mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 14:18:00 +08:00
Michal Podhradsky
d66fc0c3b7
* Added RNG for NPS, cleaned up telemetry config files * Added Rust submodules * Added simple status message * Updated gec transport and key exchange * Update pprzink * Compilation fix for Travis
184 lines
8.0 KiB
XML
184 lines
8.0 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="Main">
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<mode name="default" key_press="d">
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<message name="AUTOPILOT_VERSION" period="11.1"/>
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<message name="DL_VALUE" period="1.1"/>
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<message name="ROTORCRAFT_STATUS" period="1.2"/>
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<message name="ROTORCRAFT_FP" period="0.25"/>
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<message name="ALIVE" period="2.1"/>
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<message name="INS_REF" period="5.1"/>
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<message name="ROTORCRAFT_NAV_STATUS" period="1.6"/>
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<message name="WP_MOVED" period="1.3"/>
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<message name="ROTORCRAFT_CAM" period="1."/>
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<message name="GPS_INT" period=".25"/>
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<message name="INS" period=".25"/>
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<message name="I2C_ERRORS" period="4.1"/>
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<message name="UART_ERRORS" period="3.1"/>
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<message name="SUPERBITRF" period="3"/>
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<message name="ENERGY" period="2.5"/>
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<message name="DATALINK_REPORT" period="5.1"/>
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<message name="STATE_FILTER_STATUS" period="3.2"/>
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<message name="AIR_DATA" period="1.3"/>
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<message name="SURVEY" period="2.5"/>
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<message name="OPTIC_FLOW_EST" period="0.05"/>
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<message name="VECTORNAV_INFO" period="1.0"/>
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<message name="ACTUATORS" period="0.5"/>
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<message name="MOTOR_MIXING" period="0.5"/>
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<message name="BATTERY_MONITOR" period="1.0"/>
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<message name="GPS_LLA" period="1.0"/>
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<message name="ATTITUDE" period="1.0"/>
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<message name="SECURE_LINK_STATUS" period="1.0"/>
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</mode>
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<mode name="ppm">
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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="ROTORCRAFT_CMD" period=".05"/>
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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="ROTORCRAFT_RADIO_CONTROL" period="0.5"/>
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<message name="ROTORCRAFT_STATUS" period="1"/>
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<message name="BEBOP_ACTUATORS" period="0.2"/>
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</mode>
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<mode name="raw_sensors">
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<message name="ROTORCRAFT_STATUS" period="1.2"/>
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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=".1"/>
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<message name="ARDRONE_NAVDATA" period=".05"/>
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</mode>
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<mode name="scaled_sensors">
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<message name="ROTORCRAFT_STATUS" period="1.2"/>
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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_SCALED" period=".075"/>
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<message name="IMU_ACCEL_SCALED" period=".075"/>
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<message name="IMU_MAG_SCALED" period=".1"/>
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</mode>
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<mode name="ahrs">
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<message name="ROTORCRAFT_STATUS" period="1.2"/>
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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="FILTER_ALIGNER" period="2.2"/>
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<message name="FILTER" period=".5"/>
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<message name="GEO_MAG" period="5."/>
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<message name="AHRS_GYRO_BIAS_INT" period="0.08"/>
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<message name="AHRS_QUAT_INT" period=".25"/>
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<message name="AHRS_EULER_INT" period=".1"/>
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<message name="AHRS_EULER" period=".1"/>
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<!-- <message name="AHRS_RMAT_INT" period=".5"/> -->
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</mode>
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<mode name="rate_loop">
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<message name="ROTORCRAFT_STATUS" period="1.2"/>
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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="RATE_LOOP" period=".02"/>
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</mode>
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<mode name="attitude_setpoint_viz" key_press="v">
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<message name="ROTORCRAFT_STATUS" period="1.2"/>
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<message name="DL_VALUE" period="0.5"/>
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<message name="ALIVE" period="0.9"/>
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<message name="ROTORCRAFT_RADIO_CONTROL" period="0.1"/>
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<message name="AHRS_REF_QUAT" period="0.05"/>
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</mode>
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<mode name="attitude_loop" key_press="a">
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<message name="ROTORCRAFT_STATUS" period="1.2"/>
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<message name="DL_VALUE" period="0.5"/>
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<message name="ALIVE" period="0.9"/>
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<message name="STAB_ATTITUDE_INT" period=".03"/>
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<message name="STAB_ATTITUDE_REF_INT" period=".03"/>
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<message name="STAB_ATTITUDE_FLOAT" period=".03"/>
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<message name="STAB_ATTITUDE_REF_FLOAT" period=".03"/>
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<message name="STAB_ATTITUDE_INDI" period=".25"/>
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</mode>
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<mode name="vert_loop" key_press="v">
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<message name="ROTORCRAFT_STATUS" period="1.2"/>
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<message name="DL_VALUE" period="0.5"/>
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<message name="ALIVE" period="0.9"/>
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<message name="VFF" period=".05"/>
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<message name="VFF_EXTENDED" period=".05"/>
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<message name="VERT_LOOP" period=".05"/>
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<message name="INS_Z" period=".05"/>
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<message name="INS" period=".11"/>
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<message name="INS_REF" period="5.1"/>
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</mode>
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<mode name="vel_guidance" key_press="q">
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<message name="ALIVE" period="0.9"/>
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<message name="HYBRID_GUIDANCE" period="0.062"/>
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<!--<message name="STAB_ATTITUDE_REF" period="0.4"/>-->
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<message name="ROTORCRAFT_FP" period="0.8"/>
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<message name="ROTORCRAFT_STATUS" period="1.2"/>
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<message name="ROTORCRAFT_NAV_STATUS" period="1.6"/>
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<message name="INS_REF" period="5.1"/>
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<message name="WP_MOVED" period="1.3"/>
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<message name="GPS_INT" period="1.0"/>
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<message name="INS" period="1.0"/>
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</mode>
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<mode name="h_loop" key_press="h">
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<message name="ALIVE" period="0.9"/>
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<message name="HOVER_LOOP" period="0.062"/>
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<message name="GUIDANCE_H_REF_INT" period="0.062"/>
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<message name="STAB_ATTITUDE_INT" period="0.4"/>
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<message name="STAB_ATTITUDE_FLOAT" period="0.4"/>
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<!--<message name="STAB_ATTITUDE_REF_INT" period="0.4"/>-->
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<message name="ROTORCRAFT_FP" period="0.8"/>
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<message name="ROTORCRAFT_STATUS" period="1.2"/>
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<message name="ROTORCRAFT_NAV_STATUS" period="1.6"/>
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<message name="INS_REF" period="5.1"/>
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<!-- HFF messages are only sent if USE_HFF -->
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<message name="HFF" period=".05"/>
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<message name="HFF_GPS" period=".03"/>
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<message name="HFF_DBG" period=".2"/>
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</mode>
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<mode name="aligner">
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<message name="ALIVE" period="0.9"/>
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<message name="FILTER_ALIGNER" period="0.02"/>
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</mode>
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<mode name="tune_hover">
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<message name="DL_VALUE" period="1.1"/>
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<message name="ROTORCRAFT_STATUS" period="1.2"/>
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<message name="ALIVE" period="2.1"/>
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<message name="GUIDANCE_H_INT" period="0.05"/>
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<message name="ROTORCRAFT_TUNE_HOVER" period=".1"/>
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<!-- <message name="GPS_INT" period=".20"/> -->
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<!--<message name="INS2" period=".05"/>
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<message name="INS3" period=".20"/>-->
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<message name="INS_REF" period="5.1"/>
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</mode>
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</process>
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<process name="Extra">
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<mode name="default">
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<message name="MOTOR_MIXING" period="0.0065"/>
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<message name="GPS_LLA" period="0.1"/>
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<message name="ROTORCRAFT_FP" period="0.1"/>
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<message name="ATTITUDE" period="0.1"/>
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<message name="VECTORNAV_INFO" period="0.1"/>
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<message name="SECURE_LINK_STATUS" period="1.0"/>
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</mode>
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</process>
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</telemetry>
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