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ecb94ad4785c63d3f29fe8b02fe3b856f46f7169
paparazzi/conf/userconf/tudelft/RW_control_panel.xml
T
Tomaso Maria Luigi De Ponti ecb94ad478 ONELOOP controller updates (#3333)
2024-07-16 13:28:31 +02:00

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<control_panel name="RotatingWing control panel">
<section name="variables">
<variable name="downlink_serial_port" value="/dev/ttyUSB0"/>
<variable name="fbw_serial_port" value="/dev/ttyS1"/>
<variable name="ap_serial_port" value="/dev/ttyS0"/>
<variable name="ivy_bus" value="127:2010"/>
<variable name="map" value="muret_UTM.xml"/>
<variable name="flight_plan" value="flight_plans/muret1.xml"/>
</section>
<section name="programs">
<program name="Server" command="sw/ground_segment/tmtc/server"/>
<program name="Data Link" command="sw/ground_segment/tmtc/link">
<arg flag="-d" constant="downlink_serial_port"/>
</program>
<program name="Link Combiner" command="sw/ground_segment/python/redundant_link/link_combiner.py"/>
<program name="GCS" command="sw/ground_segment/cockpit/gcs">
<arg flag="-speech"/>
</program>
<program name="Flight Plan Editor" command="sw/ground_segment/cockpit/gcs">
<arg flag="-edit"/>
</program>
<program name="Messages" command="sw/ground_segment/tmtc/messages"/>
<program name="Settings" command="sw/ground_segment/tmtc/settings">
<arg flag="-ac" constant="@AIRCRAFT"/>
</program>
<program name="GPSd position display" command="sw/ground_segment/tmtc/gpsd2ivy"/>
<program name="Log Plotter" command="sw/logalizer/logplotter"/>
<program name="Real-time Plotter" command="sw/logalizer/plotter"/>
<program name="Real-time Plotter (Python)" command="sw/ground_segment/python/real_time_plot/messagepicker.py"/>
<program name="Log File Player" command="sw/logalizer/play"/>
<program name="Simulator" command="sw/simulator/pprzsim-launch"/>
<program name="Video Synchronizer" command="sw/ground_segment/misc/video_synchronizer"/>
<program name="Joystick" command="sw/ground_segment/joystick/input2ivy">
<arg flag="-ac" constant="@AIRCRAFT"/>
<arg flag="xbox_gamepad.xml"/>
</program>
<program name="Hardware in the Loop" command="sw/simulator/simhitl"/>
<program name="Environment Simulator" command="sw/simulator/gaia"/>
<program name="Attitude Visualizer" command="sw/tools/attitude_viz.py"/>
<program name="App Server" command="sw/ground_segment/tmtc/app_server"/>
<program name="Ivy2Nmea" command="sw/ground_segment/tmtc/ivy2nmea">
<arg flag="--port" constant="/dev/ttyUSB1"/>
<arg flag="--id" constant="1"/>
</program>
<program name="IvySerialBridge" command="sw/ground_segment/tmtc/ivy_serial_bridge"/>
<program name="Photolist" command="sw/tools/photolist/build/photolist | tee photolist.log -a"/>
<program name="Ivy2NMEAout" command="sw/ground_segment/misc/ivy2nmeaout">
<arg flag="-b" variable="ivy_bus"/>
<arg flag="-d" constant="/dev/ttyUSB1"/>
<arg flag="-s" constant="9600"/>
</program>
<program name="Http Server" command="sw/ground_segment/tmtc/boa"/>
<program name="HITL classic" command="sw/simulator/simhitl">
<arg flag="-fbw" variable="fbw_serial_port"/>
<arg flag="-ap" variable="ap_serial_port"/>
</program>
</section>
<section name="sessions">
<session name="Accelo only Debug Graphs">
<program name="Real-time Plotter">
<arg flag="-t" constant="'Accel"/>
<arg flag="RAW'"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-m" constant="1000"/>
<arg flag="-g" constant="'640x600+0+0'"/>
<arg flag="-c" constant="'*:telemetry:IMU_ACCEL_RAW:ax'"/>
<arg flag="-c" constant="'*:telemetry:IMU_ACCEL_RAW:ay'"/>
<arg flag="-c" constant="'*:telemetry:IMU_ACCEL_RAW:az'"/>
</program>
<program name="Real-time Plotter">
<arg flag="-t" constant="'Accel"/>
<arg flag="SCALED'"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-m" constant="1000"/>
<arg flag="-g" constant="'640x600+640+0'"/>
<arg flag="-c" constant="'*:telemetry:IMU_ACCEL:ax'"/>
<arg flag="-c" constant="'*:telemetry:IMU_ACCEL:ay'"/>
<arg flag="-c" constant="'*:telemetry:IMU_ACCEL:az'"/>
</program>
</session>
<session name="Bebop Manual Optitrack">
<program name="PprzGCS"/>
<program name="Server">
<arg flag=""/>
</program>
<program name="Messages"/>
<program name="Data Link">
<arg flag="-udp"/>
</program>
<program name="Joystick">
<arg flag="-ac" constant="Bebop_DePonti"/>
<arg flag="radiomaster_tx12.xml"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="theta"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:theta"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:theta_ref"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="phi"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:phi"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:phi_ref"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="psi"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:psi"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:psi_ref"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="u"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:u[0]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:u[1]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:u[2]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:u[3]"/>
</program>
<program name="Real-time Plotter">
<arg flag=""/>
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="nu_guidance"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[0]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[1]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[2]"/>
<arg flag=""/>
</program>
<program name="Real-time Plotter">
<arg flag=""/>
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="nu_stabilization"/>
<arg flag=""/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[3]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[4]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[5]"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="POS_N"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_N_ref"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_N"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="POS_E"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_E_ref"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_E"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="POS_D"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_D_ref"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_D"/>
</program>
<program name="NatNet3">
<arg flag="--long_edge" constant="right"/>
<arg flag="--x_side" constant="right"/>
<arg flag="--ac_nose" constant="right"/>
<arg flag="-ac" constant="1"/>
<arg flag="30"/>
<arg flag="-f" constant="512"/>
<arg flag="-o"/>
</program>
</session>
<session name="Bebop Simulation">
<program name="PprzGCS"/>
<program name="Server">
<arg flag="-n"/>
</program>
<program name="Messages"/>
<program name="Joystick">
<arg flag="-d" constant="1"/>
<arg flag="-ac" constant="Bebop_DePonti"/>
<arg flag="radiomaster_tx12.xml"/>
</program>
<program name="Data Link">
<arg flag="-udp"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="theta"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:theta"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:theta_ref"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="phi"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:phi"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:phi_ref"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="psi"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:psi"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:psi_ref"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="u"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:u[0]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:u[1]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:u[2]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:u[3]"/>
</program>
<program name="Real-time Plotter">
<arg flag=""/>
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="nu_guidance"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[0]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[1]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[2]"/>
<arg flag=""/>
</program>
<program name="Real-time Plotter">
<arg flag=""/>
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="nu_stabilization"/>
<arg flag=""/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[3]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[4]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[5]"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="Pitch_rate"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:angular_rate_q"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:angular_rate_ref_q"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="Roll_rate"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:angular_rate_p"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:angular_rate_ref_p"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="Pitch_acc"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:angular_accel_q"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:angular_accel_ref_q"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="Roll_acc"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:angular_accel_p"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:angular_accel_ref_p"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="POS_N"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_N_ref"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_N"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="POS_E"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_E_ref"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_E"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="POS_D"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_D_ref"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_D"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="VEL_N"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:vel_N_ref"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:vel_N"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="VEL_E"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:vel_E_ref"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:vel_E"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="VEL_D"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:vel_D_ref"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:vel_D"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="ACC_N"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:acc_N_ref"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:acc_N"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="ACC_E"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:acc_E_ref"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:acc_E"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="ACC_D"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:acc_D_ref"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:acc_D"/>
</program>
</session>
<session name="Bebop2 Manual">
<program name="PprzGCS"/>
<program name="Server"/>
<program name="Messages"/>
<program name="Data Link">
<arg flag="-udp"/>
</program>
<program name="Joystick">
<arg flag="-ac" constant="Bebop_DePonti"/>
<arg flag="radiomaster_tx12.xml"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="theta"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:theta"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:theta_ref"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="phi"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:phi"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:phi_ref"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="psi"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:psi"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:psi_ref"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="u"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:u[0]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:u[1]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:u[2]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:u[3]"/>
</program>
<program name="Real-time Plotter">
<arg flag=""/>
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="nu_guidance"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[0]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[1]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[2]"/>
<arg flag=""/>
</program>
<program name="Real-time Plotter">
<arg flag=""/>
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="nu_stabilization"/>
<arg flag=""/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[3]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[4]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[5]"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="POS_N"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_N_ref"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_N"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="POS_E"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_E_ref"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_E"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="POS_D"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_D_ref"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_D"/>
</program>
</session>
<session name="Bebop2 Manual Optitrack">
<program name="PprzGCS"/>
<program name="Server">
<arg flag=""/>
</program>
<program name="Messages"/>
<program name="Data Link">
<arg flag="-udp"/>
</program>
<program name="Joystick">
<arg flag="-ac" constant="Bebop2_DePonti"/>
<arg flag="radiomaster_tx12.xml"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="theta"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:theta"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:theta_ref"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="phi"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:phi"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:phi_ref"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="psi"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:psi"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:psi_ref"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="u"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:u[0]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:u[1]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:u[2]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:u[3]"/>
</program>
<program name="Real-time Plotter">
<arg flag=""/>
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="nu_guidance"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[0]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[1]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[2]"/>
<arg flag=""/>
</program>
<program name="Real-time Plotter">
<arg flag=""/>
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="nu_stabilization"/>
<arg flag=""/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[3]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[4]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[5]"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="POS_N"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_N_ref"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_N"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="POS_E"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_E_ref"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_E"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="POS_D"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_D_ref"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_D"/>
</program>
<program name="NatNet3">
<arg flag="--long_edge" constant="right"/>
<arg flag="--x_side" constant="right"/>
<arg flag="--ac_nose" constant="right"/>
<arg flag="-ac" constant="1"/>
<arg flag="31"/>
<arg flag="-o"/>
</program>
</session>
<session name="Bebop2 Simulation">
<program name="PprzGCS"/>
<program name="Server">
<arg flag="-n"/>
</program>
<program name="Messages"/>
<program name="Joystick">
<arg flag="-d" constant="1"/>
<arg flag="-ac" constant="Bebop2_DePonti"/>
<arg flag="radiomaster_tx12.xml"/>
</program>
<program name="Data Link">
<arg flag="-udp"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="theta"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:theta"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:theta_ref"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="phi"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:phi"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:phi_ref"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="psi"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:psi"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:psi_ref"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="u"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:u[0]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:u[1]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:u[2]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:u[3]"/>
</program>
<program name="Real-time Plotter">
<arg flag=""/>
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="nu_guidance"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[0]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[1]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[2]"/>
<arg flag=""/>
</program>
<program name="Real-time Plotter">
<arg flag=""/>
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="nu_stabilization"/>
<arg flag=""/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[3]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[4]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[5]"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="Pitch_rate"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:angular_rate_q"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:angular_rate_ref_q"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="Roll_rate"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:angular_rate_p"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:angular_rate_ref_p"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="Pitch_acc"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:angular_accel_q"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:angular_accel_ref_q"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="Roll_acc"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:angular_accel_p"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:angular_accel_ref_p"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="POS_N"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_N_ref"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_N"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="POS_E"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_E_ref"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_E"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="POS_D"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_D_ref"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_D"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="VEL_N"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:vel_N_ref"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:vel_N"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="VEL_E"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:vel_E_ref"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:vel_E"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="VEL_D"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:vel_D_ref"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:vel_D"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="ACC_N"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:acc_N_ref"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:acc_N"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="ACC_E"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:acc_E_ref"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:acc_E"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="ACC_D"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:acc_D_ref"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:acc_D"/>
</program>
</session>
<session name="BebopManual">
<program name="PprzGCS"/>
<program name="Server"/>
<program name="Messages"/>
<program name="Data Link">
<arg flag="-udp"/>
</program>
<program name="Joystick">
<arg flag="-ac" constant="Bebop_DePonti"/>
<arg flag="radiomaster_tx12.xml"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="theta"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:theta"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:theta_ref"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="phi"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:phi"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:phi_ref"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="psi"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:psi"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:psi_ref"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="u"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:u[0]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:u[1]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:u[2]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:u[3]"/>
</program>
<program name="Real-time Plotter">
<arg flag=""/>
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="nu_guidance"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[0]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[1]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[2]"/>
<arg flag=""/>
</program>
<program name="Real-time Plotter">
<arg flag=""/>
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="nu_stabilization"/>
<arg flag=""/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[3]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[4]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[5]"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="POS_N"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_N_ref"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_N"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="POS_E"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_E_ref"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_E"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="POS_D"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_D_ref"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_D"/>
</program>
</session>
<session name="Debug Graphs">
<program name="Real-time Plotter">
<arg flag="-t" constant="phi"/>
<arg flag="-u" constant="0.1"/>
<arg flag="-c" constant="'*:telemetry:ATTITUDE:phi'"/>
<arg flag="-c" constant="'*:telemetry:DESIRED:roll'"/>
</program>
<program name="Real-time Plotter">
<arg flag="-t" constant="theta"/>
<arg flag="-u" constant="0.1"/>
<arg flag="-c" constant="'*:telemetry:ATTITUDE:theta'"/>
<arg flag="-c" constant="'*:telemetry:DESIRED:pitch'"/>
</program>
<program name="Real-time Plotter">
<arg flag="-t" constant="speed"/>
<arg flag="-u" constant="0.1"/>
<arg flag="-c" constant="'*:telemetry:AIRSPEED:airspeed'"/>
<arg flag="-c" constant="'*:telemetry:AIRSPEED:airspeed_sp'"/>
</program>
<program name="Real-time Plotter">
<arg flag="-t" constant="altitude"/>
<arg flag="-u" constant="0.1"/>
<arg flag="-c" constant="'*:telemetry:ESTIMATOR:z'"/>
<arg flag="-c" constant="'*:telemetry:DESIRED:altitude'"/>
</program>
</session>
<session name="Disco Test Flight WiFi">
<program name="Server"/>
<program name="GCS">
<arg flag="-speech"/>
<arg flag="-maps_fill"/>
<arg flag="-mercator"/>
<arg flag="-maps_no_http"/>
<arg flag="-track_size" constant="200"/>
<arg flag="-zoom" constant="0.6"/>
</program>
<program name="Messages"/>
<program name="Data Link">
<arg flag="-udp"/>
</program>
<program name="Real-time Plotter"/>
</session>
<session name="Flight USB-XBee-API@57600">
<program name="Data Link">
<arg flag="-d" constant="/dev/paparazzi/xbee"/>
<arg flag="-transport" constant="xbee"/>
<arg flag="-s" constant="57600"/>
</program>
<program name="Server"/>
<program name="GCS"/>
</session>
<session name="Flight USB-serial Redundant">
<program name="Server"/>
<program name="GCS"/>
<program name="Data Link">
<arg flag="-d" constant="/dev/ttyUSB0"/>
<arg flag="-id" constant="1"/>
<arg flag="-redlink"/>
</program>
<program name="Data Link">
<arg flag="-d" constant="/dev/ttyUSB1"/>
<arg flag="-id" constant="2"/>
<arg flag="-redlink"/>
</program>
<program name="Link Combiner"/>
</session>
<session name="Flight USB-serial@57600">
<program name="Data Link">
<arg flag="-d" constant="/dev/ttyUSB0"/>
<arg flag="-s" constant="57600"/>
</program>
<program name="Server"/>
<program name="GCS"/>
</session>
<session name="Flight USB-serial@9600">
<program name="Data Link">
<arg flag="-d" constant="/dev/ttyUSB0"/>
</program>
<program name="Server"/>
<program name="GCS"/>
</session>
<session name="Flight_optitrack_udp_rw3c">
<program name="PprzGCS"/>
<program name="Server">
<arg flag=""/>
</program>
<program name="Messages"/>
<program name="Data Link">
<arg flag="-udp"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="theta"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:theta"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:theta_ref"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="phi"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:phi"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:phi_ref"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="psi"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:psi"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:psi_ref"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="u"/>
<arg flag="-c" constant="*:telemetry:ACTUATOR_STATE:u[0]"/>
<arg flag="-c" constant="*:telemetry:ACTUATOR_STATE:u[1]"/>
<arg flag="-c" constant="*:telemetry:ACTUATOR_STATE:u[2]"/>
<arg flag="-c" constant="*:telemetry:ACTUATOR_STATE:u[3]"/>
<arg flag="-c" constant="*:telemetry:ACTUATOR_STATE:u[4]"/>
</program>
<program name="Real-time Plotter">
<arg flag=""/>
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="nu_guidance"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[0]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[1]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[2]"/>
<arg flag=""/>
</program>
<program name="Real-time Plotter">
<arg flag=""/>
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="nu_stabilization"/>
<arg flag=""/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[3]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[4]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[5]"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="POS_N"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_N_ref"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_N"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="POS_E"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_E_ref"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_E"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="POS_D"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_D_ref"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_D"/>
</program>
<program name="NatNet3">
<arg flag="--long_edge" constant="right"/>
<arg flag="--x_side" constant="right"/>
<arg flag="--ac_nose" constant="right"/>
<arg flag="-ac" constant="1"/>
<arg flag="35"/>
<arg flag="-f" constant="30"/>
</program>
</session>
<session name="Flight_udp_rw3c">
<program name="PprzGCS"/>
<program name="Server"/>
<program name="Messages"/>
<program name="Data Link">
<arg flag="-udp"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="theta"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:theta"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:theta_ref"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="phi"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:phi"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:phi_ref"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="psi"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:psi"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:psi_ref"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="PITCH_CTRL"/>
<arg flag="-c" constant="*:telemetry:ACTUATOR_STATE:u[0]"/>
<arg flag="-c" constant="*:telemetry:ACTUATOR_STATE:u[2]"/>
<arg flag="-c" constant="*:telemetry:ACTUATOR_STATE:u[5]"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="MOTORS"/>
<arg flag="-c" constant="*:telemetry:ACTUATOR_STATE:u[0]"/>
<arg flag="-c" constant="*:telemetry:ACTUATOR_STATE:u[1]"/>
<arg flag="-c" constant="*:telemetry:ACTUATOR_STATE:u[2]"/>
<arg flag="-c" constant="*:telemetry:ACTUATOR_STATE:u[3]"/>
<arg flag="-c" constant="*:telemetry:ACTUATOR_STATE:u[4]"/>
</program>
<program name="Real-time Plotter">
<arg flag=""/>
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="nu_guidance"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[0]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[1]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[2]"/>
<arg flag=""/>
</program>
<program name="Real-time Plotter">
<arg flag=""/>
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="nu_stabilization"/>
<arg flag=""/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[3]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[4]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[5]"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="POS_N"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_N_ref"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_N"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="POS_E"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_E_ref"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_E"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="POS_D"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_D_ref"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_D"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="u"/>
<arg flag="-c" constant="*:telemetry:ACTUATOR_STATE:u[5]"/>
<arg flag="-c" constant="*:telemetry:ACTUATOR_STATE:u[6]"/>
<arg flag="-c" constant="*:telemetry:ACTUATOR_STATE:u[7]"/>
<arg flag="-c" constant="*:telemetry:ACTUATOR_STATE:u[8]"/>
</program>
</session>
<session name="Forward Skywalker to C172 over ttyUSB1">
<program name="IvySerialBridge">
<arg flag="8" constant="/dev/ttyUSB1"/>
</program>
</session>
<session name="GCS Video">
<program name="GCS">
<arg flag="-layout" constant="../TUDelft/video.xml"/>
<arg flag="-mplayer" constant="tv:// -tv device=/dev/video0:input=1:norm=ntsc"/>
<arg flag="-fullscreen"/>
<arg flag="-srtm"/>
<arg flag="-track_size" constant="200"/>
</program>
</session>
<session name="HITL">
<program name="Hardware in the Loop">
<arg flag="-a" constant="HITL"/>
<arg flag="-noground"/>
<arg flag="-boot"/>
</program>
<program name="GCS"/>
<program name="Data Link">
<arg flag="-s" constant="57600"/>
</program>
<program name="Server"/>
</session>
<session name="HITL">
<program name="Hardware in the Loop">
<arg flag="-a" constant="HITL"/>
<arg flag="-noground"/>
<arg flag="-boot"/>
</program>
<program name="GCS"/>
<program name="Data Link">
<arg flag="-s" constant="57600"/>
</program>
<program name="Server"/>
</session>
<session name="Messages and Settings">
<program name="Data Link">
<arg flag="-d" constant="/dev/ttyUSB0"/>
<arg flag="-s" constant="57600"/>
</program>
<program name="Server">
<arg flag="-n"/>
</program>
<program name="Messages"/>
<program name="Settings">
<arg flag="-ac" constant="@AIRCRAFT"/>
</program>
</session>
<session name="OU Simulation">
<program name="Simulator">
<arg flag="-a" constant="VivifyMK1"/>
<arg flag="-t" constant="sim"/>
<arg flag="--boot"/>
<arg flag="--norc"/>
</program>
<program name="GCS"/>
<program name="Server">
<arg flag="-n"/>
</program>
<program name="Environment Simulator"/>
<program name="Messages"/>
</session>
<session name="OpenUAS Forward AC via UDP">
<program name="Ivy2Udp">
<arg flag="-b" constant="127:2010"/>
<arg flag="-h" constant="192.168.78.1"/>
<arg flag="-p" constant="4242"/>
<arg flag="-dp" constant="4243"/>
<arg flag="-id" constant="16"/>
</program>
</session>
<session name="OpenUAS Simulation with OBC GUI">
<program name="GCS">
<arg flag="-speech"/>
<arg flag="-layout" constant="./OPENUAS/openuas_searchandrescue2014.xml"/>
<arg flag="-center" constant="'WGS84"/>
<arg flag="51.990" constant="4.378'"/>
<arg flag="-ref" constant="'WGS84"/>
<arg flag="51.990" constant="4.378'"/>
</program>
<program name="Server">
<arg flag="-n"/>
</program>
<program name="Simulator">
<arg flag="-a" constant="VivfifyMK1"/>
<arg flag="-boot"/>
<arg flag="-norc"/>
</program>
<program name="Environment Simulator"/>
</session>
<session name="OpenUAS testflights 2020">
<program name="GCS">
<arg flag="-speech"/>
<arg flag="-layout" constant="OPENUAS/openuas_bottom_settings.xml"/>
<arg flag="-maximize"/>
<arg flag="-maps_fill"/>
<arg flag="-center_ac"/>
<arg flag="-mercator"/>
<arg flag="-maps_no_http"/>
<arg flag="-track_size" constant="200"/>
<arg flag="-zoom" constant="0.5"/>
<arg flag="-no_confirm_kill"/>
<arg flag="-srtm"/>
</program>
<program name="Data Link">
<arg flag="-d" constant="/dev/ttyUSB0"/>
<arg flag="-s" constant="57600"/>
</program>
<program name="Server"/>
</session>
<session name="RW3C_Simulation">
<program name="PprzGCS"/>
<program name="Server">
<arg flag="-n"/>
</program>
<program name="Messages"/>
<program name="Joystick">
<arg flag="-d" constant="1"/>
<arg flag="-ac" constant="RW3C_DePonti_Simulation"/>
<arg flag="radiomaster_tx12.xml"/>
</program>
<program name="Data Link">
<arg flag="-udp"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="theta"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:theta"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:theta_ref"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="phi"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:phi"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:phi_ref"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="psi"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:psi"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:psi_ref"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="u"/>
<arg flag="-c" constant="*:telemetry:ACTUATOR_STATE:u[0]"/>
<arg flag="-c" constant="*:telemetry:ACTUATOR_STATE:u[1]"/>
<arg flag="-c" constant="*:telemetry:ACTUATOR_STATE:u[2]"/>
<arg flag="-c" constant="*:telemetry:ACTUATOR_STATE:u[3]"/>
<arg flag="-c" constant="*:telemetry:ACTUATOR_STATE:u[4]"/>
</program>
<program name="Real-time Plotter">
<arg flag=""/>
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="nu_guidance"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[0]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[1]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[2]"/>
<arg flag=""/>
</program>
<program name="Real-time Plotter">
<arg flag=""/>
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="nu_stabilization"/>
<arg flag=""/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[3]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[4]"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:nu[5]"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="Pitch_rate"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:angular_rate_q"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:angular_rate_ref_q"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="Roll_rate"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:angular_rate_p"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:angular_rate_ref_p"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="Pitch_acc"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:angular_accel_q"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:angular_accel_ref_q"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="Roll_acc"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:angular_accel_p"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:angular_accel_ref_p"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="POS_N"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_N_ref"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_N"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="POS_E"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_E_ref"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_E"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="POS_D"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_D_ref"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:pos_D"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="VEL_N"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:vel_N_ref"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:vel_N"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="VEL_E"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:vel_E_ref"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:vel_E"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="VEL_D"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:vel_D_ref"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:vel_D"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="ACC_N"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:acc_N_ref"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:acc_N"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="ACC_E"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:acc_E_ref"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:acc_E"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="ACC_D"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:acc_D_ref"/>
<arg flag="-c" constant="*:telemetry:GUIDANCE:acc_D"/>
</program>
<program name="Environment Simulator"/>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="u"/>
<arg flag="-c" constant="*:telemetry:ACTUATOR_STATE:u[5]"/>
<arg flag="-c" constant="*:telemetry:ACTUATOR_STATE:u[6]"/>
<arg flag="-c" constant="*:telemetry:ACTUATOR_STATE:u[7]"/>
<arg flag="-c" constant="*:telemetry:ACTUATOR_STATE:u[8]"/>
</program>
</session>
<session name="Raw Sensors">
<program name="Data Link">
<arg flag="-d" constant="/dev/ttyUSB0"/>
<arg flag="-s" constant="57600"/>
</program>
<program name="Server">
<arg flag="-n"/>
</program>
<program name="Messages">
<arg flag="-g" constant="300x400+0-220"/>
</program>
<program name="Settings">
<arg flag="-ac" constant="@AIRCRAFT"/>
<arg flag="-g" constant="800x200+0-0"/>
</program>
<program name="Real-time Plotter">
<arg flag="-g" constant="1000x250-0+0"/>
<arg flag="-t" constant="ACC"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-c" constant="0.00"/>
<arg flag="-c" constant="*:telemetry:IMU_ACCEL_RAW:ax"/>
<arg flag="-c" constant="*:telemetry:IMU_ACCEL_RAW:ay"/>
<arg flag="-c" constant="*:telemetry:IMU_ACCEL_RAW:az"/>
<arg flag="-n"/>
<arg flag="-g" constant="1000x250-0+250"/>
<arg flag="-t" constant="GYRO"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-c" constant="0.00"/>
<arg flag="-c" constant="*:telemetry:IMU_GYRO_RAW:gp"/>
<arg flag="-c" constant="*:telemetry:IMU_GYRO_RAW:gq"/>
<arg flag="-c" constant="*:telemetry:IMU_GYRO_RAW:gr"/>
<arg flag="-n"/>
<arg flag="-g" constant="1000x250-0+500"/>
<arg flag="-t" constant="MAG"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-c" constant="0.00"/>
<arg flag="-c" constant="*:telemetry:IMU_MAG_RAW:mx"/>
<arg flag="-c" constant="*:telemetry:IMU_MAG_RAW:my"/>
<arg flag="-c" constant="*:telemetry:IMU_MAG_RAW:mz"/>
<arg flag="-n"/>
<arg flag="-g" constant="1000x250-0+750"/>
<arg flag="-t" constant="BARO"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-c" constant="101325.0"/>
<arg flag="-c" constant="*:telemetry:BARO_RAW:abs"/>
</program>
</session>
<session name="Scaled Sensors">
<program name="Data Link">
<arg flag="-d" constant="/dev/ttyUSB0"/>
<arg flag="-s" constant="57600"/>
</program>
<program name="Server">
<arg flag="-n"/>
</program>
<program name="Messages">
<arg flag="-g" constant="300x400+0-220"/>
</program>
<program name="Settings">
<arg flag="-ac" constant="@AIRCRAFT"/>
<arg flag="-g" constant="800x200+0-0"/>
</program>
<program name="Real-time Plotter">
<arg flag="-g" constant="1000x250-0+0"/>
<arg flag="-t" constant="ACC"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-c" constant="9.81"/>
<arg flag="-c" constant="0.00"/>
<arg flag="-c" constant="-9.81"/>
<arg flag="-c" constant="*:telemetry:IMU_ACCEL_SCALED:ax:0.0009766"/>
<arg flag="-c" constant="*:telemetry:IMU_ACCEL_SCALED:ay:0.0009766"/>
<arg flag="-c" constant="*:telemetry:IMU_ACCEL_SCALED:az:0.0009766"/>
<arg flag="-n"/>
<arg flag="-g" constant="1000x250-0+250"/>
<arg flag="-t" constant="GYRO"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-c" constant="0.00"/>
<arg flag="-c" constant="*:telemetry:IMU_GYRO_SCALED:gp:0.0139882"/>
<arg flag="-c" constant="*:telemetry:IMU_GYRO_SCALED:gq:0.0139882"/>
<arg flag="-c" constant="*:telemetry:IMU_GYRO_SCALED:gr:0.0139882"/>
<arg flag="-n"/>
<arg flag="-g" constant="1000x250-0+500"/>
<arg flag="-t" constant="MAG"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-c" constant="0.00"/>
<arg flag="-c" constant="*:telemetry:IMU_MAG_SCALED:mx:0.0004883"/>
<arg flag="-c" constant="*:telemetry:IMU_MAG_SCALED:my:0.0004883"/>
<arg flag="-c" constant="*:telemetry:IMU_MAG_SCALED:mz:0.0004883"/>
</program>
</session>
<session name="SupperBitRF">
<program name="Data Link">
<arg flag="-d" constant="/dev/ttyACM0"/>
</program>
<program name="Server"/>
<program name="GCS"/>
<program name="Messages"/>
</session>
<session name="SupperBitRF cable telemetry">
<program name="Data Link">
<arg flag="-d" constant="/dev/ttyACM1"/>
<arg flag="-s" constant="57600"/>
</program>
<program name="Server"/>
<program name="GCS"/>
<program name="Messages"/>
<program name="Messages"/>
</session>
<session name="USB: BlueTooth @ 57600">
<program name="Data Link">
<arg flag="-d" constant="/dev/rfcomm0"/>
<arg flag="-uplink"/>
<arg flag="-s" constant="57600"/>
</program>
<program name="Server"/>
<program name="GCS">
<arg flag="-layout" constant="./OPENUAS/gcsHeering.xml"/>
</program>
<program name="Messages">
<arg flag="-c" constant="telemetry"/>
</program>
</session>
<session name="joystick_TX12">
<program name="Joystick">
<arg flag="-d" constant="1"/>
<arg flag="-ac" constant="Bebop_DePonti"/>
<arg flag="radiomaster_tx12.xml"/>
</program>
</session>
<session name="sim_rw3c_simple">
<program name="PprzGCS"/>
<program name="Server">
<arg flag="-n"/>
</program>
<program name="Messages"/>
<program name="Joystick">
<arg flag="-d" constant="1"/>
<arg flag="-ac" constant="RW3C_DePonti_Simulation"/>
<arg flag="radiomaster_tx12.xml"/>
</program>
<program name="Data Link">
<arg flag="-udp"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="theta"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:theta:57.325"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:theta_ref:57.325"/>
<arg flag="-c" constant="45"/>
<arg flag="-c" constant="-45"/>
<arg flag="-g" constant="1050x300+0+300"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="phi"/>
<arg flag="-c" constant="45"/>
<arg flag="-c" constant="-45"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:phi:57.325"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:phi_ref:57.325"/>
<arg flag="-g" constant="1050x300+0+0"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="psi"/>
<arg flag="-c" constant="180"/>
<arg flag="-c" constant="-180"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:psi:57.325"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:psi_ref:57.325"/>
<arg flag="-g" constant="1050x300+0+600"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="u"/>
<arg flag="-c" constant="*:telemetry:ACTUATOR_STATE:u[0]"/>
<arg flag="-c" constant="*:telemetry:ACTUATOR_STATE:u[1]"/>
<arg flag="-c" constant="*:telemetry:ACTUATOR_STATE:u[2]"/>
<arg flag="-c" constant="*:telemetry:ACTUATOR_STATE:u[3]"/>
<arg flag="-c" constant="*:telemetry:ACTUATOR_STATE:u[4]"/>
<arg flag=""/>
<arg flag="-g" constant="1050x300+0+900"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="u"/>
<arg flag="-c" constant="*:telemetry:ACTUATOR_STATE:u[5]"/>
<arg flag="-c" constant="*:telemetry:ACTUATOR_STATE:u[6]"/>
<arg flag="-c" constant="*:telemetry:ACTUATOR_STATE:u[7]"/>
<arg flag="-c" constant="*:telemetry:ACTUATOR_STATE:u[8]"/>
<arg flag="-g" constant="1050x300+0+1200"/>
</program>
<program name="Real-time Plotter">
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="Skew"/>
<arg flag="-c" constant="*:telemetry:ROTATING_WING_STATE:wing_angle_deg"/>
<arg flag="-c" constant="*:telemetry:ROTATING_WING_STATE:wing_angle_deg_sp"/>
<arg flag="-g" constant="1050x300+0+1500"/>
</program>
<program name="Environment Simulator"/>
<program name="Real-time Plotter">
<arg flag="-g" constant="1050x300+0+1000"/>
</program>
</session>
</section>
</control_panel>
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