/
default_ardrone.xml
147 lines (129 loc) · 6.21 KB
/
default_ardrone.xml
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<?xml version="1.0"?>
<!DOCTYPE telemetry SYSTEM "telemetry.dtd">
<telemetry>
<process name="Main">
<mode name="default" key_press="d">
<message name="AUTOPILOT_VERSION" period="11.1"/>
<message name="DL_VALUE" period="1.1"/>
<message name="ROTORCRAFT_STATUS" period="1.2"/>
<message name="ROTORCRAFT_FP" period="0.25"/>
<message name="ALIVE" period="2.1"/>
<message name="INS_REF" period="5.1"/>
<message name="ROTORCRAFT_NAV_STATUS" period="1.6"/>
<message name="WP_MOVED" period="1.3"/>
<message name="ROTORCRAFT_CAM" period="1."/>
<message name="GPS_INT" period=".25"/>
<message name="INS" period=".25"/>
<message name="I2C_ERRORS" period="4.1"/>
<message name="UART_ERRORS" period="3.1"/>
<message name="DATALINK_REPORT" period="5.1"/>
<message name="STATE_FILTER_STATUS" period="3.2"/>
<message name="OPTIC_FLOW_EST" period="0.25"/>
</mode>
<mode name="ppm">
<message name="DL_VALUE" period="0.5"/>
<message name="ALIVE" period="2.1"/>
<message name="ROTORCRAFT_CMD" period=".05"/>
<message name="PPM" period="0.5"/>
<message name="RC" period="0.5"/>
<message name="ROTORCRAFT_RADIO_CONTROL" period="0.5"/>
<message name="ROTORCRAFT_STATUS" period="1"/>
</mode>
<mode name="raw_sensors">
<message name="ROTORCRAFT_STATUS" period="1.2"/>
<message name="DL_VALUE" period="0.5"/>
<message name="ALIVE" period="2.1"/>
<message name="IMU_ACCEL_RAW" period=".05"/>
<message name="IMU_GYRO_RAW" period=".05"/>
<message name="IMU_MAG_RAW" period=".05"/>
<message name="BARO_RAW" period=".1"/>
<message name="ARDRONE_NAVDATA" period=".05"/>
</mode>
<mode name="scaled_sensors">
<message name="ROTORCRAFT_STATUS" period="1.2"/>
<message name="DL_VALUE" period="0.5"/>
<message name="ALIVE" period="2.1"/>
<message name="IMU_GYRO_SCALED" period=".075"/>
<message name="IMU_ACCEL_SCALED" period=".075"/>
<message name="IMU_MAG_SCALED" period=".1"/>
</mode>
<mode name="ahrs">
<message name="ROTORCRAFT_STATUS" period="1.2"/>
<message name="DL_VALUE" period="0.5"/>
<message name="ALIVE" period="2.1"/>
<message name="FILTER_ALIGNER" period="2.2"/>
<message name="FILTER" period=".5"/>
<message name="AHRS_GYRO_BIAS_INT" period="0.08"/>
<message name="AHRS_QUAT_INT" period=".25"/>
<!-- <message name="AHRS_EULER_INT" period=".1"/> -->
<!-- <message name="AHRS_RMAT_INT" period=".5"/> -->
<message name="AHRS_ARDRONE2" period=".1"/>
</mode>
<mode name="rate_loop">
<message name="ROTORCRAFT_STATUS" period="1.2"/>
<message name="DL_VALUE" period="0.5"/>
<message name="ALIVE" period="2.1"/>
<message name="RATE_LOOP" period=".02"/>
</mode>
<mode name="attitude_setpoint_viz" key_press="v">
<message name="ROTORCRAFT_STATUS" period="1.2"/>
<message name="DL_VALUE" period="0.5"/>
<message name="ALIVE" period="0.9"/>
<message name="ROTORCRAFT_RADIO_CONTROL" period="0.1"/>
<message name="AHRS_REF_QUAT" period="0.05"/>
</mode>
<mode name="attitude_loop" key_press="a">
<message name="ROTORCRAFT_STATUS" period="1.2"/>
<message name="DL_VALUE" period="0.5"/>
<message name="ALIVE" period="0.9"/>
<message name="STAB_ATTITUDE" period=".03"/>
<message name="STAB_ATTITUDE_REF" period=".03"/>
</mode>
<mode name="vert_loop" key_press="v">
<message name="ROTORCRAFT_STATUS" period="1.2"/>
<message name="DL_VALUE" period="0.5"/>
<message name="ALIVE" period="0.9"/>
<message name="VFF_EXTENDED" period=".04"/>
<message name="VERT_LOOP" period=".05"/>
<message name="INS_Z" period=".05"/>
<message name="INS" period=".11"/>
<message name="INS_REF" period="5.1"/>
</mode>
<mode name="h_loop" key_press="h">
<message name="ALIVE" period="0.9"/>
<message name="HOVER_LOOP" period="0.062"/>
<message name="GUIDANCE_H_REF" period="0.062"/>
<message name="STAB_ATTITUDE" period="0.4"/>
<!--<message name="STAB_ATTITUDE_REF" period="0.4"/>-->
<message name="ROTORCRAFT_FP" period="0.8"/>
<message name="ROTORCRAFT_STATUS" period="1.2"/>
<message name="ROTORCRAFT_NAV_STATUS" period="1.6"/>
<message name="INS_REF" period="5.1"/>
<!-- HFF messages are only sent if USE_HFF -->
<message name="HFF" period=".05"/>
<message name="HFF_GPS" period=".03"/>
<message name="HFF_DBG" period=".2"/>
</mode>
<mode name="aligner">
<message name="ALIVE" period="0.9"/>
<message name="FILTER_ALIGNER" period="0.02"/>
</mode>
<mode name="tune_hover">
<message name="DL_VALUE" period="1.1"/>
<message name="ROTORCRAFT_STATUS" period="1.2"/>
<message name="ALIVE" period="2.1"/>
<message name="GUIDANCE_H_INT" period="0.05"/>
<!--<message name="ROTORCRAFT_TUNE_HOVER" period=".1"/>-->
<!-- <message name="GPS_INT" period=".20"/> -->
<!--<message name="INS2" period=".05"/>
<message name="INS3" period=".20"/>-->
<message name="INS_REF" period="5.1"/>
</mode>
<mode name="mag_current_calibration">
<message name="ROTORCRAFT_STATUS" period="1.2"/>
<message name="DL_VALUE" period="0.5"/>
<message name="ALIVE" period="2.1"/>
<message name="IMU_MAG_CURRENT_CALIBRATION" period="0.05"/>
</mode>
</process>
</telemetry>