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67e7e36d4ca4eaf29ee540ba8a563803cdff84de
paparazzi/conf/messages.xml
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Antoine Drouin 67e7e36d4c *** empty log message ***
2008-05-21 22:16:59 +00:00

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<?xml version="1.0"?>
<!DOCTYPE protocol SYSTEM "messages.dtd">
<protocol>
<!-- messages from modem or sim to server -->
<class name="telemetry">
<message name="BOOT" id="1">
<field name="version" type="uint16"></field>
</message>
<message name="ALIVE" id="2">
<field name="md5sum" type="uint8[]"/>
</message>
<message name="PONG" id="3">
</message>
<message name="TAKEOFF" ID="4">
<field name="cpu_time" type="uint16" unit="s"></field>
</message>
<message name="ATTITUDE" ID="6">
<field name="phi" type="int16" unit="deg"></field>
<field name="psi" type="int16" unit="deg"></field>
<field name="theta" type="int16" unit="deg"></field>
</message>
<message name="IR_SENSORS" ID="7">
<field name="ir1" type="int16"></field>
<field name="ir2" type="int16"></field>
<field name="longitudinal" type="int16"></field>
<field name="lateral" type="int16"></field>
<field name="vertical" type="int16"></field>
</message>
<message name="GPS" ID="8">
<field name="mode" type="uint8" unit="byte_mask"></field>
<field name="utm_east" type="int32" unit="cm"></field>
<field name="utm_north" type="int32" unit="cm"></field>
<field name="course" type="int16" unit="decideg"></field>
<field name="alt" type="int32" unit="cm"></field>
<field name="speed" type="uint16" unit="cm/s"></field>
<field name="climb" type="int16" unit="cm/s"></field>
<field name="itow" type="uint32" unit="ms"></field>
<field name="utm_zone" type="uint8"></field>
<field name="gps_nb_err" type="uint8"></field>
</message>
<message name="NAVIGATION_REF" ID="0x09">
<field name="utm_east" type="int32" unit="m"></field>
<field name="utm_north" type="int32" unit="m"></field>
<field name="utm_zone" type="uint8"></field>
</message>
<message name="NAVIGATION" ID="10">
<field name="cur_block" type="uint8"></field>
<field name="cur_stage" type="uint8"></field>
<field name="pos_x" type="int16" unit="m"></field>
<field name="pos_y" type="int16" unit="m"></field>
<field name="dist2_wp" type="float" format="%.1f" unit="m^2"></field>
<field name="dist2_home" type="float" format="%.1f" unit="m^2"></field>
</message>
<message name="PPRZ_MODE" ID="11">
<field name="ap_mode" type="uint8" values="MANUAL|AUTO1|AUTO2|HOME|NOGPS|FAILSAFE"/>
<field name="ap_gaz" type="uint8" values="MANUAL|AUTO_THROTTLE|AUTO_CLIMB|AUTO_ALT"/>
<field name="ap_lateral" type="uint8" values="MANUAL|ROLL_RATE|ROLL|COURSE"/>
<field name="ap_horizontal" type="uint8" values="WAYPOINT|ROUTE|CIRCLE"/>
<field name="if_calib_mode" type="uint8" values="NONE|DOWN|UP"/>
<field name="mcu1_status" type="uint8" values="LOST|OK|REALLY_LOST"/>
</message>
<message name="BAT" ID="12">
<field name="throttle" type="int16" unit="pprz"></field>
<field name="voltage" type="uint8" unit="1e-1V"></field>
<field name="flight_time" type="uint16" unit="s"></field>
<field name="kill_auto_throttle" type="uint8" unit="bool"></field>
<field name="block_time" type="uint16" unit="s"></field>
<field name="stage_time" type="uint16" unit="s"></field>
<field name="energy" type="uint16" unit="mAh"/>
</message>
<message name="DEBUG_MCU_LINK" ID="13">
<field name="i2c_nb_err" type="uint8"></field>
<field name="i2c_mcu1_nb_err" type="uint8"></field>
<field name="ppm_rate" type="uint8"></field>
</message>
<message name="CALIBRATION" ID="14">
<field name="climb_sum_err" type="float" format="%.1f"></field>
<field name="climb_pgain" type="float" format="%.3f"></field>
<field name="course_pgain" type="float" format="%.3f"></field>
<field name="climb_gaz_submode" type="uint8"></field>
</message>
<message name="SETTINGS" ID="15">
<field name="slider_1_val" type="float"></field>
<field name="slider_2_val" type="float"></field>
</message>
<message name="DESIRED" ID="16">
<field name="roll" type="float" format="%.2f" unit="rad"/>
<field name="pitch" type="float" format="%.2f" unit="rad"/>
<field name="course" type="float" format="%.1f" unit="rad"></field>
<field name="x" type="float" format="%.0f" unit="m"/>
<field name="y" type="float" format="%.0f" unit="m"/>
<field name="altitude" type="float" format="%.0f" unit="m"/>
<field name="climb" type="float" format="%.1f" unit="m/s"></field>
</message>
<message name="GPS_SOL" ID="17">
<field name="Pacc" type="uint32" unit="cm"/>
<field name="Sacc" type="uint32" unit="cm"/>
<field name="PDOP" type="uint16" unit="cm"/>
<field name="numSV" type="uint8"/>
</message>
<message name="ADC_GENERIC" ID="18">
<field name="val1" type="uint16"/>
<field name="val2" type="uint16"/>
</message>
<message name="CAM" ID="20">
<field name="phi" type="int8" unit="deg"/>
<field name="theta" type="int8" unit="deg"/>
<field name="target_x" type="int16" unit="m"/>
<field name="target_y" type="int16" unit="m"/>
</message>
<message name="CIRCLE" ID="21">
<field name="center_east" type="int16" unit="m"/>
<field name="center_north" type="int16" unit="m"/>
<field name="radius" type="int16" unit="m"/>
</message>
<message name="SEGMENT" ID="22">
<field name="segment_east_1" type="int16" unit="m"/>
<field name="segment_north_1" type="int16" unit="m"/>
<field name="segment_east_2" type="int16" unit="m"/>
<field name="segment_north_2" type="int16" unit="m"/>
</message>
<message name="DOWNLINK_STATUS" ID="23">
<field name="run_time" type="uint32" unit="s"></field>
<field name="rx_bytes" type="uint32"></field>
<field name="rx_msgs" type="uint32"></field>
<field name="rx_err" type="uint32"></field>
<field name="rx_bytes_rate" type="float" format="%.1f"></field>
<field name="rx_msgs_rate" type="float" format="%.1f"></field>
<field name="ping_time" type="float" format="%.2f" unit="ms"></field>
</message>
<message name="MODEM_STATUS" ID="24">
<field name="detected" type="uint8"></field>
<field name="valim" type="float" format="%.1f"></field>
<field name="cd" type="uint8"></field>
<field name="nb_byte" type="uint32"></field>
<field name="nb_msg" type="uint32"></field>
<field name="nb_err" type="uint32"></field>
</message>
<message name="SVINFO" id="25">
<field name="chn" type="uint8"/>
<field name="SVID" type="uint8"/>
<field name="Flags" type="uint8"/>
<field name="QI" type="int8"/>
<field name="CNO" type="uint8" unit="dbHz"/>
<field name="Elev" type="int8" unit="deg"/>
<field name="Azim" type="int16" unit="deg"/>
</message>
<message name="SURVEY" ID="27">
<field name="east" type="float" unit="m"/>
<field name="north" type="float" unit="m"/>
<field name="west" type="float" unit="m"/>
<field name="south" type="float" unit="m"/>
</message>
<message name="WC_RSSI" id="28">
<field name="raw_level" type="uint8"/>
</message>
<message name="RANGEFINDER" id="29">
<field name="range" type="uint16" unit="cm"/>
<field name="z_dot" type="float" unit="m/s"/>
<field name="z_dot_sum_err" type="float" unit="m/s"/>
<field name="z_dot_setpoint" type="float" unit="m/s"/>
<field name="z_sum_err" type="float" unit="m/s"/>
<field name="z_setpoint" type="float" unit="m"/>
<field name="flying" type="uint8" unit="bool"/>
</message>
<message name="DOWNLINK" id="30">
<field name="nb_ovrn" type="uint8"></field>
<field name="rate" type="uint16" unit="bytes/s"></field>
<field name="nb_msgs" type="uint16"></field>
</message>
<!-- Current value of one variable from the dl_settings (airframe.xml) -->
<message name="DL_VALUE" id="31">
<field name="index" type="uint8"/>
<field name="value" type="float"/>
</message>
<message name="MARK" id="32">
<field name="ac_id" type="uint8"/>
<field name="lat" type="float" unit="deg"/>
<field name="long" type="float" unit="deg"/>
</message>
<message name="WP_MOVED" id="35">
<field name="wp_id" type="uint8"/>
<field name="utm_east" type="float" unit="m"></field>
<field name="utm_north" type="float" unit="m"></field>
<field name="alt" type="float" unit="m"></field>
<field name="utm_zone" type="uint8"></field>
</message>
<message name="GYRO_RATES" id="36">
<field name="roll_adc" type="int16"></field>
<field name="roll" type="float" unit="rad/s"></field>
<field name="pitch" type="float" unit="rad/s"></field>
</message>
<message name="SPEED_LOOP" id="40">
<field name="ve_set_point" type="float" unit="m/s"/>
<field name="ve" type="float" unit="m/s"/>
<field name="vn_set_point" type="float" unit="m/s"/>
<field name="vn" type="float" unit="m/s"/>
<field name="north_sp" type="float" unit="rad"/>
<field name="east_sp" type="float" unit="rad"/>
</message>
<message name="ALT_KALMAN" ID="41">
<field name="p00" type="float"/>
<field name="p01" type="float"/>
<field name="p10" type="float"/>
<field name="p11" type="float"/>
</message>
<message name="ESTIMATOR" ID="42">
<field name="z" type="float" unit="m"/>
<field name="z_dot" type="float" unit="m/s"/>
</message>
<message name="TUNE_ROLL" ID="43">
<field name="p" type="float"/>
<field name="phi" type="float"/>
<field name="phi_sp" type="float"/>
</message>
<message name="BARO_MS5534A" ID="44">
<field name="pressure" type="uint32" unit="P"/>
<field name="temp" type="uint16" unit="dC°"/>
<field name="alt" type="float" unit="m"/>
</message>
<message name="BARO_WORDS" ID="46">
<field name="w1" type="uint16"/>
<field name="w2" type="uint16"/>
<field name="w3" type="uint16"/>
<field name="w4" type="uint16"/>
</message>
<message name="PPM" ID="100">
<field name="values" type="uint16[]" unit="ticks"/>
</message>
<message name="RC" ID="101">
<field name="values" type="int16[]" unit="pprz" format="%d"/>
</message>
<message name="COMMANDS" ID="102">
<field name="values" type="int16[]" unit="ticks"/>
</message>
<message name="FBW_STATUS" ID="103">
<field name="rc_status" type="uint8" values="OK|LOST|REALLY_LOST"/>
<field name="mode" type="uint8" values="MANUAL|AUTO|FAILSAFE"/>
<field name="vsupply" type="uint8" unit="decivolt"/>
</message>
<message name="ADC" ID="104">
<field name="mcu" type="uint8" values="FBW|AP"/>
<field name="values" type="uint16[]" unit="none"/>
</message>
<message name="ACTUATORS" ID="105">
<field name="values" type="uint16[]" unit="none"/>
</message>
<message name="TCAS_TA" ID="120">
<field name="ac_id" type="uint8"/>
</message>
<message name="TCAS_RA" ID="121">
<field name="ac_id" type="uint8"/>
</message>
<message name="TCAS_DEBUG" ID="122">
<field name="ac_id" type="uint8"/>
<field name="tau" type="float"/>
</message>
<message name="IMU_GYRO" ID="200">
<field name="gp" type="float" unit="rad/s"/>
<field name="gq" type="float" unit="rad/s"/>
<field name="gr" type="float" unit="rad/s"/>
</message>
<message name="IMU_MAG" ID="201">
<field name="mx" type="float" />
<field name="my" type="float" />
<field name="mz" type="float" />
</message>
<message name="IMU_ACCEL" ID="202">
<field name="ax" type="float" unit="m/s-2"/>
<field name="ay" type="float" unit="m/s-2"/>
<field name="az" type="float" unit="m/s-2"/>
</message>
<message name="IMU_GYRO_RAW" ID="203">
<field name="gp" type="uint16" unit="adc"/>
<field name="gq" type="uint16" unit="adc"/>
<field name="gr" type="uint16" unit="adc"/>
</message>
<message name="IMU_ACCEL_RAW" ID="204">
<field name="ax" type="uint16" unit="adc"/>
<field name="ay" type="uint16" unit="adc"/>
<field name="az" type="uint16" unit="adc"/>
</message>
<message name="IMU_MAG_RAW" ID="205">
<field name="mx" type="int16" unit="adc"/>
<field name="my" type="int16" unit="adc"/>
<field name="mz" type="int16" unit="adc"/>
</message>
<message name="IMU_GYRO_RAW_AVG" ID="206">
<field name="gp" type="uint16" unit="adc"/>
<field name="gq" type="uint16" unit="adc"/>
<field name="gr" type="uint16" unit="adc"/>
<field name="vgp" type="float" unit="adc" format="%.0f"/>
<field name="vgq" type="float" unit="adc" format="%.0f"/>
<field name="vgr" type="float" unit="adc" format="%.0f"/>
</message>
<message name="IMU_ACCEL_RAW_AVG" ID="207">
<field name="ax" type="uint16" unit="adc"/>
<field name="ay" type="uint16" unit="adc"/>
<field name="az" type="uint16" unit="adc"/>
<field name="vax" type="float" unit="adc"/>
<field name="vay" type="float" unit="adc"/>
<field name="vaz" type="float" unit="adc"/>
</message>
<message name="IMU_MAG_RAW_AVG" ID="208">
<field name="mx" type="int16" unit="adc"/>
<field name="my" type="int16" unit="adc"/>
<field name="mz" type="int16" unit="adc"/>
<field name="vmx" type="float" unit="adc"/>
<field name="vmy" type="float" unit="adc"/>
<field name="vmz" type="float" unit="adc"/>
</message>
<message name="IMU_GYRO_LP" ID="209">
<field name="gp" type="float" unit="rad/s"/>
<field name="gq" type="float" unit="rad/s"/>
<field name="gr" type="float" unit="rad/s"/>
</message>
<message name="IMU_PRESSURE" ID="210">
<field name="p" type="float" unit="pascal"/>
</message>
<message name="IMU_TURNTABLE" ID="220">
<field name="omega" type="float" unit="rad/s"/>
</message>
<message name="AHRS_QUAT_STATE" ID="221">
<field name="q0" type="float"/>
<field name="q1" type="float"/>
<field name="q2" type="float"/>
<field name="q3" type="float"/>
<field name="bp" type="float" unit="rad/s"/>
<field name="bq" type="float" unit="rad/s"/>
<field name="br" type="float" unit="rad/s"/>
</message>
<message name="AHRS_QUAT_COV" ID="222">
<field name="p_q0_q0" type="float"/>
<field name="p_q1_q1" type="float"/>
<field name="p_q2_q2" type="float"/>
<field name="p_q3_q3" type="float"/>
<field name="p_bp_bp" type="float" unit="interesting_question"/>
<field name="p_bq_bq" type="float" unit="interesting_question"/>
<field name="p_br_br" type="float" unit="interesting_question"/>
</message>
<message name="AHRS_EULER_STATE" ID="223">
<field name="phi" type="float" unit="rad"/>
<field name="theta" type="float" unit="rad"/>
<field name="psi" type="float" unit="rad"/>
<field name="bp" type="float" unit="rad/s"/>
<field name="bq" type="float" unit="rad/s"/>
<field name="br" type="float" unit="rad/s"/>
</message>
<message name="AHRS_EULER_COV" ID="224">
<field name="p_phi_phi" type="float"/>
<field name="p_phi_bp" type="float"/>
<field name="p_bp_bp" type="float"/>
<field name="p_theta_theta" type="float"/>
<field name="p_theta_bq" type="float"/>
<field name="p_bq_bq" type="float"/>
<field name="p_psi_psi" type="float"/>
<field name="p_psi_br" type="float"/>
<field name="p_br_br" type="float"/>
</message>
<message name="AHRS_MEASURE" ID="225">
<field name="phi" type="float" unit="rad"/>
<field name="theta" type="float" unit="rad"/>
<field name="psi" type="float" unit="rad"/>
</message>
<message name="AHRS_OVERRUN" ID="226">
</message>
<message name="TIME" ID="227">
<field name="t" type="uint32"/>
</message>
<message name="QUAD_INS" ID="228">
<field name="msg_id" type="uint8"/>
<field name="msg_len" type="uint8"/>
<field name="msg_status" type="uint8"/>
<field name="msg_time_stamp" type="uint16"/>
</message>
<message name="QUAD_STATUS" ID="229">
<field name="rc_status" type="uint8" values="OK|LOST|REALLY_LOST"/>
<field name="ap_mode" type="uint8" values="FAILSAFE|KILL|RATE|ATTITUDE|NAV"/>
<field name="vsupply" type="uint8" unit="decivolt"/>
<field name="cpu_time" type="uint16" unit="s"/>
</message>
<message name="BOOZ_FD" ID="230">
<field name="p" type="float"/>
<field name="q" type="float"/>
<field name="r" type="float"/>
<field name="phi" type="float"/>
<field name="theta" type="float"/>
<field name="psi" type="float"/>
</message>
<message name="BOOZ_STATUS" ID="231">
<field name="link_imu_nb_err" type="uint32"/>
<field name="imu_status" type="uint8" values="NO_LINK|UNINIT|RUNNING|CRASHED"/>
<field name="rc_status" type="uint8" values="OK|LOST|REALLY_LOST"/>
<field name="ap_mode" type="uint8" values="FAILSAFE|KILL|RATE|ATTITUDE|NAV"/>
<field name="vsupply" type="uint8" unit="decivolt"/>
<field name="cpu_time" type="uint16" unit="s"></field>
<field name="blmc_nb_err" type="uint8"/>
</message>
<message name="BOOZ_DEBUG_BAR" ID="232">
<field name="m_phi" type="float" unit="rad"/>
<field name="m_theta" type="float" unit="rad"/>
</message>
<message name="BOOZ_RATE_LOOP" ID="233">
<field name="p_est" type="float" unit="rad/s"/>
<field name="p_sp" type="float" unit="rad/s"/>
<field name="q_est" type="float" unit="rad/s"/>
<field name="q_sp" type="float" unit="rad/s"/>
<field name="r_est" type="float" unit="rad/s"/>
<field name="r_sp" type="float" unit="rad/s"/>
<field name="power_sp" type="float" unit="0-1"/>
</message>
<message name="BOOZ_ATT_LOOP" ID="234">
<field name="phi_est" type="float" unit="rad"/>
<field name="phi_sp" type="float" unit="rad"/>
<field name="theta_est" type="float" unit="rad"/>
<field name="theta_sp" type="float" unit="rad"/>
<field name="psi_est" type="float" unit="rad"/>
<field name="psi_sp" type="float" unit="rad"/>
<field name="power_sp" type="float" unit="0-1"/>
</message>
<message name="BOOZ_VERT_LOOP" ID="235">
<field name="sp_z" type="float" unit="m"/>
<field name="est_vz" type="float" unit="m/s"/>
<field name="est_z" type="float" unit="m"/>
<field name="power_command" type="float" unit="%"/>
</message>
<message name="BOOZ_HOV_LOOP" ID="236">
<field name="sp_x" type="float" unit="m"/>
<field name="sp_y" type="float" unit="m"/>
<field name="est_u" type="float" unit="m/s"/>
<field name="est_x" type="float" unit="m"/>
<field name="est_v" type="float" unit="m/s"/>
<field name="est_y" type="float" unit="m"/>
<field name="phi_command" type="float" unit="rad"/>
<field name="theta_command" type="float" unit="rad"/>
</message>
<message name="BOOZ_CMDS" ID="237">
<field name="front" type="uint8"/>
<field name="back" type="uint8"/>
<field name="left" type="uint8"/>
<field name="right" type="uint8"/>
</message>
<message name="BOOZ_UF_RATES" ID="238">
<field name="p" type="float" unit="rad/s"/>
<field name="q" type="float" unit="rad/s"/>
<field name="r" type="float" unit="rad/s"/>
</message>
<message name="BOOZ_SIM_RPMS" ID="239">
<field name="front" type="float" unit="RPM"/>
<field name="back" type="float" unit="RPM"/>
<field name="left" type="float" unit="RPM"/>
<field name="right" type="float" unit="RPM"/>
</message>
<message name="BOOZ_SIM_SPEED_POS" ID="240">
<field name="u" type="float" unit="m/s"/>
<field name="v" type="float" unit="m/s"/>
<field name="w" type="float" unit="m/s"/>
<field name="x" type="float" unit="m"/>
<field name="y" type="float" unit="m"/>
<field name="z" type="float" unit="m"/>
</message>
<message name="BOOZ_SIM_RATE_ATTITUDE" ID="241">
<field name="p" type="float" unit="degres/s"/>
<field name="q" type="float" unit="degres/s"/>
<field name="r" type="float" unit="degres/s"/>
<field name="phi" type="float" unit="degres"/>
<field name="theta" type="float" unit="degres"/>
<field name="psi" type="float" unit="degres"/>
</message>
<message name="BOOZ_SIM_GYRO_BIAS" ID="242">
<field name="bp" type="float" unit="degres/s"/>
<field name="bq" type="float" unit="degres/s"/>
<field name="br" type="float" unit="degres/s"/>
</message>
<message name="BOOZ_SIM_RANGE_METER" ID="243">
<field name="dist" type="float" unit="adc"/>
</message>
<message name="BOOZ_SIM_WIND" ID="244">
<field name="vx" type="float" unit="m/s"/>
<field name="vy" type="float" unit="m/s"/>
<field name="vz" type="float" unit="m/s"/>
</message>
<message name="BOOZ_DEBUG_FOO" ID="245">
<field name="ami_stat" type="uint8"/>
</message>
<message name="BOOZ_MAX1167_ERR" ID="246">
<field name="erno" type="uint8"/>
</message>
<message name="BOOZ_ERROR" ID="247">
<field name="module" type="uint8"/>
<field name="errno" type="uint8"/>
</message>
<message name="BOOZ_INS_STATE" ID="248">
<field name="z_est" type="float" unit="m/s"/>
<field name="z_meas" type="float" unit="m/s"/>
<field name="zd_est" type="float" unit="m/s"/>
<field name="az_b" type="float" unit="m/s"/>
</message>
<message name="BOOZ_B_IMU" ID="249">
<field name="gp" type="int16"/>
<field name="gq" type="int16"/>
<field name="gr" type="int16"/>
<field name="ax" type="int16"/>
<field name="ay" type="int16"/>
<field name="az" type="int16"/>
</message>
<message name="TL_ESTIMATOR" ID="60">
<field name="r" type="float" unit="rad/s"/>
<field name="psi" type="float" unit="rad"/>
<field name="z_baro" type="float" unit="cm"/>
</message>
<message name="TL_RATE_LOOP_R" ID="61">
<field name="r_est" type="float" unit="rad/s"/>
<field name="r_sp" type="float" unit="rad/s"/>
<field name="r_sum_err" type="float" unit="rad"/>
</message>
<message name="TL_ATTITUDE_LOOP_R" ID="62">
<field name="psi_est" type="float" unit="rad"/>
<field name="psi_sp" type="float" unit="rad"/>
<field name="psi_sum_err" type="float" unit="rad*s"/>
<field name="r_est" type="float" unit="rad/s"/>
</message>
<message name="TL_KALM_PSI_STATE" ID="63">
<field name="psi" type="float" unit="rad"/>
<field name="bias" type="float" unit="rad/s"/>
</message>
<message name="TL_KALM_PSI_COV" ID="64">
<field name="P00" type="float" unit=""/>
<field name="P01" type="float" unit=""/>
<field name="P11" type="float" unit=""/>
</message>
<message name="TL_KALM_V_STATE" ID="65">
<field name="z" type="float" unit="m"/>
<field name="z_dot" type="float" unit="m/s"/>
<field name="bias" type="float" unit="m/s/s"/>
<field name="z_meas" type="float" unit="m"/>
</message>
<message name="TL_KALM_V_COV" ID="66">
<field name="Pzz" type="float"/>
<field name="Pzdzd" type="float"/>
<field name="Pbb" type="float"/>
</message>
<message name="TL_IMU_ACCEL" ID="67">
<field name="val" type="float" unit="m/s/s"/>
</message>
<message name="TL_IMU_GYRO" ID="68">
<field name="val" type="float" unit="rad/s"/>
</message>
<message name="TL_IMU_MAG" ID="69">
<field name="hx" type="float" unit=""/>
<field name="hy" type="float" unit=""/>
<field name="hz" type="float" unit=""/>
</message>
<message name="TL_IMU_PRESSURE" ID="70">
<field name="val" type="float" unit="pascal"/>
</message>
<message name="TL_IMU_RANGEMETER" ID="71">
<field name="val" type="float" unit="m"/>
</message>
<message name="TL_DEBUG" ID="72">
<field name="ap_mode" type="uint8" unit=""/>
</message>
<message name="TL_VERTICAL_LOOP" ID="73">
<field name="agl_est" type="float" unit="m"/>
<field name="agl_sp" type="float" unit="m"/>
<field name="agl_sum_err" type="float" unit="sm"/>
<field name="agl_dot" type="float" unit="m/s"/>
</message>
<message name="TL_TEST" ID="74">
<field name="psi" type="float" unit="rad"/>
<field name="xdot" type="float" unit="m/s"/>
<field name="ydot" type="float" unit="m/s"/>
<field name="u" type="float" unit="m/s"/>
<field name="v" type="float" unit="m/s"/>
</message>
<message name="TL_SPEED_LOOP" ID="75">
<field name="u_est" type="float" unit="m/s"/>
<field name="u_sp" type="float" unit="m/s"/>
<field name="u_sum_err" type="float" unit="m"/>
<field name="v_est" type="float" unit="m/s"/>
<field name="v_sp" type="float" unit="m/s"/>
<field name="v_sum_err" type="float" unit="m"/>
</message>
<message name="VF_UPDATE" id="76">
<field name="baro" type="float" unit="m"/>
<field name="range_meter" type="float" unit="m"/>
</message>
<message name="VF_PREDICT" id="77">
<field name="accel" type="float" unit="m/s/s"/>
</message>
<message name="CROSS_TRACK_ERROR" ID="80">
<field name="cross_track_error" type="float" unit="m"/>
<field name="cte_int" type="float"/>
</message>
<message name="ESTIMATOR_COMP_FILTER" ID="81">
<field name="gyro_hp_last_out" type="float"/>
<field name="gyro_int" type="float"/>
<field name="gps_lp_last_out" type="float"/>
<field name="ir_lp_last_out" type="float"/>
</message>
<message name="FORMATION_SLOT_TM" id="82">
<field name="ac_id" type="uint8"/>
<field name="mode" type="uint8"/>
<field name="slot_east" format="%.1f" type="float" unit="m"/>
<field name="slot_north" format="%.1f" type="float" unit="m"/>
<field name="slot_alt" format="%.1f" type="float" unit="m"/>
</message>
<message name="FORMATION_STATUS_TM" id="83">
<field name="ac_id" type="uint8"/>
<field name="leader_id" type="uint8"/>
<field name="status" type="uint8"/>
</message>
<message name="ENOSE_STATUS" ID="250">
<field name="val1" type="uint16"/>
<field name="val2" type="uint16"/>
<field name="val3" type="uint16"/>
<field name="PID" type="uint16"/>
<field name="heat" type="uint8[]"/>
</message>
<message name="DPICCO_STATUS" ID="251">
<field name="humid" type="uint16"/>
<field name="temp" type="uint16"/>
</message>
<message name="ANTENNA_DEBUG" ID="252">
<field name="mag_xraw" type="int32"/>
<field name="mag_yraw" type="int32"/>
<field name="mag_xcal" type="float"/>
<field name="mag_ycal" type="float"/>
<field name="mag_heading" type="float"/>
<field name="mag_magnitude" type="float"/>
<field name="mag_temp" type="float"/>
<field name="mag_distor" type="uint8"/>
<field name="mag_cal_status" type="uint8"/>
</message>
<message name="ANTENNA_STATUS" ID="253">
<field name="azim_sp" type="float"/>
<field name="elev_sp" type="float"/>
<field name="id_sp" type="uint8"/>
<field name="mode" type="uint8"/>
</message>
<message name="MOTOR_BENCH_STATUS" ID="254">
<field name="time_ticks" type="uint32"/>
<field name="throttle" type="float" format="%.3f"/>
<field name="rpm" type="float"/>
<field name="current" type="float"/>
<field name="thrust" type="float"/>
<field name="torque" type="float"/>
<field name="time_s" type="uint16"/>
<field name="mode" type="uint8"/>
</message>
<!--
<message name="DC_MC_STATUS" ID="255">
<field name="time_sec" type="uint16"/>
<field name="time_ticks" type="uint16"/>
<field name="command" type="uint16"/>
</message>
-->
</class>
<class name="datalink">
<message name="ACINFO" ID="1" link="broadcasted">
<field name="course" type="int16" unit="decideg"></field>
<field name="utm_east" type="int32" unit="cm"></field>
<field name="utm_north" type="int32" unit="cm"></field>
<field name="alt" type="int32" unit="cm"></field>
<field name="itow" type="uint32" unit="ms"></field>
<field name="speed" type="uint16" unit="cm/s"></field>
<field name="climb" type="int16" unit="cm/s"></field>
<field name="ac_id" type="uint8"/>
</message>
<message name="MOVE_WP" ID="2" link="forwarded">
<field name="wp_id" type="uint8"/>
<field name="ac_id" type="uint8"/>
<field name="lat" type="float" unit="deg"></field>
<field name="lon" type="float" unit="deg"></field>
<field name="alt" type="int32" unit="cm"></field>
</message>
<message name="WIND_INFO" ID="3" link="forwarded">
<field name="ac_id" type="uint8"/>
<field name="pad0" type="uint8"/>
<field name="east" type="float" unit="m/s"/>
<field name="north" type="float" unit="m/s"/>
<field name="airspeed" type="float" unit="m/s"/>
</message>
<message name="SETTING" ID="4" link="forwarded">
<field name="index" type="uint8"/>
<field name="ac_id" type="uint8"/>
<field name="value" type="float"/>
</message>
<message name="BLOCK" ID="5" link="forwarded">
<field name="block_id" type="uint8"/>
<field name="ac_id" type="uint8"/>
</message>
<message name="HITL_UBX" id="6">
<field name="class" type="uint8"/>
<field name="id" type="uint8"/>
<field name="ac_id" type="uint8"/>
<field name="ubx_payload" type="uint8[]"/>
</message>
<message name="HITL_INFRARED" id="7">
<field name="roll" type="int16"/>
<field name="pitch" type="int16"/>
</message>
<message name="PING" id="8">
</message>
<message name="FORMATION_SLOT" id="9" link="broadcasted">
<field name="ac_id" type="uint8"/>
<field name="mode" type="uint8"/>
<field name="slot_east" format="%.1f" type="float" unit="m"/>
<field name="slot_north" format="%.1f" type="float" unit="m"/>
<field name="slot_alt" format="%.1f" type="float" unit="m"/>
</message>
<message name="FORMATION_STATUS" id="10" link="broadcasted">
<field name="ac_id" type="uint8"/>
<field name="leader_id" type="uint8"/>
<field name="status" type="uint8"/>
</message>
<message name="SET_ACTUATOR" id="100">
<field name="value" type="uint16"/>
<field name="no" type="uint8"/>
<field name="ac_id" type="uint8"/>
</message>
</class>
<class name="ground">
<message name="NEW_AIRCRAFT" ID="1">
<field name="ac_id" type="string"/>
</message>
<message name="AIRCRAFT_DIE" ID="2">
<field name="ac_id" type="string"/>
</message>
<message name="AIRCRAFTS" ID="3">
<field name="ac_list" type="string" format="csv"/>
</message>
<message name="AIRCRAFTS_REQ" ID="4">
</message>
<message name="SELECTED" ID="5">
<field name="aircraft_id" type="string"/>
</message>
<message name="SELECTED_REQ" ID="6">
</message>
<message name="WIND_CLEAR" ID="7">
<field name="ac_id" type="string"/>
</message>
<message name="WIND" ID="8">
<field name="ac_id" type="string"/>
<field name="dir" type="float" unit="deg_wind"/>
<field name="wspeed" type="float" unit="m/s"/>
<field name="mean_aspeed" type="float" unit="m/s"/>
<field name="stddev" type="float" unit="m/s"/>
</message>
<message name="CONFIG_REQ" ID="9">
<field name="ac_id" type="string"/>
</message>
<message name="CONFIG" ID="10">
<field name="ac_id" type="string"/>
<field name="flight_plan" type="string" unit="url"/>
<field name="airframe" type="string" unit="url"/>
<field name="radio" type="string" unit="url"/>
<field name="settings" type="string" unit="url"/>
<field name="default_gui_color" type="string"/>
<field name="ac_name" type="string"/>
</message>
<message name="FLIGHT_PARAM" ID="11">
<field name="ac_id" type="string"/>
<field name="roll" type="float" unit="deg"/>
<field name="pitch" type="float" unit="deg"/>
<field name="lat" type="float" unit="deg"/>
<field name="long" type="float" unit="deg"/>
<field name="speed" type="float" unit="m/s"/>
<field name="course" type="float" unit="deg" format="%.1f"/>
<field name="alt" type="float" unit="m"/>
<field name="climb" type="float" unit="m/s"/>
<field name="agl" type="float" unit="m"/>
<field name="unix_time" type="float" unit="s (Unix time)"/>
<field name="itow" type="uint32" unit="ms"/>
</message>
<message name="AP_STATUS" ID="12">
<field name="ac_id" type="string"/>
<field name="ap_mode" type="string" values="MANUAL|AUTO1|AUTO2|HOME|FAILSAFE"/>
<field name="lat_mode" type="string" values="MANUAL|ROLL_RATE|ROLL|COURSE"/>
<field name="horiz_mode" type="string" values="WAYPOINT|ROUTE|CIRCLE"/>
<field name="gaz_mode" type="string" values="MANUAL|THROTTLE|CLIMB|ALT"/>
<field name="gps_mode" type="string" values="NOFIX|DRO|2D|3D|GPSDRO"/>
<field name="kill_mode" type="string" values="OFF|ON"/>
<field name="flight_time" type="uint32" />
</message>
<message name="NAV_STATUS" ID="13">
<field name="ac_id" type="string"/>
<field name="cur_block" type="uint8"/>
<field name="cur_stage" type="uint8"/>
<field name="block_time" type="uint32"/>
<field name="stage_time" type="uint32"/>
<field name="target_lat" type="float" unit="deg"/>
<field name="target_long" type="float" unit="deg"/>
<field name="target_climb" type="float" unit="m/s"/>
<field name="target_alt" type="float" unit="m"/>
<field name="target_course" type="float" unit="deg"/>
<field name="dist_to_wp" type="float" unit="m"/>
</message>
<message name="CAM_STATUS" ID="14">
<field name="ac_id" type="string"/>
<field name="cam_lat" type="float" unit="deg"/>
<field name="cam_long" type="float" unit="deg"/>
<field name="cam_target_lat" type="float" unit="deg"/>
<field name="cam_target_long" type="float" unit="deg"/>
</message>
<message name="ENGINE_STATUS" ID="15">
<field name="ac_id" type="string"/>
<field name="throttle" type="float" unit="%" format="%.1f"/>
<field name="throttle_accu" type="float" format="%.1f"/>
<field name="rpm" type="float" unit="rpm" format="%.1f"/>
<field name="temp" type="float" unit="celcius"/>
<field name="bat" type="float" unit="V"/>
<field name="amp" type="float" unit="A"/>
<field name="energy" type="uint16" unit="Wh"/>
</message>
<message name="SVSINFO" ID="16">
<field name="ac_id" type="string"/>
<field name="pacc" type="uint16" unit="cm"/>
<field name="svid" type="string" format="csv"/>
<field name="flags" type="string" format="csv"/>
<field name="qi" type="string" format="csv" values="IDLE|SEARCH|SEARCH|UNUSABLE|CODELOCK|CARRIERLOCK|CARRIERLOCK|RECEIVING"/>
<field name="cno" type="string" format="csv" unit="dbHz"/>
<field name="elev" type="string" format="csv" unit="deg"/>
<field name="azim" type="string" format="csv" unit="deg"/>
<field name="msg_age" type="string" format="csv" unit="s"/>
</message>
<message name="FLY_BY_WIRE" id="17">
<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="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="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="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="SURVEY_STATUS" ID="31">
<field name="ac_id" type="string"/>
<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>
<message name="TELEMETRY_STATUS" ID="32">
<field name="ac_id" type="string"/>
<field name="time_since_last_bat_msg" type="float" unit="s"/>
</message>
<message name="TELEMETRY_ERROR" ID="33">
<field name="ac_id" type="string"/>
<field name="message" type="string"/>
</message>
<message name="PLUMES" ID="100">
<field name="ids" type="string" format="csv"/>
<field name="lats" type="string" format="csv"/>
<field name="longs" type="string" format="csv"/>
<field name="values" type="string" format="csv"/>
</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>
<class name="DIA"> <!-- data in audio -->
<message name="NAV_INFO" ID="1">
<field name="unix_time" type="float"/>
<field name="lat" type="float" unit="deg"/>
<field name="long" type="float" unit="deg"/>
<field name="alt" type="uint16" unit="m"/>
<field name="course" type="uint16" unit="deg"/>
<field name="speed" type="uint16" unit="cm/s"/>
<field name="cam_roll" type="int16" unit="deg"/>
<field name="cam_pitch" type="int16" unit="deg"/>
</message>
</class>
</protocol>
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