2 modules to load messages (by class_type or by class_name). Some mes…

…sage names are changed.
paparazzi · Apr 4, 2012 · b3c88fd · b3c88fd
1 parent b300cad
commit b3c88fd
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Showing 52 changed files with 1,675 additions and 1,398 deletions.
diff --git a/conf/messages/custom_downlink.xml b/conf/messages/custom_downlink.xml
@@ -1,8 +1,29 @@
 <?xml version="1.0"?>
 <class type="downlink">
+<!-- IMU Messages: Inertial Measurement Unit -->
+	<message name="IMU_GYRO_INT" id="131"><!-- scaleds rename int and to custom -->
+		<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>
 
-<!-- BLMC Messages: BrushLess Motor Controller -->
+	<message name="IMU_ACCEL_INT" id="132"><!-- scaleds rename int and to custom -->
+		<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="IMU_MAG_INT" id="133"><!-- scaleds rename int and to custom -->
+		<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="IMU_TURNTABLE" id="220"> <!-- custom -->
+		<field name="omega" type="float" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578"/>
+	</message>
+
+<!-- BLMC Messages: BrushLess Motor Controller -->
 	<message name="BLMC_FAULT_STATUS" id="183">
 		<field name="raw_fault"	type="uint16[]"/>
 	</message>
@@ -56,12 +77,6 @@
 	</message>
 
 <!-- ANTENNA Messages -->
-	<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="ANTENNA_DEBUG" id="92">
 		<field name="mag_xraw" type="int32"/>
@@ -123,6 +138,11 @@
 		<field name="snapshot_image_number" type="uint16"/>
 	</message>
 
+	<message name="BOOZ2_CAM" id="168"><!-- custom cam -->
+		<field name="tilt" type="int16" unit="us"/>
+		<field name="pan" type="int16" unit="2^12rad" alt_unit="degres" alt_unit_coef="0.0139882"/>
+	</message>
+
 <!-- BETH Messages -->
 	<message name="BETH" id="106">
 		<field name="azimuth" type="int16"/>
@@ -172,11 +192,6 @@
 	</message>
 
 <!-- UNTYPICAL MEASUREMENTS Messages -->
-	<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="ATMOSPHERE_CHARGE" id="118">
 		<field name="t0" type="uint16"/>
@@ -294,4 +309,234 @@
 		<field name="unexpected_event_cnt"        type="uint16"/>
 		<field name="last_unexpected_event"       type="uint32"/>
 	</message>
+
+	<message name="SHT_I2C_SERIAL" id="99"><!-- custom -->
+		<field name="serial0" type="uint32"/>
+		<field name="serial1" type="uint32"/>
+	</message>
+
+	<message name="MLX_SERIAL" id="113"><!-- custom -->
+		<field name="serial0" type="uint32"/>
+		<field name="serial1" type="uint32"/>
+	</message>
+
+	<message name="MS5611_COEFF" id="117"><!-- custom -->
+		<field name="c0" type="uint16"/>
+		<field name="c1" type="uint16"/>
+		<field name="c2" type="uint16"/>
+		<field name="c3" type="uint16"/>
+		<field name="c4" type="uint16"/>
+		<field name="c5" type="uint16"/>
+		<field name="c6" type="uint16"/>
+		<field name="c7" type="uint16"/>
+	</message>
+
+	<message name="TEMP_TCOUPLE" id="126"><!-- custom -->
+		<field name="fval0" type="float"/>
+		<field name="fval1" type="float"/>
+		<field name="fval2" type="float"/>
+		<field name="fval3" type="float"/>
+		<field name="fref0" type="float"/>
+		<field name="fref1" type="float"/>
+		<field name="fref2" type="float"/>
+		<field name="fref3" type="float"/>
+		<field name="val0"  type="uint16"/>
+		<field name="val1"  type="uint16"/>
+		<field name="val2"  type="uint16"/>
+		<field name="val3"  type="uint16"/>
+		<field name="ref0"  type="uint16"/>
+		<field name="ref1"  type="uint16"/>
+		<field name="ref2"  type="uint16"/>
+		<field name="ref3"  type="uint16"/>
+	</message>
+
+
+<!-- XGGDEBUG: MOTOR PPZ Messages -->
+
+
+	<message name="MOTOR_BENCH_STATUS" id="94"><!-- custom -->
+		<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"><!-- custom -->
+		<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="TURB_PRESSURE_RAW" id="61"><!-- custom -->
+		<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"><!-- custom -->
+		<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>
+
+<!-- XGGDEBUG: HFF PPZ Messages -->
+
+	<message name="HFF" id="164"><!-- custom -->
+		<field name="x"              type="float"/>
+		<field name="y"              type="float"/>
+		<field name="xd"             type="float"/>
+		<field name="yd"             type="float"/>
+		<field name="xdd"            type="float"/>
+		<field name="ydd"            type="float"/>
+	</message>
+
+	<message name="HFF_DBG" id="165"><!-- custom -->
+		<field name="x_measure"      type="float"/>
+		<field name="y_measure"      type="float"/>
+		<field name="yd_measure"     type="float"/>
+		<field name="xd_measure"     type="float"/>
+		<field name="Pxx"            type="float"/>
+		<field name="Pyy"            type="float"/>
+		<field name="Pxdxd"          type="float"/>
+		<field name="Pydyd"          type="float"/>
+	</message>
+
+	<message name="HFF_GPS" id="166"><!-- custom -->
+		<field name="lag_cnt"     type="uint16"/>
+		<field name="lag_cnt_err" type="int16"/>
+		<field name="save_cnt"    type="int16"/>
+	</message>
+
+<!-- ************************************************ -->
+
+	<message name="LOADCELL" id="181">
+		<field name="load" type="int32"/>
+	</message><!-- custom -->
+
+
+	<message name="CONTROLLER_GAINS" id="192"><!-- custom  from here-->
+		<field name="roll_gamma_p"     type="float" />
+		<field name="roll_gamma_d"     type="float" />
+		<field name="roll_gamma_i"     type="float" />
+		<field name="pitch_gamma_p"    type="float" />
+		<field name="pitch_gamma_d"    type="float" />
+		<field name="pitch_gamma_i"    type="float" />
+		<field name="yaw_gamma_p"      type="float" />
+		<field name="yaw_gamma_d"      type="float" />
+		<field name="yaw_gamma_i"      type="float" />
+	</message>
+
+	<message name="VISUALTARGET" id="235">
+		<field name="x" type="uint16"></field>
+		<field name="y" type="uint16"></field>
+	</message>
+
+	<message name="AFL_COEFFS" id="250">
+		<field name="roll_a"   type="float"/>
+		<field name="roll_b"  type="float"/>
+		<field name="roll_c"  type="float"/>
+		<field name="pitch_a"  type="float"/>
+		<field name="pitch_b"   type="float"/>
+		<field name="pitch_c"   type="float"/>
+		<field name="yaw_a"   type="float"/>
+		<field name="yaw_b"  type="float"/>
+		<field name="yaw_c"  type="float"/>
+	</message>
+
+	<message name="RDYB_TRAJECTORY" id="254">
+		<field name="commanded_phi" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
+		<field name="commanded_theta" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
+		<field name="commanded_psi" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
+		<field name="setpoint_x" type="float" unit="m N"/>
+		<field name="setpoint_y" type="float" unit="m E"/>
+		<field name="setpoint_z" type="float" unit="m D"/>
+	</message>
+
+	<message name="HENRY_GNSS" id="255"> <!-- custom to here-->
+		<field name="last_imu_update" type="uint32"/>
+		<field name="GPS_time" type="double"/>
+		<field name="GPS_solution_valid" type="uint8"/>
+		<field name="latitude" type="double" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
+		<field name="longitude" type="double" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
+		<field name="altitude" type="double" />
+		<field name="North" type="double" />
+		<field name="East" type="double" />
+		<field name="Down" type="double" />
+		<field name="SVs_Tracked" type="uint8" />
+		<field name="SVs_PVT" type="uint8" />
+		<field name="V_North" type="double"/>
+		<field name="V_East" type="double"/>
+		<field name="V_Down" type="double"/>
+	</message>
+
+
+	<message name="FMS_TIME" id="180"><!-- custom -->
+		<field name="tv_sec"   type="uint32"/>
+		<field name="tv_nsec"  type="uint32"/>
+		<field name="delay_ns" type="uint32"/>
+	</message>
+
+	<message name="WT" id="175"><!-- custom -->
+		<field name="rpm"      type="float"/>
+	</message>
+
+	<message name="CSC_CAN_MSG" id="177"><!-- custom -->
+		<field name="frame"   type="uint32"/>
+		<field name="id"      type="uint32"/>
+		<field name="data_a"  type="uint32"/>
+		<field name="data_b"  type="uint32"/>
+	</message>
+
+	<message name="DYNAMIXEL" id="188"><!-- custom -->
+		<field name="left_wing"    type="uint16"/>
+		<field name="right_wing"   type="uint16"/>
+		<field name="left_wing_flag"    type="uint8"/>
+		<field name="right_wing_flag"   type="uint8"/>
+		<field name="invalid_position"   type="uint32"/>
+		<field name="timeout_events"   type="uint32"/>
+		<field name="checksum_errors"   type="uint32"/>
+		<field name="fuse_rotation_angle"  type="float"/>
+		<field name="fuse_rotation_rate"   type="float"/>
+	</message>
+
+
+	<message name="BOOZ_DEBUG_FOO" id="245"><!-- custom -->
+		<field name="ami_stat"   type="uint8"/>
+	</message>
+
+	<message name="BOOZ_MAX1167_ERR" id="246"><!-- custom -->
+		<field name="erno"   type="uint8"/>
+	</message>
+
 </class>