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messages.xml
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messages.xml
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<?xml version="1.0"?>
<!DOCTYPE protocol SYSTEM "messages.dtd">
<protocol>
<!-- messages from modem or sim to server -->
<class name="telemetry">
<message name="BOOT" id="1">
<field name="version" type="uint16"/>
</message>
<message name="ALIVE" id="2">
<field name="md5sum" type="uint8[]"/>
</message>
<message name="PONG" id="3">
</message>
<message name="TAKEOFF" id="4">
<field name="cpu_time" type="uint16" unit="s"></field>
</message>
<!-- add the following msg for debugging Haiyang 20080521-->
<message name="DebugChao" id="5">
<field name="int16_1" type="int16" unit="deg"></field>
<field name="int16_2" type="int16" unit="deg"></field>
<field name="int16_3" type="int16" unit="deg"></field>
<field name="int32_1" type="int32" unit="deg"></field>
<field name="int32_2" type="int32" unit="deg"></field>
<field name="int32_3" type="int32" unit="deg"></field>
</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="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>
<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="cm" 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>
<field name="itow" type="uint32" unit="ms"/>
<field name="utm_zone" type="uint8"/>
<field name="gps_nb_err" type="uint8"/>
</message>
<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="NAVIGATION" id="10">
<field name="cur_block" type="uint8"/>
<field name="cur_stage" type="uint8"/>
<field name="pos_x" type="float" unit="m" format="%.1f"/>
<field name="pos_y" type="float" unit="m" format="%.1f"/>
<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"/>
</message>
<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="ap_horizontal" type="uint8" values="WAYPOINT|ROUTE|CIRCLE"/>
<field name="if_calib_mode" type="uint8" values="NONE|DOWN|UP"/>
<field name="mcu1_status" type="uint8" values="LOST|OK|REALLY_LOST"/>
</message>
<message name="BAT" id="12">
<field name="throttle" type="int16" unit="pprz"/>
<field name="voltage" type="uint8" unit="1e-1V" alt_unit="V" alt_unit_coef="0.1"/>
<field name="amps" type="int16" unit="A" alt_unit="A" />
<field name="flight_time" type="uint16" unit="s"/>
<field name="kill_auto_throttle" type="uint8" unit="bool"/>
<field name="block_time" type="uint16" unit="s"/>
<field name="stage_time" type="uint16" unit="s"/>
<field name="energy" type="int16" unit="mAh"/>
</message>
<message name="DEBUG_MCU_LINK" id="13">
<field name="i2c_nb_err" type="uint8"></field>
<field name="i2c_mcu1_nb_err" type="uint8"></field>
<field name="ppm_rate" type="uint8"></field>
</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="DESIRED" id="16">
<field name="roll" type="float" format="%.2f" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
<field name="pitch" type="float" format="%.2f" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
<field name="course" type="float" format="%.1f" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
<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>
<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="ADC_GENERIC" id="18">
<field name="val1" type="uint16"/>
<field name="val2" type="uint16"/>
</message>
<message name="TEST_FORMAT" id="19">
<field name="val1" type="double"/>
<field name="val2" type="float"/>
</message>
<message name="CAM" id="20">
<field name="phi" type="int8" unit="deg"/>
<field name="theta" type="int8" unit="deg"/>
<field name="target_x" type="int16" unit="m"/>
<field name="target_y" type="int16" unit="m"/>
</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="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="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="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="DEBUG" id="26">
<field name="msg" type="uint8[]"/>
</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="WC_RSSI" id="28">
<field name="raw_level" type="uint8"/>
</message>
<message name="RANGEFINDER" id="29">
<field name="range" type="uint16" unit="cm"/>
<field name="z_dot" type="float" unit="m/s"/>
<field name="z_dot_sum_err" type="float" unit="m/s"/>
<field name="z_dot_setpoint" type="float" unit="m/s"/>
<field name="z_sum_err" type="float" unit="m/s"/>
<field name="z_setpoint" type="float" unit="m"/>
<field name="flying" type="uint8" unit="bool"/>
</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="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="SYS_MON" id="33">
<field name="periodic_time" type="uint16" unit="usec" alt_unit="msec" alt_unit_coef="0.001"/>
<field name="periodic_cycle" type="uint16" unit="usec" alt_unit="msec" alt_unit_coef="0.001"/>
<field name="periodic_cycle_min" type="uint16" unit="usec" alt_unit="msec" alt_unit_coef="0.001"/>
<field name="periodic_cycle_max" type="uint16" unit="usec" alt_unit="msec" alt_unit_coef="0.001"/>
<field name="event_number" type="uint16"/>
<field name="cpu_load" type="uint8" unit="%"/>
</message>
<message name="MOTOR" id="34">
<field name="rpm" type="uint16" unit="Hz"/>
<field name="current" type="int32" unit="mA"/>
</message>
<message name="WP_MOVED" 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="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="ENERGY" id="37">
<field name="bat" type="float" unit="V"/>
<field name="amp" type="float" unit="A"/>
<field name="energy" type="uint16" unit="mAh"/>
<field name="power" type="float" unit="W"/>
</message>
<message name="BARO_BMP85_CALIB" id="38">
<field name="a1" type="int16"/>
<field name="a2" type="int16"/>
<field name="a3" type="int16"/>
<field name="a4" type="uint16"/>
<field name="a5" type="uint16"/>
<field name="a6" type="uint16"/>
<field name="b1" type="int16"/>
<field name="b2" type="int16"/>
<field name="mb" type="int16"/>
<field name="mc" type="int16"/>
<field name="md" type="int16"/>
</message>
<message name="BARO_BMP85" id="39">
<field name="UT" type="int32"/>
<field name="UP" type="int32"/>
<field name="P" type="uint32"/>
<field name="T" type="float"/>
<field name="MSL" type="float"/>
</message>
<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="ALT_KALMAN" id="41">
<field name="p00" type="float"/>
<field name="p01" type="float"/>
<field name="p10" type="float"/>
<field name="p11" type="float"/>
</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="TUNE_ROLL" id="43">
<field name="p" type="float"/>
<field name="phi" type="float"/>
<field name="phi_sp" type="float"/>
</message>
<message name="BARO_MS5534A" id="44">
<field name="pressure" type="uint32" unit="P"/>
<field name="temp" type="uint16" unit="dC"/>
<field name="alt" type="float" unit="m"/>
</message>
<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="BARO_WORDS" id="46">
<field name="w1" type="uint16"/>
<field name="w2" type="uint16"/>
<field name="w3" type="uint16"/>
<field name="w4" type="uint16"/>
</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="CHRONO" id="48">
<field name="tag" type="uint8"/>
<field name="time" type="uint32" unit="us"/>
</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>
<message name="WINDTURBINE_STATUS_" id="50">
<field name="ac_id" type="uint8"/>
<field name="tb_id" type="uint8"/>
<field name="sync_itow" type="uint32" unit="ms"/>
<field name="cycle_time" type="uint32" unit="ms"/>
</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="MPPT" id="52">
<field name="values" type="int16[]" alt_unit_coef="1e-3"/>
</message>
<message name="DEBUG_IR_I2C" id="53">
<field name="ir1" type="int16" unit="adc"/>
<field name="ir2" type="int16" unit="adc"/>
<field name="top" type="int16" unit="adc"/>
</message>
<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="XSENS" id="55">
<field name="counter" type="int16" unit=""/>
<field name="p" type="float" unit="deg/s"/>
<field name="q" type="float" unit="deg/s"/>
<field name="r" type="float" unit="deg/s"/>
<field name="phi" type="float" unit="deg"/>
<field name="theta" type="float" unit="deg"/>
<field name="psi" type="float" unit="deg"/>
<field name="ax" type="float" unit="m/s2"/>
<field name="ay" type="float" unit="m/s2"/>
<field name="az" type="float" unit="m/s2"/>
<field name="vx" type="float" unit="m/s"/>
<field name="vy" type="float" unit="m/s"/>
<field name="vz" type="float" unit="m/s"/>
<field name="lat" type="float" unit="deg"/>
<field name="lon" type="float" unit="deg"/>
<field name="alt" type="float" unit="m"/>
<field name="status" type="uint8" unit=""/>
<field name="hour" type="uint8" unit=""/>
<field name="min" type="uint8" unit=""/>
<field name="sec" type="uint8" unit=""/>
<field name="nanosec" type="uint32" unit=""/>
<field name="year" type="uint16" unit=""/>
<field name="month" type="uint8" unit=""/>
<field name="day" type="uint8" unit=""/>
</message>
<message name="BARO_ETS" id="56">
<field name="adc" type="uint16"/>
<field name="offset" type="uint16"/>
<field name="scaled" type="float"/>
</message>
<message name="AIRSPEED_ETS" id="57">
<field name="adc" type="uint16"/>
<field name="offset" type="uint16"/>
<field name="scaled" type="float"/>
</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>
<!-- 59 is free -->
<message name="H_CTL_A" id="60">
<field name="roll_sum_err" type="float"/>
<field name="ref_roll_angle" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
<field name="pitch_sum_err" type="float"/>
<field name="ref_pitch_angle" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
</message>
<message name="TURB_PRESSURE_RAW" id="61">
<field name="ch_0" type="int32" unit="adc"/>
<field name="ch_1" type="int32" unit="adc"/>
<field name="ch_2" type="int32" unit="adc"/>
<field name="ch_3" type="int32" unit="adc"/>
<field name="ch_4" type="int32" unit="adc"/>
<field name="ch_5" type="int32" unit="adc"/>
<field name="ch_6" type="int32" unit="adc"/>
<field name="ch_7" type="int32" unit="adc"/>
<field name="ch_8" type="int32" unit="adc"/>
<field name="ch_9" type="int32" unit="adc"/>
<field name="ch_10" type="int32" unit="adc"/>
<field name="ch_11" type="int32" unit="adc"/>
<field name="ch_12" type="int32" unit="adc"/>
<field name="ch_13" type="int32" unit="adc"/>
<field name="ch_14" type="int32" unit="adc"/>
<field name="ch_15" type="int32" unit="adc"/>
</message>
<message name="TURB_PRESSURE_VOLTAGE" id="62">
<field name="ch_1_p" type="float"/>
<field name="ch_1_t" type="float"/>
<field name="ch_2_p" type="float"/>
<field name="ch_2_t" type="float"/>
<field name="ch_3_p" type="float"/>
<field name="ch_3_t" type="float"/>
<field name="ch_4_p" type="float"/>
<field name="ch_4_t" type="float"/>
<field name="ch_5_p" type="float"/>
<field name="ch_5_t" type="float"/>
<field name="ch_6_p" type="float"/>
<field name="ch_6_t" type="float"/>
<field name="ch_7_p" type="float"/>
<field name="ch_7_t" type="float"/>
<field name="gnd1" type="float"/>
<field name="gnd2" type="float"/>
</message>
<!-- 63 is free -->
<!-- 64 is free -->
<!-- 65 is free -->
<!-- 66 is free -->
<!-- 67 is free -->
<!-- 68 is free -->
<!-- 69 is free -->
<!-- 70 is free -->
<!-- 71 is free -->
<!-- 72 is free -->
<!-- 73 is free -->
<!-- 74 is free -->
<!-- 75 is free -->
<message name="VF_UPDATE" id="76">
<field name="baro" type="float" unit="m"/>
<field name="range_meter" type="float" unit="m"/>
</message>
<message name="VF_PREDICT" id="77">
<field name="accel" type="float" unit="m/s/s"/>
</message>
<!-- 78 is free -->
<!-- 79 is free -->
<message name="CROSS_TRACK_ERROR" id="80">
<field name="cross_track_error" type="float" unit="m"/>
<field name="cte_int" type="float"/>
</message>
<message name="ESTIMATOR_COMP_FILTER" id="81">
<field name="gyro_hp_last_out" type="float"/>
<field name="gyro_int" type="float"/>
<field name="gps_lp_last_out" type="float"/>
<field name="ir_lp_last_out" type="float"/>
</message>
<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="BMP_STATUS" id="84">
<field name="press" type="int32" unit="Pa"/>
<field name="temp" type="int32" unit="10x_deg_celsius"/>
</message>
<message name="MLX_STATUS" id="85">
<field name="itemp_case" type="uint16"/>
<field name="temp_case" type="float" unit="deg_celsius" format="%.2f"/>
<field name="itemp_obj" type="uint16"/>
<field name="temp_obj" type="float" unit="deg_celsius" format="%.2f"/>
</message>
<message name="TMP_STATUS" id="86">
<field name="itemp" type="uint16"/>
<field name="temp" type="float" unit="deg_celsius" format="%.2f"/>
</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="SCP_STATUS" id="88">
<field name="press" type="uint32" unit="Pa"/>
<field name="temp" type="int16" unit="100x_deg_celsius"/>
</message>
<message name="SHT_STATUS" id="89">
<field name="ihumid" type="uint16"/>
<field name="itemp" type="uint16"/>
<field name="humid" type="float" unit="rel_hum" format="%.2f"/>
<field name="temp" type="float" unit="deg_celsius" format="%.2f"/>
</message>
<message name="ENOSE_STATUS" id="90">
<field name="val1" type="uint16"/>
<field name="val2" type="uint16"/>
<field name="val3" type="uint16"/>
<field name="PID" type="uint16"/>
<field name="heat" type="uint8[]"/>
</message>
<message name="DPICCO_STATUS" id="91">
<field name="humid" type="uint16"/>
<field name="temp" type="uint16"/>
<field name="fhumid" type="float" unit="rel_hum" format="%.2f"/>
<field name="ftemp" type="float" unit="deg_celsius" format="%.2f"/>
</message>
<message name="ANTENNA_DEBUG" id="92">
<field name="mag_xraw" type="int32"/>
<field name="mag_yraw" type="int32"/>
<field name="mag_xcal" type="float"/>
<field name="mag_ycal" type="float"/>
<field name="mag_heading" type="float"/>
<field name="mag_magnitude" type="float"/>
<field name="mag_temp" type="float"/>
<field name="mag_distor" type="uint8"/>
<field name="mag_cal_status" type="uint8"/>
</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>
<message name="MOTOR_BENCH_STATUS" id="94">
<field name="time_ticks" type="uint32"/>
<field name="throttle" type="float" format="%.3f"/>
<field name="rpm" type="float"/>
<field name="current" type="float"/>
<field name="thrust" type="float"/>
<field name="torque" type="float"/>
<field name="time_s" type="uint16"/>
<field name="mode" type="uint8"/>
</message>
<message name="MOTOR_BENCH_STATIC" id="95">
<field name="av_rpm" type="float"/>
<field name="av_thrust" type="float"/>
<field name="av_current" type="float"/>
<field name="throttle" type="uint16"/>
</message>
<message name="HIH_STATUS" id="96">
<field name="humid" type="uint16"/>
<field name="fhumid" type="float" unit="rel_hum" format="%.2f"/>
<field name="ftemp" type="float" unit="deg_celsius" format="%.2f"/>
</message>
<message name="TEMT_STATUS" id="97">
<field name="light" type="uint16"/>
<field name="f_light" type="float" unit="percent" format="%.2f"/>
</message>
<message name="GP2Y_STATUS" id="98">
<field name="idensity" type="uint16"/>
<field name="density" type="float" unit="mg/m3" format="%.2f"/>
</message>
<message name="SHT_SERIAL" id="99">
<field name="serial0" type="uint32"/>
<field name="serial1" type="uint32"/>
</message>
<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="COMMANDS" id="102">
<field name="values" type="int16[]" unit="ticks"/>
</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="ADC" id="104">
<field name="mcu" type="uint8" values="FBW|AP"/>
<field name="values" type="uint16[]" unit="none"/>
</message>
<message name="ACTUATORS" id="105">
<field name="values" type="uint16[]" unit="none"/>
</message>
<message name="BETH" id="106">
<field name="azimuth" type="int16"/>
<field name="elevation" type="int16"/>
<field name="tilt" type="int16"/>
<field name="counter" type="uint32"/>
<field name="can_errs" type="uint16"/>
<field name="spi_errs" type="uint16"/>
<field name="thrust_out" type="int8"/>
<field name="pitch_out" type="int8"/>
</message>
<message name="BETH_ESTIMATOR" id="107">
<field name="tilt" type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="tilt_dot" type="float" alt_unit="deg/s" alt_unit_coef="57.29578"/>
<field name="elevation" type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="elevation_dot" type="float" alt_unit="deg/s" alt_unit_coef="57.29578"/>
<field name="azimuth" type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="azimuth_dot" type="float" alt_unit="deg/s" alt_unit_coef="57.29578"/>
</message>
<message name="BETH_CONTROLLER" id="108">
<field name="pitch" type="float"/>
<field name="thrust" type="float"/>
<field name="pitch_ff" type="float"/>
<field name="pitch_fb" type="float"/>
<field name="thrust_ff" type="float"/>
<field name="thrust_fb" type="float"/>
<field name="tilt_sp" type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="tilt_ref" type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="tilt_dot_ref" type="float" alt_unit="deg/s" alt_unit_coef="57.29578"/>
<field name="elevation_sp " type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="elevation_ref " type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="elevation_dot_ref" type="float" alt_unit="deg/s" alt_unit_coef="57.29578"/>
<field name="azimuth_sp" type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
</message>
<message name="DC_INFO" id="109">
<field name="mode" type="int16" unit=""/>
<field name="utm_east" type="float" unit="m"/>
<field name="utm_north" type="float" unit="m"/>
<field name="course" type="float" unit="deg"/>
<field name="buffer" type="int8"/>
<field name="dist" type="float" unit="m"/>
<field name="next_dist" type="float" unit="m"/>
<field name="start_x" type="float" unit="m"/>
<field name="start_y" type="float" unit="m"/>
<field name="start_angle" type="float" unit="deg"/>
<field name="angle" type="float" unit="deg"/>
<field name="last_block" type="float"/>
<field name="count" type="int16" unit=""/>
<field name="shutter" type="uint8" unit="s"/>
</message>
<message name="DC_SHOT" id="110">
<field name="photo_nr" type="int16"/>
<field name="utm_east" type="int32" unit="cm"/>
<field name="utm_north" type="int32" unit="cm"/>
<field name="z" type="float" unit="m"/>
<field name="utm_zone" type="uint8"/>
<field name="phi" type="int16" unit="decideg"/>
<field name="theta" type="int16" unit="decideg"/>
<field name="course" type="int16" unit="decideg"/>
<field name="speed" type="uint16" unit="cm/s"/>
<field name="itow" type="uint32" unit="ms"/>
</message>
<message name="TEST_BOARD_RESULTS" ID="111">
<field name="uart" type="uint8"/>
<field name="ppm" type="uint8"/>
<field name="servo" type="uint16[]"/>
</message>
<message name="BETH_CONTROLLER_SFB" id="112">
<field name="one" type="float"/>
</message>
<message name="BETH_CONTROLLER_TWIST" id="113">
<field name="S" type="float"/>
<field name="S_dot" type="float"/>
<field name="U_twt" type="float"/>
<field name="error" type="float"/>
</message>
<message name="PAYLOAD" id="114">
<field name="values" type="uint8[]" unit="none"/>
</message>
<!--115 is free -->
<!--116 is free -->
<!--117 is free -->
<!--118 is free -->
<!--119 is free -->
<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>
<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>
<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>
<!--126 is free -->
<!--127 is free -->
<!--128 is free -->
<!--129 is free -->
<message name="STAB_ATTITUDE_FLOAT" id="130">
<field name="est_p" type="float" alt_unit="degres/s" alt_unit_coef="57.29578"/>
<field name="est_q" type="float" alt_unit="degres/s" alt_unit_coef="57.29578"/>
<field name="est_r" type="float" alt_unit="degres/s" alt_unit_coef="57.29578"/>
<field name="est_phi" type="float" alt_unit="degres" alt_unit_coef="57.29578"/>
<field name="est_theta" type="float" alt_unit="degres" alt_unit_coef="57.29578"/>
<field name="est_psi" type="float" alt_unit="degres" alt_unit_coef="57.29578"/>
<field name="ref_phi" type="float" alt_unit="degres" alt_unit_coef="57.29578"/>
<field name="ref_theta" type="float" alt_unit="degres" alt_unit_coef="57.29578"/>
<field name="ref_psi" type="float" alt_unit="degres" alt_unit_coef="57.29578"/>
<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" alt_unit="degres/s^2" alt_unit_coef="57.29578"/>
<field name="est_q_d" type="float" alt_unit="degres/s^2" alt_unit_coef="57.29578"/>
<field name="est_r_d" type="float" alt_unit="degres/s^2" alt_unit_coef="57.29578"/>
</message>
<message name="BOOZ2_GYRO" id="131">
<field name="gp" type="int32" alt_unit="deg/s" alt_unit_coef="0.0139882"/>
<field name="gq" type="int32" alt_unit="deg/s" alt_unit_coef="0.0139882"/>
<field name="gr" type="int32" alt_unit="deg/s" alt_unit_coef="0.0139882"/>
</message>
<message name="BOOZ2_ACCEL" id="132">
<field name="ax" type="int32" alt_unit="m/s2" alt_unit_coef="0.0009766"/>
<field name="ay" type="int32" alt_unit="m/s2" alt_unit_coef="0.0009766"/>
<field name="az" type="int32" alt_unit="m/s2" alt_unit_coef="0.0009766"/>
</message>
<message name="BOOZ2_MAG" id="133">
<field name="mx" type="int32" alt_unit="1" alt_unit_coef="0.0004883"/>
<field name="my" type="int32" alt_unit="1" alt_unit_coef="0.0004883"/>
<field name="mz" type="int32" alt_unit="1" alt_unit_coef="0.0004883"/>
</message>
<message name="FILTER" id="134">
<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="measure_phi" type="int32" alt_unit="degres" alt_unit_coef="0.0000273"/>
<field name="measure_theta" type="int32" alt_unit="degres" alt_unit_coef="0.0000273"/>
<field name="measure_psi" type="int32" alt_unit="degres" alt_unit_coef="0.0000273"/>
<field name="corrected_phi" type="int32" alt_unit="degres" alt_unit_coef="0.0000273"/>
<field name="corrected_theta" type="int32" alt_unit="degres" alt_unit_coef="0.0000273"/>
<field name="corrected_psi" type="int32" alt_unit="degres" alt_unit_coef="0.0000273"/>
<field name="correction_phi" type="int32"/>
<field name="correction_theta" type="int32"/>
<field name="correction_psi" type="int32"/>
<field name="bp" type="int32"/>
<field name="bq" type="int32"/>
<field name="br" type="int32"/>
</message>
<message name="FILTER2" id="135">
<field name="px" type="int32"/>
<field name="py" type="int32"/>
<field name="pz" type="int32"/>
<field name="gsx" type="int32"/>
<field name="gsy" type="int32"/>
<field name="gsz" type="int32"/>
</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="FILTER_ALIGNER" id="137">
<field name="lp_gp" type="int32" alt_unit="degres/s" alt_unit_coef="0.0139882"/>
<field name="lp_gq" type="int32" alt_unit="degres/s" alt_unit_coef="0.0139882"/>
<field name="lp_gr" type="int32" alt_unit="degres/s" alt_unit_coef="0.0139882"/>
<field name="gp" type="int32" alt_unit="degres/s" alt_unit_coef="0.0139882"/>
<field name="gq" type="int32" alt_unit="degres/s" alt_unit_coef="0.0139882"/>
<field name="gr" type="int32" alt_unit="degres/s" alt_unit_coef="0.0139882"/>
<field name="noise" type="int32"/>
<field name="cnt" type="int32"/>
</message>
<message name="FILTER_Q" id="138">
<field name="qi" type="int32"/>
<field name="qx" type="int32"/>
<field name="qy" type="int32"/>
<field name="qz" type="int32"/>
</message>
<message name="FILTER_COR" id="139">
<field name="mphi" type="int32"/>
<field name="mtheta" type="int32"/>
<field name="mpsi" type="int32"/>
<field name="qi" type="int32"/>
<field name="qx" type="int32"/>
<field name="qy" type="int32"/>
<field name="qz" type="int32"/>
</message>
<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" alt_unit="degres" alt_unit_coef="57.29578"/>
<field name="sp_theta" type="float" alt_unit="degres" alt_unit_coef="57.29578"/>
<field name="sp_psi" type="float" alt_unit="degres" alt_unit_coef="57.29578"/>
<field name="ref_phi" type="float" alt_unit="degres" alt_unit_coef="57.29578"/>
<field name="ref_theta" type="float" alt_unit="degres" alt_unit_coef="57.29578"/>
<field name="ref_psi" type="float" alt_unit="degres" alt_unit_coef="57.29578"/>
<field name="ref_p" type="float" alt_unit="degres/s" alt_unit_coef="57.29578"/>
<field name="ref_q" type="float" alt_unit="degres/s" alt_unit_coef="57.29578"/>
<field name="ref_r" type="float" alt_unit="degres/s" alt_unit_coef="57.29578"/>
<field name="ref_pd" type="float" alt_unit="degres/s2" alt_unit_coef="57.29578"/>
<field name="ref_qd" type="float" alt_unit="degres/s2" alt_unit_coef="57.29578"/>
<field name="ref_rd" type="float" alt_unit="degres/s2" alt_unit_coef="57.29578"/>
</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>
<message name="GUIDANCE" id="144">
<field name="pos_n" type="int32"/>
<field name="pos_e" type="int32"/>
<field name="sp_pos_n" type="int32"/>