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messages.xml
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<?xml version="1.0"?>
<!DOCTYPE protocol SYSTEM "messages.dtd">
<protocol>
<!-- messages from modem or sim to server -->
<msg_class name="telemetry" id="1">
<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="flight_time" type="uint16" unit="s"/>
<field name="block_time" type="uint16" unit="s"/>
<field name="stage_time" type="uint16" unit="s"/>
<field name="kill_auto_throttle" type="uint8" unit="bool"/>
<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="ENERGY" id="12">
<field name="throttle" type="uint8" unit="%">Throttle setting</field>
<field name="voltage" type="float" unit="V">Input battery voltage</field>
<field name="current" type="float" unit="A">Current consumption</field>
<field name="power" type="float" unit="W">Electrical power</field>
<field name="charge" type="float" unit="Ah">Accumulated consumed charge</field>
<field name="energy" type="float" unit="Wh">Accumulated consumed energy</field>
</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="pan" type="int16" unit="deg"/>
<field name="tilt" 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>
<!-- TODO merge with XTEND_RSSI -->
<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>
<!-- Current value of one variable from the dl_settings (airframe.xml) -->
<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="float" unit="A"/>
</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>
<!-- 38 is free -->
<message name="DRAGSPEED" id="38">
<description>
Velocities in body axes (assuming small pitch/roll angles) as measured
by the dragspeed module and by the INS.
</description>
<field name="u_est" type="float" unit="m/s">Estimated velocity along body +x axis</field>
<field name="v_est" type="float" unit="m/s">Estimated velocity along body +y axis</field>
<field name="u_ins" type="float" unit="m/s">INS velocity along body +x axis</field>
<field name="v_ins" type="float" unit="m/s">INS velocity along body +y axis</field>
</message>
<message name="RSSI_COMBINED" id="39">
<field name="remote_rssi" type="uint8"/>
<field name="tx_power" type="uint8"/>
<field name="local_rssi" type="uint8"/>
<field name="local_noise" type="uint8"/>
<field name="remote_noise" type="uint8"/>
</message>
<message name="DCF" id="40">
<description>Telemetry message for monitoring the status of the Distributed Circular Formation.</description>
<field name="table" type="int16[]"> The size of the array is 4 x (maximum number of possible neighbors). The elements per each neighbor are: 1. ID of the neighbor, 2. Theta of the neighbor (degrees x 100), 3. Desired inter-vehicle angle (degrees x 100), 4. Last time in ms we received a msg from the neighbor</field>
<field name="errors" type="int16[]"> The size of the array is the maximum number of possible neighbors. Errors w.r.t. desired inter-vehicle angles (degrees x 100)</field>
</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="CHIRP" id="45">
<field name="active" type="uint8">Chirp is active</field>
<field name="percentage_done" type="float">Percentage done</field>
<field name="current_frequency" type="float">Current frequency</field>
<field name="axis" type="uint8">Current chirp axis</field>
<field name="amplitude" type="int16">Amplitude</field>
<field name="fstart" type="float">Start frequency</field>
<field name="fstop" type="float">Stop frequency</field>
<field name="noise_onaxis_ratio" type="float">Noise ratio onaxis</field>
<field name="noise_offaxis" type="float">Noise offaxis</field>
</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="RLFILTER" id="48">
<description>Relative localization data for other tracked MAVs in terms of x y and z in the body axis</description>
<field name="trackedID" type="int32" unit=""/>
<field name="rangearray" type="float" unit="dB"/>
<field name="x_tracked" type="float" unit="m/s"/>
<field name="y_tracked" type="float" unit="m/s"/>
<field name="vx_own" type="float" unit="m/s"/>
<field name="vy_own" type="float" unit="m/s"/>
<field name="vx_tracked" type="float" unit="m/s"/>
<field name="vy_tracked" type="float" unit="m/s"/>
<field name="z_pos" type="float" unit="m"/>
</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>
<!-- Duplicate of RC_3CH defined in datalink section? -->
<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>
<!-- 55 is free -->
<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="VISION_OUTBACK" id="58">
<field name="status" type="uint8"/>
<field name="het_moment" type="uint8"/>
<field name="timeoutcount" type="uint8"/>
<field name="vision_timeout" type="uint8"/>
<field name="height" type="float"/>
<field name="out_of_range" type="float"/>
<field name="marker_enu_x" type="float"/>
<field name="marker_enu_y" type="float"/>
<field name="flow_x" type="float"/>
<field name="flow_y" 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>
<!-- 61 is free -->
<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="UBLOX_INFO" id="74">
<field name="baud" type="uint32" />
<field name="ver_sw_h" type="uint8" />
<field name="ver_sw_l" type="uint8" />
<field name="ver_hw_h" type="uint16" />
<field name="ver_hw_l" type="uint16" />
<field name="sbas" type="uint8" />
<field name="gnss" type="uint8" values="NONE|GPS|GLONAS|GPS+GLONAS|BEIDOU|GPS+BEIDOU|GLONAS+BEIDOU|GPS+GLONAS+BEIDOU|GALILEO"/>
</message>
<message name="GVF_PARAMETRIC" id="75">
<description>
Information about the parametric trajectory followed by the Guidance Vector Field algorithm.
</description>
<field name="traj" type="uint8">Kind of trajectory</field>
<field name="s" type="int8" values="1|-1">Direction to be followed</field>
<field name="w" type="float">Virtual coordinate of the algorithm</field>
<field name="p" type="float[]">Parameters describing the trajectory</field>
<field name="phi" type="float[]" unit="m">Error signals</field>
</message>
<!-- 76 is free -->
<message name="SWARM_FISH" id="77">
<description>
State of the swarm fish navigation
</description>
<field name="heading" type ="float" unit="rad">Current Heading</field>
<field name="step_size" type ="float" unit="m">Current step size</field>
<field name="rw" type="float" unit="m">Distance to wall</field>
<field name="fw" type="float">Wall interaction coef</field>
<field name="theta_w" type ="float" unit="rad">Angle to wall</field>
<field name="f_fluct" type="float">Fluctation effect</field>
<field name="f_wall" type="float">Wall effect</field>
<field name="f_ali" type="float">Alignement effect</field>
<field name="f_att" type="float">Attraction effect</field>
</message>
<!--message for Invariant filter with position-->
<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="JEVOIS" id="80">
<description>
Debug message for the JeVois smart camera
corresponding to the standardized messages
</description>
<field name="type" type="uint8">Standardized message type JEVOIS_MSG_[T1|N1|D1|T2|N2|D2|F2|T3|N3|D3|F3]</field>
<field name="id" type="char[]">Text string describing the reported object</field>
<field name="nb" type="uint8">Number of elements in the coordinates array</field>
<field name="coord" type="int16[]">List of coordinates corresponding to 1D, 2D or 3D messages</field>
<field name="dim" type="uint16[3]">1, 2 or 3D dimension</field>
<field name="quat" type="float[4]">Quaternion that relates the object's frame to the camera's frame, if appropriate</field>
</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="deciV"/>
<field name="charge" 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="VISION_POSITION_ESTIMATE" id="90">
<description>Generic message to send position measurement from computer vision</description>
<field name="cnt" type="uint16">Counter</field>
<field name="x" type="float">X</field>
<field name="y" type="float">Y</field>
<field name="z" type="float">Z</field>
<field name="quality" type="float">Detection Quality or Uncertainty</field>
<field name="extra" type="float">In case the default message does not suit you</field>
</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>
<field name="filenames" type="char[]">The filenames currently in use by the logger (First sdlog, second Flight recorder for chibios)</field>
</message>
<!-- 93 is free -->
<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>
<!-- 95 is free -->
<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="float" unit="V"/>
<field name="current" type="float" unit="A"/>
</message>
<!-- Only used in airborne/test/mcu_periph/test_adc.c -->
<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>
<!-- Not used yet? -->
<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"/>