/[paparazzi]/paparazzi2/conf/messages.xml
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Contents of /paparazzi2/conf/messages.xml

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Revision 1.11 - (show annotations) (download) (as text)
Sat Jul 3 13:43:57 2004 UTC (19 years, 9 months ago) by poine
Branch: MAIN
CVS Tags: emav-2004
Changes since 1.10: +1 -0 lines
File MIME type: text/xml
*** empty log message ***

1 <?xml version="1.0"?>
2
3 <protocol>
4
5 <message id="ID">
6 <field id="md5sum" type="uint8" len="16"></field>
7 </message>
8
9 <message id="BOOT">
10 <field id="version" type="uint16"></field>
11 </message>
12
13 <message id="MISSION">
14 <field id="nb_waypoint" type="uint8"></field>
15 <field id="lat0" type="int32"></field>
16 <field id="lon0" type="int32"></field>
17 </message>
18
19 <message id="WAYPOINT">
20 <field id="no" type="uint8"></field>
21 <field id="x" type="float" unit="m"></field>
22 <field id="y" type="float" unit="m"></field>
23 </message>
24
25 <message id="CALIB_START">
26 </message>
27
28 <message id="CALIB_CONTRAST">
29 <field id="adc" type="int16"></field>
30 </message>
31
32 <message id="TAKEOFF">
33 <field id="cpu_time" type="uint16" unit="s"></field>
34 </message>
35
36 <message id="RAD_OF_IR">
37 <field id="ir" type="float"></field>
38 <field id="rad" type="float"></field>
39 <field id="rad_of_ir" type="float"></field>
40 <field id="ir_roll_ntrl" type="int16"></field>
41 <field id="ir_pitch_ntrl" type="int16"></field>
42 </message>
43
44 <message id="ATTITUDE">
45 <field id="phi" type="float" format="%.4f"></field>
46 <field id="psi" type="float" format="%.4f"></field>
47 <field id="theta" type="float" format="%.4f"></field>
48 </message>
49
50 <message id="ADC">
51 <field id="roll" type="int16"></field>
52 <field id="pitch" type="int16"></field>
53 </message>
54
55 <message id="PRESSURE">
56 <field id="adc" type="uint16"></field>
57 </message>
58
59 <message id="AIRSPEED">
60 <field id="adc" type="uint16"></field>
61 </message>
62
63 <message id="GPS">
64 <field id="mode" type="uint8" unit="byte_mask"></field>
65 <field id="lat" type="int32" unit="1e-8rad"></field>
66 <field id="lon" type="int32" unit="1e-8rad"></field>
67 <field id="course" type="float" unit="rad"></field>
68 <field id="alt" type="float" unit="m"></field>
69 <field id="speed" type="float" unit="m/s"></field>
70 <field id="climb" type="float" unit="m/s"></field>
71 <field id="tow" type="float" unit="s"></field>
72 </message>
73
74 <message id="NAVIGATION">
75 <field id="cur_wp" type="uint8"></field>
76 <field id="pos_x" type="float" format="%.1f"></field>
77 <field id="pos_y" type="float" format="%.1f"></field>
78 <field id="desired_course" type="float" format="%.3f"></field>
79 <field id="dist2_wp" type="float" format="%.1f"></field>
80 <field id="course_pgain" type="float" format="%.3f"></field>
81 <field id="dist2_home" type="float" format="%.1f"></field>
82 </message>
83
84 <message id="PPRZ_MODE">
85 <field id="ap_mode" type="uint8"></field>
86 <field id="ap_altitude" type="uint8"></field>
87 <field id="if_calib_mode" type="uint8"></field>
88 <field id="mcu1_status" type="uint8"></field>
89 <field id="lls_calib" type="uint8"></field>
90 </message>
91
92 <message id="BAT">
93 <field id="voltage" type="uint8" unit="1e-1V"></field>
94 <field id="flight_time" type="uint16" unit="s"></field>
95 <field id="low_battery" type="uint8"></field>
96 </message>
97
98 <message id="DEBUG">
99 <field id="i2c_nb_err" type="uint8"></field>
100 <field id="i2c_mcu1_nb_err" type="uint8"></field>
101 <field id="modem_nb_err" type="uint8"></field>
102 <field id="gps_nb_err" type="uint8"></field>
103 <field id="ppm_rate" type="uint8"></field>
104 </message>
105
106 <message id="CLIMB_PID">
107 <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>
111 </message>
112
113 <message id="STABILISATION">
114 <field id="roll_pgain" type="float" format="%.0f"></field>
115 <field id="pitch_pgain" type="float" format="%.0f"></field>
116 </message>
117
118 <message id="IR_DEBUG"></message>
119
120 <message id="TRIM_HELPER">
121 <field id="aileron" type="int16"></field>
122 <field id="rudder" type="int16"></field>
123 </message>
124
125 <message id="TRACE">
126 <field id="ail" type="int16"></field>
127 <field id="prof" type="int16"></field>
128 </message>
129
130 <message id="TARGET_FOUND">
131 <field id="lat" type="int32"></field>
132 <field id="lon" type="int32"></field>
133 </message>
134
135 <message id="DOWNLINK_STATUS">
136 <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>
142 </message>
143
144 <message id="MODEM_STATUS">
145 <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>
151 </message>
152
153 <message id="SIMPLEX">
154 <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>
159 </message>
160
161 <message id="CURRENT">
162 <field id="adc" type="uint16"></field>
163 </message>
164
165 <message id="SETTINGS">
166 <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>
169 </message>
170
171 <message id="DESIRED">
172 <field id="roll" type="float"></field>
173 <field id="pitch" type="float"></field>
174 </message>
175
176 <message id="DEBUG2">
177 <field id="aileron" type="int16"></field>
178 <field id="prof" type="int16"></field>
179 </message>
180
181
182
183 </protocol>

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