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standard_downlink.xml
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standard_downlink.xml
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<?xml version="1.0"?>
<class type="downlink">
<message name="ALIVE" id="1">
<description></description>
<field name="type" type="uint8" values="UNDEFINED|GCS|FIXEDWING|ROTORCRAFT|HYBRID|ROVER|SUBMARINE|ROCKET|SPACECRAFT">Type of MAV, GCS or other</field>
<field name="md5sum" type="uint8[]">MD5 configuration checksum</field>
</message>
<message name="PONG" id="2">
<description></description>
</message>
<!-- STATUS -->
<message name="SYSTEM_STATUS" id="10">
<description></description>
<field name="cpu_time" type="uint16" unit="s">Time since cpu startup</field>
<field name="itow" type="uint32" unit="s">GPS time of week</field>
<field name="attitude_filter_status" type="uint8" values="UNKNOWN|INIT|ALIGN|OK|IMU_LOST|COV_ERR|IR_CONTRAST_LOW|ERROR">Status of the attitude filter (TODO: use bitmask for sensor failure ?)</field>
<field name="attitude_value" type="uint16">Debug value for state filer</field>
<field name="position_filter_status" type="uint8" values="UNKNOWN|INIT|OK|GPS_LOST|COV_ERR|ERROR">Status of the position filter (TODO: use bitmask for sensor failure ?)</field>
<field name="Pacc" type="uint32" unit="cm">Position accuracy</field>
</message>
<message name="FIXEDWING_STATUS" id="11">
<description></description>
<field name="ap_mode" type="uint8" values="MANUAL|AUTO1|AUTO2|HOME|NOGPS|FAILSAFE">General AP mode</field>
<field name="ap_gaz" type="uint8" values="MANUAL|AUTO_THROTTLE|AUTO_CLIMB|AUTO_ALT">Vertical mode</field>
<field name="ap_lateral" type="uint8" values="MANUAL|ROLL_RATE|ROLL|COURSE">Lateral mode</field>
<field name="kill_auto_throttle" type="uint8" unit="bool"/>
<field name="throttle" type="int16" unit="pprz"/>
</message>
<message name="FBW_STATUS" id="12">
<description></description>
<field name="rc_status" type="uint8" values="OK|LOST|REALLY_LOST">Status of the safety remote control</field>
<field name="frame_rate" type="uint8" unit="Hz">Number of valid RC frame received per second</field>
<field name="mode" type="uint8" values="MANUAL|AUTO|FAILSAFE">FBW mode</field>
</message>
<message name="ROTORCRAFT_STATUS" id="13">
<description></description>
<field name="rc_status" type="uint8" values="OK|LOST|REALLY_LOST">Status of the safety remote control</field>
<field name="frame_rate" type="uint8" unit="Hz">Number of valid RC frame received per second</field>
<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">Rotorcraft AP mode</field>
<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="throttle" type="int16" unit="pprz"/>
</message>
<message name="ELECTRICAL_STATUS" id="14">
<description></description>
<field name="voltage" type="uint16" unit="1e-2V" alt_unit="V" alt_unit_coef="0.01">Battery voltage</field>
<field name="current" type="int16" unit="1e-2A" alt_unit="A" alt_unit_coef="0.01">Current consumption</field>
<field name="energy" type="int16" unit="mAh">Estimation of the consummate energy</field>
</message>
<message name="MODEM_STATUS" id="15">
<description></description>
<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="CAM_STATUS" id="16">
<description></description>
<field name="phi" type="int16" unit="deg"/>
<field name="theta" type="int16" unit="deg"/>
<field name="target_x" type="int16" unit="m"/>
<field name="target_y" type="int16" unit="m"/>
</message>
<!-- POSITION and SPEED -->
<message name="LOCAL_POSITION" id="20">
<description></description>
<field name="pos_x" type="float" unit="m"/>
<field name="pos_y" type="float" unit="m"/>
<field name="pos_z" type="float" unit="m"/>
<field name="speed_x" type="float" unit="m/s"/>
<field name="speed_y" type="float" unit="m/s"/>
<field name="speed_z" type="float" unit="m/s"/>
<field name="frame" type="uint8" values="NED|ENU">Local coordinates frame</field>
</message>
<message name="LOCAL_POSITION_INT" id="21">
<description></description>
<field name="pos_x" type="int32" unit="pos_int" alt_unit="m"/>
<field name="pos_y" type="int32" unit="pos_int" alt_unit="m"/>
<field name="pos_z" type="int32" unit="pos_int" alt_unit="m"/>
<field name="speed_x" type="int32" unit="speed_int" alt_unit="m/s"/>
<field name="speed_y" type="int32" unit="speed_int" alt_unit="m/s"/>
<field name="speed_z" type="int32" unit="speed_int" alt_unit="m/s"/>
<field name="frame" type="uint8" values="NED|ENU">Local coordinates frame</field>
</message>
<message name="GLOBAL_ORIGIN_ECEF" id="22">
<description></description>
<field name="x" type="int32" unit="cm" alt_unit="m"/>
<field name="y" type="int32" unit="cm" alt_unit="m"/>
<field name="z" type="int32" unit="cm" alt_unit="m"/>
<field name="msl" type="int16" unit="cm" alt_unit="m">Distance between the Geoid and the Ellipsoid. Maximum value is less than +-200m</field>
</message>
<message name="GLOBAL_ORIGIN_LLA" id="23">
<description></description>
<field name="lat" type="int32" unit="1e7rad" alt_unit="deg"/>
<field name="lon" type="int32" unit="1e7rad" alt_unit="deg"/>
<field name="alt" type="int32" unit="mm" alt_unit="m">Altitude above Mean Sea Level (geoid)</field>
</message>
<message name="GLOBAL_ORIGIN_UTM" id="24">
<description></description>
<field name="utm_east" type="int32" unit="cm" alt_unit="m"/>
<field name="utm_north" type="int32" unit="cm" alt_unit="m"/>
<field name="utm_zone" type="uint8"/>
</message>
<message name="GLOBAL_POSITION_ECEF" id="25">
<description></description>
<field name="pos_x" type="int32" unit="cm" alt_unit="m"/>
<field name="pos_y" type="int32" unit="cm" alt_unit="m"/>
<field name="pos_z" type="int32" unit="cm" alt_unit="m"/>
<field name="speed_x" type="int32" unit="cm/s" alt_unit="m/s"/>
<field name="speed_y" type="int32" unit="cm/s" alt_unit="m/s"/>
<field name="speed_z" type="int32" unit="cm/s" alt_unit="m/s"/>
</message>
<message name="GLOBAL_POSITION_LLA" id="26">
<description></description>
<field name="lat" type="int32" unit="1e7rad" alt_unit="deg"/>
<field name="lon" type="int32" unit="1e7rad" alt_unit="deg"/>
<field name="alt" type="int32" unit="mm" alt_unit="m"/>
<field name="velned_x" type="int32" unit="cm/s" alt_unit="m/s"/>
<field name="velned_y" type="int32" unit="cm/s" alt_unit="m/s"/>
<field name="velned_z" type="int32" unit="cm/s" alt_unit="m/s"/>
</message>
<message name="GLOBAL_POSITION_UTM" id="27">
<description></description>
<field name="utm_east" type="int32" unit="cm" alt_unit="m"/>
<field name="utm_north" type="int32" unit="cm" alt_unit="m"/>
<field name="alt" type="int32" unit="mm" alt_unit="m"/>
<field name="gspeed" type="int16" unit="cm/s" alt_unit="m/s"/>
<field name="climb" type="int16" unit="cm/s" alt_unit="m/s"/>
<field name="course" type="int32" unit="1e7rad" alt_unit="deg"/>
<field name="utm_zone" type="uint8"/>
</message>
<!-- ATTITUDE and RATE -->
<message name="ATTITUDE_EULER" id="30">
<description></description>
<field name="roll" type="float" unit="rad"/>
<field name="pitch" type="float" unit="rad"/>
<field name="yaw" type="float" unit="rad"/>
<field name="roll_rate" type="float" unit="rad/s"/>
<field name="pitch_rate" type="float" unit="rad/s"/>
<field name="yaw_rate" type="float" unit="rad/s"/>
</message>
<message name="ATTITUDE_EULER_INT" id="31">
<description></description>
<field name="roll" type="int32" unit="angle_int" alt_unit="deg"/>
<field name="pitch" type="int32" unit="angle_int" alt_unit="deg"/>
<field name="yaw" type="int32" unit="angle_int" alt_unit="deg"/>
<field name="roll_rate" type="int32" unit="rate_int" alt_unit="deg/s"/>
<field name="pitch_rate" type="int32" unit="rate_int" alt_unit="deg/s"/>
<field name="yaw_rate" type="int32" unit="rate_int" alt_unit="deg/s"/>
</message>
<message name="ATTITUDE_QUAT" id="32">
<description></description>
<field name="qi" type="float"/>
<field name="qx" type="float"/>
<field name="qy" type="float"/>
<field name="qz" type="float"/>
<field name="roll_rate" type="float" unit="rad/s"/>
<field name="pitch_rate" type="float" unit="rad/s"/>
<field name="yaw_rate" type="float" unit="rad/s"/>
</message>
<message name="ATTITUDE_QUAT_INT" id="33">
<description></description>
<field name="qi" type="int32" unit="quat_int" alt_unit="quat"/>
<field name="qx" type="int32" unit="quat_int" alt_unit="quat"/>
<field name="qy" type="int32" unit="quat_int" alt_unit="quat"/>
<field name="qz" type="int32" unit="quat_int" alt_unit="quat"/>
<field name="roll_rate" type="int32" unit="rate_int" alt_unit="rad/s"/>
<field name="pitch_rate" type="int32" unit="rate_int" alt_unit="rad/s"/>
<field name="yaw_rate" type="int32" unit="rate_int" alt_unit="rad/s"/>
</message>
<!-- AERO -->
<message name="AERO" id="35">
<description></description>
<field name="airspeed" type="float" unit="m/s">Mesured airspeed</field>
<field name="aoa" type="float" unit="rad">Angle of attack</field>
<field name="sideslip" type="float" unit="rad">Sideslip angle</field>
</message>
<!-- DESIRED ATTITUDE, SPEED and POSITION -->
<message name="LOCAL_POSITION_DESIRED" id="40">
<description></description>
<field name="pos_x" type="float" unit="m"/>
<field name="pos_y" type="float" unit="m"/>
<field name="pos_z" type="float" unit="m"/>
<field name="speed_x" type="float" unit="m/s"/>
<field name="speed_y" type="float" unit="m/s"/>
<field name="speed_z" type="float" unit="m/s"/>
<field name="frame" type="uint8" values="NED|ENU">Local coordinates frame</field>
</message>
<message name="LOCAL_POSITION_INT_DESIRED" id="41">
<description></description>
<field name="pos_x" type="int32" unit="pos_int" alt_unit="m"/>
<field name="pos_y" type="int32" unit="pos_int" alt_unit="m"/>
<field name="pos_z" type="int32" unit="pos_int" alt_unit="m"/>
<field name="speed_x" type="int32" unit="speed_int" alt_unit="m/s"/>
<field name="speed_y" type="int32" unit="speed_int" alt_unit="m/s"/>
<field name="speed_z" type="int32" unit="speed_int" alt_unit="m/s"/>
<field name="frame" type="uint8" values="NED|ENU">Local coordinates frame</field>
</message>
<message name="GLOBAL_POSITION_LLA_DESIRED" id="42">
<description></description>
<field name="lat" type="int32" unit="1e7rad" alt_unit="deg"/>
<field name="lon" type="int32" unit="1e7rad" alt_unit="deg"/>
<field name="alt" type="int32" unit="mm" alt_unit="m"/>
<field name="course" type="int32" unit="1e7rad" alt_unit="deg"/>
<field name="gspeed" type="int16" unit="cm/s" alt_unit="m/s"/>
<field name="climb" type="int16" unit="cm/s" alt_unit="m/s"/>
</message>
<message name="GLOBAL_POSITION_UTM_DESIRED" id="43">
<description></description>
<field name="utm_east" type="int32" unit="cm" alt_unit="m"/>
<field name="utm_north" type="int32" unit="cm" alt_unit="m"/>
<field name="alt" type="int32" unit="mm" alt_unit="m"/>
<field name="course" type="int32" unit="1e7rad" alt_unit="deg"/>
<field name="gspeed" type="int16" unit="cm/s" alt_unit="m/s"/>
<field name="climb" type="int16" unit="cm/s" alt_unit="m/s"/>
<field name="utm_zone" type="uint8"/>
</message>
<message name="AERO_DESIRED" id="44">
<description></description>
<field name="airspeed" type="float" unit="m/s">Desired airspeed</field>
<field name="aoa" type="float" unit="rad">Angle of attack</field>
</message>
<message name="ATTITUDE_EULER_DESIRED" id="45">
<description></description>
<field name="roll" type="float" unit="rad"/>
<field name="pitch" type="float" unit="rad"/>
<field name="yaw" type="float" unit="rad"/>
<field name="roll_rate" type="float" unit="rad/s"/>
<field name="pitch_rate" type="float" unit="rad/s"/>
<field name="yaw_rate" type="float" unit="rad/s"/>
</message>
<message name="ATTITUDE_EULER_INT_DESIRED" id="46">
<description></description>
<field name="roll" type="int32" unit="angle_int" alt_unit="deg"/>
<field name="pitch" type="int32" unit="angle_int" alt_unit="deg"/>
<field name="yaw" type="int32" unit="angle_int" alt_unit="deg"/>
<field name="roll_rate" type="int32" unit="rate_int" alt_unit="deg/s"/>
<field name="pitch_rate" type="int32" unit="rate_int" alt_unit="deg/s"/>
<field name="yaw_rate" type="int32" unit="rate_int" alt_unit="deg/s"/>
</message>
<message name="ATTITUDE_QUAT_DESIRED" id="47">
<description></description>
<field name="qi" type="float"/>
<field name="qx" type="float"/>
<field name="qy" type="float"/>
<field name="qz" type="float"/>
<field name="roll_rate" type="float" unit="rad/s"/>
<field name="pitch_rate" type="float" unit="rad/s"/>
<field name="yaw_rate" type="float" unit="rad/s"/>
</message>
<message name="ATTITUDE_QUAT_INT_DESIRED" id="48">
<description></description>
<field name="qi" type="int32" unit="quat_int" alt_unit="quat"/>
<field name="qx" type="int32" unit="quat_int" alt_unit="quat"/>
<field name="qy" type="int32" unit="quat_int" alt_unit="quat"/>
<field name="qz" type="int32" unit="quat_int" alt_unit="quat"/>
<field name="roll_rate" type="int32" unit="rate_int" alt_unit="rad/s"/>
<field name="pitch_rate" type="int32" unit="rate_int" alt_unit="rad/s"/>
<field name="yaw_rate" type="int32" unit="rate_int" alt_unit="rad/s"/>
</message>
<!-- MISION -->
<message name="FLIGHT_PLAN_STATUS" id="50">
<description></description>
<field name="flight_time" type="uint16" unit="s"/>
<field name="cur_block" type="uint8"/>
<field name="cur_stage" type="uint8"/>
<field name="block_time" type="uint16" unit="s"/>
<field name="stage_time" type="uint16" unit="s"/>
<field name="dist2_wp" type="float" format="%.1f" unit="m^2"/>
<field name="dist2_home" type="float" format="%.1f" unit="m^2"/>
<field name="horizontal_mode" type="uint8"/>
<field name="circle_count" type="uint8"/>
<field name="oval_count" type="uint8"/>
</message>
<message name="TAKEOFF" id="51">
<description></description>
<field name="cpu_time" type="uint16" unit="s"/>
</message>
<message name="CIRCLE" id="52">
<description></description>
<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="53">
<description></description>
<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="54">
<description></description>
<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="55">
<description></description>
<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_ENU" id="56">
<description></description>
<field name="wp_id" type="uint8"/>
<field name="east" type="int32" unit="pos_int" alt_unit="m"/>
<field name="north" type="int32" unit="pos_int" alt_unit="m"/>
<field name="up" type="int32" unit="pos_int" alt_unit="m"/>
</message>
<message name="WP_MOVED_LLA" id="57">
<description></description>
<field name="wp_id" type="uint8"/>
<field name="lat" type="int32" unit="deg"/>
<field name="lon" type="int32" unit="deg"/>
<field name="alt" type="int32" unit="cm"/>
</message>
<message name="WP_MOVED_UTM" id="58">
<description></description>
<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>
<!-- SPACE VEHICLE information (GPS) -->
<message name="SVINFO" id="60">
<description></description>
<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>
<!-- COMMUNICATIONS -->
<message name="DOWNLINK_STATUS" id="70">
<description></description>
<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="71">
<description></description>
<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="72">
<description></description>
<field name="index" type="uint8"/>
<field name="value" type="float"/>
</message>
<message name="RC_SETTINGS" id="73">
<description></description>
<field name="slider_1_val" type="float"/>
<field name="slider_2_val" type="float"/>
</message>
<message name="WIND_INFO_RET" id="74">
<description></description>
<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="GENERIC_COM" id="75">
<description></description>
<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="uint16" unit="1e-1V" alt_unit="V" alt_unit_coef="0.1"/>
<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 -->
<message name="FORMATION_SLOT_TM" id="80">
<description></description>
<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="81">
<description></description>
<field name="ac_id" type="uint8"/>
<field name="leader_id" type="uint8"/>
<field name="status" type="uint8"/>
</message>
<!-- TCAS Messages: Traffic collision avoidance system -->
<message name="TCAS_TA" id="82">
<description></description>
<field name="ac_id" type="uint8"/>
</message>
<message name="TCAS_RA" id="83">
<description></description>
<field name="ac_id" type="uint8"/>
<field name="resolve" type="uint8" values="NONE|LEVEL|CLIMB|DESCEND"/>
</message>
<message name="TCAS_RESOLVED" id="84">
<description></description>
<field name="ac_id" type="uint8"/>
</message>
</class>