<?xml version="1.0"?>
<!DOCTYPE protocol SYSTEM "messages.dtd">
<protocol>
<msg_class name="telemetry" id="0">
<message name="AUTOPILOT_VERSION" id="1">
<field name="version" type="uint32">version encoded as: MAJOR * 10000 + MINOR * 100 + PATCH</field>
<field name="desc" type="char[]">version description as string from paparazzi_version</field>
</message>
<message name="ALIVE" id="2">
<description>alive/heartbeat message containing the MD5sum of the aircraft configuration</description>
<field name="md5sum" type="uint8[]"/>
</message>
<message name="PONG" id="3">
<description>Answer to PING datalink message, to measure latencies</description>
</message>
<message name="TAKEOFF" id="4">
<field name="cpu_time" type="uint16" unit="s"></field>
</message>
<message name="ARDRONE_NAVDATA" id="5">
<field name="taille" type="uint16" />
<field name="nu_trame" type="uint16" />
<field name="ax" type="uint16" />
<field name="ay" type="uint16" />
<field name="az" type="uint16" />
<field name="vx" type="int16" />
<field name="vy" type="int16" />
<field name="vz" type="int16" />
<field name="temperature_acc" type="uint16" />
<field name="temperature_gyro" type="uint16" />
<field name="ultrasound" type="uint16" />
<field name="us_debut_echo" type="uint16" />
<field name="us_fin_echo" type="uint16" />
<field name="us_association_echo" type="uint16" />
<field name="us_distance_echo" type="uint16" />
<field name="us_curve_time" type="uint16" />
<field name="us_curve_value" type="uint16" />
<field name="us_curve_ref" type="uint16" />
<field name="nb_echo" type="uint16" />
<field name="sum_echo" type="uint32" />
<field name="gradient" type="int16" />
<field name="flag_echo_ini" type="uint16" />
<field name="pressure" type="int32" />
<field name="temperature_pressure" type="uint16" />
<field name="mx" type="int16" />
<field name="my" type="int16" />
<field name="mz" type="int16" />
<field name="chksum" type="uint16" />
<field name="checksum_errors" type="uint32" />
</message>
<message name="ATTITUDE" id="6">
<field name="phi" type="float" unit="rad" alt_unit="deg"/>
<field name="psi" type="float" unit="rad" alt_unit="deg"/>
<field name="theta" type="float" unit="rad" alt_unit="deg"/>
</message>
<message name="IR_SENSORS" id="7">
<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>
<message name="GPS" id="8">
<field name="mode" type="uint8" unit="byte_mask"/>
<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">Altitude above geoid (MSL)</field>
<field name="speed" type="uint16" unit="cm/s" alt_unit="m/s">norm of 2d ground speed in cm/s</field>
<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="NAVIGATION_REF" id="9">
<field name="utm_east" type="int32" unit="m"/>
<field name="utm_north" type="int32" unit="m"/>
<field name="utm_zone" type="uint8"/>
<field name="ground_alt" type="float" unit="m"/>
</message>
<message name="NAVIGATION" id="10">
<field name="cur_block" type="uint8"/>
<field name="cur_stage" type="uint8"/>
<field name="pos_x" type="float" unit="m" format="%.1f"/>
<field name="pos_y" type="float" unit="m" format="%.1f"/>
<field name="dist_wp" type="float" format="%.1f" unit="m"/>
<field name="dist_home" type="float" format="%.1f" unit="m"/>
<field name="circle_count" type="uint8"/>
<field name="oval_count" type="uint8"/>
</message>
<message name="PPRZ_MODE" id="11">
<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_horizontal" type="uint8" values="WAYPOINT|ROUTE|CIRCLE"/>
<field name="if_calib_mode" type="uint8" values="NONE|DOWN|UP"/>
<field name="mcu1_status" type="uint8" values="LOST|OK|REALLY_LOST"/>
</message>
<message name="BAT" id="12">
<field name="throttle" type="int16" unit="pprz"/>
<field name="voltage" type="uint16" unit="1e-1V" alt_unit="V" alt_unit_coef="0.1"/>
<field name="amps" type="int16" unit="1e-2A" alt_unit="A" alt_unit_coef="0.01"/>
<field name="flight_time" type="uint16" unit="s"/>
<field name="kill_auto_throttle" type="uint8" unit="bool"/>
<field name="block_time" type="uint16" unit="s"/>
<field name="stage_time" type="uint16" unit="s"/>
<field name="energy" type="int16" unit="mAh"/>
</message>
<message name="DEBUG_MCU_LINK" id="13">
<field name="i2c_nb_err" type="uint8"></field>
<field name="i2c_mcu1_nb_err" type="uint8"></field>
<field name="ppm_rate" type="uint8"></field>
</message>
<message name="CALIBRATION" id="14">
<field name="climb_sum_err" type="float" format="%.1f"/>
<field name="climb_gaz_submode" type="uint8"/>
</message>
<message name="SETTINGS" id="15">
<field name="slider_1_val" type="float"/>
<field name="slider_2_val" type="float"/>
</message>
<message name="DESIRED" id="16">
<field name="roll" type="float" format="%.2f" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
<field name="pitch" type="float" format="%.2f" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
<field name="course" type="float" format="%.1f" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
<field name="x" type="float" format="%.0f" unit="m"/>
<field name="y" type="float" format="%.0f" unit="m"/>
<field name="altitude" type="float" format="%.0f" unit="m"/>
<field name="climb" type="float" format="%.1f" unit="m/s"></field>
<field name="airspeed" type="float" format="%.1f" unit="m/s"></field>
</message>
<message name="GPS_SOL" id="17">
<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="ADC_GENERIC" id="18">
<field name="val1" type="uint16"/>
<field name="val2" type="uint16"/>
</message>
<message name="ECU" id="19">
<field name="stg_in" type="uint8" unit="bool"/>
<field name="stb_in" type="uint8" unit="bool"/>
<field name="ain1" type="float" unit="V"/>
<field name="ain2" type="float" unit="V"/>
<field name="ain3" type="float" unit="V"/>
<field name="ain4" type="float" unit="V"/>
</message>
<message name="CAM" id="20">
<field name="phi" type="int16" unit="deg"/>
<field name="theta" type="int16" unit="deg"/>
<field name="target_x" type="int16" unit="m"/>
<field name="target_y" type="int16" unit="m"/>
</message>
<message name="CIRCLE" id="21">
<field name="center_east" type="float" unit="m"/>
<field name="center_north" type="float" unit="m"/>
<field name="radius" type="float" unit="m"/>
</message>
<message name="SEGMENT" id="22">
<field name="segment_east_1" type="float" unit="m"/>
<field name="segment_north_1" type="float" unit="m"/>
<field name="segment_east_2" type="float" unit="m"/>
<field name="segment_north_2" type="float" unit="m"/>
</message>
<message name="VECTORNAV_INFO" id="23">
<field name="timestamp" type="float" unit="s"/>
<field name="chksm_error" type="uint32"/>
<field name="hdr_error" type="uint32"/>
<field name="rate" type="uint16" unit="packets/s"/>
<field name="ins_status" type="uint8" values="NoTracking|OutOfSpecs|OK"/>
<field name="ins_err" type="uint8"/>
<field name="YprU1" type="float" unit="deg"/>
<field name="YprU2" type="float" unit="deg"/>
<field name="YprU3" type="float" unit="deg"/>
</message>
<message name="HYBRID_GUIDANCE" id="24">
<field name="pos_x" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="pos_y" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="speed_x" type="int32" alt_unit="m/s" alt_unit_coef="0.0000019"/>
<field name="speed_y" type="int32" alt_unit="m/s" alt_unit_coef="0.0000019"/>
<field name="wind_x" type="int32" alt_unit="m/s" alt_unit_coef="0.0039063"/>
<field name="wind_y" type="int32" alt_unit="m/s" alt_unit_coef="0.0039063"/>
<field name="pos_err_x" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="pos_err_y" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="speed_sp_x" type="int32" alt_unit="m/s" alt_unit_coef="0.0039063"/>
<field name="speed_sp_y" type="int32" alt_unit="m/s" alt_unit_coef="0.0039063"/>
<field name="norm_ref_speed" type="int32" alt_unit="m/s" alt_unit_coef="0.0039063"/>
<field name="heading_diff" type="int32"/>
<field name="phi" type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
<field name="theta" type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
<field name="psi" type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
</message>
<message name="SVINFO" id="25">
<field name="chn" type="uint8"/>
<field name="SVID" type="uint8"/>
<field name="Flags" type="uint8"/>
<field name="QI" type="uint8"/>
<field name="CNO" type="uint8" unit="dbHz"/>
<field name="Elev" type="int8" unit="deg"/>
<field name="Azim" type="int16" unit="deg"/>
</message>
<message name="DEBUG" id="26">
<field name="msg" type="uint8[]"/>
</message>
<message name="SURVEY" id="27">
<field name="east" type="float" unit="m"/>
<field name="north" type="float" unit="m"/>
<field name="west" type="float" unit="m"/>
<field name="south" type="float" unit="m"/>
</message>
<message name="RSSI" id="28">
<field name="rssi" type="uint8" unit="dB"/>
<field name="tx_power" type="uint8" unit="dB"/>
</message>
<message name="RANGEFINDER" id="29">
<field name="range" type="uint16" unit="cm"/>
<field name="z_dot" type="float" unit="m/s"/>
<field name="z_dot_sum_err" type="float" unit="m/s"/>
<field name="z_dot_setpoint" type="float" unit="m/s"/>
<field name="z_sum_err" type="float" unit="m/s"/>
<field name="z_setpoint" type="float" unit="m"/>
<field name="flying" type="uint8" unit="bool"/>
</message>
<message name="DATALINK_REPORT" id="30">
<description>Datalink status reported by an aircraft for the ground</description>
<field name="uplink_lost_time" type="uint16" unit="s"/>
<field name="uplink_nb_msgs" type="uint16"/>
<field name="downlink_nb_msgs" type="uint16"/>
<field name="downlink_rate" type="uint16" unit="bytes/s"/>
<field name="uplink_rate" type="uint16" unit="msgs/s"/>
<field name="downlink_ovrn" type="uint8"/>
</message>
<message name="DL_VALUE" id="31">
<field name="index" type="uint8"/>
<field name="value" type="float"/>
</message>
<message name="MARK" id="32">
<field name="ac_id" type="uint8"/>
<field name="lat" type="float" unit="deg"/>
<field name="long" type="float" unit="deg"/>
</message>
<message name="SYS_MON" id="33">
<field name="periodic_time" type="uint16" unit="usec" alt_unit="msec" alt_unit_coef="0.001"/>
<field name="periodic_time_min" type="uint16" unit="usec" alt_unit="msec" alt_unit_coef="0.001"/>
<field name="periodic_time_max" type="uint16" unit="usec" alt_unit="msec" alt_unit_coef="0.001"/>
<field name="periodic_cycle" type="uint16" unit="usec" alt_unit="msec" alt_unit_coef="0.001"/>
<field name="periodic_cycle_min" type="uint16" unit="usec" alt_unit="msec" alt_unit_coef="0.001"/>
<field name="periodic_cycle_max" type="uint16" unit="usec" alt_unit="msec" alt_unit_coef="0.001"/>
<field name="event_number" type="uint16"/>
<field name="cpu_load" type="uint8" unit="%"/>
<field name="cpu_time" type="float" unit="s"/>
</message>
<message name="MOTOR" id="34">
<field name="rpm" type="uint16" unit="Hz"/>
<field name="current" type="int32" unit="mA"/>
</message>
<message name="WP_MOVED" id="35">
<description>
Waypoint with id wp_id has been updated/moved to the specified UTM coordinates.
</description>
<field name="wp_id" type="uint8"/>
<field name="utm_east" type="float" unit="m"/>
<field name="utm_north" type="float" unit="m"/>
<field name="alt" type="float" unit="m">Height above Mean Sea Level (geoid)</field>
<field name="utm_zone" type="uint8"/>
</message>
<message name="MKK" id="36">
<field name="nr" type="uint8"/>
<field name="rpm" type="uint8" unit="Poles/s"/>
<field name="current" type="uint8" unit="mA"/>
<field name="temp" type="int8" unit="deg"/>
</message>
<message name="ENERGY" id="37">
<field name="bat" type="float" unit="V"/>
<field name="amp" type="float" unit="A"/>
<field name="energy" type="uint16" unit="mAh"/>
<field name="power" type="float" unit="W"/>
</message>
<message name="ALT_KALMAN" id="41">
<field name="p00" type="float"/>
<field name="p01" type="float"/>
<field name="p10" type="float"/>
<field name="p11" type="float"/>
</message>
<message name="ESTIMATOR" id="42">
<field name="z" type="float" unit="m"/>
<field name="z_dot" type="float" unit="m/s"/>
</message>
<message name="TUNE_ROLL" id="43">
<field name="p" type="float"/>
<field name="phi" type="float"/>
<field name="phi_sp" type="float"/>
</message>
<message name="BARO_MS5534A" id="44">
<field name="pressure" type="uint32" unit="P"/>
<field name="temp" type="uint16" unit="dC"/>
<field name="alt" type="float" unit="m"/>
</message>
<message name="BARO_WORDS" id="46">
<field name="w1" type="uint16"/>
<field name="w2" type="uint16"/>
<field name="w3" type="uint16"/>
<field name="w4" type="uint16"/>
</message>
<message name="WP_MOVED_LLA" id="47">
<field name="wp_id" type="uint8"/>
<field name="lat" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="lon" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="alt" type="int32" unit="mm" alt_unit="m">Height above Mean Sea Level (geoid)</field>
</message>
<message name="WP_MOVED_ENU" id="49">
<field name="wp_id" type="uint8"/>
<field name="east" type="int32" unit="2^8m" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="north" type="int32" unit="2^8m" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="up" type="int32" unit="2^8m" alt_unit="m" alt_unit_coef="0.0039063"/>
</message>
<message name="WINDTURBINE_STATUS_" id="50">
<field name="ac_id" type="uint8"/>
<field name="tb_id" type="uint8"/>
<field name="sync_itow" type="uint32" unit="ms"/>
<field name="cycle_time" type="uint32" unit="ms"/>
</message>
<message name="RC_3CH_" id="51">
<field name="throttle_mode" type="uint8" unit="byte_mask"/>
<field name="roll" type="int8"/>
<field name="pitch" type="int8"/>
</message>
<message name="MPPT" id="52">
<field name="values" type="int16[]" alt_unit_coef="1e-3"/>
</message>
<message name="DEBUG_IR_I2C" id="53">
<field name="ir1" type="int16" unit="adc"/>
<field name="ir2" type="int16" unit="adc"/>
<field name="top" type="int16" unit="adc"/>
</message>
<message name="AIRSPEED" id="54">
<field name="airspeed" type="float" unit="m/s"/>
<field name="airspeed_sp" type="float" unit="m/s"/>
<field name="airspeed_cnt" type="float" unit="m/s"/>
<field name="groundspeed_sp" type="float" unit="m/s"/>
</message>
<message name="BARO_ETS" id="56">
<field name="adc" type="uint16"/>
<field name="offset" type="uint16"/>
<field name="scaled" type="float"/>
</message>
<message name="AIRSPEED_ETS" id="57">
<field name="adc" type="uint16"/>
<field name="offset" type="uint16"/>
<field name="scaled" type="float"/>
</message>
<message name="GPS_LLA" id="59">
<field name="lat" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="lon" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="alt" type="int32" unit="mm" alt_unit="m">altitude above WGS84 reference ellipsoid</field>
<field name="hmsl" type="int32" unit="mm" alt_unit="m">Height above Mean Sea Level (geoid)</field>
<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="mode" type="uint8" unit="byte_mask"/>
<field name="gps_nb_err" type="uint8"/>
</message>
<message name="H_CTL_A" id="60">
<field name="roll_sum_err" type="float"/>
<field name="roll_sp" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
<field name="roll_ref" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
<field name="phi" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
<field name="aileron_sp" type="int16" unit="pprz"/>
<field name="pitch_sum_err" type="float"/>
<field name="pitch_sp" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
<field name="pitch_ref" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
<field name="theta" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
<field name="elevator_sp" type="int16" unit="pprz"/>
</message>
<message name="TURB_PRESSURE_VOLTAGE" id="62">
<field name="ch_1_p" type="float"/>
<field name="ch_1_t" type="float"/>
<field name="ch_2_p" type="float"/>
<field name="ch_2_t" type="float"/>
<field name="ch_3_p" type="float"/>
<field name="ch_3_t" type="float"/>
<field name="ch_4_p" type="float"/>
<field name="ch_4_t" type="float"/>
<field name="ch_5_p" type="float"/>
<field name="ch_5_t" type="float"/>
<field name="ch_6_p" type="float"/>
<field name="ch_6_t" type="float"/>
<field name="ch_7_p" type="float"/>
<field name="ch_7_t" type="float"/>
<field name="gnd1" type="float"/>
<field name="gnd2" type="float"/>
</message>
<message name="CAM_POINT" id="63">
<field name="cam_point_distance_from_home" type="uint16" unit="m"/>
<field name="cam_point_lat" type="float" unit="deg"/>
<field name="cam_point_lon" type="float" unit="deg"/>
</message>
<message name="DC_INFO" id="64">
<field name="mode" type="int16" unit=""/>
<field name="lat" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="lon" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="alt" type="int32" unit="mm" alt_unit="m">altitude above WGS84 reference ellipsoid</field>
<field name="course" type="float" unit="deg"/>
<field name="photo_nr" type="uint16"/>
<field name="dist" type="float" unit="m"/>
<field name="next_dist" type="float" unit="m"/>
<field name="start_x" type="float" unit="m"/>
<field name="start_y" type="float" unit="m"/>
<field name="start_angle" type="float" unit="deg"/>
<field name="angle" type="float" unit="deg"/>
<field name="last_block" type="float"/>
<field name="count" type="uint16" unit=""/>
<field name="shutter" type="uint8" unit="decisec" alt_unit="sec" alt_unit_coef="0.1"/>
</message>
<message name="AMSYS_BARO" id="65">
<field name="pBaroRaw" type="uint16"></field>
<field name="pBaro" type="float" unit="Pa"> </field>
<field name="pHomePressure" type="float" unit="Pa"></field>
<field name="AltOffset" type="float" unit="m"></field>
<field name="aktuell" type="float" unit="m"></field>
<field name="Over_Ground" type="float" unit="m"></field>
<field name="tempBaro" type="float" unit="°C"></field>
</message>
<message name="AMSYS_AIRSPEED" id="66">
<field name="asRaw" type="uint16"></field>
<field name="asPresure" type="float" unit="Pa"></field>
<field name="asAirspeed" type="float" unit="m/s"></field>
<field name="asAirsFilt" type="float" unit="m/s"></field>
<field name="asTemp" type="float" unit="°C"></field>
</message>
<message name="FLIGHT_BENCHMARK" id="67">
<field name="SE_As" type="float"></field>
<field name="SE_Alt" type="float"></field>
<field name="SE_Pos" type="float"></field>
<field name="Err_As" type="float"></field>
<field name="Err_Alt" type="float"></field>
<field name="Err_Pos" type="float"></field>
</message>
<message name="MPL3115_BARO" id="68">
<field name="pressure" type="uint32" alt_unit="Pa" alt_unit_coef="0.25"/>
<field name="temp" type="int16" alt_unit="degC" alt_unit_coef="0.0625"/>
<field name="alt" type="float" unit="m"/>
</message>
<message name="AOA" id="69">
<field name="raw" type="uint32"/>
<field name="angle" type="float" unit="rad" alt_unit="deg"/>
</message>
<message name="XTEND_RSSI" id="70">
<field name="datalink_time" type="uint16" unit="s"/>
<field name="rssi_fade_margin" type="uint8" unit="dB"/>
<field name="duty" type="uint8" unit="%"/>
</message>
<message name="GVF" id="71">
<description>
Information about the trajectory followed by the Guidance Vector Field algorithm.
</description>
<field name="error" type="float">Error index e, i.e. 'distance' to the trajectory</field>
<field name="traj" type="uint8">Kind of trajectory</field>
<field name="s" type="int8" values="1|-1">Direction to be followed</field>
<field name="ke" type="float">Gain for the vector field convergence</field>
<field name="p" type="float[]">Parameters describing the trajectory</field>
</message>
<message name="SUPERBITRF" id="72">
<field name="status" type="uint8" values="UNINIT|INIT_BINDING|INIT_TRANSFER|BINDING|SYNCING_A|SYNCING_B|TRANSFER"/>
<field name="cyrf_status" type="uint8" values="UNINIT|IDLE|GET_MFG_ID|MULTIWRITE|DATA_CODE|CHAN_SOP_DATA_CRC|RX_IRQ_STATUS_PACKET|SEND"/>
<field name="irq_count" type="uint32"/>
<field name="rx_packet_count" type="uint32"/>
<field name="tx_packet_count" type="uint32"/>
<field name="transfer_timeouts" type="uint32"/>
<field name="resync_count" type="uint32"/>
<field name="uplink_count" type="uint32"/>
<field name="rc_count" type="uint32"/>
<field name="timing1" type="uint32"/>
<field name="timing2" type="uint32"/>
<field name="bind_mfg_id" type="uint32"/>
<field name="mfg_id" type="uint8[]"/>
</message>
<message name="GX3_INFO" id="73">
<field name="GX3_freq" type="float" unit="hz"/>
<field name="chksm_error" type="uint32"/>
<field name="hdr_error" type="uint32"/>
<field name="GX3_chksm" type="uint16"/>
</message>
<message name="INV_FILTER" id="78">
<field name="quat" type="float"/>
<field name="phi_inv" type="float" unit="rad" alt_unit="deg"/>
<field name="theta_inv" type="float" unit="rad" alt_unit="deg"/>
<field name="psi_inv" type="float" unit="rad" alt_unit="deg"/>
<field name="Vx_inv" type="float" unit="m/s"/>
<field name="Vy_inv" type="float" unit="m/s"/>
<field name="Vz_inv" type="float" unit="m/s"/>
<field name="Px_inv" type="float" unit="m"/>
<field name="Py_inv" type="float" unit="m"/>
<field name="Pz_inv" type="float" unit="m"/>
<field name="bias_phi" type="float" unit="rad/s" alt_unit="deg/s"/>
<field name="bias_theta" type="float" unit="rad/s" alt_unit="deg/s"/>
<field name="bias_psi" type="float" unit="rad/s" alt_unit="deg/s"/>
<field name="bias_as" type="float"/>
<field name="bias_hb" type="float"/>
<field name="meas_baro" type="float" unit="m"/>
<field name="meas_gps" type="float" unit="m"/>
</message>
<message name="MISSION_STATUS" id="79">
<field name="remaining_time" type="float"/>
<field name="index_list" type="uint8[]"/>
</message>
<message name="GENERIC_COM" id="81">
<field name="lat" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="lon" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="alt" type="int16" unit="m"/>
<field name="gspeed" type="uint16" unit="cm/s" alt_unit="m/s"/>
<field name="course" type="int16" unit="decideg" alt_unit="deg"/>
<field name="airspeed" type="uint16" unit="cm/s" alt_unit="m/s"/>
<field name="vsupply" type="uint8" unit="decivolt"/>
<field name="energy" type="uint8" unit="deciAh"/>
<field name="throttle" type="uint8" unit="%"/>
<field name="ap_mode" type="uint8"/>
<field name="nav_block" type="uint8"/>
<field name="flight_time" type="uint16" unit="s"/>
</message>
<message name="FORMATION_SLOT_TM" id="82">
<field name="ac_id" type="uint8"/>
<field name="mode" type="uint8"/>
<field name="slot_east" format="%.1f" type="float" unit="m"/>
<field name="slot_north" format="%.1f" type="float" unit="m"/>
<field name="slot_alt" format="%.1f" type="float" unit="m"/>
</message>
<message name="FORMATION_STATUS_TM" id="83">
<field name="ac_id" type="uint8"/>
<field name="leader_id" type="uint8"/>
<field name="status" type="uint8"/>
</message>
<message name="BMP_STATUS" id="84">
<field name="UP" type="int32"/>
<field name="UT" type="int32"/>
<field name="press" type="int32" unit="Pa"/>
<field name="temp" type="int32" unit="10x_deg_celsius"/>
</message>
<message name="MLX_STATUS" id="85">
<field name="itemp_case" type="uint16"/>
<field name="temp_case" type="float" unit="deg_celsius" format="%.2f"/>
<field name="itemp_obj" type="uint16"/>
<field name="temp_obj" type="float" unit="deg_celsius" format="%.2f"/>
</message>
<message name="TMP_STATUS" id="86">
<field name="itemp" type="uint16"/>
<field name="temp" type="float" unit="deg_celsius" format="%.2f"/>
</message>
<message name="WIND_INFO_RET" id="87">
<description>
Wind information returned to the ground station.
The wind is reported as a vector, it gives the direction the wind is blowing to.
This can be used to acknowledge data comming from the ground wind estimator
or from an embedded algorithm.
Flags field definition:
- bit 0: horizontal wind is valid (east and north fields)
- bit 1: vertical wind is valid (up field)
- bit 2: airspeed is valid
</description>
<field name="flags" type="uint8">bit 0: horizontal wind, bit 1: vertical wind: bit 2: airspeed</field>
<field name="east" type="float" unit="m/s">east component of the wind</field>
<field name="north" type="float" unit="m/s">north component of the wind</field>
<field name="up" type="float" unit="m/s">vertical component of the wind</field>
<field name="airspeed" type="float" unit="m/s">local airspeed norm</field>
</message>
<message name="SCP_STATUS" id="88">
<field name="press" type="uint32" unit="Pa"/>
<field name="temp" type="int16" unit="100x_deg_celsius"/>
</message>
<message name="SHT_STATUS" id="89">
<field name="ihumid" type="uint16"/>
<field name="itemp" type="uint16"/>
<field name="humid" type="float" unit="rel_hum" format="%.2f"/>
<field name="temp" type="float" unit="deg_celsius" format="%.2f"/>
</message>
<message name="ENOSE_STATUS" id="90">
<field name="val1" type="uint16"/>
<field name="val2" type="uint16"/>
<field name="val3" type="uint16"/>
<field name="PID" type="uint16"/>
<field name="heat" type="uint8[]"/>
</message>
<message name="DPICCO_STATUS" id="91">
<field name="humid" type="uint16"/>
<field name="temp" type="uint16"/>
<field name="fhumid" type="float" unit="rel_hum" format="%.2f"/>
<field name="ftemp" type="float" unit="deg_celsius" format="%.2f"/>
</message>
<message name="LOGGER_STATUS" id="92">
<description>
Logger status and error id (dependent of the logging system)
</description>
<field name="status" type="uint8" values="STOPPED|RUNNING|ERROR">General status of the logger</field>
<field name="errno" type="uint8">Error number, depend of the logging system, provides detailed information</field>
<field name="used" type="uint32" unit="bytes">Accumulated number of bytes written by the logger</field>
</message>
<message name="MOTOR_BENCH_STATUS" id="94">
<field name="time_ticks" type="uint32"/>
<field name="throttle" type="float" format="%.3f"/>
<field name="rpm" type="float"/>
<field name="current" type="float"/>
<field name="thrust" type="float"/>
<field name="torque" type="float"/>
<field name="time_s" type="uint16"/>
<field name="mode" type="uint8"/>
</message>
<message name="HIH_STATUS" id="96">
<field name="humid" type="uint16"/>
<field name="fhumid" type="float" unit="rel_hum" format="%.2f"/>
<field name="ftemp" type="float" unit="deg_celsius" format="%.2f"/>
</message>
<message name="TEMT_STATUS" id="97">
<field name="light" type="uint16"/>
<field name="f_light" type="float" unit="percent" format="%.2f"/>
</message>
<message name="GP2Y_STATUS" id="98">
<field name="idensity" type="uint16"/>
<field name="density" type="float" unit="mg/m3" format="%.2f"/>
</message>
<message name="SHT_I2C_SERIAL" id="99">
<field name="serial0" type="uint32"/>
<field name="serial1" type="uint32"/>
</message>
<message name="PPM" id="100">
<field name="ppm_rate" type="uint8"/>
<field name="values" type="uint16[]" unit="usec"/>
</message>
<message name="RC" id="101">
<field name="values" type="int16[]" unit="pprz" format="%d"/>
</message>
<message name="COMMANDS" id="102">
<field name="values" type="int16[]" unit="ticks"/>
</message>
<message name="FBW_STATUS" id="103">
<field name="rc_status" type="uint8" values="OK|LOST|REALLY_LOST"/>
<field name="frame_rate" type="uint8" unit="Hz"/>
<field name="mode" type="uint8" values="MANUAL|AUTO|FAILSAFE"/>
<field name="vsupply" type="uint16" unit="decivolt"/>
<field name="current" type="int32" unit="mA"/>
</message>
<message name="ADC" id="104">
<field name="mcu" type="uint8" values="FBW|AP"/>
<field name="values" type="uint16[]" unit="none"/>
</message>
<message name="ACTUATORS" id="105">
<field name="values" type="int16[]" unit="none"/>
</message>
<message name="BLUEGIGA" id="106">
<field name="data_rate" type="uint32" unit="bytes/s"/>
<field name="A2A_msg_rate" type="uint32"/>
</message>
<message name="THROTTLE_CURVE" id="107">
<field name="curve" type="uint8"/>
<field name="throttle" type="uint16"/>
<field name="collective" type="int16"/>
<field name="rpm_sp" type="uint16"/>
<field name="rpm_meas" type="uint16"/>
<field name="rpm_err_sum" type="float"/>
</message>
<message name="PIKSI_HEARTBEAT" id="108">
<field name="heartbeat" type="uint32"/>
</message>
<message name="MULTIGAZE_METERS" id="109">
<field name="multigaze_meters" type="float[]"/>
</message>
<message name="DC_SHOT" id="110">
<field name="photo_nr" type="int16"/>
<field name="lat" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001">Gedetic latitude</field>
<field name="lon" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001">Longitude</field>
<field name="alt" type="int32" unit="mm" alt_unit="m">altitude above WGS84 reference ellipsoid</field>
<field name="hmsl" type="int32" unit="mm" alt_unit="m">Height above Mean Sea Level (geoid)</field>
<field name="phi" type="int16" unit="decideg">Euler angle around x-axis (roll)</field>
<field name="theta" type="int16" unit="decideg">Euler angle around y-axis (pitch)</field>
<field name="psi" type="int16" unit="decideg">Euler angle around z-axis (yaw)</field>
<field name="course" type="int16" unit="decideg">Course over ground (CW/north)</field>
<field name="speed" type="uint16" unit="cm/s">horizontal ground speed</field>
<field name="itow" type="uint32" unit="ms">GPS time of week</field>
</message>
<message name="CAMERA_PAYLOAD" id="111">
<field name="timestamp" type="float" unit="s">Payload computer seconds since startup</field>
<field name="used_memory" type="uint8" unit="%">Percentage of used memory (RAM) of the payload computer rounded up to whole percent</field>
<field name="used_disk" type="uint8" unit="%">Percentage of used disk of the payload computer rounded up to whole percent</field>
<field name="door_status" type="uint8" values="UNKNOWN|CLOSE|OPEN">Payload door open/close</field>
<field name="error_code" type="uint8" values="NONE|CAMERA_ERR|DOOR_ERR">Error codes of the payload</field>
</message>
<message name="MOTOR_MIXING" id="112">
<field name="values" type="int16[]" unit="none"/>
</message>
<message name="MLX_SERIAL" id="113">
<field name="serial0" type="uint32"/>
<field name="serial1" type="uint32"/>
</message>
<message name="PAYLOAD" id="114">
<field name="values" type="uint8[]" unit="none"/>
</message>
<message name="HTM_STATUS" id="115">
<field name="ihumid" type="uint16"/>
<field name="itemp" type="uint16"/>
<field name="humid" type="float" unit="rel_hum" format="%.2f"/>
<field name="temp" type="float" unit="deg_celsius" format="%.2f"/>
</message>
<message name="BARO_MS5611" id="116">
<field name="d1" type="uint32"/>
<field name="d2" type="uint32"/>
<field name="pressure" type="float" unit="hPa" format="%.2f"/>
<field name="temp" type="float" unit="deg_celsius" format="%.2f"/>
</message>
<message name="MS5611_COEFF" id="117">
<field name="c0" type="uint16"/>
<field name="c1" type="uint16"/>
<field name="c2" type="uint16"/>
<field name="c3" type="uint16"/>
<field name="c4" type="uint16"/>
<field name="c5" type="uint16"/>
<field name="c6" type="uint16"/>
<field name="c7" type="uint16"/>
</message>
<message name="ATMOSPHERE_CHARGE" id="118">
<field name="t0" type="uint16"/>
<field name="t1" type="uint16"/>
<field name="t2" type="uint16"/>
<field name="t3" type="uint16"/>
<field name="t4" type="uint16"/>
<field name="t5" type="uint16"/>
<field name="t6" type="uint16"/>
<field name="t7" type="uint16"/>
<field name="t8" type="uint16"/>
<field name="t9" type="uint16"/>
</message>
<message name="SOLAR_RADIATION" id="119">
<field name="up_t0" type="uint16"/>
<field name="dn_t0" type="uint16"/>
<field name="up_t1" type="uint16"/>
<field name="dn_t1" type="uint16"/>
<field name="up_t2" type="uint16"/>
<field name="dn_t2" type="uint16"/>
<field name="up_t3" type="uint16"/>
<field name="dn_t3" type="uint16"/>
<field name="up_t4" type="uint16"/>
<field name="dn_t4" type="uint16"/>
<field name="up_t5" type="uint16"/>
<field name="dn_t5" type="uint16"/>
<field name="up_t6" type="uint16"/>
<field name="dn_t6" type="uint16"/>
<field name="up_t7" type="uint16"/>
<field name="dn_t7" type="uint16"/>
<field name="up_t8" type="uint16"/>
<field name="dn_t8" type="uint16"/>
<field name="up_t9" type="uint16"/>
<field name="dn_t9" type="uint16"/>
</message>
<message name="TCAS_TA" id="120">
<field name="ac_id" type="uint8"/>
</message>
<message name="TCAS_RA" id="121">
<field name="ac_id" type="uint8"/>
<field name="resolve" type="uint8" values="NONE|LEVEL|CLIMB|DESCEND"/>
</message>
<message name="TCAS_RESOLVED" id="122">
<field name="ac_id" type="uint8"/>
</message>
<message name="TCAS_DEBUG" id="123">
<field name="ac_id" type="uint8"/>
<field name="tau" type="float"/>
</message>
<message name="POTENTIAL" id="124">
<field name="east" type="float"/>
<field name="north" type="float"/>
<field name="alt" type="float"/>
<field name="speed" type="float"/>
<field name="climb" type="float"/>
</message>
<message name="COPILOT_STATUS" id="125">
<field name="timestamp" type="float" unit="s">Mission computer seconds since startup</field>
<field name="used_memory" type="uint8" unit="%">Percentage of used memory (RAM) of the mission computer rounded up to whole percent</field>
<field name="used_disk" type="uint8" unit="%">Percentage of used disk of the mission computer rounded up to whole percent</field>
<field name="status" type="uint8" values="UNKNOWN|INIT|LOGGING|FAULT">Mission computer status</field>
<field name="error_code" type="uint8" values="NONE|IO_ERROR">Error codes of the mission computer</field>
</message>
<message name="TEMP_TCOUPLE" id="126">
<field name="fval0" type="float"/>
<field name="fval1" type="float"/>
<field name="fval2" type="float"/>
<field name="fval3" type="float"/>
<field name="fref0" type="float"/>
<field name="fref1" type="float"/>
<field name="fref2" type="float"/>
<field name="fref3" type="float"/>
<field name="val0" type="uint16"/>
<field name="val1" type="uint16"/>
<field name="val2" type="uint16"/>
<field name="val3" type="uint16"/>
<field name="ref0" type="uint16"/>
<field name="ref1" type="uint16"/>
<field name="ref2" type="uint16"/>
<field name="ref3" type="uint16"/>
</message>
<message name="SHT_I2C_STATUS" id="127">
<field name="ihumid" type="uint16"/>
<field name="itemp" type="uint16"/>
<field name="humid" type="float" unit="rel_hum" format="%.2f"/>
<field name="temp" type="float" unit="deg_celsius" format="%.2f"/>
</message>
<message name="CAMERA_SNAPSHOT" id="128">
<field name="camera_id" type="uint16">Unique camera ID - consists of make,model and camera index</field>
<field name="camera_state" type="uint8" values="UNKNOWN|OK|ERROR">State of the given camera</field>
<field name="snapshot_image_number" type="uint16">Snapshot number in sequence</field>
<field name="snapshot_valid" type="uint8" unit="bool">Flag checking whether the last snapshot was valid</field>
<field name="lens_temp" type="float" unit="deg_celsius" format="%.2f">Lens temperature, NaN if not measured</field>
<field name="array_temp" type="float" unit="deg_celsius" format="%.2f">Imager sensor temperature, NaN if not measured</field>
</message>
<message name="TIMESTAMP" id="129">
<field name="timestamp" type="uint32"/>
</message>
<message name="STAB_ATTITUDE_FLOAT" id="130">
<field name="est_p" type="float" alt_unit="deg/s" alt_unit_coef="57.29578"/>
<field name="est_q" type="float" alt_unit="deg/s" alt_unit_coef="57.29578"/>
<field name="est_r" type="float" alt_unit="deg/s" alt_unit_coef="57.29578"/>
<field name="est_phi" type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="est_theta" type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="est_psi" type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="ref_phi" type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="ref_theta" type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="ref_psi" type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="sum_err_phi" type="float"/>
<field name="sum_err_theta" type="float"/>
<field name="sum_err_psi" type="float"/>
<field name="delta_a_fb" type="float" alt_unit="motor" alt_unit_coef="0.0000153"/>
<field name="delta_e_fb" type="float" alt_unit="motor" alt_unit_coef="0.0000153"/>
<field name="delta_r_fb" type="float" alt_unit="motor" alt_unit_coef="0.0000153"/>
<field name="delta_a_ff" type="float" alt_unit="motor" alt_unit_coef="0.0000153"/>
<field name="delta_e_ff" type="float" alt_unit="motor" alt_unit_coef="0.0000153"/>
<field name="delta_r_ff" type="float" alt_unit="motor" alt_unit_coef="0.0000153"/>
<field name="delta_a" type="int32"/>
<field name="delta_e" type="int32"/>
<field name="delta_r" type="int32"/>
<field name="est_p_d" type="float" alt_unit="deg/s^2" alt_unit_coef="57.29578"/>
<field name="est_q_d" type="float" alt_unit="deg/s^2" alt_unit_coef="57.29578"/>
<field name="est_r_d" type="float" alt_unit="deg/s^2" alt_unit_coef="57.29578"/>
</message>
<message name="IMU_GYRO_SCALED" id="131">
<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_SCALED" id="132">
<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_SCALED" id="133">
<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="FILTER" id="134">
<field name="phi" type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
<field name="theta" type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
<field name="psi" type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
<field name="measure_phi" type="int32" alt_unit="deg" alt_unit_coef="0.0000273"/>
<field name="measure_theta" type="int32" alt_unit="deg" alt_unit_coef="0.0000273"/>
<field name="measure_psi" type="int32" alt_unit="deg" alt_unit_coef="0.0000273"/>
<field name="corrected_phi" type="int32" alt_unit="deg" alt_unit_coef="0.0000273"/>
<field name="corrected_theta" type="int32" alt_unit="deg" alt_unit_coef="0.0000273"/>
<field name="corrected_psi" type="int32" alt_unit="deg" alt_unit_coef="0.0000273"/>
<field name="correction_phi" type="int32"/>
<field name="correction_theta" type="int32"/>
<field name="correction_psi" type="int32"/>
<field name="bp" type="int32"/>
<field name="bq" type="int32"/>
<field name="br" type="int32"/>
<field name="comp_id" type="uint8" values="NONE|GENERIC|IR|ICQ|ICE|FC|DCM|FINV|MLKF|GX3|CHIMU|VN"/>
</message>
<message name="RATE_LOOP" id="136">
<description>Rotorcraft rate control loop.</description>
<field name="sp_p" type="float" unit="rad/s" alt_unit="deg/s">rate setpoint</field>
<field name="sp_q" type="float" unit="rad/s" alt_unit="deg/s">rate setpoint</field>
<field name="sp_r" type="float" unit="rad/s" alt_unit="deg/s">rate setpoint</field>
<field name="sumerr_p" type="float">integrated quaternion error</field>
<field name="sumerr_q" type="float">integrated quaternion error</field>
<field name="sumerr_r" type="float">integrated quaternion error</field>
<field name="fb_p" type="float">feedback command on pitch (pprz scale)</field>
<field name="fb_q" type="float">feedback command on roll (pprz scale)</field>
<field name="fb_r" type="float">feedback command on yaw (pprz scale)</field>
<field name="delta_t" type="int32">thrust command</field>
</message>
<message name="FILTER_ALIGNER" id="137">
<field name="lp_gp" type="int32" alt_unit="deg/s" alt_unit_coef="0.0139882"/>
<field name="lp_gq" type="int32" alt_unit="deg/s" alt_unit_coef="0.0139882"/>
<field name="lp_gr" type="int32" alt_unit="deg/s" alt_unit_coef="0.0139882"/>
<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"/>
<field name="noise" type="int32"/>
<field name="cnt" type="int32"/>
<field name="status" type="uint8" values="UNINIT|RUNNING|LOCKED"/>
</message>
<message name="AIRSPEED_MS45XX" id="138">
<field name="diffPress" type="float" unit="Pa"/>
<field name="temperature" type="int16" unit="0.1 deg_celcius" alt_unit="deg_celcius" alt_unit_coef="0.1"/>
<field name="airspeed" type="float" unit="m/s"/>
</message>
<message name="STAB_ATTITUDE_INT" id="140">
<field name="est_p" type="int32" alt_unit="deg/s" alt_unit_coef="0.0139882"/>
<field name="est_q" type="int32" alt_unit="deg/s" alt_unit_coef="0.0139882"/>
<field name="est_r" type="int32" alt_unit="deg/s" alt_unit_coef="0.0139882"/>
<field name="est_phi" type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
<field name="est_theta" type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
<field name="est_psi" type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
<field name="sp_phi" type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
<field name="sp_theta" type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
<field name="sp_psi" type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
<field name="sum_err_phi" type="int32"/>
<field name="sum_err_theta" type="int32"/>
<field name="sum_err_psi" type="int32"/>
<field name="delta_a_fb" type="int32" alt_unit_coef="0.0000153"/>
<field name="delta_e_fb" type="int32" alt_unit_coef="0.0000153"/>
<field name="delta_r_fb" type="int32" alt_unit_coef="0.0000153"/>
<field name="delta_a_ff" type="int32" alt_unit_coef="0.0000153"/>
<field name="delta_e_ff" type="int32" alt_unit_coef="0.0000153"/>
<field name="delta_r_ff" type="int32" alt_unit_coef="0.0000153"/>
<field name="delta_a" type="int32"/>
<field name="delta_e" type="int32"/>
<field name="delta_r" type="int32"/>
</message>
<message name="STAB_ATTITUDE_REF_INT" id="141">
<field name="sp_phi" type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
<field name="sp_theta" type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
<field name="sp_psi" type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
<field name="ref_phi" type="int32" alt_unit="deg" alt_unit_coef="0.0000546"/>
<field name="ref_theta" type="int32" alt_unit="deg" alt_unit_coef="0.0000546"/>
<field name="ref_psi" type="int32" alt_unit="deg" alt_unit_coef="0.0000546"/>
<field name="ref_p" type="int32" alt_unit="deg/s" alt_unit_coef="0.0008743"/>
<field name="ref_q" type="int32" alt_unit="deg/s" alt_unit_coef="0.0008743"/>
<field name="ref_r" type="int32" alt_unit="deg/s" alt_unit_coef="0.0008743"/>
<field name="ref_pd" type="int32" alt_unit="deg/s2" alt_unit_coef="0.0139882"/>
<field name="ref_qd" type="int32" alt_unit="deg/s2" alt_unit_coef="0.0139882"/>
<field name="ref_rd" type="int32" alt_unit="deg/s2" alt_unit_coef="0.0139882"/>
</message>
<message name="STAB_ATTITUDE_REF_FLOAT" id="142">
<field name="sp_phi" type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="sp_theta" type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="sp_psi" type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="ref_phi" type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="ref_theta" type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="ref_psi" type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="ref_p" type="float" alt_unit="deg/s" alt_unit_coef="57.29578"/>
<field name="ref_q" type="float" alt_unit="deg/s" alt_unit_coef="57.29578"/>
<field name="ref_r" type="float" alt_unit="deg/s" alt_unit_coef="57.29578"/>
<field name="ref_pd" type="float" alt_unit="deg/s2" alt_unit_coef="57.29578"/>
<field name="ref_qd" type="float" alt_unit="deg/s2" alt_unit_coef="57.29578"/>
<field name="ref_rd" type="float" alt_unit="deg/s2" alt_unit_coef="57.29578"/>
</message>
<message name="ROTORCRAFT_CMD" id="143">
<field name="cmd_roll" type="int32"/>
<field name="cmd_pitch" type="int32"/>
<field name="cmd_yaw" type="int32"/>
<field name="cmd_thrust" type="int32"/>
</message>
<message name="GUIDANCE_H_INT" id="144">
<field name="sp_x" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="sp_y" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="ref_x" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="ref_y" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="est_x" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="est_y" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
</message>
<message name="VERT_LOOP" id="145">
<field name="z_sp" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="zd_sp" type="int32" alt_unit="m" alt_unit_coef="0.0000019"/>
<field name="est_z" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="est_zd" type="int32" alt_unit="m/s" alt_unit_coef="0.0000019"/>
<field name="est_zdd" type="int32" alt_unit="m/s2" alt_unit_coef="0.0009766"/>
<field name="ref_z" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="ref_zd" type="int32" alt_unit="m/s" alt_unit_coef="0.0000019"/>
<field name="ref_zdd" type="int32" alt_unit="m/s2" alt_unit_coef="0.0009766"/>
<field name="adp_inv_m" type="int32" alt_unit="foo" alt_unit_coef="0.0000000596"/>
<field name="adp_cov" type="int32" alt_unit="foo" alt_unit_coef="0.0000000596"/>
<field name="adp_meas" type="int32" alt_unit="foo" alt_unit_coef="0.0000000596"/>
<field name="sum_err" type="int32" />
<field name="ff_cmd" type="int32"/>
<field name="fb_cmd" type="int32"/>
<field name="delta_t" type="int32"/>
</message>
<message name="HOVER_LOOP" id="146">
<field name="sp_x" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="sp_y" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="est_x" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="est_y" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="est_xd" type="int32" alt_unit="m/s" alt_unit_coef="0.0000019"/>
<field name="est_yd" type="int32" alt_unit="m/s" alt_unit_coef="0.0000019"/>
<field name="est_xdd" type="int32" alt_unit="m/s2" alt_unit_coef="0.0009765"/>
<field name="est_ydd" type="int32" alt_unit="m/s2" alt_unit_coef="0.0009765"/>
<field name="err_x" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="err_y" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="err_xd" type="int32" alt_unit="m/s" alt_unit_coef="0.0000019"/>
<field name="err_yd" type="int32" alt_unit="m/s" alt_unit_coef="0.0000019"/>
<field name="err_sum_x" type="int32"/>
<field name="err_sum_y" type="int32"/>
<field name="cmd_x" type="int32"/>
<field name="cmd_y" type="int32"/>
<field name="cmd_heading" type="float" unit="rad" alt_unit="deg"/>
</message>
<message name="ROTORCRAFT_FP" id="147">
<field name="east" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="north" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="up" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="veast" type="int32" alt_unit="m/s" alt_unit_coef="0.0000019"/>
<field name="vnorth" type="int32" alt_unit="m/s" alt_unit_coef="0.0000019"/>
<field name="vup" type="int32" alt_unit="m/s" alt_unit_coef="0.0000019"/>
<field name="phi" type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
<field name="theta" type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
<field name="psi" type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
<field name="carrot_east" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="carrot_north" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="carrot_up" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="carrot_psi" type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
<field name="thrust" type="int32"/>
<field name="flight_time" type="uint16" unit="s"/>
</message>
<message name="TEMP_ADC" id="148">
<field name="temp1" type="float" unit="deg_celsius" format="%.2f"/>
<field name="temp2" type="float" unit="deg_celsius" format="%.2f"/>
<field name="temp3" type="float" unit="deg_celsius" format="%.2f"/>
</message>
<message name="GUIDANCE_H_REF_INT" id="149">
<field name="sp_x" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="ref_x" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="sp_xd" type="int32" alt_unit="m/s" alt_unit_coef="0.0000019"/>
<field name="ref_xd" type="int32" alt_unit="m/s" alt_unit_coef="0.0000019"/>
<field name="ref_xdd" type="int32" alt_unit="m/s2" alt_unit_coef="0.0009766"/>
<field name="sp_y" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="ref_y" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="sp_yd" type="int32" alt_unit="m/s" alt_unit_coef="0.0000019"/>
<field name="ref_yd" type="int32" alt_unit="m/s" alt_unit_coef="0.0000019"/>
<field name="ref_ydd" type="int32" alt_unit="m/s2" alt_unit_coef="0.0009766"/>
</message>
<message name="ROTORCRAFT_TUNE_HOVER" id="150">
<field name="rc_roll" type="int16"/>
<field name="rc_pitch" type="int16"/>
<field name="rc_yaw" type="int16"/>
<field name="cmd_roll" type="int32"/>
<field name="cmd_pitch" type="int32"/>
<field name="cmd_yaw" type="int32"/>
<field name="cmd_thrust" type="int32"/>
<field name="body_phi" type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
<field name="body_theta" type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
<field name="body_psi" type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
</message>
<message name="INS_Z" id="151">
<field name="baro_z" type="float" unit="m"/>
<field name="ins_z" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="ins_zd" type="int32" alt_unit="m/s" alt_unit_coef="0.0000019"/>
<field name="ins_zdd" type="int32" alt_unit="m/s2" alt_unit_coef="0.0009766"/>
</message>
<message name="PCAP01_STATUS" id="152">
<field name="ihumid" type="uint32"/>
<field name="itemp" type="uint32"/>
<field name="humid" type="float" unit="rel_hum" format="%.2f"/>
<field name="temp" type="float" unit="deg_celsius" format="%.2f"/>
</message>
<message name="GEIGER_COUNTER" id="153">
<field name="tube1" type="uint32" unit="events"/>
<field name="tube2" type="uint32" unit="events"/>
<field name="vsupply" type="uint16" unit="volts"/>
</message>
<message name="INS_REF" id="154">
<field name="ecef_x0" type="int32" alt_unit="m" alt_unit_coef="0.01"/>
<field name="ecef_y0" type="int32" alt_unit="m" alt_unit_coef="0.01"/>
<field name="ecef_z0" type="int32" alt_unit="m" alt_unit_coef="0.01"/>
<field name="lat0" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="lon0" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="alt0" type="int32" alt_unit="m" alt_unit_coef="0.001"/>
<field name="hmsl0" type="int32" alt_unit="m" alt_unit_coef="0.001"/>
<field name="baro_qfe" type="float" unit="pascal"/>
</message>
<message name="GPS_INT" id="155">
<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" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="lon" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="alt" type="int32" unit="mm" alt_unit="m">altitude above WGS84 reference ellipsoid</field>
<field name="hmsl" type="int32" unit="mm" alt_unit="m">height above mean sea level (geoid)</field>
<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="uint32" unit="cm" alt_unit="m"/>
<field name="sacc" type="uint32" 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|NA|2D|3D|DGPS|RTK"/>
<field name="comp_id" type="uint8" values="NONE|UBX|NMEA|SIRF|SKYTRAQ|MTK|PIKSI|XSENS|DATALINK|UDP|ARDRONE2|SIM|MULTI|VECTORNAV|IMCU"/>
</message>
<message name="AHRS_EULER_INT" id="156">
<field name="imu_phi" type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
<field name="imu_theta" type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
<field name="imu_psi" type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
<field name="body_phi" type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
<field name="body_theta" type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
<field name="body_psi" type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
<field name="comp_id" type="uint8" values="NONE|GENERIC|IR|ICQ|ICE|FC|DCM|FINV|MLKF|GX3|CHIMU|VN"/>
</message>
<message name="AHRS_QUAT_INT" id="157">
<field name="weight" type="float"/>
<field name="imu_qi" type="int32" alt_unit="" alt_unit_coef="0.0000305"/>
<field name="imu_qx" type="int32" alt_unit="" alt_unit_coef="0.0000305"/>
<field name="imu_qy" type="int32" alt_unit="" alt_unit_coef="0.0000305"/>
<field name="imu_qz" type="int32" alt_unit="" alt_unit_coef="0.0000305"/>
<field name="body_qi" type="int32" alt_unit="" alt_unit_coef="0.0000305"/>
<field name="body_qx" type="int32" alt_unit="" alt_unit_coef="0.0000305"/>
<field name="body_qy" type="int32" alt_unit="" alt_unit_coef="0.0000305"/>
<field name="body_qz" type="int32" alt_unit="" alt_unit_coef="0.0000305"/>
<field name="comp_id" type="uint8" values="NONE|GENERIC|IR|ICQ|ICE|FC|DCM|FINV|MLKF|GX3|CHIMU|VN"/>
</message>
<message name="ROTORCRAFT_NAV_STATUS" id="159">
<field name="block_time" type="uint16" unit="s"/>
<field name="stage_time" type="uint16" unit="s"/>
<field name="dist_home" type="float" format="%.1f" unit="m"/>
<field name="dist_wp" type="float" format="%.1f" unit="m"/>
<field name="cur_block" type="uint8"/>
<field name="cur_stage" type="uint8"/>
<field name="horizontal_mode" type="uint8"/>
</message>
<message name="ROTORCRAFT_RADIO_CONTROL" id="160">
<field name="roll" type="int16" unit="pprz"/>
<field name="pitch" type="int16" unit="pprz"/>
<field name="yaw" type="int16" unit="pprz"/>
<field name="throttle" type="int16" unit="pprz"/>
<field name="mode" type="int16" unit="pprz"/>
<field name="kill" type="int16" unit="pprz"/>
<field name="status" type="uint8" values="OK|LOST|REALLY_LOST"/>
</message>
<message name="VFF_EXTENDED" id="161">
<field name="meas_baro" type="float"/>
<field name="meas_alt" type="float"/>
<field name="z" type="float"/>
<field name="zd" type="float"/>
<field name="zdd" type="float"/>
<field name="bias" type="float"/>
<field name="offset" type="float"/>
</message>
<message name="VFF" id="162">
<field name="measure" type="float"/>
<field name="z" type="float"/>
<field name="zd" type="float"/>
<field name="bias" type="float"/>
<field name="Pzz" type="float"/>
<field name="Pzdzd" type="float"/>
<field name="Pbb" type="float"/>
</message>
<message name="GEO_MAG" id="163">
<field name="Hx" type="float"/>
<field name="Hy" type="float"/>
<field name="Hz" type="float"/>
<field name="comp_id" type="uint8" values="NONE|GENERIC|GEOM|ICQ|ICE|FC|DCM|FINV|MLKF|GX3"/>
</message>
<message name="HFF" id="164">
<field name="x" type="float"/>
<field name="y" type="float"/>
<field name="xd" type="float"/>
<field name="yd" type="float"/>
<field name="xdd" type="float"/>
<field name="ydd" type="float"/>
</message>
<message name="HFF_DBG" id="165">
<field name="x_measure" type="float"/>
<field name="y_measure" type="float"/>
<field name="xd_measure" type="float"/>
<field name="yd_measure" type="float"/>
<field name="Pxx" type="float"/>
<field name="Pyy" type="float"/>
<field name="Pxdxd" type="float"/>
<field name="Pydyd" type="float"/>
</message>
<message name="HFF_GPS" id="166">
<field name="lag_cnt" type="uint16"/>
<field name="lag_cnt_err" type="int16"/>
<field name="save_cnt" type="int16"/>
</message>
<message name="ROTORCRAFT_CAM" id="168">
<field name="tilt" type="int16" unit="2^12rad" alt_unit="deg" alt_unit_coef="0.0139882"/>
<field name="pan" type="int16" unit="2^12rad" alt_unit="deg" alt_unit_coef="0.0139882"/>
</message>
<message name="AHRS_REF_QUAT" id="169">
<field name="ref_qi" type="int32"/>
<field name="ref_qx" type="int32"/>
<field name="ref_qy" type="int32"/>
<field name="ref_qz" type="int32"/>
<field name="body_qi" type="int32"/>
<field name="body_qx" type="int32"/>
<field name="body_qy" type="int32"/>
<field name="body_qz" type="int32"/>
</message>
<message name="AHRS_EULER" id="173">
<field name="phi" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.29578" />
<field name="theta" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.29578" />
<field name="psi" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.29578" />
<field name="comp_id" type="uint8" values="NONE|GENERIC|IR|ICQ|ICE|FC|DCM|FINV|MLKF|GX3|CHIMU|VN"/>
</message>
<message name="AHRS_MEASUREMENT_EULER" id="174">
<field name="phi" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.29578" />
<field name="theta" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.29578" />
<field name="psi" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.29578" />
</message>
<message name="WT" id="175">
<field name="rpm" type="float"/>
</message>
<message name="CSC_CAN_DEBUG" id="176">
<field name="err_nb" type="uint32"/>
<field name="err_code" type="uint32"/>
</message>
<message name="CSC_CAN_MSG" id="177">
<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="AHRS_GYRO_BIAS_INT" id="178">
<field name="bp" type="int32" alt_unit="deg/s" alt_unit_coef="0.0139882"/>
<field name="bq" type="int32" alt_unit="deg/s" alt_unit_coef="0.0139882"/>
<field name="br" type="int32" alt_unit="deg/s" alt_unit_coef="0.0139882"/>
<field name="comp_id" type="uint8" values="NONE|GENERIC|IR|ICQ|ICE|FC|DCM|FINV|MLKF|GX3|CHIMU|VN"/>
</message>
<message name="AEROPROBE" id="179">
<description>
Airflow data returned by OTF and uADC 3D probes from Aeroprobe.
</description>
<field name="counter" type="uint32"/>
<field name="velocity" type="int16" unit="cm/s" alt_unit="m/s"/>
<field name="a_attack" type="int16" unit="centideg" alt_unit="deg"/>
<field name="a_sideslip" type="int16" unit="centideg" alt_unit="deg"/>
<field name="altitude" type="int32" unit="cm" alt_unit="m"/>
<field name="dynamic_p" type="int32" unit="Pa"/>
<field name="static_p" type="int32" unit="Pa"/>
<field name="checksum" type="uint8"/>
</message>
<message name="FMS_TIME" id="180">
<field name="tv_sec" type="uint32"/>
<field name="tv_nsec" type="uint32"/>
<field name="delay_ns" type="uint32"/>
</message>
<message name="AHRS_LKF" id="193">
<field name="phi" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.29578" />
<field name="theta" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.29578" />
<field name="psi" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.29578" />
<field name="qi" type="float" />
<field name="qx" type="float" />
<field name="qy" type="float" />
<field name="qz" type="float" />
<field name="p" type="float" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578" />
<field name="q" type="float" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578" />
<field name="r" type="float" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578" />
<field name="ax" type="float" />
<field name="ay" type="float" />
<field name="az" type="float" />
<field name="mx" type="float" />
<field name="my" type="float" />
<field name="mz" type="float" />
</message>
<message name="NPS_SENSORS_SCALED" id="197">
<field name="acc_x" type="float" />
<field name="acc_y" type="float" />
<field name="acc_z" type="float" />
<field name="mag_x" type="float" />
<field name="mag_y" type="float" />
<field name="mag_z" type="float" />
</message>
<message name="INS" id="198">
<field name="ins_x" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="ins_y" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="ins_z" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="ins_xd" type="int32" alt_unit="m/s" alt_unit_coef="0.0000019"/>
<field name="ins_yd" type="int32" alt_unit="m/s" alt_unit_coef="0.0000019"/>
<field name="ins_zd" type="int32" alt_unit="m/s" alt_unit_coef="0.0000019"/>
<field name="ins_xdd" type="int32" alt_unit="m/s2" alt_unit_coef="0.0009766"/>
<field name="ins_ydd" type="int32" alt_unit="m/s2" alt_unit_coef="0.0009766"/>
<field name="ins_zdd" type="int32" alt_unit="m/s2" alt_unit_coef="0.0009766"/>
</message>
<message name="IMU_GYRO" id="200">
<field name="gp" type="float" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578"/>
<field name="gq" type="float" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578"/>
<field name="gr" type="float" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578"/>
</message>
<message name="IMU_MAG" id="201">
<field name="mx" type="float" />
<field name="my" type="float" />
<field name="mz" type="float" />
</message>
<message name="IMU_ACCEL" id="202">
<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="203">
<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="204">
<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="205">
<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="206">
<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_MAG_CURRENT_CALIBRATION" id="207">
<field name="mx" type="int32" unit="adc"/>
<field name="my" type="int32" unit="adc"/>
<field name="mz" type="int32" unit="adc"/>
<field name="electrical_current" type="int32" unit="mA"/>
</message>
<message name="UART_ERRORS" id="208">
<field name="overrun_cnt" type="uint16"/>
<field name="noise_err_cnt" type="uint16"/>
<field name="framing_err_cnt" type="uint16"/>
<field name="bus_number" type="uint8"/>
</message>
<message name="IMU_GYRO_LP" id="209">
<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="210">
<field name="p" type="float" unit="pascal"/>
</message>
<message name="TUNE_VERT" id="213">
<field name="z_sp" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="est_z" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="ref_z" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="ref_zd" type="int32" alt_unit="m/s" alt_unit_coef="0.0000019"/>
</message>
<message name="MF_DAQ_STATE" id="214">
<field name="flight_time" type="uint16" unit="s"/>
<field name="p" type="float"/>
<field name="q" type="float"/>
<field name="r" type="float"/>
<field name="phi" type="float"/>
<field name="theta" type="float"/>
<field name="psi" type="float"/>
<field name="ax" type="float"/>
<field name="ay" type="float"/>
<field name="az" type="float"/>
<field name="ve" type="float"/>
<field name="vn" type="float"/>
<field name="vu" type="float"/>
<field name="lat" type="float"/>
<field name="lon" type="float"/>
<field name="alt" type="float"/>
<field name="we" type="float"/>
<field name="wn" type="float"/>
</message>
<message name="INFO_MSG" id="215">
<field name="msg" type="char[]"/>
</message>
<message name="STAB_ATTITUDE_INDI" id="216">
<field name="angular_accel_p" type="float"/>
<field name="angular_accel_q" type="float"/>
<field name="angular_accel_r" type="float"/>
<field name="angular_accel_ref_p" type="float"/>
<field name="angular_accel_ref_q" type="float"/>
<field name="angular_accel_ref_r" type="float"/>
<field name="g1_p" type="float"/>
<field name="g1_q" type="float"/>
<field name="g1_r" type="float"/>
<field name="g2_r" type="float"/>
</message>
<message name="ROTORCRAFT_FP_MIN" id="217">
<description>Minimalistic message to track Rotorcraft over very low bandwidth links</description>
<field name="east" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="north" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="up" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="gspeed" type="uint16" unit="cm/s" alt_unit="m/s"/>
</message>
<message name="BEBOP_ACTUATORS" id="218">
<field name="cmd_thrust" type="int32"/>
<field name="cmd_roll" type="int32"/>
<field name="cmd_pitch" type="int32"/>
<field name="cmd_yaw" type="int32"/>
<field name="rpm_ref_lf" type="uint16" unit="rpm"/>
<field name="rpm_ref_rf" type="uint16" unit="rpm"/>
<field name="rpm_ref_rb" type="uint16" unit="rpm"/>
<field name="rpm_ref_lb" type="uint16" unit="rpm"/>
<field name="rpm_obs_lf" type="uint16" unit="rpm"/>
<field name="rpm_obs_rf" type="uint16" unit="rpm"/>
<field name="rpm_obs_rb" type="uint16" unit="rpm"/>
<field name="rpm_obs_lb" type="uint16" unit="rpm"/>
</message>
<message name="WEATHER" id="219">
<field name="p_amb" type="float" unit="Pa" alt_unit="mBar" alt_unit_coef="0.01"/>
<field name="t_amb" type="float" unit="deg C"/>
<field name="windspeed" type="float" unit="m/s"/>
<field name="wind_from" type="float" unit="deg"/>
<field name="humidity" type="float" unit="%"/>
</message>
<message name="IMU_TURNTABLE" id="220">
<field name="omega" type="float" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578"/>
</message>
<message name="BARO_RAW" id="221">
<field name="abs" type="float"/>
<field name="diff" type="float"/>
</message>
<message name="AIR_DATA" id="222">
<field name="pressure" type="float" unit="Pa">static pressure</field>
<field name="diff_p" type="float" unit="Pa">differential pressure</field>
<field name="temp" type="float" unit="deg celcius">air temperature</field>
<field name="qnh" type="float" unit="hPa">barometric pressure adjusted to sea level</field>
<field name="amsl_baro" type="float" unit="m">barometric altitude above mean sea level</field>
<field name="airspeed" type="float" unit="m/s">Equivalent Air Speed (or Calibrated Air Speed at low speed/altitude)</field>
<field name="tas" type="float">True Air Speed (when P, T and P_diff are available)</field>
</message>
<message name="AMSL" id="223">
<field name="AMSL_BARO" type="float" unit="ft" alt_unit="m"/>
<field name="AMSL_GPS" type="float" unit="ft" alt_unit="m"/>
</message>
<message name="DIVERGENCE" id="224">
<field name="divergence" type="float"> vertical velocity / height from optitrack (unit = 1/sec)</field>
<field name="divergence_vision" type="float"> vertical velocity / height from vision (unit = 1/sec)</field>
<field name="normalized_thrust" type="float"> thrust / max thrust paparazzi (-)</field>
<field name="cov_div" type="float"> covariance of divergence and thrust, or past divergence depending on the mode (-)</field>
<field name="pstate" type="float"> gain state in adaptive gain control: indicative of height (-) </field>
<field name="pused" type="float"> gain used for control, includes the effect of the p-gain of adaptive control (-) </field>
<field name="sonar" type="float"> measurement from the sonar (mm)</field>
</message>
<message name="VIDEO_SYNC" id="225">
<field name="id" type="uint8"/>
</message>
<message name="PERIODIC_TELEMETRY_ERR" id="226">
<field name="process" type="uint8"/>
<field name="mode" type="uint8"/>
<field name="id" type="uint8"/>
</message>
<message name="TIME" id="227">
<field name="t" type="uint32">an integral value representing the number of seconds elapsed since 00:00 hours, Jan 1, 1970 UTC</field>
</message>
<message name="OPTIC_FLOW_EST" id="228">
<field name="fps" type="float"/>
<field name="corner_cnt" type="uint16"/>
<field name="tracked_cnt" type="uint16"/>
<field name="flow_x" type="int16" unit="subpixels"/>
<field name="flow_y" type="int16" unit="subpixels"/>
<field name="flow_der_x" type="int16" unit="subpixels"/>
<field name="flow_der_y" type="int16" unit="subpixels"/>
<field name="vel_x" type="float" unit="m/s"/>
<field name="vel_y" type="float" unit="m/s"/>
<field name="div_size" type="float" unit="1/s"/>
<field name="surface_roughness" type="float" unit="1/s"/>
<field name="divergence" type="float" unit="1/s"/>
</message>
<message name="STEREO_IMG" id="229">
<field name="type" type="uint8" values="DIST_MATRIX|HISTOGRAM|DISPARITY_MAP|RAW"/>
<field name="width" type="uint8"/>
<field name="height" type="uint8"/>
<field name="package_nb" type="uint8"/>
<field name="image_data" type="uint8[]"/>
</message>
<message name="ROTORCRAFT_STATUS" id="231">
<field name="link_imu_nb_err" type="uint32"/>
<field name="motor_nb_err" type="uint8"/>
<field name="rc_status" type="uint8" values="OK|LOST|REALLY_LOST"/>
<field name="frame_rate" type="uint8" unit="Hz"/>
<field name="gps_status" type="uint8" values="NO_FIX|NA|2D|3D|DGPS|RTK"/>
<field name="ap_mode" type="uint8" values="KILL|FAILSAFE|HOME|RATE_DIRECT|ATTITUDE_DIRECT|RATE_RC_CLIMB|ATTITUDE_RC_CLIMB|ATTITUDE_CLIMB|RATE_Z_HOLD|ATTITUDE_Z_HOLD|HOVER_DIRECT|HOVER_CLIMB|HOVER_Z_HOLD|NAV|RC_DIRECT|CARE_FREE|FORWARD|MODULE|FLIP|GUIDED"/>
<field name="ap_in_flight" type="uint8" values="ON_GROUND|IN_FLIGHT"/>
<field name="ap_motors_on" type="uint8" values="MOTORS_OFF|MOTORS_ON"/>
<field name="ap_h_mode" type="uint8" values="KILL|RATE|ATTITUDE|HOVER|NAV|RC_DIRECT|CF|FORWARD|MODULE|FLIP|GUIDED"/>
<field name="ap_v_mode" type="uint8" values="KILL|RC_DIRECT|RC_CLIMB|CLIMB|HOVER|NAV|MODULE|FLIP|GUIDED"/>
<field name="vsupply" type="uint16" unit="decivolt"/>
<field name="cpu_time" type="uint16" unit="s"/>
</message>
<message name="STATE_FILTER_STATUS" id="232">
<field name="id" type="uint8"/>
<field name="state_filter_mode" type="uint8" values="UNKNOWN|INIT|ALIGN|OK|GPS_LOST|IMU_LOST|COV_ERR|IR_CONTRAST|ERROR"/>
<field name="value" type="uint16"/>
</message>
<message name="PX4FLOW" id="233">
<field name="time_sec" type="float" unit="s"/>
<field name="sensor_id" type="uint8"/>
<field name="flow_x" type="int16"/>
<field name="flow_y" type="int16"/>
<field name="flow_comp_m_x" type="float" unit="m"/>
<field name="flow_comp_m_y" type="float" unit="m"/>
<field name="quality" type="uint8"/>
<field name="ground_distance" type="float" unit="m"/>
</message>
<message name="LIDAR" id="234">
<field name="distance" type="float" unit="m"/>
<field name="status" type="uint8" values="INIT|REQ|READ|PARSE"/>
<field name="trans_status" type="uint8" values="Pending|Running|Success|Failed|Done"/>
</message>
<message name="VISUALTARGET" id="235">
<field name="x" type="uint16"></field>
<field name="y" type="uint16"></field>
</message>
<message name="SONAR" id="236">
<field name="sonar_meas" type="uint16"/>
<field name="sonar_distance" type="float" unit="m"/>
</message>
<message name="PAYLOAD_FLOAT" id="237">
<field name="values" type="float[]"/>
</message>
<message name="NPS_POS_LLH" id="238">
<field name="pprz_lat" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="lat_geod" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="lat_geoc" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="pprz_lon" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="lon" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="pprz_alt" type="float" unit="m"/>
<field name="alt_geod" type="float" unit="m"/>
<field name="agl" type="float" unit="m"/>
<field name="asl" type="float" unit="m"/>
</message>
<message name="NPS_SPEED_POS" id="240">
<field name="ltpp_xdd" type="float" unit="m/s2"/>
<field name="ltpp_ydd" type="float" unit="m/s2"/>
<field name="ltpp_zdd" type="float" unit="m/s2"/>
<field name="ltpp_xd" type="float" unit="m/s"/>
<field name="ltpp_yd" type="float" unit="m/s"/>
<field name="ltpp_zd" type="float" unit="m/s"/>
<field name="ltpp_x" type="float" unit="m"/>
<field name="ltpp_y" type="float" unit="m"/>
<field name="ltpp_z" type="float" unit="m"/>
</message>
<message name="NPS_RATE_ATTITUDE" id="241">
<field name="p" type="float" unit="deg/s"/>
<field name="q" type="float" unit="deg/s"/>
<field name="r" type="float" unit="deg/s"/>
<field name="phi" type="float" unit="deg"/>
<field name="theta" type="float" unit="deg"/>
<field name="psi" type="float" unit="deg"/>
</message>
<message name="NPS_GYRO_BIAS" id="242">
<field name="bp" type="float" unit="deg/s"/>
<field name="bq" type="float" unit="deg/s"/>
<field name="br" type="float" unit="deg/s"/>
</message>
<message name="NPS_WIND" id="244">
<field name="vx" type="float" unit="m/s"/>
<field name="vy" type="float" unit="m/s"/>
<field name="vz" type="float" unit="m/s"/>
</message>
<message name="ESC" id="245">
<description>
Electronic Speed Controller data
</description>
<field name="amps" type="float" unit="A">Current consumption</field>
<field name="bat_volts" type="float" unit="V">Input battery voltage</field>
<field name="power" type="float" unit="W">Electrical power</field>
<field name="rpm" type="float" unit="rpm">Motor rotation speed</field>
<field name="motor_volts" type="float" unit="V">Motor voltage</field>
<field name="energy" type="float" unit="Wh">Accumulated consumed energy</field>
<field name="motor_id" type="uint8">Motor ID</field>
</message>
<message name="RTOS_MON" id="246">
<description>
RTOS monitoring
</description>
<field name="nb_threads" type="uint8">Number of running threads</field>
<field name="cpu_load" type="uint8" unit="%">Global CPU load</field>
<field name="core_free" type="uint32" unit="Bytes">Core free memory</field>
<field name="heap_free" type="uint32" unit="Bytes">Heap free memory</field>
<field name="cpu_time" type="float" unit="s"/>
</message>
<message name="PPRZ_DEBUG" id="247">
<field name="module" type="uint8"/>
<field name="errno" type="uint8"/>
</message>
<message name="BATTERY_MONITOR" id="248">
<field name="version" type="uint8" values="v3|v4|v5">Battery monitor version</field>
<field name="bus_dev_stat" type="uint8" values="CURRENT|VOLTAGE|TEMP">Bus monitor status</field>
<field name="bus_trans_stat" type="uint8" values="Pending|Running|Success|Failed|Done">Bus monitor i2c transaction status</field>
<field name="current_raw" type="uint16" unit="mV" alt_unit="V" alt_unit_coef="0.001">Raw bus current reading</field>
<field name="current" type="float" unit="A">Bus current</field>
<field name="bus_voltage" type="uint16" unit="mV" alt_unit="V" alt_unit_coef="0.001">Bus voltage</field>
<field name="bus_temp_raw" type="uint16[]" unit="mV">Raw temperature reading</field>
<field name="bus_temp" type="float[]" unit="C">Battery temperatures</field>
<field name="bal1_trans_stat" type="uint8" values="Pending|Running|Success|Failed|Done">Cell bank 1 monitor i2c transaction status</field>
<field name="bal1_cells" type="uint16[]" unit="mV">Cell bank 1 voltage</field>
<field name="bal2_trans_stat" type="uint8" values="Pending|Running|Success|Failed|Done">Cell bank 2 monitor i2c transaction status</field>
<field name="bal2_cells" type="uint16[]" unit="mV">Cell bank 2 voltage</field>
<field name="safety_plug" type="uint16" values="mV">Safety plug voltage</field>
</message>
<message name="INDI_G" id="250">
<field name="G1_roll" type="float[]" unit="none"/>
<field name="G1_pitch" type="float[]" unit="none"/>
<field name="G1_yaw" type="float[]" unit="none"/>
<field name="G1_thrust" type="float[]" unit="none"/>
<field name="G2" type="float[]" unit="none"/>
</message>
<message name="GPS_RTK" id="251">
<field name="iTOW" type="uint32" unit="ms"/>
<field name="refStationId" type="uint16"/>
<field name="relPosN" type="int32" unit="cm"/>
<field name="relPosE" type="int32" unit="cm"/>
<field name="relPosD" type="int32" unit="cm"/>
<field name="relPosHPN" type="int8" unit="mm"/>
<field name="relPosHPE" type="int8" unit="mm"/>
<field name="relPosHPD" type="int8" unit="mm"/>
<field name="accN" type="uint32" unit="mm"/>
<field name="accE" type="uint32" unit="mm"/>
<field name="accD" type="uint32" unit="mm"/>
<field name="carrSoln" type="uint8" values="NONE|RTK FLOAT|RTK FIX"/>
<field name="relPosValid" type="uint8" values="FALSE|TRUE"/>
<field name="diffSoln" type="uint8" values="NONE|DGPS"/>
<field name="gnssFixOK" type="uint8" values="NONE|3D"/>
</message>
<message name="GPS_RXMRTCM" id="249">
<field name="Msg1005" type="uint32" />
<field name="Msg1077" type="uint32" />
<field name="Msg1087" type="uint32" />
<field name="Crc1005" type="uint32" />
<field name="Crc1077" type="uint32" />
<field name="Crc1087" type="uint32" />
</message>
<message name="GPS_SMALL" id="252">
<field name="multiplex_speed" type="uint32">bits 31-21 course in decideg : bits 20-10 ground speed in cm/s : bits 9-0 climb speed in cm/s</field>
<field name="lat" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"></field>
<field name="lon" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"></field>
<field name="alt" type="int16" unit="cm" alt_unit="m">height above the ellipsoid</field>
</message>
<message name="I2C_ERRORS" id="253">
<field name="wd_reset_cnt" type="uint16"/>
<field name="queue_full_cnt" type="uint16"/>
<field name="acknowledge_failure_cnt" type="uint16"/>
<field name="misplaced_start_or_stop_cnt" type="uint16"/>
<field name="arbitration_lost_cnt" type="uint16"/>
<field name="overrun_or_underrun_cnt" type="uint16"/>
<field name="pec_error_in_reception_cnt" type="uint16"/>
<field name="timeout_or_tlow_error_cnt" type="uint16"/>
<field name="smbus_alert_cnt" type="uint16"/>
<field name="unexpected_event_cnt" type="uint16"/>
<field name="last_unexpected_event" type="uint32"/>
<field name="bus_number" type="uint8"/>
</message>
<message name="KEY_EXCHANGE_UAV" id="254">
<description>Message for key exchange during crypto initialization</description>
<field name="type" type="uint8" values="P_AE|P_BE|SIG"/>
<field name="data" type="uint8[]"/>
</message>
</msg_class>
<msg_class name="datalink" id="1">
<message name="ACINFO" id="1" link="broadcasted">
<field name="course" type="int16" unit="decideg" alt_unit="deg"/>
<field name="utm_east" type="int32" unit="cm" alt_unit="m"/>
<field name="utm_north" type="int32" unit="cm" alt_unit="m"/>
<field name="utm_zone" type="uint8"/>
<field name="alt" type="int32" unit="cm" alt_unit="m">Height above Mean Sea Level (geoid)</field>
<field name="itow" type="uint32" unit="ms" alt_unit="s" alt_unit_coef="0.001"></field>
<field name="speed" type="uint16" unit="cm/s" alt_unit="m/s">ground speed</field>
<field name="climb" type="int16" unit="cm/s" alt_unit="m/s"></field>
<field name="ac_id" type="uint8"/>
</message>
<message name="MOVE_WP" id="2" link="forwarded">
<field name="wp_id" type="uint8"/>
<field name="ac_id" type="uint8"/>
<field name="lat" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="lon" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="alt" type="int32" unit="mm" alt_unit="m">Height above Mean Sea Level (geoid)</field>
</message>
<message name="WIND_INFO" id="3" link="forwarded">
<description>
Wind information.
The wind is reported as a vector, it gives the direction the wind is blowing to.
This can be comming from the ground wind estimator
or from an embedded algorithm.
Flags field definition:
- bit 0: horizontal wind is valid (east and north fields)
- bit 1: vertical wind is valid (up field)
- bit 2: airspeed is valid
</description>
<field name="ac_id" type="uint8"/>
<field name="flags" type="uint8">bit 0: horizontal wind, bit 1: vertical wind: bit 2: airspeed</field>
<field name="east" type="float" unit="m/s">east component of the wind</field>
<field name="north" type="float" unit="m/s">north component of the wind</field>
<field name="up" type="float" unit="m/s">vertical component of the wind</field>
<field name="airspeed" type="float" unit="m/s">local airspeed norm</field>
</message>
<message name="SETTING" id="4" link="forwarded">
<field name="index" type="uint8"/>
<field name="ac_id" type="uint8"/>
<field name="value" type="float"/>
</message>
<message name="BLOCK" id="5" link="forwarded">
<field name="block_id" type="uint8"/>
<field name="ac_id" type="uint8"/>
</message>
<message name="HITL_UBX" id="6" link="forwarded">
<field name="class" type="uint8"/>
<field name="id" type="uint8"/>
<field name="ac_id" type="uint8"/>
<field name="ubx_payload" type="uint8[]"/>
</message>
<message name="HITL_INFRARED" id="7" link="forwarded">
<field name="roll" type="int16"/>
<field name="pitch" type="int16"/>
<field name="top" type="int16"/>
<field name="ac_id" type="uint8"/>
</message>
<message name="PING" id="8"/>
<message name="FORMATION_SLOT" id="9" link="broadcasted">
<field name="ac_id" type="uint8"/>
<field name="mode" type="uint8"/>
<field name="slot_east" format="%.1f" type="float" unit="m"/>
<field name="slot_north" format="%.1f" type="float" unit="m"/>
<field name="slot_alt" format="%.1f" type="float" unit="m"/>
</message>
<message name="FORMATION_STATUS" id="10" link="broadcasted">
<field name="ac_id" type="uint8"/>
<field name="leader_id" type="uint8"/>
<field name="status" type="uint8"/>
</message>
<message name="JOYSTICK_RAW" id="11" link="forwarded">
<field name="ac_id" type="uint8"/>
<field name="roll" type="int8"/>
<field name="pitch" type="int8"/>
<field name="throttle" type="int8"/>
</message>
<message name="COMMANDS_RAW" id="12" link="forwarded">
<field name="ac_id" type="uint8"/>
<field name="commands" type="int8[]"/>
</message>
<message name="DGPS_RAW" id="13" link="forwarded">
<field name="ac_id" type="uint8"/>
<field name="length" type="uint8"/>
<field name="rtcm" type="uint8[]"/>
</message>
<message name="ACINFO_LLA" id="14" link="broadcasted">
<field name="course" type="int16" unit="decideg" alt_unit="deg"/>
<field name="lat" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="lon" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="alt" type="int32" unit="cm" alt_unit="m">Height above ellipsoid</field>
<field name="itow" type="uint32" unit="ms" alt_unit="s" alt_unit_coef="0.001"></field>
<field name="speed" type="uint16" unit="cm/s" alt_unit="m/s">ground speed</field>
<field name="climb" type="int16" unit="cm/s" alt_unit="m/s"></field>
<field name="ac_id" type="uint8"/>
</message>
<message name="GET_SETTING" id="16" link="forwarded">
<field name="index" type="uint8"/>
<field name="ac_id" type="uint8"/>
</message>
<message name="TCAS_RESOLVE" id="17" link="forwarded">
<field name="ac_id" type="uint8"/>
<field name="ac_id_conflict" type="uint8"/>
<field name="resolve" type="uint8" values="NONE|LEVEL|CLIMB|DESCEND"/>
</message>
<message name="MISSION_GOTO_WP" id="20" link="forwarded">
<field name="ac_id" type="uint8"/>
<field name="insert" type="uint8" values="APPEND|PREPEND|REPLACE_CURRENT|REPLACE_ALL"/>
<field name="wp_east" type="float" unit="m"/>
<field name="wp_north" type="float" unit="m"/>
<field name="wp_alt" type="float" unit="m">altitude above geoid (MSL)</field>
<field name="duration" type="float" unit="s"/>
<field name="index" type="uint8"/>
</message>
<message name="MISSION_GOTO_WP_LLA" id="21" link="forwarded">
<field name="ac_id" type="uint8"/>
<field name="insert" type="uint8" values="APPEND|PREPEND|REPLACE_CURRENT|REPLACE_ALL"/>
<field name="wp_lat" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="wp_lon" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="wp_alt" type="int32" unit="mm" alt_unit="m">altitude above geoid (MSL)</field>
<field name="duration" type="float" unit="s"/>
<field name="index" type="uint8"/>
</message>
<message name="MISSION_CIRCLE" id="22" link="forwarded">
<field name="ac_id" type="uint8"/>
<field name="insert" type="uint8" values="APPEND|PREPEND|REPLACE_CURRENT|REPLACE_ALL"/>
<field name="center_east" type="float" unit="m"/>
<field name="center_north" type="float" unit="m"/>
<field name="center_alt" type="float" unit="m">altitude above geoid (MSL)</field>
<field name="radius" type="float" unit="m"/>
<field name="duration" type="float" unit="s"/>
<field name="index" type="uint8"/>
</message>
<message name="MISSION_CIRCLE_LLA" id="23" link="forwarded">
<field name="ac_id" type="uint8"/>
<field name="insert" type="uint8" values="APPEND|PREPEND|REPLACE_CURRENT|REPLACE_ALL"/>
<field name="center_lat" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="center_lon" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="center_alt" type="int32" unit="mm" alt_unit="m">altitude above geoid (MSL)</field>
<field name="radius" type="float" unit="m"/>
<field name="duration" type="float" unit="s"/>
<field name="index" type="uint8"/>
</message>
<message name="MISSION_SEGMENT" id="24" link="forwarded">
<field name="ac_id" type="uint8"/>
<field name="insert" type="uint8" values="APPEND|PREPEND|REPLACE_CURRENT|REPLACE_ALL"/>
<field name="segment_east_1" type="float" unit="m"/>
<field name="segment_north_1" type="float" unit="m"/>
<field name="segment_east_2" type="float" unit="m"/>
<field name="segment_north_2" type="float" unit="m"/>
<field name="segment_alt" type="float" unit="m">altitude above geoid (MSL)</field>
<field name="duration" type="float" unit="s"/>
<field name="index" type="uint8"/>
</message>
<message name="MISSION_SEGMENT_LLA" id="25" link="forwarded">
<field name="ac_id" type="uint8"/>
<field name="insert" type="uint8" values="APPEND|PREPEND|REPLACE_CURRENT|REPLACE_ALL"/>
<field name="segment_lat_1" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="segment_lon_1" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="segment_lat_2" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="segment_lon_2" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="segment_alt" type="int32" unit="mm" alt_unit="m">altitude above geoid (MSL)</field>
<field name="duration" type="float" unit="s"/>
<field name="index" type="uint8"/>
</message>
<message name="MISSION_PATH" id="26" link="forwarded">
<field name="ac_id" type="uint8"/>
<field name="insert" type="uint8" values="APPEND|PREPEND|REPLACE_CURRENT|REPLACE_ALL"/>
<field name="point_east_1" type="float" unit="m"/>
<field name="point_north_1" type="float" unit="m"/>
<field name="point_east_2" type="float" unit="m"/>
<field name="point_north_2" type="float" unit="m"/>
<field name="point_east_3" type="float" unit="m"/>
<field name="point_north_3" type="float" unit="m"/>
<field name="point_east_4" type="float" unit="m"/>
<field name="point_north_4" type="float" unit="m"/>
<field name="point_east_5" type="float" unit="m"/>
<field name="point_north_5" type="float" unit="m"/>
<field name="path_alt" type="float" unit="m">altitude above geoid (MSL)</field>
<field name="duration" type="float" unit="s"/>
<field name="nb" type="uint8"/>
<field name="index" type="uint8"/>
</message>
<message name="MISSION_PATH_LLA" id="27" link="forwarded">
<field name="ac_id" type="uint8"/>
<field name="insert" type="uint8" values="APPEND|PREPEND|REPLACE_CURRENT|REPLACE_ALL"/>
<field name="point_lat_1" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="point_lon_1" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="point_lat_2" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="point_lon_2" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="point_lat_3" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="point_lon_3" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="point_lat_4" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="point_lon_4" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="point_lat_5" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="point_lon_5" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="path_alt" type="int32" unit="mm" alt_unit="m">altitude above geoid (MSL)</field>
<field name="duration" type="float" unit="s"/>
<field name="nb" type="uint8"/>
<field name="index" type="uint8"/>
</message>
<message name="MISSION_SURVEY" id="28" link="forwarded">
<field name="ac_id" type="uint8"/>
<field name="insert" type="uint8" values="APPEND|PREPEND|REPLACE_CURRENT|REPLACE_ALL"/>
<field name="survey_east_1" type="float" unit="m"/>
<field name="survey_north_1" type="float" unit="m"/>
<field name="survey_east_2" type="float" unit="m"/>
<field name="survey_north_2" type="float" unit="m"/>
<field name="survey_alt" type="float" unit="m">altitude above geoid (MSL)</field>
<field name="duration" type="float" unit="s"/>
<field name="index" type="uint8"/>
</message>
<message name="MISSION_SURVEY_LLA" id="29" link="forwarded">
<field name="ac_id" type="uint8"/>
<field name="insert" type="uint8" values="APPEND|PREPEND|REPLACE_CURRENT|REPLACE_ALL"/>
<field name="survey_lat_1" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="survey_lon_1" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="survey_lat_2" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="survey_lon_2" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="survey_alt" type="int32" unit="mm" alt_unit="m">altitude above geoid (MSL)</field>
<field name="duration" type="float" unit="s"/>
<field name="index" type="uint8"/>
</message>
<message name="GOTO_MISSION" id="30" link="forwarded">
<field name="ac_id" type="uint8"/>
<field name="mission_id" type="uint8"/>
</message>
<message name="NEXT_MISSION" id="31" link="forwarded">
<field name="ac_id" type="uint8"/>
</message>
<message name="END_MISSION" id="32" link="forwarded">
<field name="ac_id" type="uint8"/>
</message>
<message name="COPILOT_STATUS_DL" id="33" link="forwarded">
<field name="ac_id" type="uint8"/>
<field name="used_memory" type="uint8" unit="%">Percentage of used memory (RAM) of the mission computer rounded up to whole percent</field>
<field name="timestamp" type="float" unit="s">Mission computer seconds since startup</field>
<field name="used_disk" type="uint8" unit="%">Percentage of used disk of the mission computer rounded up to whole percent</field>
<field name="status" type="uint8" values="UNKNOWN|INIT|LOGGING|FAULT">Mission computer status</field>
<field name="error_code" type="uint8" values="NONE|IO_ERROR">Error codes of the mission computer</field>
</message>
<message name="CAMERA_PAYLOAD_DL" id="34" link="forwarded">
<field name="ac_id" type="uint8"/>
<field name="error_code" type="uint8" values="NONE|CAMERA_ERR|DOOR_ERR">Error codes of the payload</field>
<field name="timestamp" type="float" unit="s">Payload computer seconds sice startup</field>
<field name="used_memory" type="uint8" unit="%">Percentage of used memory (RAM) of the payload computer rounded up to whole percent</field>
<field name="used_disk" type="uint8" unit="%">Percentage of used disk of the payload computer rounded up to whole percent</field>
<field name="door_status" type="uint8" values="UNKNOWN|CLOSE|OPEN">Payload door open/close</field>
</message>
<message name="CAMERA_SNAPSHOT_DL" id="35" link="forwarded">
<field name="camera_id" type="uint16">Unique camera ID - consists of make,model and camera index</field>
<field name="snapshot_image_number" type="uint16">Snapshot number in sequence</field>
<field name="camera_state" type="uint8" values="UNKNOWN|OK|ERROR">State of the given camera</field>
<field name="snapshot_valid" type="uint8" unit="bool">Flag checking whether the last snapshot was valid</field>
<field name="array_temp" type="float" unit="deg_celsius" format="%.2f">Imager sensor temperature, NaN if not measured</field>
<field name="lens_temp" type="float" unit="deg_celsius" format="%.2f">Lens temperature, NaN if not measured</field>
<field name="ac_id" type="uint8"/>
</message>
<message name="GUIDED_SETPOINT_NED" id="40" link="forwarded">
<description>
Set vehicle position or velocity in NED.
Frame can be specified with the bits 0-3
Velocity of position setpoint can be specified with the bits 5-7
Flags field definition:
- bit 0: x,y as offset coordinates
- bit 1: x,y in body coordinates
- bit 2: z as offset coordinates
- bit 3: yaw as offset coordinates
- bit 4: free
- bit 5: x,y as vel
- bit 6: z as vel
- bit 7: yaw as rate
</description>
<field name="ac_id" type="uint8"/>
<field name="flags" type="uint8">bits 0-3: frame, bits 5-7: use as velocity</field>
<field name="x" type="float" unit="m">X position/velocity in NED</field>
<field name="y" type="float" unit="m">Y position/velocity in NED</field>
<field name="z" type="float" unit="m">Z position/velocity in NED (negative altitude)</field>
<field name="yaw" type="float" unit="rad" alt_unit="deg">yaw/rate setpoint</field>
</message>
<message name="WINDTURBINE_STATUS" id="50" link="broadcasted">
<field name="ac_id" type="uint8"/>
<field name="tb_id" type="uint8"/>
<field name="sync_itow" type="uint32" unit="ms"/>
<field name="cycle_time" type="uint32" unit="ms"/>
</message>
<message name="RC_3CH" id="51" link="broadcasted">
<field name="throttle_mode" type="uint8" unit="byte_mask"/>
<field name="roll" type="int8"/>
<field name="pitch" type="int8"/>
</message>
<message name="RC_4CH" id="52" link="broadcasted">
<field name="ac_id" type="uint8"/>
<field name="mode" type="uint8"/>
<field name="throttle" type="uint8"/>
<field name="roll" type="int8"/>
<field name="pitch" type="int8"/>
<field name="yaw" type="int8"/>
</message>
<message name="RC_5CH" id="53" link="broadcasted">
<field name="ac_id" type="uint8"/>
<field name="throttle" type="uint8"/>
<field name="roll" type="int8"/>
<field name="pitch" type="int8"/>
<field name="yaw" type="int8"/>
<field name="mode" type="int8"/>
<field name="kill" type="int8"/>
</message>
<message name="REMOTE_GPS_SMALL" id="54" link="forwarded">
<field name="heading" type="int16" unit="1e4rad" alt_unit="deg" alt_unit_coef="0.0057296"/>
<field name="pos_xyz" type="uint32">bits 31-21 east position [cm] : bits 20-10 north position [cm] : bits 9-0 up position [cm]</field>
<field name="speed_xyz" type="uint32">bits 31-21 east speed [cm/s] : bits 20-10 north speed [cm/s] : bits 9-0 climb speed [cm/s]</field>
<field name="tow" type="uint32" unit="ms" alt_unit="s" alt_unit_coef="0.001"/>
<field name="ac_id" type="uint8"/>
</message>
<message name="REMOTE_GPS" id="55" link="forwarded">
<field name="ac_id" type="uint8"/>
<field name="numsv" type="uint8"/>
<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" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="lon" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="alt" type="int32" unit="mm" alt_unit="m">Height above WGS84 reference ellipsoid</field>
<field name="hmsl" type="int32" unit="mm" alt_unit="m">Height above Mean Sea Level (geoid)</field>
<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="tow" type="uint32"/>
<field name="course" type="int32" alt_unit="deg" alt_unit_coef="0.0000057296"/>
</message>
<message name="KITE_COMMAND" id="96">
<field name="POWER" type="uint16"/>
<field name="TURN" type="uint16"/>
</message>
<message name="PAYLOAD_COMMAND" id="97" link="forwarded">
<field name="ac_id" type="uint8"/>
<field name="command" type="uint8[]"/>
</message>
<message name="SET_ACTUATOR" id="100" link="forwarded">
<field name="value" type="uint16"/>
<field name="no" type="uint8"/>
<field name="ac_id" type="uint8"/>
</message>
<message name="CSC_SERVO_CMD" id="101">
<field name="servo_1" type="uint16"/>
<field name="servo_2" type="uint16"/>
<field name="servo_3" type="uint16"/>
<field name="servo_4" type="uint16"/>
</message>
<message name="BOOZ2_FMS_COMMAND" id="149" link="forwarded">
<field name="h_mode" type="uint8" values="KILL|RATE|ATTITUDE|HOVER|NAV"/>
<field name="v_mode" type="uint8" values="KILL|DIRECT|CLIMB_RC|CLIMB|ALT|NAV"/>
<field name="v_sp" type="int32"/>
<field name="h_sp_1" type="int32"/>
<field name="h_sp_2" type="int32"/>
<field name="h_sp_3" type="int32"/>
<field name="ac_id" type="uint8"/>
</message>
<message name="BOOZ_NAV_STICK" id="150" link="forwarded">
<field name="ac_id" type="uint8"/>
<field name="vx_sp" type="int8"/>
<field name="vy_sp" type="int8"/>
<field name="vz_sp" type="int8"/>
<field name="r_sp" type="int8"/>
</message>
<message name="EXTERNAL_FILTER_SOLUTION" id="151" link="forwarded">
<field name="ac_id" type="uint8"/>
<field name="status" type="uint8"/>
<field name="x" type="float" unit="m"/>
<field name="xd" type="float" unit="m"/>
<field name="y" type="float" unit="m"/>
<field name="yd" type="float" unit="m"/>
</message>
<message name="ROTORCRAFT_CAM_STICK" id="152" link="forwarded">
<field name="ac_id" type="uint8"/>
<field name="tilt" type="int8"/>
<field name="pan" type="int8"/>
</message>
<message name="GPS_INJECT" id="153" link="forwarded">
<field name="ac_id" type="uint8"/>
<field name="packet_id" type="uint8"/>
<field name="data" type="uint8[]"/>
</message>
<message name="EXTERNAL_MAG_RAW" id="154" link="forwarded">
<field name="x" type="int16"/>
<field name="y" type="int16"/>
<field name="z" type="int16"/>
</message>
<message name="VIDEO_ROI" id="155" link="forwarded" >
<field name="ac_id" type="uint8">The aircraft in which video stream you clicked </field>
<field name="startx" type="int32">The x of the upper left corner of the selected area</field>
<field name="starty" type="int32">The y of the upper left corner of the selected area </field>
<field name="width" type="int32">The width of the selected area </field>
<field name="height" type="int32">The height of the selected area </field>
<field name="downsized_width" type="int32">The width of the image you received. Added because a module the receives this message does not know how big the image was that was broadcasted </field>
</message>
<message name="EMERGENCY_CMD" id="156" link="forwarded">
<description>Overcome setting ID and block ID problems in the case of multiboard autopilots like AP/FBW. With this message a KILL command can be sent to AP and FBW at the same time.</description>
<field name="ac_id" type="uint8"/>
<field name="cmd" type="uint8" values="KILL|STANDBY|LAND"/>
</message>
<message name="RTCM_INJECT" id="157" link="broadcasted">
<field name="packet_id" type="uint8"/>
<field name="data" type="uint8[]"/>
</message>
<message name="CHANNEL" id="158">
<description>Delay in ms before another command arrives</description>
<field name="delay" type="uint8"/>
</message>
<message name="KEY_EXCHANGE_GCS" id="159">
<description>Message for key exchange during crypto initialization</description>
<field name="type" type="uint8" values="P_AE|P_BE|SIG"/>
<field name="data" type="uint8[]"/>
</message>
</msg_class>
<msg_class name="ground">
<message name="NEW_AIRCRAFT" id="1">
<field name="ac_id" type="string"/>
</message>
<message name="AIRCRAFT_DIE" id="2">
<field name="ac_id" type="string"/>
</message>
<message name="AIRCRAFTS" id="3">
<field name="ac_list" type="string" format="csv"/>
</message>
<message name="AIRCRAFTS_REQ" id="4">
</message>
<message name="SELECTED" id="5">
<field name="aircraft_id" type="string"/>
</message>
<message name="SELECTED_REQ" id="6">
</message>
<message name="WIND_CLEAR" id="7">
<field name="ac_id" type="string"/>
</message>
<message name="WIND" id="8">
<field name="ac_id" type="string"/>
<field name="dir" type="float" unit="deg_wind"/>
<field name="wspeed" type="float" unit="m/s"/>
<field name="mean_aspeed" type="float" unit="m/s"/>
<field name="stddev" type="float" unit="m/s"/>
</message>
<message name="CONFIG_REQ" id="9">
<field name="ac_id" type="string"/>
</message>
<message name="CONFIG" id="10">
<field name="ac_id" type="string"/>
<field name="flight_plan" type="string" unit="url"/>
<field name="airframe" type="string" unit="url"/>
<field name="radio" type="string" unit="url"/>
<field name="settings" type="string" unit="url"/>
<field name="default_gui_color" type="string"/>
<field name="ac_name" type="string"/>
</message>
<message name="FLIGHT_PARAM" id="11">
<field name="ac_id" type="string"/>
<field name="roll" type="float" unit="deg"/>
<field name="pitch" type="float" unit="deg"/>
<field name="heading" type="float" unit="deg"/>
<field name="lat" type="float" unit="deg"/>
<field name="long" type="float" unit="deg"/>
<field name="speed" type="float" unit="m/s"/>
<field name="course" type="float" unit="deg" format="%.1f"/>
<field name="alt" type="float" unit="m"/>
<field name="climb" type="float" unit="m/s"/>
<field name="agl" type="float" unit="m"/>
<field name="unix_time" type="float" unit="s (Unix time)"/>
<field name="itow" type="uint32" unit="ms"/>
<field name="airspeed" type="float" unit="m/s"/>
</message>
<message name="AP_STATUS" id="12">
<field name="ac_id" type="string"/>
<field name="ap_mode" type="string" values="MANUAL|AUTO1|AUTO2|HOME|FAILSAFE"/>
<field name="lat_mode" type="string" values="MANUAL|ROLL_RATE|ROLL|COURSE"/>
<field name="horiz_mode" type="string" values="WAYPOINT|ROUTE|CIRCLE"/>
<field name="gaz_mode" type="string" values="MANUAL|THROTTLE|CLIMB|ALT"/>
<field name="gps_mode" type="string" values="NOFIX|NA|2D|3D|DGPS|RTK"/>
<field name="kill_mode" type="string" values="OFF|ON"/>
<field name="flight_time" type="uint32" />
<field name="state_filter_mode" type="string" values="UNKNOWN|INIT|ALIGN|OK|GPS_LOST|IMU_LOST|COV_ERR|IR_CONTRAST|ERROR"/>
</message>
<message name="NAV_STATUS" id="13">
<field name="ac_id" type="string"/>
<field name="cur_block" type="uint8"/>
<field name="cur_stage" type="uint8"/>
<field name="block_time" type="uint32"/>
<field name="stage_time" type="uint32"/>
<field name="target_lat" type="float" unit="deg"/>
<field name="target_long" type="float" unit="deg"/>
<field name="target_climb" type="float" unit="m/s"/>
<field name="target_alt" type="float" unit="m"/>
<field name="target_course" type="float" unit="deg"/>
<field name="dist_to_wp" type="float" unit="m"/>
</message>
<message name="CAM_STATUS" id="14">
<field name="ac_id" type="string"/>
<field name="cam_lat" type="float" unit="deg"/>
<field name="cam_long" type="float" unit="deg"/>
<field name="cam_target_lat" type="float" unit="deg"/>
<field name="cam_target_long" type="float" unit="deg"/>
</message>
<message name="ENGINE_STATUS" id="15">
<field name="ac_id" type="string"/>
<field name="throttle" type="float" unit="%" format="%.1f"/>
<field name="throttle_accu" type="float" format="%.1f"/>
<field name="rpm" type="float" unit="rpm" format="%.1f"/>
<field name="temp" type="float" unit="celcius"/>
<field name="bat" type="float" unit="V"/>
<field name="amp" type="float" unit="A"/>
<field name="energy" type="uint16" unit="Wh"/>
</message>
<message name="SVSINFO" id="16">
<field name="ac_id" type="string"/>
<field name="pacc" type="uint16" unit="cm"/>
<field name="svid" type="string" format="csv"/>
<field name="flags" type="string" format="csv"/>
<field name="qi" type="string" format="csv" values="IDLE|SEARCH|SEARCH|UNUSABLE|CODELOCK|CARRIERLOCK|CARRIERLOCK|RECEIVING"/>
<field name="cno" type="string" format="csv" unit="dbHz"/>
<field name="elev" type="string" format="csv" unit="deg"/>
<field name="azim" type="string" format="csv" unit="deg"/>
<field name="msg_age" type="string" format="csv" unit="s"/>
</message>
<message name="FLY_BY_WIRE" id="17">
<field name="ac_id" type="string"/>
<field name="rc_status" type="string" values="OK|LOST|REALLY_LOST"/>
<field name="rc_mode" type="string" values="MANUAL|AUTO|FAILSAFE"/>
<field name="rc_rate" type="uint8" unit="Hz"/>
</message>
<message name="INFLIGH_CALIB" id="19">
<field name="ac_id" type="string"/>
<field name="if_mode" type="string" values="OFF|DOWN|UP"></field>
<field name="if_value1" type="float"></field>
<field name="if_value2" type="float"></field>
</message>
<message name="WORLD_ENV" id="20">
<field name="wind_east" type="float" unit="m/s" format="%.1f"/>
<field name="wind_north" type="float" unit="m/s" format="%.1f"/>
<field name="wind_up" type="float" unit="m/s" format="%.1f"/>
<field name="ir_contrast" type="float"/>
<field name="time_scale" type="float"/>
<field name="gps_availability" type="uint8" values="OFF|ON"/>
</message>
<message name="WORLD_ENV_REQ" id="21">
<field name="lat" type="float" unit="deg"></field>
<field name="long" type="float" unit="deg"></field>
<field name="alt" type="float" unit="m"></field>
<field name="east" type="float" unit="m"></field>
<field name="north" type="float" unit="m"></field>
<field name="up" type="float" unit="m"></field>
</message>
<message name="CIRCLE_STATUS" id="22">
<field name="ac_id" type="string"/>
<field name="circle_lat" type="float" unit="deg"/>
<field name="circle_long" type="float" unit="deg"/>
<field name="radius" type="int16" unit="m"/>
</message>
<message name="SEGMENT_STATUS" id="23">
<field name="ac_id" type="string"/>
<field name="segment1_lat" type="float" unit="deg"/>
<field name="segment1_long" type="float" unit="deg"/>
<field name="segment2_lat" type="float" unit="deg"/>
<field name="segment2_long" type="float" unit="deg"/>
</message>
<message name="MOVE_WAYPOINT" id="24">
<field name="ac_id" type="string"/>
<field name="wp_id" type="uint8"/>
<field name="lat" type="float" unit="deg" format="%.7f"/>
<field name="long" type="float" unit="deg" format="%.7f"/>
<field name="alt" type="float" unit="m"/>
</message>
<message name="GET_DL_SETTING" id="25">
<field name="ac_id" type="string"/>
<field name="index" type="uint8"/>
</message>
<message name="DL_SETTING" id="26">
<field name="ac_id" type="string"/>
<field name="index" type="uint8"/>
<field name="value" type="float"/>
</message>
<message name="JUMP_TO_BLOCK" id="27">
<field name="ac_id" type="string"/>
<field name="block_id" type="uint8"/>
</message>
<message name="DL_VALUES" id="28">
<field name="ac_id" type="string"/>
<field name="values" type="string" format="csv"/>
</message>
<message name="RAW_DATALINK" id="29">
<field name="ac_id" type="string"/>
<field name="message" type="string" format=";sv"/>
</message>
<message name="WAYPOINT_MOVED" id="30">
<field name="ac_id" type="string"/>
<field name="wp_id" type="uint8"/>
<field name="lat" type="float" unit="deg" format="%.7f"/>
<field name="long" type="float" unit="deg" format="%.7f"/>
<field name="alt" type="float" unit="m"/>
<field name="ground_alt" type="float" unit="m"/>
</message>
<message name="SURVEY_STATUS" id="31">
<field name="ac_id" type="string"/>
<field name="east_long" type="float" unit="deg"/>
<field name="north_lat" type="float" unit="deg"/>
<field name="west_long" type="float" unit="deg"/>
<field name="south_lat" type="float" unit="deg"/>
</message>
<message name="TELEMETRY_STATUS" id="32">
<description>
Datalink status reported by Server for the GCS
Combines DATLINK_REPORT (telemetry class) and LINK_REPORT (ground class)
</description>
<field name="ac_id" type="string"/>
<field name="link_id" type="string"/>
<field name="time_since_last_msg" type="float" unit="s"/>
<field name="rx_bytes" type="uint32"/>
<field name="rx_msgs" type="uint32"/>
<field name="rx_bytes_rate" type="float" format="%.1f" unit="bytes/s"/>
<field name="tx_msgs" type="uint32"/>
<field name="uplink_lost_time" type="uint32" unit="s"/>
<field name="uplink_msgs" type="uint16"/>
<field name="downlink_msgs" type="uint16"/>
<field name="downlink_rate" type="uint16" unit="bytes/s"/>
<field name="ping_time" type="float" format="%.2f" unit="ms"/>
</message>
<message name="TELEMETRY_ERROR" id="33">
<description>Report a telemetry error</description>
<field name="ac_id" type="string"/>
<field name="message" type="string"/>
</message>
<message name="TELEMETRY_MESSAGE" id="34">
<description>Encapsulated a telemetry class message (when using redundant link)</description>
<field name="ac_id" type="string"/>
<field name="link_id" type="string" />
<field name="message" type="string" format=";sv"/>
</message>
<message name="DATALINK_MESSAGE" id="35">
<description>Encapsulated a datalink class message (when using redundant link)</description>
<field name="ac_id" type="string"/>
<field name="link_id" type="string"/>
<field name="message" type="string" format=";sv"/>
</message>
<message name="LINK_REPORT" id="36">
<description>Datalink status reported by Link for the Server</description>
<field name="ac_id" type="string"/>
<field name="link_id" type="string"/>
<field name="run_time" type="uint32" unit="s"/>
<field name="rx_lost_time" type="uint32" unit="s"/>
<field name="rx_bytes" type="uint32"/>
<field name="rx_msgs" type="uint32"/>
<field name="rx_err" type="uint32"/>
<field name="rx_bytes_rate" type="float" format="%.1f" unit="bytes/s"/>
<field name="rx_msgs_rate" type="float" format="%.1f" unit="msgs/s"/>
<field name="tx_msgs" type="uint32"/>
<field name="ping_time" type="float" format="%.2f" unit="ms"/>
</message>
<message name="INTRUDER" id="37">
<field name="id" type="string"/>
<field name="name" type="string"/>
<field name="lat" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="lon" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="alt" type="int32" unit="mm" alt_unit="m">altitude above WGS84 reference ellipsoid</field>
<field name="course" type="float" unit="deg"/>
<field name="speed" type="float" unit="m/s"/>
<field name="climb" type="float" unit="m/s"/>
<field name="itow" type="uint32" unit="ms"/>
</message>
<message name="SHAPE" id="38">
<description>
The SHAPE message used to draw shapes onto the Paparazzi GCS.
Field name shape is used to define the type of shape i.e. Circle, Polygon, Line, or Text.
This is indexed from 0-3 respectively.
Each shape drawn must have an id number associated with it.
This id number in conjuction with the shapetype will be needed to update or delete the shape.
A circle can be defined with the same id as a polygon but since they have different shape types they are considered unique.
linecolor and fillcolor take in a color string ie: "red", "blue"
opacity will change the level of transparency of the fill.
0 - Transparent
1 - Light Fill
2 - Medium Fill
3 - Opaque
Passing a status of 0 will create or update the shape specified by id and type.
Passing a status of 1 will delete the shape specified by id and type.
latarr is an array of coordinates that contain the latitude coordinate for each point in the shape.
The array is comma separated.
lonarr is similar to latarr but contain the longitude coordinate for each point in the shape.
Circle and Text type will take the first coordinates given to place the shape.
Polygon will take all the coordinates given.
Line will take the first two coordinates given.
Radius is only used for the circle.
Text will always be populated with each message using the first set of coordinates.
The text field can not be blank or have spaces.
If text is not desired for a shape then pass "NULL" into the text field.
</description>
<field name="id" type="uint8"/>
<field name="linecolor" type="string"/>
<field name="fillcolor" type="string"/>
<field name="opacity" type="uint8" values="Transparent|Light|Medium|Opaque"/>
<field name="shape" type="uint8" values="Circle|Polygon|Line"/>
<field name="status" type="uint8" values="create|delete"/>
<field name="latarr" type="int32[]" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="lonarr" type="int32[]" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="radius" type="float" unit="m"/>
<field name="text" type="string"/>
</message>
<message name="DL_EMERGENCY_CMD" id="39">
<field name="ac_id" type="string"/>
<field name="cmd" type="uint8" values="KILL|STANDBY|LAND"/>
</message>
<message name="PLUMES" id="100">
<field name="ids" type="string" format="csv"/>
<field name="lats" type="string" format="csv"/>
<field name="longs" type="string" format="csv"/>
<field name="values" type="string" format="csv"/>
</message>
</msg_class>
<msg_class name="alert">
<message name="BAT_LOW" id="1">
<field name="ac_id" type="string"/>
<field name="level" type="string" values="CATASTROPHIC|CRITIC|WARNING"/>
<field name="value" type="float"/>
</message>
<message name="AIR_PROX" id="2">
<field name="ac_id" type="string"/>
<field name="level" type="string" values="CATASTROPHIC|CRITIC|WARNING"/>
</message>
</msg_class>
<msg_class name="intermcu" id="2">
<message name="IMCU_COMMANDS" id="1">
<field name="status" type="uint8"/>
<field name="values" type="int16[]"/>
</message>
<message name="IMCU_RADIO_COMMANDS" id="2">
<field name="status" type="uint8"/>
<field name="values" type="int16[]"/>
</message>
<message name="IMCU_SPEKTRUM_SOFT_BIND" id="3"/>
<message name="IMCU_FBW_STATUS" id="4">
<field name="mode" type="uint8" values="MANUAL|AUTO|FAILSAFE"/>
<field name="rc_status" type="uint8" values="OK|LOST|REALLY_LOST"/>
<field name="frame_rate" type="uint8" unit="Hz"/>
<field name="vsupply" type="uint16" unit="decivolt"/>
<field name="current" type="int32" unit="mA"/>
</message>
<message name="IMCU_REMOTE_MAG" id="10">
<field name="mag_x" type="int16">RAW Magnetometer Data</field>
<field name="mag_y" type="int16"/>
<field name="mag_z" type="int16"/>
</message>
<message name="IMCU_REMOTE_BARO" id="11">
<field name="pitot_stat" type="float" unit="Pa">Static Barometric Pressure in Pascal</field>
<field name="pitot_temp" type="float" unit="C">Pressure Sensor Temperature</field>
</message>
<message name="IMCU_REMOTE_AIRSPEED" id="12">
<field name="pitot_IAS" type="float" unit="m/s">Indicated Airspeed</field>
</message>
<message name="IMCU_REMOTE_GROUND" id="15">
<field name="mode" type="uint8" values="SWITCH|SONAR|LASER|INFRARED"/>
<field name="id" type="uint8">Sensor ID</field>
<field name="range" type="uint16" unit="cm"/>
</message>
<message name="IMCU_REMOTE_GPS" id="62">
<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="alt" type="int32" unit="mm" alt_unit="m">altitude above WGS84 reference ellipsoid</field>
<field name="hmsl" type="int32" unit="mm" alt_unit="m">height above mean sea level (geoid)</field>
<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="course" type="int32" alt_unit="rad" alt_unit_coef="0.0000001"/>
<field name="gspeed" type="uint16" unit="cm/s" alt_unit="m/s"/>
<field name="pacc" type="uint32" unit="cm" alt_unit="m"/>
<field name="sacc" type="uint32" unit="cm/s" alt_unit="m/s"/>
<field name="numsv" type="uint8"/>
<field name="fix" type="uint8" values="NONE|NA|2D|3D|DGPS|RTK"/>
</message>
<message name="STEREOCAM_ARRAY" id="80">
<description>Raw data fromt the stereocamera. Type defines what kind of data it is. This can be raw image, disparity map, obstacle histogram, ect.</description>
<field name="type" type="uint8" values="DIST_MATRIX|HISTOGRAM|DISPARITY_MAP|RAW"/>
<field name="width" type="uint8">array size parameters</field>
<field name="height" type="uint8"/>
<field name="package_nb" type="uint8">If the data being sent is too large for one message (e.g when sending a full image) this will indicate which package of the total data is contained in this message</field>
<field name="image_data" type="uint8[]"/>
</message>
<message name="STEREOCAM_VELOCITY" id="81">
<description>Velocity measured using optical flow and stereovision. All parameters are in the camera frame</description>
<field name="resolution" type="uint8">Resolution of the vel and pos messages</field>
<field name="dt_frame" type="uint8">Time difference to previous frame</field>
<field name="dt" type="uint8">Time difference to previous message, not strictly required</field>
<field name="velx" type="int16" unit="m/s">Velocity estimaed using stereo edgeflow</field>
<field name="vely" type="int16" unit="m/s"/>
<field name="velz" type="int16" unit="m/s"/>
<field name="dposx" type="int16" unit="m">Distance traveled since the last message</field>
<field name="dposy" type="int16" unit="m"/>
<field name="dposz" type="int16" unit="m"/>
<field name="vRMS" type="uint8">RMS of the velocity estimate</field>
<field name="posRMS" type="uint8">RMS of the position</field>
<field name="avg_dist" type="uint16">Average distance to scene</field>
</message>
<message name="STEREOCAM_STATE" id="82">
<description>Estimated state of the camera. As the stereocamera has no inertial sensors, this data should be sent to the stereocamera to enable onboard derotation of the optical flow</description>
<field name="phi" type="float" unit="rad">Pitch, roll and yaw angles of the camera</field>
<field name="theta" type="float" unit="rad"/>
<field name="psi" type="float" unit="rad"/>
<field name="agl" type="float" unit="m">Altitude above the ground. If not looking down, set to 0</field>
</message>
<message name="STEREOCAM_FOLLOW_ME" id="83">
<field name="headingToFollow" type="uint8"/>
<field name="heightObject" type="uint8"/>
<field name="distanceToObject" type="uint8"/>
</message>
<message name="IMCU_DATALINK" id="113">
<description>Forward FBW datalink to AP</description>
<field name="msg" type="uint8[]"/>
</message>
<message name="IMCU_TELEMETRY" id="114">
<field name="msg_id" type="uint8"/>
<field name="msg" type="uint8[]"/>
</message>
<message name="IMCU_DEBUG" id="115">
<field name="msg" type="uint8[]"/>
</message>
<message name="IMCU_PAYLOAD" id="116">
<field name="data" type="uint8[]"/>
</message>
</msg_class>
</protocol>