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[messages] working on the standard set of messages
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@gautierhattenberger
gautierhattenberger committed Jan 23, 2013
1 parent 43fdadd commit ba2069c
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Showing 9 changed files with 651 additions and 555 deletions.
561 changes: 57 additions & 504 deletions conf/messages/downlink.xml → conf/messages/custom_downlink_debug.xml
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0 conf/messages/custom_downlink.xml → conf/messages/custom_downlink_misc.xml
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166 changes: 166 additions & 0 deletions conf/messages/sensors.xml → conf/messages/custom_downlink_sensors.xml
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@@ -1,11 +1,171 @@
<?xml version="1.0"?>
<class type="downlink">

<!-- ___________________________________________ GENERIC SENSOR ______________________________________________ -->
<!-- IR Messages: Infrared Sensors -->
<message name="IR_SENSORS" id="51">
<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>

<!-- IMU Messages: Inertial Measurement Unit -->
<message name="IMU_GYRO" id="52">
<field name="gp" type="float" unit="rad/s" alt_unit="deg/s"/>
<field name="gq" type="float" unit="rad/s" alt_unit="deg/s"/>
<field name="gr" type="float" unit="rad/s" alt_unit="deg/s"/>
</message>

<message name="IMU_MAG" id="53">
<field name="mx" type="float" />
<field name="my" type="float" />
<field name="mz" type="float" />
</message>

<message name="IMU_ACCEL" id="54">
<field name="ax" type="float" unit="m/s-2"/>
<field name="ay" type="float" unit="m/s-2"/>
<field name="az" type="float" unit="m/s-2"/>
</message>

<message name="IMU_GYRO_RAW" id="55">
<field name="gp" type="int32" unit="adc"/>
<field name="gq" type="int32" unit="adc"/>
<field name="gr" type="int32" unit="adc"/>
</message>

<message name="IMU_ACCEL_RAW" id="56">
<field name="ax" type="int32" unit="adc"/>
<field name="ay" type="int32" unit="adc"/>
<field name="az" type="int32" unit="adc"/>
</message>

<message name="IMU_MAG_RAW" id="57">
<field name="mx" type="int32" unit="adc"/>
<field name="my" type="int32" unit="adc"/>
<field name="mz" type="int32" unit="adc"/>
</message>

<message name="IMU_MAG_SETTINGS" id="58">
<field name="inclination" type="float" />
<field name="declination" type="float" />
<field name="hardiron_x" type="float" />
<field name="hardiron_y" type="float" />
<field name="hardiron_z" type="float" />
</message>

<message name="IMU_HS_GYRO" id="59">
<field name="axis" type="uint8"/>
<field name="samples" type="uint32[]"/>
</message>

<!-- IMU Messages: Inertial Measurement Unit -->
<message name="IMU_GYRO_INT" id="60">
<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="IMU_ACCEL_INT" id="61">
<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="62">
<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="OPTICFLOW" id="1">
<field name="flow" type="uint16"/>
<field name="ref_alt" type="float"/>
</message>

<!-- ____GPS ____ -->

<message name="GPS_UTM" id="33">
<field name="fix" type="uint8" unit="byte_mask" values="NONE|UKN1|UKN2|3D"/>
<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="mm" 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 name="itow" type="uint32" unit="ms"/>
<field name="utm_zone" type="uint8"/>
<field name="gps_nb_err" type="uint8"/>
</message>

<message name="GPS_LLA" id="34">
<field name="lat" type="int32" unit="rad*e7" alt_unit="deg" alt_unit_coef="0.00000573"/>
<field name="lon" type="int32" unit="rad*e7" alt_unit="deg" alt_unit_coef="0.00000573"/>
<field name="alt" type="int32" unit="mm" alt_unit="m"/>
<field name="course" type="int16" unit="decideg" alt_unit="deg"/>
<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 name="itow" type="uint32" unit="ms"/>
<field name="fix" type="uint8" unit="byte_mask" values="NONE|UKN1|UKN2|3D"/>
</message>

<message name="GPS_INT" id="35">
<field name="ecef_x" type="int32" unit="cm" alt_unit="m"/>
<field name="ecef_y" type="int32" unit="cm" alt_unit="m"/>
<field name="ecef_z" type="int32" unit="cm" alt_unit="m"/>
<field name="lat" type="int32" alt_unit="deg" alt_unit_coef="0.0000057296"/>
<field name="lon" type="int32" alt_unit="deg" alt_unit_coef="0.0000057296"/>
<field name="alt" type="int32" unit="mm" alt_unit="m"/>
<field name="hmsl" type="int32" unit="mm" alt_unit="m"/>
<field name="ecef_xd" type="int32" unit="cm/s" alt_unit="m/s"/>
<field name="ecef_yd" type="int32" unit="cm/s" alt_unit="m/s"/>
<field name="ecef_zd" type="int32" unit="cm/s" alt_unit="m/s"/>
<field name="pacc" type="int32" unit="cm" alt_unit="m"/>
<field name="sacc" type="int32" unit="cm/s" alt_unit="m/s"/>
<field name="tow" type="uint32"/>
<field name="pdop" type="uint16"/>
<field name="numsv" type="uint8"/>
<field name="fix" type="uint8" values="NONE|UKN1|UKN2|3D"/>
</message>

<!-- GPS Messages: Global Positioning System (OTHERS) -->


<message name="GPS_SOL" id="38">
<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="GPS_ERROR" id="39">
<field name="x_position" type="float" unit="m"/>
<field name="y_position" type="float" unit="m"/>
<field name="z_position" type="float" unit="m"/>
<field name="x_velocity" type="float" unit="m"/>
<field name="y_velocity" type="float" unit="m"/>
<field name="z_velocity" type="float" unit="m"/>
</message>

<!-- ___________________________________________ BARO _____________________________________________ -->
<message name="PRESSURE" id="43">
<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_RAW" id="44">
<field name="abs" type="int32"/>
<field name="diff" type="int32"/>
</message>

<!-- ___________ SPECIFIC SENSORS _____________ -->
<message name="XSENS" id="2">
<field name="counter" type="int16" unit=""/>

Expand Down Expand Up @@ -189,6 +349,12 @@
<field name="tempBaro" type="float" unit="°C"/>
</message>

<message name="AIRSPEED_ETS" id="49">
<field name="adc" type="uint16"/>
<field name="offset" type="uint16"/>
<field name="scaled" type="float"/>
</message>

<message name="AMSYS_AIRSPEED" id="24">
<field name="asRaw" type="uint16"/>
<field name="asPresure" type="float" unit="Pa"/>
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35 changes: 0 additions & 35 deletions conf/messages/debug.xml
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0 conf/messages/datalink.xml → conf/messages/standard_datalink.xml
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