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<?xml version="1.0"?> |
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|
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<protocol> |
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|
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<message id="ID"> |
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<field id="md5sum" type="uint8" len="16"></field> |
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</message> |
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|
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<message id="BOOT"> |
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<field id="version" type="uint16"></field> |
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</message> |
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|
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<message id="MISSION"> |
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<field id="nb_waypoint" type="uint8"></field> |
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<field id="lat0" type="int32"></field> |
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<field id="lon0" type="int32"></field> |
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</message> |
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|
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<message id="WAYPOINT"> |
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<field id="no" type="uint8"></field> |
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<field id="x" type="float" unit="m"></field> |
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<field id="y" type="float" unit="m"></field> |
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</message> |
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|
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<message id="CALIB_START"> |
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</message> |
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|
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<message id="CALIB_CONTRAST"> |
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<field id="adc" type="int16"></field> |
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</message> |
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|
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<message id="TAKEOFF"> |
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<field id="cpu_time" type="uint16" unit="s"></field> |
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</message> |
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|
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<message id="RAD_OF_IR"> |
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<field id="ir" type="float"></field> |
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<field id="rad" type="float"></field> |
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<field id="rad_of_ir" type="float"></field> |
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<field id="ir_roll_ntrl" type="int16"></field> |
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<field id="ir_pitch_ntrl" type="int16"></field> |
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</message> |
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|
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<message id="ATTITUDE"> |
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<field id="phi" type="float" format="%.4f"></field> |
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<field id="psi" type="float" format="%.4f"></field> |
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<field id="theta" type="float" format="%.4f"></field> |
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</message> |
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|
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<message id="ADC"> |
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<field id="roll" type="int16"></field> |
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<field id="pitch" type="int16"></field> |
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</message> |
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|
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<message id="PRESSURE"> |
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<field id="adc" type="uint16"></field> |
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</message> |
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|
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<message id="AIRSPEED"> |
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<field id="adc" type="uint16"></field> |
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</message> |
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|
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<message id="GPS"> |
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<field id="mode" type="uint8" unit="byte_mask"></field> |
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<field id="lat" type="int32" unit="1e-8rad"></field> |
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<field id="lon" type="int32" unit="1e-8rad"></field> |
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<field id="course" type="float" unit="rad"></field> |
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<field id="alt" type="float" unit="m"></field> |
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<field id="speed" type="float" unit="m/s"></field> |
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<field id="climb" type="float" unit="m/s"></field> |
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<field id="tow" type="float" unit="s"></field> |
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</message> |
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|
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<message id="NAVIGATION"> |
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<field id="cur_wp" type="uint8"></field> |
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<field id="pos_x" type="float" format="%.1f"></field> |
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<field id="pos_y" type="float" format="%.1f"></field> |
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<field id="desired_course" type="float" format="%.3f"></field> |
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<field id="dist2_wp" type="float" format="%.1f"></field> |
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<field id="course_pgain" type="float" format="%.3f"></field> |
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<field id="dist2_home" type="float" format="%.1f"></field> |
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</message> |
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|
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<message id="PPRZ_MODE"> |
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<field id="ap_mode" type="uint8"></field> |
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<field id="ap_altitude" type="uint8"></field> |
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<field id="if_calib_mode" type="uint8"></field> |
88 |
<field id="mcu1_status" type="uint8"></field> |
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<field id="lls_calib" type="uint8"></field> |
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</message> |
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|
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<message id="BAT"> |
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<field id="voltage" type="uint8" unit="1e-1V"></field> |
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<field id="flight_time" type="uint16" unit="s"></field> |
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<field id="low_battery" type="uint8"></field> |
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</message> |
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|
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<message id="DEBUG"> |
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<field id="i2c_nb_err" type="uint8"></field> |
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<field id="i2c_mcu1_nb_err" type="uint8"></field> |
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<field id="modem_nb_err" type="uint8"></field> |
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<field id="gps_nb_err" type="uint8"></field> |
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<field id="ppm_rate" type="uint8"></field> |
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</message> |
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|
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<message id="CLIMB_PID"> |
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<field id="gaz" type="int16"></field> |
108 |
<field id="climb" type="float"></field> |
109 |
<field id="sum_err" type="float" format="%.3f"></field> |
110 |
<field id="p_gain" type="float" format="%.3f"></field> |
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</message> |
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|
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<message id="STABILISATION"> |
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<field id="roll_pgain" type="float" format="%.0f"></field> |
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<field id="pitch_pgain" type="float" format="%.0f"></field> |
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</message> |
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|
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<message id="IR_DEBUG"></message> |
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|
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<message id="TRIM_HELPER"> |
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<field id="aileron" type="int16"></field> |
122 |
<field id="rudder" type="int16"></field> |
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</message> |
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|
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<message id="TRACE"> |
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<field id="ail" type="int16"></field> |
127 |
<field id="prof" type="int16"></field> |
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</message> |
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|
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<message id="TARGET_FOUND"> |
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<field id="lat" type="int32"></field> |
132 |
<field id="lon" type="int32"></field> |
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</message> |
134 |
|
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<message id="DOWNLINK_STATUS"> |
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<field id="run_time" type="uint32"></field> |
137 |
<field id="rx_bytes" type="uint32"></field> |
138 |
<field id="rx_msgs" type="uint32"></field> |
139 |
<field id="rx_err" type="uint32"></field> |
140 |
<field id="rx_bytes_rate" type="float" format="%.1f"></field> |
141 |
<field id="rx_msgs_rate" type="float" format="%.1f"></field> |
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</message> |
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|
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<message id="MODEM_STATUS"> |
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<field id="detected" type="uint8"></field> |
146 |
<field id="valim" type="float" format="%.1f"></field> |
147 |
<field id="cd" type="uint8"></field> |
148 |
<field id="nb_byte" type="uint32"></field> |
149 |
<field id="nb_msg" type="uint32"></field> |
150 |
<field id="nb_err" type="uint32"></field> |
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</message> |
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|
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<message id="SIMPLEX"> |
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<field id="wind_dir" type="float"></field> |
155 |
<field id="wind_vel" type="float"></field> |
156 |
<field id="aspeed_mean" type="float"></field> |
157 |
<field id="aspeed_stddev" type="float"></field> |
158 |
<field id="nb_samples" type="uint32"></field> |
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</message> |
160 |
|
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<message id="CURRENT"> |
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<field id="adc" type="uint16"></field> |
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</message> |
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|
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<message id="SETTINGS"> |
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<field id="mode" type="uint8" unit="down neutral up"></field> |
167 |
<field id="slider_1_val" type="float"></field> |
168 |
<field id="slider_2_val" type="float"></field> |
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</message> |
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|
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<message id="DESIRED"> |
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<field id="roll" type="float"></field> |
173 |
<field id="pitch" type="float"></field> |
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</message> |
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|
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<message id="DEBUG2"> |
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<field id="aileron" type="int16"></field> |
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<field id="prof" type="int16"></field> |
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</message> |
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|
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|
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|
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</protocol> |