/
downlink.xml
1156 lines (1005 loc) · 49.4 KB
/
downlink.xml
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<?xml version="1.0"?>
<class type="downlink">
<message name="ACKTEST" id="66">
<field name="test" type="char[2]"/><!-- XGGDEBUG:REMOVE: -->
<field name="test2" type="uint16[3]"/>
<field name="var1" type="uint64"/>
<field name="var3" type="int32"/>
</message>
<message name="ACKISSENDING" id="68"><!-- XGGDEBUG:REMOVE: -->
</message>
<message name="ALIVE" id="2">
<field name="md5sum" type="uint8[]"/>
</message>
<message name="PONG" id="3">
</message>
<message name="ATTITUDE" id="6">
<field name="phi" type="float" unit="rad" alt_unit="deg"/>
<field name="psi" type="float" unit="rad" alt_unit="deg"/>
<field name="theta" type="float" unit="rad" alt_unit="deg"/>
</message>
<message name="ADC" id="104">
<field name="mcu" type="uint8" values="FBW|AP"/>
<field name="values" type="uint16[]" unit="none"/>
</message>
<message name="ADC_GENERIC" id="18">
<field name="val1" type="uint16"/>
<field name="val2" type="uint16"/>
</message>
<message name="ROTORCRAFT_FP" id="147">
<field name="east" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="north" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="up" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="veast" type="int32" alt_unit="m/s" alt_unit_coef="0.0000019"/>
<field name="vnorth" type="int32" alt_unit="m/s" alt_unit_coef="0.0000019"/>
<field name="vup" type="int32" alt_unit="m/s" alt_unit_coef="0.0000019"/>
<field name="phi" type="int32" alt_unit="degres" alt_unit_coef="0.0139882"/>
<field name="theta" type="int32" alt_unit="degres" alt_unit_coef="0.0139882"/>
<field name="psi" type="int32" alt_unit="degres" alt_unit_coef="0.0139882"/>
<field name="carrot_east" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="carrot_north" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="carrot_up" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="carrot_psi" type="int32" alt_unit="degres" alt_unit_coef="0.0000546"/>
<field name="thrust" type="int32"/>
<field name="flight_time" type="uint16" unit="s"/>
</message>
<message name="CALIBRATION" id="14">
<field name="climb_sum_err" type="float" format="%.1f"/>
<field name="climb_gaz_submode" type="uint8"/>
</message>
<message name="SETTINGS" id="15">
<field name="slider_1_val" type="float"/>
<field name="slider_2_val" type="float"/>
</message>
<message name="GYRO_RATES" id="36">
<field name="roll_adc" type="int16"/>
<field name="roll" type="float" unit="rad/s"/>
<field name="pitch" type="float" unit="rad/s"/>
</message>
<message name="ESTIMATOR" id="42">
<field name="z" type="float" unit="m"/>
<field name="z_dot" type="float" unit="m/s"/>
</message>
<message name="PAYLOAD" id="114">
<field name="values" type="uint8[]" unit="none"/>
</message>
<message name="WIND_INFO_RET" id="87">
<field name="east" type="float" unit="m/s"/>
<field name="north" type="float" unit="m/s"/>
<field name="airspeed" type="float" unit="m/s"/>
</message>
<message name="CHRONO" id="48">
<field name="tag" type="uint8"/>
<field name="time" type="uint32" unit="us"/>
</message>
<message name="TIME" id="227">
<field name="t" type="uint32"/>
</message>
<!-- _________________________________ BATTERY / ENERGY / MOTOR ___________________________________ -->
<message name="ENERGY" id="37">
<field name="voltage" type="uint16" unit="1e-1V" alt_unit="V" alt_unit_coef="0.1"/>
<field name="current" type="int16" unit="1e-2A" alt_unit="A" alt_unit_coef="0.01"/>
<field name="power" type="int16" unit="mW"/>
<field name="energy" type="int16" unit="mAh"/>
<field name="throttle" type="int16" unit="pprz"/>
</message>
<message name="MPPT" id="52">
<field name="values" type="int16[]" alt_unit_coef="1e-3"/>
</message>
<message name="MOTOR" id="34">
<field name="rpm" type="uint16" unit="Hz"/>
<field name="current" type="int32" unit="mA"/>
</message>
<!-- _________________________________________ COMMANDS ___________________________________________ -->
<message name="COMMANDS" id="102">
<field name="values" type="int16[]" unit="ticks"/>
</message>
<message name="SIMPLE_COMMANDS" id="190">
<field name="roll" type="int16" />
<field name="pitch" type="int16" />
<field name="yaw" type="int16" />
</message>
<message name="BOOZ2_CMD" id="143">
<field name="cmd_roll" type="int32"/>
<field name="cmd_pitch" type="int32"/>
<field name="cmd_yaw" type="int32"/>
<field name="cmd_thrust" type="int32"/>
</message>
<!-- _________________________________________ RC / PPM ___________________________________________ -->
<message name="PPM" id="100">
<field name="ppm_rate" type="uint8"></field>
<field name="values" type="uint16[]" unit="ticks"/>
</message>
<message name="RC" id="101">
<field name="values" type="int16[]" unit="pprz" format="%d"/>
</message>
<message name="RC_3CH_" id="51">
<field name="throttle_mode" type="uint8" unit="byte_mask"/>
<field name="roll" type="int8"/>
<field name="pitch" type="int8"/>
</message>
<message name="BOOZ2_RADIO_CONTROL" id="160">
<field name="roll" type="int16" unit="pprz"/>
<field name="pitch" type="int16" unit="pprz"/>
<field name="yaw" type="int16" unit="pprz"/>
<field name="throttle" type="int16" unit="pprz"/>
<field name="mode" type="int16" unit="pprz"/>
<field name="kill" type="int16" unit="pprz"/>
<field name="status" type="uint8" values="OK|LOST|REALLY_LOST"/>
</message>
<!-- ___________________________________________ GPS ______________________________________________ -->
<message name="GPS" id="8">
<field name="mode" type="uint8" unit="byte_mask"/>
<field name="utm_east" type="int32" unit="cm" alt_unit="m"/>
<field name="utm_north" type="int32" unit="cm" alt_unit="m"/>
<field name="course" type="int16" unit="decideg" alt_unit="deg"/>
<field name="alt" type="int32" unit="mm" alt_unit="m"/>
<field name="speed" type="uint16" unit="cm/s" alt_unit="m/s"/>
<field name="climb" type="int16" unit="cm/s" alt_unit="m/s"/>
<field name="week" type="uint16" unit="weeks"/>
<field name="itow" type="uint32" unit="ms"/>
<field name="utm_zone" type="uint8"/>
<field name="gps_nb_err" type="uint8"/>
</message>
<message name="GPS_LLA" id="59">
<field name="lat" type="int32" unit="cm" alt_unit="m"/>
<field name="lon" type="int32" unit="cm" alt_unit="m"/>
<field name="alt" type="int32" unit="mm" alt_unit="m"/>
<field name="course" type="int16" unit="decideg" alt_unit="deg"/>
<field name="speed" type="uint16" unit="cm/s" alt_unit="m/s"/>
<field name="climb" type="int16" unit="cm/s" alt_unit="m/s"/>
<field name="week" type="uint16" unit="weeks"/>
<field name="itow" type="uint32" unit="ms"/>
<field name="mode" type="uint8" unit="byte_mask"/>
<field name="gps_nb_err" type="uint8"/>
</message>
<message name="GPS_INT" id="155">
<field name="ecef_x" type="int32" unit="cm" alt_unit="m"/>
<field name="ecef_y" type="int32" unit="cm" alt_unit="m"/>
<field name="ecef_z" type="int32" unit="cm" alt_unit="m"/>
<field name="lat" type="int32" alt_unit="deg" alt_unit_coef="0.0000057296"/>
<field name="lon" type="int32" alt_unit="deg" alt_unit_coef="0.0000057296"/>
<field name="alt" type="int32" unit="mm" alt_unit="m"/>
<field name="hmsl" type="int32" unit="mm" alt_unit="m"/>
<field name="ecef_xd" type="int32" unit="cm/s" alt_unit="m/s"/>
<field name="ecef_yd" type="int32" unit="cm/s" alt_unit="m/s"/>
<field name="ecef_zd" type="int32" unit="cm/s" alt_unit="m/s"/>
<field name="pacc" type="int32" unit="cm" alt_unit="m"/>
<field name="sacc" type="int32" unit="cm/s" alt_unit="m/s"/>
<field name="tow" type="uint32"/>
<field name="pdop" type="uint16"/>
<field name="numsv" type="uint8"/>
<field name="fix" type="uint8" values="NONE|UKN1|UKN2|3D"/>
</message>
<!-- GPS Messages: Global Positioning System (OTHERS) -->
<message name="SVINFO" id="25">
<field name="chn" type="uint8"/>
<field name="SVID" type="uint8"/>
<field name="Flags" type="uint8"/>
<field name="QI" type="uint8"/>
<field name="CNO" type="uint8" unit="dbHz"/>
<field name="Elev" type="int8" unit="deg"/>
<field name="Azim" type="int16" unit="deg"/>
</message>
<message name="GPS_SOL" id="17">
<field name="Pacc" type="uint32" unit="cm"/>
<field name="Sacc" type="uint32" unit="cm/s"/>
<field name="PDOP" type="uint16"/>
<field name="numSV" type="uint8"/>
</message>
<message name="GPS_ERROR" id="199">
<field name="x_position" type="float" unit="m"/>
<field name="y_position" type="float" unit="m"/>
<field name="z_position" type="float" unit="m"/>
<field name="x_velocity" type="float" unit="m"/>
<field name="y_velocity" type="float" unit="m"/>
<field name="z_velocity" type="float" unit="m"/>
</message>
<message name="LOOSE_INS_GPS" id="249">
<field name="status" type="uint8" values="UNINITIALIZED|STARTUP_TRANSIENTS|LOWPASSING|GPS_LOST|NOMINAL"/>
<field name="time_running" type="double" alt_unit="minutes" alt_unit_coef="0.016666666666667"/>
<field name="q0" type="double" />
<field name="q1" type="double" />
<field name="q2" type="double" />
<field name="q3" type="double" />
<field name="phi" type="double" unit="rad" alt_unit="deg"/>
<field name="theta" type="double" unit="rad" alt_unit="deg"/>
<field name="psi" type="double" unit="rad" alt_unit="deg"/>
<field name="north" type="double" unit="m" />
<field name="east" type="double" unit="m" />
<field name="down" type="double" unit="m" />
<field name="v_north" type="double" unit="m/s"/>
<field name="v_east" type="double" unit="m/s"/>
<field name="v_down" type="double" unit="m/s"/>
<field name="est_p" type="double" unit="rad/s" alt_unit="deg/s"/>
<field name="est_q" type="double" unit="rad/s" alt_unit="deg/s"/>
<field name="est_r" type="double" unit="rad/s" alt_unit="deg/s"/>
<field name="gyroBias_x" type="double" unit="rad/s" alt_unit="deg/s"/>
<field name="gyroBias_y" type="double" unit="rad/s" alt_unit="deg/s"/>
<field name="gyroBias_z" type="double" unit="rad/s" alt_unit="deg/s"/>
<field name="imuCallbacks" type="uint32" />
<field name="gpsCallbacks" type="uint32" />
<field name="baroCallbacks" type="uint32" />
<!-- <field name="mahrs_gbx" type="float" alt_unit="degres/s" alt_unit_coef="57.29578"/>
<field name="mahrs_gby" type="float" alt_unit="degres/s" alt_unit_coef="57.29578"/>
<field name="mahrs_gbz" type="float" alt_unit="degres/s" alt_unit_coef="57.29578"/>
<field name="alpha" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3" />
<field name="beta" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3" />
<field name="airspeed" type="float" unit="m/s" />
<field name="barometer" type="float" unit="Pa" /> -->
</message>
<!-- ___________________________________________ BARO _____________________________________________ -->
<message name="PRESSURE" id="45">
<field name="airspeed_adc" type="float"/>
<field name="airspeed" type="float" unit="m/s"/>
<field name="altitude_adc" type="float"/>
<field name="altitude" type="float" unit="m"/>
</message>
<message name="BOOZ_BARO_RAW" id="161">
<field name="offset" type="uint16"/>
<field name="value" type="uint16"/>
<field name="value_filtered" type="uint16"/>
</message>
<message name="BARO_RAW" id="221">
<field name="abs" type="int32"/>
<field name="diff" type="int32"/>
</message>
<message name="PBN" id="58">
<field name="airspeed_adc" type="uint16"></field>
<field name="altitude_adc" type="uint16"></field>
<field name="airspeed" type="float"></field>
<field name="altitude" type="float"></field>
<field name="airspeed_offset" type="uint16"></field>
<field name="altitude_offset" type="uint16"></field>
</message>
<!-- _________________________________________ AIRSPEED ___________________________________________ -->
<message name="AIRSPEED" id="54">
<field name="airspeed" type="float" unit="m/s"/>
<field name="airspeed_sp" type="float" unit="m/s"/>
<field name="airspeed_cnt" type="float" unit="m/s"/>
<field name="groundspeed_sp" type="float" unit="m/s"/>
</message>
<message name="AIRSPEED_ETS" id="57">
<field name="adc" type="uint16"/>
<field name="offset" type="uint16"/>
<field name="scaled" type="float"/>
</message>
<!-- ___________________________________________ IMU ______________________________________________ -->
<!-- IR Messages: Infrared Sensors -->
<message name="IR_SENSORS" id="7">
<field name="ir1" type="int16"/>
<field name="ir2" type="int16"/>
<field name="longitudinal" type="int16"/>
<field name="lateral" type="int16"/>
<field name="vertical" type="int16"/>
</message>
<!-- IMU Messages: Inertial Measurement Unit -->
<message name="IMU_GYRO" id="200">
<field name="gp" type="float" unit="rad/s" alt_unit="deg/s"/>
<field name="gq" type="float" unit="rad/s" alt_unit="deg/s"/>
<field name="gr" type="float" unit="rad/s" alt_unit="deg/s"/>
</message>
<message name="IMU_MAG" id="201">
<field name="mx" type="float" />
<field name="my" type="float" />
<field name="mz" type="float" />
</message>
<message name="IMU_ACCEL" id="202">
<field name="ax" type="float" unit="m/s-2"/>
<field name="ay" type="float" unit="m/s-2"/>
<field name="az" type="float" unit="m/s-2"/>
</message>
<message name="IMU_GYRO_RAW" id="203">
<field name="gp" type="int32" unit="adc"/>
<field name="gq" type="int32" unit="adc"/>
<field name="gr" type="int32" unit="adc"/>
</message>
<message name="IMU_ACCEL_RAW" id="204">
<field name="ax" type="int32" unit="adc"/>
<field name="ay" type="int32" unit="adc"/>
<field name="az" type="int32" unit="adc"/>
</message>
<message name="IMU_MAG_RAW" id="205">
<field name="mx" type="int32" unit="adc"/>
<field name="my" type="int32" unit="adc"/>
<field name="mz" type="int32" unit="adc"/>
</message>
<message name="IMU_MAG_SETTINGS" id="206">
<field name="inclination" type="float" />
<field name="declination" type="float" />
<field name="hardiron_x" type="float" />
<field name="hardiron_y" type="float" />
<field name="hardiron_z" type="float" />
</message>
<message name="IMU_GYRO_LP" id="209">
<field name="gp" type="float" unit="rad/s"/>
<field name="gq" type="float" unit="rad/s"/>
<field name="gr" type="float" unit="rad/s"/>
</message>
<message name="IMU_PRESSURE" id="210">
<field name="p" type="float" unit="pascal"/>
</message>
<message name="IMU_HS_GYRO" id="211">
<field name="axis" type="uint8"/>
<field name="samples" type="uint32[]"/>
</message>
<!-- ___________________________________________ AHRS _____________________________________________ -->
<!-- AHRS Messages: Attitude and Heading Reference System -->
<message name="AHRS_REF_QUAT" id="169">
<field name="ref_qi" type="int32"/>
<field name="ref_qx" type="int32"/>
<field name="ref_qy" type="int32"/>
<field name="ref_qz" type="int32"/>
<field name="body_qi" type="int32"/>
<field name="body_qx" type="int32"/>
<field name="body_qy" type="int32"/>
<field name="body_qz" type="int32"/>
</message>
<message name="AHRS_EULER" id="173">
<field name="phi" type="float" unit="rad" alt_unit="deg"/>
<field name="theta" type="float" unit="rad" alt_unit="deg"/>
<field name="psi" type="float" unit="rad" alt_unit="deg"/>
</message>
<!-- Missing AHRS_EULER_INT -->
<message name="AHRS_MEASUREMENT_EULER" id="174">
<field name="phi" type="float" unit="rad" alt_unit="deg"/>
<field name="theta" type="float" unit="rad" alt_unit="deg"/>
<field name="psi" type="float" unit="rad" alt_unit="deg"/>
</message>
<message name="AHRS_DEBUG_QUAT" id="185">
<field name="jqi" type="float"/>
<field name="jqx" type="float"/>
<field name="jqy" type="float"/>
<field name="jqz" type="float"/>
<field name="xqi" type="float"/>
<field name="xqx" type="float"/>
<field name="xqy" type="float"/>
<field name="xqz" type="float"/>
<field name="mqi" type="float"/>
<field name="mqx" type="float"/>
<field name="mqy" type="float"/>
<field name="mqz" type="float"/>
</message>
<message name="AHRS_LKF" id="193">
<field name="phi" type="float" unit="rad" alt_unit="deg"/>
<field name="theta" type="float" unit="rad" alt_unit="deg"/>
<field name="psi" type="float" unit="rad" alt_unit="deg"/>
<field name="qi" type="float" />
<field name="qx" type="float" />
<field name="qy" type="float" />
<field name="qz" type="float" />
<field name="p" type="float" unit="rad/s" alt_unit="deg/s"/>
<field name="q" type="float" unit="rad/s" alt_unit="deg/s"/>
<field name="r" type="float" unit="rad/s" alt_unit="deg/s"/>
<field name="ax" type="float" />
<field name="ay" type="float" />
<field name="az" type="float" />
<field name="mx" type="float" />
<field name="my" type="float" />
<field name="mz" type="float" />
</message>
<message name="AHRS_LKF_DEBUG" id="194">
<field name="phi_err" type="float" unit="rad" alt_unit="deg"/>
<field name="theta_err" type="float" unit="rad" alt_unit="deg"/>
<field name="psi_err" type="float" unit="rad" alt_unit="deg"/>
<field name="bp" type="float" unit="rad/s" alt_unit="deg/s"/>
<field name="bq" type="float" unit="rad/s" alt_unit="deg/s"/>
<field name="br" type="float" unit="rad/s" alt_unit="deg/s"/>
<field name="quat_norm" type="float" />
<field name="phi_accel" type="float" unit="rad" alt_unit="deg"/>
<field name="theta_accel" type="float" unit="rad" alt_unit="deg"/>
<field name="phi_cov" type="float" />
<field name="theta_cov" type="float" />
<field name="psi_cov" type="float" />
<field name="bp_cov" type="float" />
<field name="bq_cov" type="float" />
<field name="br_cov" type="float" />
</message>
<message name="AHRS_LKF_ACC_DBG" id="195">
<field name="qi_err" type="float" />
<field name="qx_err" type="float" />
<field name="qy_err" type="float" />
<field name="qz_err" type="float" />
<field name="bp_err" type="float" unit="rad/s" alt_unit="deg/s"/>
<field name="bq_err" type="float" unit="rad/s" alt_unit="deg/s"/>
<field name="br_err" type="float" unit="rad/s" alt_unit="deg/s"/>
</message>
<message name="AHRS_LKF_MAG_DBG" id="196">
<field name="qi_err" type="float" />
<field name="qx_err" type="float" />
<field name="qy_err" type="float" />
<field name="qz_err" type="float" />
<field name="bp_err" type="float" unit="rad/s" alt_unit="deg/s"/>
<field name="bq_err" type="float" unit="rad/s" alt_unit="deg/s"/>
<field name="br_err" type="float" unit="rad/s" alt_unit="deg/s"/>
</message>
<message name="BOOZ2_AHRS_EULER" id="156">
<field name="imu_phi" type="int32" alt_unit="degres" alt_unit_coef="0.0139882"/>
<field name="imu_theta" type="int32" alt_unit="degres" alt_unit_coef="0.0139882"/>
<field name="imu_psi" type="int32" alt_unit="degres" alt_unit_coef="0.0139882"/>
<field name="body_phi" type="int32" alt_unit="degres" alt_unit_coef="0.0139882"/>
<field name="body_theta" type="int32" alt_unit="degres" alt_unit_coef="0.0139882"/>
<field name="body_psi" type="int32" alt_unit="degres" alt_unit_coef="0.0139882"/>
</message>
<message name="BOOZ2_AHRS_QUAT" id="157">
<field name="imu_qi" type="int32" alt_unit="" alt_unit_coef="0.0000305"/>
<field name="imu_qx" type="int32" alt_unit="" alt_unit_coef="0.0000305"/>
<field name="imu_qy" type="int32" alt_unit="" alt_unit_coef="0.0000305"/>
<field name="imu_qz" type="int32" alt_unit="" alt_unit_coef="0.0000305"/>
<field name="body_qi" type="int32" alt_unit="" alt_unit_coef="0.0000305"/>
<field name="body_qx" type="int32" alt_unit="" alt_unit_coef="0.0000305"/>
<field name="body_qy" type="int32" alt_unit="" alt_unit_coef="0.0000305"/>
<field name="body_qz" type="int32" alt_unit="" alt_unit_coef="0.0000305"/>
</message>
<message name="BOOZ2_AHRS_RMAT" id="158">
<field name="imu_m00" type="int32" alt_unit="" alt_unit_coef="0.0000610"/>
<field name="imu_m01" type="int32" alt_unit="" alt_unit_coef="0.0000610"/>
<field name="imu_m02" type="int32" alt_unit="" alt_unit_coef="0.0000610"/>
<field name="imu_m10" type="int32" alt_unit="" alt_unit_coef="0.0000610"/>
<field name="imu_m11" type="int32" alt_unit="" alt_unit_coef="0.0000610"/>
<field name="imu_m12" type="int32" alt_unit="" alt_unit_coef="0.0000610"/>
<field name="imu_m20" type="int32" alt_unit="" alt_unit_coef="0.0000610"/>
<field name="imu_m21" type="int32" alt_unit="" alt_unit_coef="0.0000610"/>
<field name="imu_m22" type="int32" alt_unit="" alt_unit_coef="0.0000610"/>
<field name="body_m00" type="int32" alt_unit="" alt_unit_coef="0.0000610"/>
<field name="body_m01" type="int32" alt_unit="" alt_unit_coef="0.0000610"/>
<field name="body_m02" type="int32" alt_unit="" alt_unit_coef="0.0000610"/>
<field name="body_m10" type="int32" alt_unit="" alt_unit_coef="0.0000610"/>
<field name="body_m11" type="int32" alt_unit="" alt_unit_coef="0.0000610"/>
<field name="body_m12" type="int32" alt_unit="" alt_unit_coef="0.0000610"/>
<field name="body_m20" type="int32" alt_unit="" alt_unit_coef="0.0000610"/>
<field name="body_m21" type="int32" alt_unit="" alt_unit_coef="0.0000610"/>
<field name="body_m22" type="int32" alt_unit="" alt_unit_coef="0.0000610"/>
</message>
<message name="BOOZ_AHRS_BIAS" id="178">
<field name="bp" type="int32" alt_unit="deg/s" alt_unit_coef="0.0139882"/>
<field name="bq" type="int32" alt_unit="deg/s" alt_unit_coef="0.0139882"/>
<field name="br" type="int32" alt_unit="deg/s" alt_unit_coef="0.0139882"/>
</message>
<!-- ____________________________________________ INS _____________________________________________ -->
<!-- INS Messages: Inertial Navigation System -->
<message name="INS_Z" id="151">
<field name="baro_alt" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="ins_z" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="ins_zd" type="int32" alt_unit="m/s" alt_unit_coef="0.0000019"/>
<field name="ins_zdd" type="int32" alt_unit="m/s2" alt_unit_coef="0.0009766"/>
</message>
<message name="INS_REF" id="154">
<field name="ecef_x0" type="int32" alt_unit="m" alt_unit_coef="0.01"/>
<field name="ecef_y0" type="int32" alt_unit="m" alt_unit_coef="0.01"/>
<field name="ecef_z0" type="int32" alt_unit="m" alt_unit_coef="0.01"/>
<field name="lat0" type="int32" alt_unit="deg" alt_unit_coef="0.0000057296"/>
<field name="lon0" type="int32" alt_unit="deg" alt_unit_coef="0.0000057296"/>
<field name="alt0" type="int32" alt_unit="m" alt_unit_coef="0.001"/>
<field name="hmsl0" type="int32" alt_unit="m" alt_unit_coef="0.001"/>
<field name="baro_qfe" type="int32"/>
</message>
<message name="INS" id="198">
<field name="ins_x" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="ins_y" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="ins_z" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="ins_xd" type="int32" alt_unit="m/s" alt_unit_coef="0.0000019"/>
<field name="ins_yd" type="int32" alt_unit="m/s" alt_unit_coef="0.0000019"/>
<field name="ins_zd" type="int32" alt_unit="m/s" alt_unit_coef="0.0000019"/>
<field name="ins_xdd" type="int32" alt_unit="m/s2" alt_unit_coef="0.0009766"/>
<field name="ins_ydd" type="int32" alt_unit="m/s2" alt_unit_coef="0.0009766"/>
<field name="ins_zdd" type="int32" alt_unit="m/s2" alt_unit_coef="0.0009766"/>
</message>
<!-- ___________________________________________ STATUS ___________________________________________ -->
<message name="PPRZ_MODE" id="11">
<field name="ap_mode" type="uint8" values="MANUAL|AUTO1|AUTO2|HOME|NOGPS|FAILSAFE"/>
<field name="ap_gaz" type="uint8" values="MANUAL|AUTO_THROTTLE|AUTO_CLIMB|AUTO_ALT"/> <field name="ap_lateral" type="uint8" values="MANUAL|ROLL_RATE|ROLL|COURSE"/>
<field name="kill_auto_throttle" type="uint8" unit="bool"/>
</message>
<message name="ROTORCRAFT_STATUS" id="231">
<field name="rc_status" type="uint8" values="OK|LOST|REALLY_LOST"/>
<field name="frame_rate" type="uint8" unit="Hz"/>
<field name="ap_mode" type="uint8" values="FAILSAFE|KILL|RATE_DIRECT|ATTITUDE_DIRECT|RATE_RC_CLIMB|ATTITUDE_RC_CLIMB|ATTITUDE_CLIMB|RATE_Z_HOLD|ATTITUDE_Z_HOLD|HOVER_DIRECT|HOVER_CLIMB|HOVER_Z_HOLD|NAV"/>
<field name="ap_in_flight" type="uint8" values="ON_GROUND|IN_FLIGHT"/>
<field name="ap_motors_on" type="uint8" values="MOTORS_OFF|MOTORS_ON"/>
<field name="ap_v_mode" type="uint8" values="KILL|RC_DIRECT|RC_CLIMB|CLIMB|HOVER|NAV"/>
</message>
<message name="STATE_FILTER_STATUS" id="232"><!-- MERGE WITH STATUS MESSAGES -->
<field name="state_filter_mode" type="uint8" values="UNKNOWN|INIT|ALIGN|OK|GPS_LOST|IMU_LOST|COV_ERR|IR_CONTRAST|ERROR"/>
<field name="value" type="uint16" />
</message>
<message name="FBW_STATUS" id="103">
<field name="rc_status" type="uint8" values="OK|LOST|REALLY_LOST"/>
<field name="frame_rate" type="uint8" unit="Hz"/>
<field name="mode" type="uint8" values="MANUAL|AUTO|FAILSAFE"/>
<field name="vsupply" type="uint8" unit="decivolt"/>
<field name="current" type="int32" unit="mA"/>
</message>
<message name="MODEM_STATUS" id="24">
<field name="detected" type="uint8"/>
<field name="valim" type="float" format="%.1f"/>
<field name="cd" type="uint8"/>
<field name="nb_byte" type="uint32"/>
<field name="nb_msg" type="uint32"/>
<field name="nb_err" type="uint32"/>
</message>
<message name="ANTENNA_STATUS" id="93">
<field name="azim_sp" type="float"/>
<field name="elev_sp" type="float"/>
<field name="id_sp" type="uint8"/>
<field name="mode" type="uint8"/>
</message>
<!-- ___________________________________________ MISION ___________________________________________ -->
<!-- MISSION Messages -->
<message name="MISSION_STATUS" id="5">
<field name="flight_time" type="uint16" unit="s"/>
<field name="cur_block" type="uint8"/>
<field name="block_time" type="uint16" unit="s"/>
<field name="cur_stage" type="uint8"/>
<field name="stage_time" type="uint16" unit="s"/>
<field name="cpu_time" type="uint16" unit="s"></field>
<field name="gps_status" type="uint8" values="NO_FIX|NA|NA|3Dfix"/>
<field name="dist2_wp" type="float" format="%.1f" unit="m^2"/>
<field name="dist2_home" type="float" format="%.1f" unit="m^2"/>
<field name="circle_count" type="uint8"/>
<field name="oval_count" type="uint8"/>
<field name="horizontal_mode" type="uint8" values="KILL|RATE|ATTITUDE|HOVER|NAV"/>
</message>
<message name="BOOT" id="1">
<field name="version" type="uint16"/>
</message>
<message name="TAKEOFF" id="4">
<field name="cpu_time" type="uint16" unit="s"></field>
</message>
<message name="CIRCLE" id="21">
<field name="center_east" type="float" unit="m"/>
<field name="center_north" type="float" unit="m"/>
<field name="radius" type="float" unit="m"/>
</message>
<message name="SEGMENT" id="22">
<field name="segment_east_1" type="float" unit="m"/>
<field name="segment_north_1" type="float" unit="m"/>
<field name="segment_east_2" type="float" unit="m"/>
<field name="segment_north_2" type="float" unit="m"/>
</message>
<message name="SURVEY" ID="27">
<field name="east" type="float" unit="m"/>
<field name="north" type="float" unit="m"/>
<field name="west" type="float" unit="m"/>
<field name="south" type="float" unit="m"/>
</message>
<message name="MARK" id="32">
<field name="ac_id" type="uint8"/>
<field name="lat" type="float" unit="deg"/>
<field name="long" type="float" unit="deg"/>
</message>
<message name="WP_MOVED_UTM" id="35">
<field name="wp_id" type="uint8"/>
<field name="utm_east" type="float" unit="m"/>
<field name="utm_north" type="float" unit="m"/>
<field name="alt" type="float" unit="m"/>
<field name="utm_zone" type="uint8"/>
</message>
<message name="WP_MOVED_LLA" id="47">
<field name="wp_id" type="uint8"/>
<field name="lat" type="int32" unit="degres"/>
<field name="lon" type="int32" unit="degres"/>
<field name="alt" type="int32" unit="cm"/>
</message>
<message name="WP_MOVED_ENU" id="49">
<field name="wp_id" type="uint8"/>
<field name="east" type="int32" unit="2^8m" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="north" type="int32" unit="2^8m" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="up" type="int32" unit="2^8m" alt_unit="m" alt_unit_coef="0.0039063"/>
</message>
<!-- ___________________________________________ CONTROL __________________________________________ -->
<message name="DESIRED" id="16">
<field name="roll" type="float" format="%.2f" unit="rad" alt_unit="deg"/>
<field name="pitch" type="float" format="%.2f" unit="rad" alt_unit="deg"/>
<field name="course" type="float" format="%.1f" unit="rad" alt_unit="deg"/>
<field name="x" type="float" format="%.0f" unit="m"/>
<field name="y" type="float" format="%.0f" unit="m"/>
<field name="altitude" type="float" format="%.0f" unit="m"/>
<field name="climb" type="float" format="%.1f" unit="m/s"></field>
</message>
<!-- ******************************* CONTROL, NAVIGATION & GUIDANCE ******************************* -->
<!-- LOOP Messages -->
<message name="SPEED_LOOP" id="40">
<field name="ve_set_point" type="float" unit="m/s"/>
<field name="ve" type="float" unit="m/s"/>
<field name="vn_set_point" type="float" unit="m/s"/>
<field name="vn" type="float" unit="m/s"/>
<field name="north_sp" type="float" unit="rad"/>
<field name="east_sp" type="float" unit="rad"/>
</message>
<message name="RATE_LOOP" id="136">
<field name="sp_p" type="int32"/>
<field name="sp_q" type="int32"/>
<field name="sp_r" type="int32"/>
<field name="ref_p" type="int32"/>
<field name="ref_q" type="int32"/>
<field name="ref_r" type="int32"/>
<field name="refdot_p" type="int32"/>
<field name="refdot_q" type="int32"/>
<field name="refdot_r" type="int32"/>
<field name="sumerr_p" type="int32"/>
<field name="sumerr_q" type="int32"/>
<field name="sumerr_r" type="int32"/>
<field name="ff_p" type="int32"/>
<field name="ff_q" type="int32"/>
<field name="ff_r" type="int32"/>
<field name="fb_p" type="int32"/>
<field name="fb_q" type="int32"/>
<field name="fb_r" type="int32"/>
<field name="delta_t" type="int32"/>
</message>
<message name="VERT_LOOP" id="145">
<field name="z_sp" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="zd_sp" type="int32" alt_unit="m" alt_unit_coef="0.0000019"/>
<field name="est_z" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="est_zd" type="int32" alt_unit="m/s" alt_unit_coef="0.0000019"/>
<field name="est_zdd" type="int32" alt_unit="m/s2" alt_unit_coef="0.0009766"/>
<field name="ref_z" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="ref_zd" type="int32" alt_unit="m/s" alt_unit_coef="0.0000019"/>
<field name="ref_zdd" type="int32" alt_unit="m/s2" alt_unit_coef="0.0009766"/>
<field name="adp_inv_m" type="int32" alt_unit="foo" alt_unit_coef="0.0000038"/>
<field name="adp_cov" type="int32" alt_unit="foo" alt_unit_coef="0.0000038"/>
<field name="adp_meas" type="int32" alt_unit="foo" alt_unit_coef="0.0000038"/>
<field name="sum_err" type="int32" />
<field name="ff_cmd" type="int32"/>
<field name="fb_cmd" type="int32"/>
<field name="delta_t" type="int32"/>
</message>
<message name="VERTICAL_ENERGY" id="125">
<field name="Epot_err" type="float"/>
<field name="Ekin_err" type="float"/>
<field name="Etot_err" type="float"/>
<field name="Edis_err" type="float"/>
<field name="throttle" type="float"/>
<field name="nav_pitch" type="float"/>
<field name="speed_sp" type="float"/>
</message>
<message name="VFF" id="162"><!-- loop merge -->
<field name="measure" type="float"/>
<field name="z" type="float"/>
<field name="zd" type="float"/>
<field name="bias" type="float"/>
<field name="Pzz" type="float"/>
<field name="Pzdzd" type="float"/>
<field name="Pbb" type="float"/>
</message>
<message name="HOVER_LOOP" id="146">
<field name="sp_x" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="sp_y" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="est_x" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="est_y" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="est_xd" type="int32" alt_unit="m/s" alt_unit_coef="0.0000019"/>
<field name="est_yd" type="int32" alt_unit="m/s" alt_unit_coef="0.0000019"/>
<field name="est_xdd" type="int32" alt_unit="m/s2" alt_unit_coef="0.0009765"/>
<field name="est_ydd" type="int32" alt_unit="m/s2" alt_unit_coef="0.0009765"/>
<field name="err_x" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="err_y" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="err_xd" type="int32" alt_unit="m/s" alt_unit_coef="0.0000019"/>
<field name="err_yd" type="int32" alt_unit="m/s" alt_unit_coef="0.0000019"/>
<field name="err_sum_x" type="int32"/>
<field name="err_sum_y" type="int32"/>
<field name="err_nav_x" type="int32"/>
<field name="err_nav_y" type="int32"/>
<field name="cmd_x" type="int32"/>
<field name="cmd_y" type="int32"/>
<field name="cmd_phi" type="int32"/>
<field name="cmd_theta" type="int32"/>
<field name="cmd_psi" type="int32"/>
</message>
<!-- STABILIZATION Messages -->
<message name="STAB_ATTITUDE_INT" id="140">
<field name="est_p" type="int32" alt_unit="degres/s" alt_unit_coef="0.0139882"/>
<field name="est_q" type="int32" alt_unit="degres/s" alt_unit_coef="0.0139882"/>
<field name="est_r" type="int32" alt_unit="degres/s" alt_unit_coef="0.0139882"/>
<field name="est_phi" type="int32" alt_unit="degres" alt_unit_coef="0.0139882"/>
<field name="est_theta" type="int32" alt_unit="degres" alt_unit_coef="0.0139882"/>
<field name="est_psi" type="int32" alt_unit="degres" alt_unit_coef="0.0139882"/>
<field name="sp_phi" type="int32" alt_unit="degres" alt_unit_coef="0.0000546"/>
<field name="sp_theta" type="int32" alt_unit="degres" alt_unit_coef="0.0000546"/>
<field name="sp_psi" type="int32" alt_unit="degres" alt_unit_coef="0.0000546"/>
<field name="sum_err_phi" type="int32"/>
<field name="sum_err_theta" type="int32"/>
<field name="sum_err_psi" type="int32"/>
<field name="delta_a_fb" type="int32" alt_unit_coef="0.0000153"/>
<field name="delta_e_fb" type="int32" alt_unit_coef="0.0000153"/>
<field name="delta_r_fb" type="int32" alt_unit_coef="0.0000153"/>
<field name="delta_a_ff" type="int32" alt_unit_coef="0.0000153"/>
<field name="delta_e_ff" type="int32" alt_unit_coef="0.0000153"/>
<field name="delta_r_ff" type="int32" alt_unit_coef="0.0000153"/>
<field name="delta_a" type="int32"/>
<field name="delta_e" type="int32"/>
<field name="delta_r" type="int32"/>
</message>
<message name="STAB_ATTITUDE_REF_INT" id="141">
<field name="sp_phi" type="int32" alt_unit="degres" alt_unit_coef="0.0000546"/>
<field name="sp_theta" type="int32" alt_unit="degres" alt_unit_coef="0.0000546"/>
<field name="sp_psi" type="int32" alt_unit="degres" alt_unit_coef="0.0000546"/>
<field name="ref_phi" type="int32" alt_unit="degres" alt_unit_coef="0.0000546"/>
<field name="ref_theta" type="int32" alt_unit="degres" alt_unit_coef="0.0000546"/>
<field name="ref_psi" type="int32" alt_unit="degres" alt_unit_coef="0.0000546"/>
<field name="ref_p" type="int32" alt_unit="degres/s" alt_unit_coef="0.0008743"/>
<field name="ref_q" type="int32" alt_unit="degres/s" alt_unit_coef="0.0008743"/>
<field name="ref_r" type="int32" alt_unit="degres/s" alt_unit_coef="0.0008743"/>
<field name="ref_pd" type="int32" alt_unit="degres/s2" alt_unit_coef="0.0139882"/>
<field name="ref_qd" type="int32" alt_unit="degres/s2" alt_unit_coef="0.0139882"/>
<field name="ref_rd" type="int32" alt_unit="degres/s2" alt_unit_coef="0.0139882"/>
</message>
<message name="STAB_ATTITUDE_REF_FLOAT" id="142">
<field name="sp_phi" type="float" unit="rad" alt_unit="deg"/>
<field name="sp_theta" type="float" unit="rad" alt_unit="deg"/>
<field name="sp_psi" type="float" unit="rad" alt_unit="deg"/>
<field name="ref_phi" type="float" unit="rad" alt_unit="deg"/>
<field name="ref_theta" type="float" unit="rad" alt_unit="deg"/>
<field name="ref_psi" type="float" unit="rad" alt_unit="deg"/>
<field name="ref_p" type="float" unit="rad/s" alt_unit="deg/s"/>
<field name="ref_q" type="float" unit="rad/s" alt_unit="deg/s"/>
<field name="ref_r" type="float" unit="rad/s" alt_unit="deg/s"/>
<field name="ref_pd" type="float" unit="rad/s2" alt_unit="deg/s2"/>
<field name="ref_qd" type="float" unit="rad/s2" alt_unit="deg/s2"/>
<field name="ref_rd" type="float" unit="rad/s2" alt_unit="deg/s2"/>
</message>
<message name="STAB_ATTITUDE_FLOAT" id="130">
<field name="est_p" type="float" unit="rad/s" alt_unit="deg/s"/>
<field name="est_q" type="float" unit="rad/s" alt_unit="deg/s"/>
<field name="est_r" type="float" unit="rad/s" alt_unit="deg/s"/>
<field name="est_phi" type="float" unit="rad" alt_unit="deg"/>
<field name="est_theta" type="float" unit="rad" alt_unit="deg"/>
<field name="est_psi" type="float" unit="rad" alt_unit="deg"/>
<field name="ref_phi" type="float" unit="rad" alt_unit="deg"/>
<field name="ref_theta" type="float" unit="rad" alt_unit="deg"/>
<field name="ref_psi" type="float" unit="rad" alt_unit="deg"/>
<field name="sum_err_phi" type="float"/>
<field name="sum_err_theta" type="float"/>
<field name="sum_err_psi" type="float"/>
<field name="delta_a_fb" type="float" alt_unit="motor" alt_unit_coef="0.0000153"/>
<field name="delta_e_fb" type="float" alt_unit="motor" alt_unit_coef="0.0000153"/>
<field name="delta_r_fb" type="float" alt_unit="motor" alt_unit_coef="0.0000153"/>
<field name="delta_a_ff" type="float" alt_unit="motor" alt_unit_coef="0.0000153"/>
<field name="delta_e_ff" type="float" alt_unit="motor" alt_unit_coef="0.0000153"/>
<field name="delta_r_ff" type="float" alt_unit="motor" alt_unit_coef="0.0000153"/>
<field name="delta_a" type="int32"/>
<field name="delta_e" type="int32"/>
<field name="delta_r" type="int32"/>
<field name="est_p_d" type="float" unit="rad/s2" alt_unit="deg/s2"/>
<field name="est_q_d" type="float" unit="rad/s2" alt_unit="deg/s2"/>
<field name="est_r_d" type="float" unit="rad/s2" alt_unit="deg/s2"/>
</message>
<!-- Missing STAB_ATTITUDE_REF -->
<!-- NAVIGATION Messages -->
<message name="NAVIGATION_REF" id="9">
<field name="utm_east" type="int32" unit="m"/>
<field name="utm_north" type="int32" unit="m"/>
<field name="utm_zone" type="uint8"/>
</message>
<message name="CROSS_TRACK_ERROR" id="80">
<field name="cross_track_error" type="float" unit="m"/>
<field name="cte_int" type="float"/>
</message>
<!-- GUIDANCE Messages -->
<!-- <message name="GUIDANCE" id="144">
<field name="pos_n" type="int32"/>
<field name="pos_e" type="int32"/>
<field name="sp_pos_n" type="int32"/>
<field name="sp_pos_e" type="int32"/>
</message>
-->
<message name="GUIDANCE_H_REF_INT" id="149">
<field name="sp_x" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="ref_x" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="ref_xd" type="int32" alt_unit="m/s" alt_unit_coef="0.0000019"/>
<field name="ref_xdd" type="int32" alt_unit="m/s2" alt_unit_coef="0.0009766"/>
<field name="sp_y" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="ref_y" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="ref_yd" type="int32" alt_unit="m/s" alt_unit_coef="0.0000019"/>
<field name="ref_ydd" type="int32" alt_unit="m/s2" alt_unit_coef="0.0009766"/>
</message>
<!-- ________________________________________ COMMUNICATIONS ______________________________________ -->
<!-- *************************************** COMMUNICATIONS *************************************** -->
<!-- DOWNLINK Messages -->
<message name="DOWNLINK_STATUS" id="23">
<field name="run_time" type="uint32" unit="s"/>
<field name="rx_bytes" type="uint32"/>
<field name="rx_msgs" type="uint32"/>
<field name="rx_err" type="uint32"/>
<field name="rx_bytes_rate" type="float" format="%.1f"/>
<field name="rx_msgs_rate" type="float" format="%.1f"/>
<field name="ping_time" type="float" format="%.2f" unit="ms"/>
</message>
<message name="DOWNLINK" id="30">
<field name="nb_ovrn" type="uint8"/>
<field name="rate" type="uint16" unit="bytes/s"/>
<field name="nb_msgs" type="uint16"/>
</message>
<!-- Current value of one variable from the dl_settings (airframe.xml) -->
<message name="DL_VALUE" id="31">
<field name="index" type="uint8"/>
<field name="value" type="float"/>
</message>
<message name="WC_RSSI" id="28">
<field name="raw_level" type="uint8"/>
</message>
<message name="GENERIC_COM" id="81">
<field name="lat" type="int32" unit="1e7deg"/>
<field name="lon" type="int32" unit="1e7deg"/>
<field name="alt" type="int16" unit="m"/>
<field name="gspeed" type="uint16" unit="cm/s" alt_unit="m/s"/>
<field name="course" type="int16" unit="decideg" alt_unit="deg"/>
<field name="airspeed" type="uint16" unit="cm/s" alt_unit="m/s"/>
<field name="vsupply" type="uint8" unit="decivolt"/>
<field name="energy" type="uint8" unit="deciAh"/>
<field name="throttle" type="uint8" unit="%"/>
<field name="ap_mode" type="uint8"/>
<field name="nav_block" type="uint8"/>
<field name="flight_time" type="uint16" unit="s"/>
</message>
<!-- __________________________________________ MULTI UAV _________________________________________ -->
<!-- FORMATION Messages -->
<message name="FORMATION_SLOT_TM" id="82">
<field name="ac_id" type="uint8"/>
<field name="mode" type="uint8"/>
<field name="slot_east" format="%.1f" type="float" unit="m"/>
<field name="slot_north" format="%.1f" type="float" unit="m"/>
<field name="slot_alt" format="%.1f" type="float" unit="m"/>
</message>
<message name="FORMATION_STATUS_TM" id="83">
<field name="ac_id" type="uint8"/>
<field name="leader_id" type="uint8"/>
<field name="status" type="uint8"/>
</message>
<message name="POTENTIAL" id="124">
<field name="east" type="float"/>
<field name="north" type="float"/>
<field name="alt" type="float"/>
<field name="speed" type="float"/>
<field name="climb" type="float"/>
</message>
<!-- TCAS Messages: Traffic collision avoidance system -->
<message name="TCAS_TA" ID="120">
<field name="ac_id" type="uint8"/>
</message>
<message name="TCAS_RA" id="121">
<field name="ac_id" type="uint8"/>
<field name="resolve" type="uint8" values="NONE|LEVEL|CLIMB|DESCEND"/>
</message>
<message name="TCAS_RESOLVED" ID="122">
<field name="ac_id" type="uint8"/>
</message>
<message name="TCAS_DEBUG" id="123">
<field name="ac_id" type="uint8"/>
<field name="tau" type="float"/>
</message>
<!-- ___________________________________________________________________________________________ -->