="1.2"/>
<message name="ROTORCRAFT_FP" period="0.002"/>
<message name="ROTORCRAFT_CMD" period=".002"/>
<message name="ROTORCRAFT_RADIO_CONTROL" period="0.20"/>
<message name="COMMANDS" period=".02"/>
<message name="INS_REF" period="5.1"/>
<message name="ROTORCRAFT_NAV_STATUS" period="1.6"/>
<message name="WP_MOVED" period="1.3"/>
<message name="GPS_INT" period=".1"/>
<message name="INS" period=".002"/>
<message name="INS_Z" period=".1"/>
<message name="I2C_ERRORS" period="4.1"/>
<message name="UART_ERRORS" period="3.1"/>
<message name="ENERGY" period="0.1"/>
<message name="DATALINK_REPORT" period="5.1"/>
<message name="STATE_FILTER_STATUS" period="3.2"/>
<message name="AIR_DATA" period="0.02"/>
<message name="SURVEY" period="2.5"/>
<message name="IMU_GYRO_SCALED" period=".002"/>
<message name="IMU_ACCEL_SCALED" period=".002"/>
<message name="IMU_MAG_SCALED" period=".0125"/>
<message name="LIDAR" period="0.05"/>
<message name="INS_EKF2" period="0.05"/>
<message name="INS_EKF2_EXT" period="0.1"/>
<message name="WIND_INFO_RET" period="0.2"/>
<message name="AHRS_BIAS" period="0.5"/>
<message name="AHRS_REF_QUAT" period="0.01"/>
<message name="GUIDANCE_H_REF_INT" period="0.02"/>
<message name="GUIDANCE_INDI_HYBRID" period="0.002"/>
<message name="HYBRID_GUIDANCE" period="0.02"/>
<message name="ESC" period="0.02"/>
<message name="STAB_ATTITUDE" period="0.002"/>
<message name="ACTUATORS" period="0.002"/>
<message name="GPS_RELPOS" period="0.05"/>
<message name="IMU_HEATER" period="6.2"/>
<message name="EFF_MAT_STAB" period="0.002"/>
<message name="EFF_MAT_GUID" period="0.002"/>
<message name="GUIDANCE" period="0.002"/>
<message name="EXTERNAL_POSE_DOWN" period="0.002"/>
<message name="ROTATING_WING_STATE" period="0.1"/>
<message name="DOUBLET" period="0.002"/>
<message name="DEBUG" period="0.02"/> <!-- For the parachute module -->
<message name="WLS_V" period="0.002"/>
<message name="WLS_U" period="0.002"/>
<message name="POWER_DEVICE" period="0.02"/>
<message name="FUELCELL" period="1.5"/>
<message name="AIRSPEED_RAW" period="0.02"/>
<message name="GROUND_DETECT" period="0.023"/>
</mode>
</process>
<process name="Mavlink" type="mavlink">
<mode name="default">
<message name="HEARTBEAT" period="0.5"/> <!-- For the camera 10Hz -->
<message name="AUTOPILOT_VERSION" period="11.1"/>
<message name="SYS_STATUS" period="1.2"/>
<message name="SYSTEM_TIME" period="2.0"/>
<message name="ATTITUDE" period="0.1"/> <!-- For the camera 10Hz -->
<message name="ATTITUDE_QUATERNION" period="1.5"/>
<message name="LOCAL_POSITION_NED" period="0.8"/>
<message name="GLOBAL_POSITION_INT" period="0.1"/> <!-- For the camera 10Hz -->
<message name="GPS_RAW_INT" period="0.5"/> <!-- For the camera 2Hz -->
<message name="BATTERY_STATUS" period="4.0"/>
<message name="GPS_GLOBAL_ORIGIN" period="5.1"/>
<message name="VFR_HUD" period="0.5"/>
<message name="RC_CHANNELS" period="0.2"/>
<message name="EXTENDED_SYS_STATE" period="1.0"/>
</mode>
</process>
</telemetry>
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