abi.xml

<?xml version="1.0"?>
<!DOCTYPE protocol SYSTEM "messages.dtd">
<protocol>

  <msg_class name="airborne">

    <message name="BARO_ABS" id="0">
      <field name="pressure" type="float" unit="Pa"/>
    </message>

    <message name="BARO_DIFF" id="1">
      <field name="pressure" type="float" unit="Pa"/>
    </message>

    <message name="AGL" id="2">
      <field name="distance" type="float" unit="m"/>
    </message>

    <message name="TEMPERATURE" id="3">
      <field name="temp" type="float" unit="deg Celcius"/>
    </message>

    <message name="IMU_GYRO_INT32" id="4">
      <field name="stamp" type="uint32_t" unit="us"/>
      <field name="gyro" type="struct Int32Rates *"/>
    </message>

    <message name="IMU_ACCEL_INT32" id="5">
      <field name="stamp" type="uint32_t" unit="us"/>
      <field name="accel" type="struct Int32Vect3 *"/>
    </message>

    <message name="IMU_MAG_INT32" id="6">
      <field name="stamp" type="uint32_t" unit="us"/>
      <field name="mag" type="struct Int32Vect3 *"/>
    </message>

    <message name="IMU_LOWPASSED" id="7">
      <field name="stamp" type="uint32_t" unit="us"/>
      <field name="gyro" type="struct Int32Rates *"/>
      <field name="accel" type="struct Int32Vect3 *"/>
      <field name="mag" type="struct Int32Vect3 *"/>
    </message>

    <message name="BODY_TO_IMU_QUAT" id="8">
      <field name="q_b2i_f" type="struct FloatQuat *"/>
    </message>

    <message name="GEO_MAG" id="9">
      <field name="h" type="struct FloatVect3 *" unit="1.0"/>
    </message>

  </msg_class>

</protocol>