<?xml version="1.0"?>
<!DOCTYPE telemetry SYSTEM "/telemetry.dtd">
<telemetry>
  <process name="Ap">
    <mode name="default">
      <message name="ALIVE"            period="5.0"/>
      <message name="ATTITUDE"         period="0.45"/>
      <message name="ESTIMATOR"        period="0.55"/>
      <message name="DL_VALUE"         period="0.65"/> 
      <message name="IMU_MAG"          period="0.75"/>
      <message name="CAM_POINT"        period="0.85"/>
      <message name="CAM"              period="0.95"/>
      <message name="WP_MOVED"         period="1.05"/>
      <message name="GPS"              period="1.15"/>
      <message name="ENERGY"           period="1.25"/>
      <message name="SEGMENT"          period="1.35"/>
      <message name="BMP_STATUS"       period="1.55"/> <!-- BARO BMP280 DATA -->
      <message name="CIRCLE"           period="2.05"/>
      <message name="WEATHER"          period="2.15"/>
      <message name="DESIRED"          period="2.25"/>
      <message name="NAVIGATION"       period="3.05"/>
      <message name="PPRZ_MODE"        period="5.05"/>
      <message name="GPS_SOL"          period="5.25"/>
      <message name="NAVIGATION_REF"   period="9.35"/>
    </mode>
    <mode name="minimal">
      <message name="ALIVE"          period="5.0"/>
      <message name="ATTITUDE"       period="0.55"/>
      <message name="ESTIMATOR"      period="0.65"/>
      <message name="DL_VALUE"       period="0.75"/>
      <message name="CAM_POINT"      period="1.05"/>
      <message name="GPS"            period="1.15"/>
      <message name="WP_MOVED"       period="1.45"/>
      <message name="ENERGY"         period="1.65"/>
      <message name="SURVEY"         period="2.05"/>
      <message name="CIRCLE"         period="2.15"/>
      <message name="DESIRED"        period="2.25"/>
      <message name="SEGMENT"        period="2.35"/>
      <message name="NAVIGATION"     period="3.05"/>
      <message name="PPRZ_MODE"      period="5.25"/>
      <message name="GPS_SOL"        period="5.45"/>
      <message name="NAVIGATION_REF" period="9.05"/>
    </mode>
    <mode name="extremal">
      <message name="ALIVE"          period="5"/>
      <message name="ATTITUDE"       period="0.55"/>
      <message name="DL_VALUE"       period="0.75"/>
      <message name="CAM_POINT"      period="1.0"/>
      <message name="GPS"            period="5.1"/>
      <message name="ESTIMATOR"      period="5.2"/>
      <message name="NAVIGATION"     period="5.4"/>
      <message name="PPRZ_MODE"      period="5.6"/>
      <message name="ENERGY"         period="5.8"/>
      <message name="DESIRED"        period="10.2"/>
    </mode>
    <mode name="raw_sensors">
      <message name="DL_VALUE"          period="0.5"/>
      <message name="ALIVE"             period="2.1"/>
      <message name="IMU_ACCEL_RAW"     period=".2"/>
      <message name="IMU_GYRO_RAW"      period=".5"/>
      <message name="IMU_MAG_RAW"       period=".3"/>
      <message name="BARO_RAW"          period="0.5"/>
    </mode>
    <mode name="scaled_sensors">
      <message name="DL_VALUE"          period="0.5"/>
      <message name="ALIVE"             period="2.1"/>
      <message name="IMU_GYRO"   period=".075"/>
      <message name="IMU_ACCEL"  period=".075"/>
      <message name="IMU_MAG"    period=".1"/>
    </mode>
    <mode name="debug_imu">
      <message name="ATTITUDE"            period="0.1"/>
      <message name="ALIVE"               period="5"/>
      <message name="GPS"                 period="5.1"/>
      <message name="ESTIMATOR"           period="5.3"/>
      <message name="ENERGY"                 period="10.1"/>
      <message name="DESIRED"             period="10.2"/>
      <message name="NAVIGATION"          period="5.4"/>
      <message name="PPRZ_MODE"           period="5.5"/>
      <message name="STATE_FILTER_STATUS" period="5."/>
      <message name="IMU_ACCEL"           period=".5"/>
      <message name="IMU_GYRO"            period=".5"/>
      <message name="IMU_MAG"             period=".5"/>
      <message name="IMU_ACCEL_RAW"       period=".5"/>
      <message name="IMU_GYRO_RAW"        period=".5"/>
      <message name="IMU_MAG_RAW"         period=".5"/>
    </mode>
  </process>
  <process name="Fbw">
    <mode name="default">
      <message name="COMMANDS"       period="5"/>
      <message name="FBW_STATUS"     period="2"/>
      <message name="ACTUATORS"      period="5"/> <!-- For trimming -->
    </mode>
    <mode name="debug">
      <message name="PPM"            period="0.5"/>
      <message name="RC"             period="0.5"/>
      <message name="COMMANDS"       period="0.5"/>
      <message name="FBW_STATUS"     period="1"/>
      <message name="ACTUATORS"      period="5"/> <!-- For trimming -->
    </mode>
  </process>
</telemetry>