mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-06 16:58:48 +08:00
Pascal Brisset
504 lines
18 KiB
XML
504 lines
18 KiB
XML
<?xml version="1.0"?>
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<protocol>
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<!-- messages from modem or sim to server -->
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<class name="telemetry_ap" ID="0x40">
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<message name="BOOT" id="1">
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<field name="version" type="uint16"></field>
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</message>
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<message name="CALIB_START" ID="2" period="1">
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</message>
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<message name="CALIB_CONTRAST" ID="3" period="1">
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<field name="adc" type="int16"></field>
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</message>
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<message name="TAKEOFF" ID="4">
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<field name="cpu_time" type="uint16" unit="s"></field>
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</message>
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<message name="RAD_OF_IR" ID="5">
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<field name="ir" type="int16"></field>
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<field name="rad" type="int16" unit="decideg"></field>
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<field name="rad_of_ir" type="float" format="%.5f"></field>
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</message>
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<message name="ATTITUDE" ID="6" period="0.5" >
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<field name="phi" type="int8" unit="deg"></field>
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<field name="psi" type="int8" unit="deg"></field>
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<field name="theta" type="int8" unit="deg"></field>
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</message>
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<message name="ADC" ID="7" period="0.5" >
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<field name="roll" type="int16"></field>
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<field name="pitch" type="int16"></field>
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</message>
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<message name="GPS" ID="8">
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<field name="mode" type="uint8" unit="byte_mask"></field>
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<field name="utm_east" type="int32" unit="cm"></field>
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<field name="utm_north" type="int32" unit="cm"></field>
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<field name="course" type="int16" unit="decideg"></field>
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<field name="alt" type="int32" unit="cm"></field>
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<field name="speed" type="uint16" unit="cm/s"></field>
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<field name="climb" type="int16" unit="cm/s"></field>
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<field name="itow" type="uint32" unit="ms"></field>
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<field name="utm_zone" type="uint8"></field>
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<field name="gps_nb_err" type="uint8"></field>
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</message>
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<message name="NAVIGATION_REF" ID="0x09" period="9" >
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<field name="utm_east" type="int32" unit="m"></field>
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<field name="utm_north" type="int32" unit="m"></field>
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<field name="utm_zone" type="uint8"></field>
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</message>
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<message name="NAVIGATION" ID="10">
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<field name="cur_block" type="uint8"></field>
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<field name="cur_stage" type="uint8"></field>
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<field name="pos_x" type="int16" unit="m"></field>
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<field name="pos_y" type="int16" unit="m"></field>
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<field name="desired_course" type="int16" unit="decideg"></field>
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<field name="dist2_wp" type="float" format="%.1f" unit="m^2"></field>
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<field name="dist2_home" type="float" format="%.1f" unit="m^2"></field>
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</message>
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<message name="PPRZ_MODE" ID="11" period="5" >
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<field name="ap_mode" type="uint8" values="MANUAL|AUTO1|AUTO2|HOME|NOGPS|FAILSAFE"/>
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<field name="ap_gaz" type="uint8" values="MANUAL|AUTO_GAZ|AUTO_CLIMB|AUTO_ALT"/>
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<field name="ap_lateral" type="uint8" values="MANUAL|ROLL_RATE|ROLL|COURSE"/>
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<field name="ap_horizontal" type="uint8" values="WAYPOINT|ROUTE|CIRCLE"/>
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<field name="if_calib_mode" type="uint8" values="NONE|DOWN|UP"/>
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<field name="mcu1_status" type="uint8" values="LOST|OK|REALLY_LOST"/>
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<field name="lls_calib" type="uint8" values="LLS_CALIB_MODE_OFF|LLS_CALIB_MODE_ON"/>
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</message>
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<message name="BAT" ID="12" period="2" >
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<field name="desired_gaz" type="int16" unit="pprz"></field>
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<field name="voltage" type="uint8" unit="1e-1V"></field>
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<field name="flight_time" type="uint16" unit="s"></field>
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<field name="status_battery" type="uint8" values="LOW|OK"></field>
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<field name="block_time" type="uint16" unit="s"></field>
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<field name="stage_time" type="uint16" unit="s"></field>
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<field name="energy" type="uint16" unit="mAh"/>
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</message>
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<message name="DEBUG_MCU_LINK" ID="13" period="5" >
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<field name="i2c_nb_err" type="uint8"></field>
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<field name="i2c_mcu1_nb_err" type="uint8"></field>
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<field name="ppm_rate" type="uint8"></field>
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</message>
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<message name="CALIBRATION" ID="14" period="2">
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<field name="climb_sum_err" type="float" format="%.1f"></field>
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<field name="climb_pgain" type="float" format="%.3f"></field>
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<field name="course_pgain" type="float" format="%.3f"></field>
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</message>
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<message name="SETTINGS" ID="15" period="0.5">
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<field name="slider_1_val" type="float"></field>
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<field name="slider_2_val" type="float"></field>
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</message>
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<message name="DESIRED" ID="16" period="1">
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<field name="roll" type="float" format="%.2f"/>
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<field name="pitch" type="float" format="%.2f"/>
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<field name="desired_x" type="float" format="%.0f"/>
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<field name="desired_y" type="float" format="%.0f"/>
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<field name="desired_altitude" type="float" format="%.0f"/>
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<field name="desired_climb" type="float" format="%.1f"></field>
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</message>
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<message name="RAW_IMU" ID="17">
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<field name="gyro_x" type="float"/>
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<field name="gyro_y" type="float"/>
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<field name="gyro_z" type="float"/>
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<field name="accel_x" type="float"/>
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<field name="accel_y" type="float"/>
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<field name="accel_z" type="float"/>
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</message>
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<message name="KALMAN" ID="18">
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<field name="phi" type="float" format="%.3f"/>
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<field name="phi_dot" type="float" format="%.3f"/>
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<field name="phi_bias" type="float" format="%.3f"/>
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<field name="theta" type="float" format="%.3f"/>
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<field name="theta_dot" type="float" format="%.3f"/>
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<field name="theta_bias" type="float" format="%.3f"/>
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</message>
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<message name="IDENT" ID="19" period="10">
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<field name="id" type="uint8"/>
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</message>
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<message name="CAM" ID="20">
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<field name="phi" type="int8" unit="deg"/>
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<field name="theta" type="int8" unit="deg"/>
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<field name="target_x" type="int16" unit="m"/>
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<field name="target_y" type="int16" unit="m"/>
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</message>
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<message name="CIRCLE" ID="21" period="1">
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<field name="center_east" type="int16" unit="m"/>
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<field name="center_north" type="int16" unit="m"/>
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<field name="radius" type="int16" unit="m"/>
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</message>
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<message name="SEGMENT" ID="22" period="1">
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<field name="segment_east_1" type="int16" unit="m"/>
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<field name="segment_north_1" type="int16" unit="m"/>
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<field name="segment_east_2" type="int16" unit="m"/>
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<field name="segment_north_2" type="int16" unit="m"/>
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</message>
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<message name="DOWNLINK_STATUS" ID="23">
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<field name="run_time" type="uint32" unit="s"></field>
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<field name="rx_bytes" type="uint32"></field>
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<field name="rx_msgs" type="uint32"></field>
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<field name="rx_err" type="uint32"></field>
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<field name="rx_bytes_rate" type="float" format="%.1f"></field>
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<field name="rx_msgs_rate" type="float" format="%.1f"></field>
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</message>
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<message name="MODEM_STATUS" ID="24">
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<field name="detected" type="uint8"></field>
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<field name="valim" type="float" format="%.1f"></field>
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<field name="cd" type="uint8"></field>
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<field name="nb_byte" type="uint32"></field>
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<field name="nb_msg" type="uint32"></field>
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<field name="nb_err" type="uint32"></field>
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</message>
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<message name="SVINFO" id="25">
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<field name="chn" type="uint8"/>
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<field name="SVID" type="uint8"/>
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<field name="Flags" type="uint8"/>
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<field name="QI" type="int8"/>
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<field name="CNO" type="uint8" unit="dbHz"/>
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<field name="Elev" type="int8" unit="deg"/>
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<field name="Azim" type="int16" unit="deg"/>
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</message>
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<message name="IMU" ID="26" period="0.5">
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<field name="roll_dot" type="int16"/>
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<field name="pitch_dot" type="int16"/>
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<field name="yaw_dot" type="int16"/>
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<field name="roll" type="int16"/>
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<field name="pitch" type="int16"/>
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<field name="yaw" type="int16"/>
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</message>
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<message name="ACINFO" ID="27" period="1">
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<field name="east" type="float" unit="m"/>
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<field name="north" type="float" unit="m"/>
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<field name="course" type="float" unit="rad"/>
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<field name="alt" type="float" unit="m"/>
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<field name="speed" type="float" unit="m/s"/>
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</message>
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<message name="WC_RSSI" id="28">
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<field name="raw_level" type="uint8"/>
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</message>
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<message name="RANGEFINDER" id="29">
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<field name="range" type="uint16"/>
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</message>
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<message name="DEBUG_MODEM" id="30" period="5">
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<field name="modem_nb_err" type="uint8"></field>
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</message>
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</class>
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<class name="telemetry_fbw" ID="0X41">
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<message name="PPM" ID="0x01" period="1">
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<field name="nb_channels" type="uint8"/>
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<field name="sync_len" type="uint8"/>
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<field name="ppm01" type="uint16" unit="us"/>
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<field name="ppm02" type="uint16" unit="us"/>
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<field name="ppm03" type="uint16" unit="us"/>
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<field name="ppm04" type="uint16" unit="us"/>
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<field name="ppm05" type="uint16" unit="us"/>
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<field name="ppm06" type="uint16" unit="us"/>
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<field name="ppm07" type="uint16" unit="us"/>
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<field name="ppm08" type="uint16" unit="us"/>
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<field name="ppm09" type="uint16" unit="us"/>
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<field name="ppm10" type="uint16" unit="us"/>
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<field name="ppm11" type="uint16" unit="us"/>
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<field name="ppm12" type="uint16" unit="us"/>
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</message>
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<message name="RC" ID="0x02" period="1">
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<field name="nb_channels" type="uint8"/>
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<field name="pprz01" type="int16" unit="pprz"/>
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<field name="pprz02" type="int16" unit="pprz"/>
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<field name="pprz03" type="int16" unit="pprz"/>
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<field name="pprz04" type="int16" unit="pprz"/>
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<field name="pprz05" type="int16" unit="pprz"/>
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<field name="pprz06" type="int16" unit="pprz"/>
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<field name="pprz07" type="int16" unit="pprz"/>
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<field name="pprz08" type="int16" unit="pprz"/>
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<field name="pprz09" type="int16" unit="pprz"/>
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<field name="pprz10" type="int16" unit="pprz"/>
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<field name="pprz11" type="int16" unit="pprz"/>
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<field name="pprz12" type="int16" unit="pprz"/>
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</message>
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<message name="SERVOS" ID="0x03" period="1">
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<field name="nb_servos" type="uint8"/>
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<field name="ser01" type="uint16" unit="us"/>
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<field name="ser02" type="uint16" unit="us"/>
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<field name="ser03" type="uint16" unit="us"/>
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<field name="ser04" type="uint16" unit="us"/>
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<field name="ser05" type="uint16" unit="us"/>
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<field name="ser06" type="uint16" unit="us"/>
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<field name="ser07" type="uint16" unit="us"/>
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<field name="ser08" type="uint16" unit="us"/>
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<field name="ser09" type="uint16" unit="us"/>
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<field name="ser10" type="uint16" unit="us"/>
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</message>
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<message name="FBW_STATUS" ID="0x04" period="1">
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<field name="nb_spi_err" type="uint8"/>
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<field name="rc_status" type="uint8" values="OK|LOST|REALLY_LOST"/>
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<field name="mode" type="uint8" values="MANUAL|AUTO|FAILSAFE"/>
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</message>
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</class>
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<class name="ground" ID="0x42">
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<message name="NEW_AIRCRAFT" ID="1">
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<field name="ac_id" type="string"/>
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</message>
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<message name="AIRCRAFT_DIE" ID="2">
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<field name="ac_id" type="string"/>
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</message>
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<message name="AIRCRAFTS" ID="3">
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<field name="ac_list" type="string" format="csv"/>
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</message>
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<message name="AIRCRAFTS_REQ" ID="4">
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</message>
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<message name="SELECTED" ID="5">
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<field name="aircraft_id" type="string"/>
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</message>
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<message name="SELECTED_REQ" ID="6">
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</message>
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<message name="WIND_CLEAR" ID="7">
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<field name="ac_id" type="string"/>
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</message>
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<message name="WIND" ID="8">
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<field name="ac_id" type="string"/>
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<field name="dir" type="float" unit="deg_wind"/>
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<field name="wspeed" type="float" unit="m/s"/>
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<field name="mean_aspeed" type="float" unit="m/s"/>
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<field name="stddev" type="float" unit="m/s"/>
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</message>
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<message name="CONFIG_REQ" ID="9">
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<field name="ac_id" type="string"/>
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</message>
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<message name="CONFIG" ID="10">
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<field name="ac_id" type="string"/>
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<field name="flight_plan" type="string" unit="url"/>
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<field name="airframe" type="string" unit="url"/>
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<field name="radio" type="string" unit="url"/>
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</message>
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<message name="FLIGHT_PARAM" ID="11">
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<field name="ac_id" type="string"/>
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<field name="roll" type="float" unit="deg"/>
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<field name="pitch" type="float" unit="deg"/>
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<field name="east" type="float" unit="m"/>
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<field name="north" type="float" unit="m"/>
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<field name="speed" type="float" unit="m/s"/>
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<field name="course" type="float" unit="deg" format="%.1f"/>
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<field name="alt" type="float" unit="m"/>
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<field name="climb" type="float" unit="m/s"/>
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</message>
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<message name="AP_STATUS" ID="12">
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<field name="ac_id" type="string"/>
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<field name="ap_mode" type="string" values="MANUAL|AUTO1|AUTO2|HOME|FAILSAFE"/>
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<field name="lat_mode" type="string" values="MANUAL|ROLL_RATE|ROLL|COURSE"/>
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<field name="horiz_mode" type="string" values="WAYPOINT|ROUTE|CIRCLE"/>
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<field name="gaz_mode" type="string" values="MANUAL|GAZ|CLIMB|ALT"/>
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<field name="gps_mode" type="string" values="NOFIX|DRO|2D|3D|GPSDRO"/>
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<field name="flight_time" type="uint32" />
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</message>
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<message name="NAV_STATUS" ID="13">
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<field name="ac_id" type="string"/>
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<field name="cur_block" type="uint8"/>
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<field name="cur_stage" type="uint8"/>
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<field name="block_time" type="uint32"/>
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<field name="stage_time" type="uint32"/>
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<field name="target_east" type="float" unit="m"/>
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<field name="target_north" type="float" unit="m"/>
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<field name="target_climb" type="float" unit="m/s"/>
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<field name="target_alt" type="float" unit="m"/>
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<field name="target_course" type="float" unit="deg"/>
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</message>
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<message name="CAM_STATUS" ID="14">
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<field name="ac_id" type="string"/>
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<field name="cam_east" type="float" unit="m" format="%.1f"/>
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<field name="cam_north" type="float" unit="m" format="%.1f"/>
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<field name="target_east" type="float" unit="m"/>
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<field name="target_north" type="float" unit="m"/>
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</message>
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<message name="ENGINE_STATUS" ID="15">
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<field name="ac_id" type="string"/>
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<field name="throttle" type="float" unit="%" format="%.1f"/>
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<field name="throttle_accu" type="float" format="%.1f"/>
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<field name="rpm" type="float" unit="rpm" format="%.1f"/>
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<field name="temp" type="float" unit="celcius"/>
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<field name="bat" type="float" unit="V"/>
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<field name="amp" type="float" unit="A"/>
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<field name="energy" type="uint16" unit="Wh"/>
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</message>
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<message name="SVSINFO" ID="16">
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<field name="ac_id" type="string"/>
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<field name="svid" type="string" format="csv"/>
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<field name="flags" type="string" format="csv"/>
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<field name="qi" type="string" format="csv" values="IDLE|SEARCH|SEARCH|UNUSABLE|CODELOCK|CARRIERLOCK|CARRIERLOCK|RECEIVING"/>
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<field name="cno" type="string" format="csv" unit="dbHz"/>
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<field name="elev" type="string" format="csv" unit="deg"/>
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<field name="azim" type="string" format="csv" unit="deg"/>
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</message>
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<message name="FLY_BY_WIRE" id="17">
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<field name="ac_id" type="string"/>
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<field name="rc_status" type="string" values="OK|LOST|REALLY_LOST"/>
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<field name="rc_mode" type="string" values="MANUAL|AUTO|FAILSAFE"/>
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</message>
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<message name="INFRARED" id="18">
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<field name="ac_id" type="string"/>
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<field name="gps_hybrid_mode" type="string" values="OFF|ON"/>
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<field name="gps_hybrid_factor" type="float"/>
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<field name="contrast_status" type="string" values="DEFAULT|WAITING|SET|SKIPPED"/>
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<field name="contrast_value" type="int16"/>
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</message>
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<message name="INFLIGH_CALIB" id="19">
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<field name="ac_id" type="string"/>
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<field name="if_mode" type="string" values="OFF|DOWN|UP"></field>
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<field name="if_value1" type="float"></field>
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<field name="if_value2" type="float"></field>
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</message>
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<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_east" type="float" unit="m"/>
|
|
<field name="circle_north" type="float" unit="m"/>
|
|
<field name="radius" type="int16" unit="m"/>
|
|
</message>
|
|
|
|
<message name="SEGMENT_STATUS" ID="23">
|
|
<field name="ac_id" type="string"/>
|
|
<field name="segment1_east" type="float" unit="m"/>
|
|
<field name="segment1_north" type="float" unit="m"/>
|
|
<field name="segment2_east" type="float" unit="m"/>
|
|
<field name="segment2_north" type="float" unit="m"/>
|
|
</message>
|
|
|
|
<message name="MOVE_WAYPOINT" ID="24">
|
|
<field name="ac_id" type="string"/>
|
|
<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>
|
|
</message>
|
|
|
|
<message name="SEND_EVENT" ID="25">
|
|
<field name="ac_id" type="string"/>
|
|
<field name="event_id" type="uint8"/>
|
|
</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>
|
|
|
|
</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="datalink">
|
|
<message name="ACINFO" ID="1">
|
|
<field name="ac_id" type="uint8"/>
|
|
<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>
|
|
</message>
|
|
|
|
<message name="MOVE_WP" ID="2">
|
|
<field name="wp_id" type="uint8"/>
|
|
<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>
|
|
</message>
|
|
|
|
<message name="EVENT" ID="3">
|
|
<field name="event" type="uint8"/>
|
|
</message>
|
|
|
|
<message name="SETTING" ID="4">
|
|
<field name="index" type="uint8"/>
|
|
<field name="value" type="float"/>
|
|
</message>
|
|
|
|
<message name="BLOCK" ID="5">
|
|
<field name="block_id" type="uint8"/>
|
|
</message>
|
|
|
|
</class>
|
|
|
|
</protocol>
|