From 19cbc92b0366132fb8caaf4b8ba4a12b3de34f92 Mon Sep 17 00:00:00 2001
From: Freek van Tienen <freek.v.tienen@gmail.com>
Date: Thu, 7 Jul 2022 14:14:23 +0200
Subject: [PATCH] Full INDI

---
 message_definitions/v1.0/messages.xml | 16 +++++++++++++++-
 1 file changed, 15 insertions(+), 1 deletion(-)

diff --git a/message_definitions/v1.0/messages.xml b/message_definitions/v1.0/messages.xml
index 71fb203..039f7cc 100644
--- a/message_definitions/v1.0/messages.xml
+++ b/message_definitions/v1.0/messages.xml
@@ -1668,7 +1668,21 @@
 
     <!-- 181 is free -->
     <!-- 182 is free -->
-    <!-- 183 is free -->
+
+    <message name="STAB_ATTITUDE_FULL_INDI" id="183">
+      <field name="angular_rate_p" type="float" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578"/>
+      <field name="angular_rate_q" type="float" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578"/>
+      <field name="angular_rate_r" type="float" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578"/>
+      <field name="body_accel_x" type="float" unit="m/s2"/>
+      <field name="body_accel_y" type="float" unit="m/s2"/>
+      <field name="body_accel_z" type="float" unit="m/s2"/>
+      <field name="angular_accel_ref_p" type="float" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578"/>
+      <field name="angular_accel_ref_q" type="float" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578"/>
+      <field name="angular_accel_ref_r" type="float" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578"/>
+      <field name="airspeed" type="float" unit="m/s"/>
+      <field name="u" type="int16[]" unit="pprz" alt_unit="unit" alt_unit_coef="0.0001041666667"/>
+    </message>
+
     <!-- 184 is free -->
     <!-- 185 is free -->
     <!-- 186 is free -->