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replaced tabulations by spaces, removed endline spaces. Removed unuse…
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…d messages, commented the last ones of the removing list until be sure
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@xgibert
xgibert committed Jun 11, 2012
1 parent ad7bf8d commit d46809f
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Showing 11 changed files with 728 additions and 796 deletions.
51 changes: 16 additions & 35 deletions conf/messages/custom_downlink.xml
View file
Expand Up @@ -24,18 +24,19 @@
</message>

<!-- BLMC Messages: BrushLess Motor Controller -->
<!--
<message name="BLMC_FAULT_STATUS" id="7">
<field name="raw_fault" type="uint16[]"/>
<field name="raw_fault" type="uint16[]"/>
</message>
<message name="BLMC_SPEEDS" id="8">
<field name="speeds" type="int16[]"/>
</message>
<message name="BLMC_BUSVOLTS" id="9">
<field name="busvolts" type="uint16[]"/>
<field name="busvolts" type="uint16[]"/>
</message>

-->
<!-- MOTOR Messages -->

<message name="MOTOR_BENCH_STATUS" id="11">
Expand Down Expand Up @@ -319,7 +320,7 @@
</message>

<!-- SPECIFIC DEBUG Messages -->
<message name="ANTENNA_DEBUG" id="70">
<!-- <message name="ANTENNA_DEBUG" id="70">
<field name="mag_xraw" type="int32"/>
<field name="mag_yraw" type="int32"/>
<field name="mag_xcal" type="float"/>
Expand All @@ -330,7 +331,7 @@
<field name="mag_distor" type="uint8"/>
<field name="mag_cal_status" type="uint8"/>
</message>

-->
<message name="TEST_BOARD_RESULTS" ID="71">
<field name="uart" type="uint8"/>
<field name="ppm" type="uint8"/>
Expand All @@ -349,19 +350,14 @@
<field name="top" type="int16" unit="adc"/>
</message>

<message name="CSC_CAN_DEBUG" id="74">
<field name="err_nb" type="uint32"/>
<field name="err_code" type="uint32"/>
</message>

<message name="FLA_DEBUG" id="75">
<message name="FLA_DEBUG" id="74">
<field name="past_input" type="float"/>
<field name="imu_rate" type="float"/>
<field name="desired_accel" type="float"/>
<field name="motor_command" type="float"/>
</message>

<message name="RMAT_DEBUG" id="76">
<message name="RMAT_DEBUG" id="75">
<field name="a" type="float" />
<field name="b" type="float" />
<field name="c" type="float" />
Expand All @@ -373,7 +369,7 @@
<field name="i" type="float" />
</message>

<message name="I2C_ERRORS" id="77">
<message name="I2C_ERRORS" id="76">
<field name="acknowledge_failure_cnt" type="uint16"/>
<field name="misplaced_start_or_stop_cnt" type="uint16"/>
<field name="arbitration_lost_cnt" type="uint16"/>
Expand All @@ -385,25 +381,17 @@
<field name="last_unexpected_event" type="uint32"/>
</message>

<message name="BOOZ_DEBUG_FOO" id="78">
<field name="ami_stat" type="uint8"/>
</message>

<message name="BOOZ_MAX1167_ERR" id="79">
<field name="erno" type="uint8"/>
</message>

<message name="SHT_I2C_SERIAL" id="80">
<message name="SHT_I2C_SERIAL" id="77">
<field name="serial0" type="uint32"/>
<field name="serial1" type="uint32"/>
</message>

<message name="MLX_SERIAL" id="81">
<message name="MLX_SERIAL" id="78">
<field name="serial0" type="uint32"/>
<field name="serial1" type="uint32"/>
</message>

<message name="MS5611_COEFF" id="82">
<message name="MS5611_COEFF" id="79">
<field name="c0" type="uint16"/>
<field name="c1" type="uint16"/>
<field name="c2" type="uint16"/>
Expand Down Expand Up @@ -486,7 +474,7 @@
<field name="setpoint_z" type="float" unit="m D"/>
</message>

<message name="HENRY_GNSS" id="156">
<!-- <message name="HENRY_GNSS" id="156">
<field name="last_imu_update" type="uint32"/>
<field name="GPS_time" type="double"/>
<field name="GPS_solution_valid" type="uint8"/>
Expand All @@ -501,7 +489,7 @@
<field name="V_North" type="double"/>
<field name="V_East" type="double"/>
<field name="V_Down" type="double"/>
</message>
</message>-->

<message name="FMS_TIME" id="157">
<field name="tv_sec" type="uint32"/>
Expand All @@ -513,14 +501,7 @@
<field name="rpm" type="float"/>
</message>

<message name="CSC_CAN_MSG" id="159">
<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="160">
<!-- <message name="DYNAMIXEL" id="159">
<field name="left_wing" type="uint16"/>
<field name="right_wing" type="uint16"/>
<field name="left_wing_flag" type="uint8"/>
Expand All @@ -530,6 +511,6 @@
<field name="checksum_errors" type="uint32"/>
<field name="fuse_rotation_angle" type="float"/>
<field name="fuse_rotation_rate" type="float"/>
</message>
</message>-->

</class>
67 changes: 9 additions & 58 deletions conf/messages/downlink.xml
View file
Expand Up @@ -111,13 +111,7 @@
<field name="values" type="int16[]" unit="ticks"/>
</message>

<message name="SIMPLE_COMMANDS" id="26">
<field name="roll" type="int16" />
<field name="pitch" type="int16" />
<field name="yaw" type="int16" />
</message>

<message name="ROTORCRAFT_CMD" id="27">
<message name="ROTORCRAFT_CMD" id="26">
<field name="cmd_roll" type="int32"/>
<field name="cmd_pitch" type="int32"/>
<field name="cmd_yaw" type="int32"/>
Expand Down Expand Up @@ -270,18 +264,12 @@
<field name="altitude" type="float" unit="m"/>
</message>

<message name="BOOZ_BARO_RAW" id="44">
<field name="offset" type="uint16"/>
<field name="value" type="uint16"/>
<field name="value_filtered" type="uint16"/>
</message>

<message name="BARO_RAW" id="45">
<message name="BARO_RAW" id="44">
<field name="abs" type="int32"/>
<field name="diff" type="int32"/>
</message>

<message name="PBN" id="46">
<message name="PBN" id="45">
<field name="airspeed_adc" type="uint16"/>
<field name="altitude_adc" type="uint16"/>
<field name="airspeed" type="float"/>
Expand Down Expand Up @@ -359,17 +347,11 @@
<field name="hardiron_z" type="float" />
</message>

<message name="IMU_GYRO_LP" id="59">
<field name="gp" type="float" unit="rad/s"/>
<field name="gq" type="float" unit="rad/s"/>
<field name="gr" type="float" unit="rad/s"/>
</message>

<message name="IMU_PRESSURE" id="60">
<message name="IMU_PRESSURE" id="59">
<field name="p" type="float" unit="pascal"/>
</message>

<message name="IMU_HS_GYRO" id="61">
<message name="IMU_HS_GYRO" id="60">
<field name="axis" type="uint8"/>
<field name="samples" type="uint32[]"/>
</message>
Expand Down Expand Up @@ -567,7 +549,7 @@

<message name="PPRZ_MODE" id="85">
<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_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="kill_auto_throttle" type="uint8" unit="bool"/>
</message>

Expand Down Expand Up @@ -888,7 +870,7 @@

<!-- GUIDANCE Messages -->

<!-- <message name="GUIDANCE" id="144">
<!-- <message name="GUIDANCE" id="144">
<field name="pos_n" type="int32"/>
<field name="pos_e" type="int32"/>
<field name="sp_pos_n" type="int32"/>
Expand Down Expand Up @@ -1061,17 +1043,11 @@

<!-- +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ -->

<message name="CALIBRATION" id="220">
<message name="CALIBRATION" id="221">
<field name="climb_sum_err" type="float" format="%.1f"/>
<field name="climb_gaz_submode" type="uint8"/>
</message>

<message name="GYRO_RATES" id="221">
<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="RANGEFINDER" id="222">
<field name="range" type="uint16" unit="cm"/>
<field name="z_dot" type="float" unit="m/s"/>
Expand Down Expand Up @@ -1125,11 +1101,7 @@
<field name="accel" type="float" unit="m/s/s"/>
</message>

<message name="BOOZ2_FMS_INFO" id="230">
<field name="tbd" type="float"/>
</message>

<message name="ROTORCRAFT_TUNE_HOVER" id="231">
<message name="ROTORCRAFT_TUNE_HOVER" id="230">
<field name="rc_roll" type="int16" alt_unit="-100/100" alt_unit_coef="0.01041670"/>
<field name="rc_pitch" type="int16" alt_unit="-100/100" alt_unit_coef="0.01041670"/>
<field name="rc_yaw" type="int16" alt_unit="-100/100" alt_unit_coef="0.01041670"/>
Expand All @@ -1145,25 +1117,4 @@
<field name="body_psi" type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
</message>

<message name="BOOZ2_TUNE_FF" id="232">
<field name="fb_rms" type="float"/>
<field name="dg" type="float"/>
<field name="g" type="float"/>
</message>

<message name="BOOZ_ATT_REF_MODEL" id="233">
<field name="omega_p" type="float" />
<field name="zeta_p" type="float" />
<field name="omega_q" type="float" />
<field name="zeta_q" type="float" />
<field name="omega_r" type="float" />
<field name="zeta_r" type="float" />
</message>

<message name="BOOZ2_FF_ADAP" id="234">
<field name="roll" type="float"/>
<field name="pitch" type="float"/>
<field name="yaw" type="float"/>
</message>

</class>

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