<?xml version="1.0"?>
<!DOCTYPE protocol SYSTEM "messages.dtd">
<protocol>
<!-- messages from modem or sim to server -->
<class name="telemetry">
<message name="BOOT" id="1">
<field name="version" type="uint16"/>
</message>
<message name="ALIVE" id="2">
<field name="md5sum" type="uint8[]"/>
</message>
<message name="PONG" id="3">
</message>
<message name="TAKEOFF" id="4">
<field name="cpu_time" type="uint16" unit="s"></field>
</message>
<!-- 5 is free -->
<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"/>
<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="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"/>
</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="dist2_wp" type="float" format="%.1f" unit="m^2"/>
<field name="dist2_home" type="float" format="%.1f" unit="m^2"/>
<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="uint8" 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>
</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="TEST_FORMAT" id="19">
<field name="val1" type="double"/>
<field name="val2" type="float"/>
</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="DOWNLINK_STATUS" id="23">
<field name="run_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"/>
<field name="rx_msgs_rate" type="float" format="%.1f"/>
<field name="ping_time" type="float" format="%.2f" unit="ms"/>
</message>
<message name="MODEM_STATUS" id="24">
<field name="detected" type="uint8"/>
<field name="valim" type="float" format="%.1f"/>
<field name="cd" type="uint8"/>
<field name="nb_byte" type="uint32"/>
<field name="nb_msg" type="uint32"/>
<field name="nb_err" type="uint32"/>
</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="WC_RSSI" id="28">
<field name="raw_level" type="uint8"/>
</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="DOWNLINK" id="30">
<field name="nb_ovrn" type="uint8"/>
<field name="rate" type="uint16" unit="bytes/s"/>
<field name="nb_msgs" type="uint16"/>
</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_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="%"/>
</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">
<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"/>
<field name="utm_zone" type="uint8"/>
</message>
<!-- 36 is free -->
<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="BARO_BMP85_CALIB" id="38">
<field name="a1" type="int16"/>
<field name="a2" type="int16"/>
<field name="a3" type="int16"/>
<field name="a4" type="uint16"/>
<field name="a5" type="uint16"/>
<field name="a6" type="uint16"/>
<field name="b1" type="int16"/>
<field name="b2" type="int16"/>
<field name="mb" type="int16"/>
<field name="mc" type="int16"/>
<field name="md" type="int16"/>
</message>
<message name="BARO_BMP85" id="39">
<field name="UT" type="int32"/>
<field name="UP" type="int32"/>
<field name="P" type="uint32"/>
<field name="T" type="float"/>
<field name="MSL" type="float"/>
</message>
<message name="SPEED_LOOP" id="40">
<field name="ve_set_point" type="float" unit="m/s"/>
<field name="ve" type="float" unit="m/s"/>
<field name="vn_set_point" type="float" unit="m/s"/>
<field name="vn" type="float" unit="m/s"/>
<field name="north_sp" type="float" unit="rad"/>
<field name="east_sp" type="float" unit="rad"/>
</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="PRESSURE" id="45">
<field name="airspeed_adc" type="float"/>
<field name="airspeed" type="float" unit="m/s"/>
<field name="altitude_adc" type="float"/>
<field name="altitude" 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="degres"/>
<field name="lon" type="int32" unit="degres"/>
<field name="alt" type="int32" unit="cm"/>
</message>
<message name="CHRONO" id="48">
<field name="tag" type="uint8"/>
<field name="time" type="uint32" unit="us"/>
</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="XSENS" id="55">
<field name="counter" type="int16" unit=""/>
<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"/>
<field name="ax" type="float" unit="m/s2"/>
<field name="ay" type="float" unit="m/s2"/>
<field name="az" type="float" unit="m/s2"/>
<field name="vx" type="float" unit="m/s"/>
<field name="vy" type="float" unit="m/s"/>
<field name="vz" type="float" unit="m/s"/>
<field name="lat" type="float" unit="deg"/>
<field name="lon" type="float" unit="deg"/>
<field name="alt" type="float" unit="m"/>
<field name="status" type="uint8" unit=""/>
<field name="hour" type="uint8" unit=""/>
<field name="min" type="uint8" unit=""/>
<field name="sec" type="uint8" unit=""/>
<field name="nanosec" type="uint32" unit=""/>
<field name="year" type="uint16" unit=""/>
<field name="month" type="uint8" unit=""/>
<field name="day" type="uint8" unit=""/>
</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="PBN" id="58">
<field name="airspeed_adc" type="uint16"></field>
<field name="altitude_adc" type="uint16"></field>
<field name="airspeed" type="float"></field>
<field name="altitude" type="float"></field>
<field name="airspeed_offset" type="uint16"></field>
<field name="altitude_offset" type="uint16"></field>
</message>
<message name="GPS_LLA" id="59">
<field name="lat" type="int32" alt_unit="deg" alt_unit_coef="0.0000057296"/>
<field name="lon" type="int32" alt_unit="deg" alt_unit_coef="0.0000057296"/>
<field name="alt" type="int32" unit="mm" alt_unit="m"/>
<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="ref_roll_angle" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
<field name="pitch_sum_err" type="float"/>
<field name="ref_pitch_angle" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
</message>
<message name="TURB_PRESSURE_RAW" id="61">
<field name="ch_0" type="int32" unit="adc"/>
<field name="ch_1" type="int32" unit="adc"/>
<field name="ch_2" type="int32" unit="adc"/>
<field name="ch_3" type="int32" unit="adc"/>
<field name="ch_4" type="int32" unit="adc"/>
<field name="ch_5" type="int32" unit="adc"/>
<field name="ch_6" type="int32" unit="adc"/>
<field name="ch_7" type="int32" unit="adc"/>
<field name="ch_8" type="int32" unit="adc"/>
<field name="ch_9" type="int32" unit="adc"/>
<field name="ch_10" type="int32" unit="adc"/>
<field name="ch_11" type="int32" unit="adc"/>
<field name="ch_12" type="int32" unit="adc"/>
<field name="ch_13" type="int32" unit="adc"/>
<field name="ch_14" type="int32" unit="adc"/>
<field name="ch_15" type="int32" unit="adc"/>
</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="utm_east" type="float" unit="m"/>
<field name="utm_north" type="float" unit="m"/>
<field name="course" type="float" unit="deg"/>
<field name="buffer" type="int8"/>
<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="int16" unit=""/>
<field name="shutter" type="uint8" unit="s"/>
</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>
<!-- 68 is free -->
<message name="AOA_adc" id="69">
<field name="adcVal" type="uint16"></field>
<field name="AOA" type="float" unit="rad"></field>
</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>
<!-- 71 is free -->
<!-- 72 is free -->
<!-- 73 is free -->
<!-- 74 is free -->
<!-- 75 is free -->
<message name="VF_UPDATE" id="76">
<field name="baro" type="float" unit="m"/>
<field name="range_meter" type="float" unit="m"/>
</message>
<message name="VF_PREDICT" id="77">
<field name="accel" type="float" unit="m/s/s"/>
</message>
<!-- 78 is free -->
<!-- 79 is free -->
<message name="CROSS_TRACK_ERROR" id="80">
<field name="cross_track_error" type="float" unit="m"/>
<field name="cte_int" type="float"/>
</message>
<message name="GENERIC_COM" id="81">
<field name="lat" type="int32" unit="1e7deg"/>
<field name="lon" type="int32" unit="1e7deg"/>
<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">
<field name="east" type="float" unit="m/s"/>
<field name="north" type="float" unit="m/s"/>
<field name="airspeed" type="float" unit="m/s"/>
</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="ANTENNA_DEBUG" id="92">
<field name="mag_xraw" type="int32"/>
<field name="mag_yraw" type="int32"/>
<field name="mag_xcal" type="float"/>
<field name="mag_ycal" type="float"/>
<field name="mag_heading" type="float"/>
<field name="mag_magnitude" type="float"/>
<field name="mag_temp" type="float"/>
<field name="mag_distor" type="uint8"/>
<field name="mag_cal_status" type="uint8"/>
</message>
<message name="ANTENNA_STATUS" id="93">
<field name="azim_sp" type="float"/>
<field name="elev_sp" type="float"/>
<field name="id_sp" type="uint8"/>
<field name="mode" type="uint8"/>
</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="MOTOR_BENCH_STATIC" id="95">
<field name="av_rpm" type="float"/>
<field name="av_thrust" type="float"/>
<field name="av_current" type="float"/>
<field name="throttle" type="uint16"/>
</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="uint8" 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="uint16[]" unit="none"/>
</message>
<message name="BETH" id="106">
<field name="azimuth" type="int16"/>
<field name="elevation" type="int16"/>
<field name="tilt" type="int16"/>
<field name="counter" type="uint32"/>
<field name="can_errs" type="uint16"/>
<field name="spi_errs" type="uint16"/>
<field name="thrust_out" type="int8"/>
<field name="pitch_out" type="int8"/>
</message>
<message name="BETH_ESTIMATOR" id="107">
<field name="tilt" type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="tilt_dot" type="float" alt_unit="deg/s" alt_unit_coef="57.29578"/>
<field name="elevation" type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="elevation_dot" type="float" alt_unit="deg/s" alt_unit_coef="57.29578"/>
<field name="azimuth" type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="azimuth_dot" type="float" alt_unit="deg/s" alt_unit_coef="57.29578"/>
</message>
<message name="BETH_CONTROLLER" id="108">
<field name="pitch" type="float"/>
<field name="thrust" type="float"/>
<field name="pitch_ff" type="float"/>
<field name="pitch_fb" type="float"/>
<field name="thrust_ff" type="float"/>
<field name="thrust_fb" type="float"/>
<field name="tilt_sp" type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="tilt_ref" type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="tilt_dot_ref" type="float" alt_unit="deg/s" alt_unit_coef="57.29578"/>
<field name="elevation_sp " type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="elevation_ref " type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="elevation_dot_ref" type="float" alt_unit="deg/s" alt_unit_coef="57.29578"/>
<field name="azimuth_sp" type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
</message>
<message name="BETH_CONTROLLER_TWIST" id="109">
<field name="S" type="float"/>
<field name="S_dot" type="float"/>
<field name="U_twt" type="float"/>
<field name="error" type="float"/>
</message>
<message name="DC_SHOT" id="110">
<field name="photo_nr" type="int16"/>
<field name="utm_east" type="int32" unit="cm"/>
<field name="utm_north" type="int32" unit="cm"/>
<field name="z" type="float" unit="m"/>
<field name="utm_zone" type="uint8"/>
<field name="phi" type="int16" unit="decideg"/>
<field name="theta" type="int16" unit="decideg"/>
<field name="course" type="int16" unit="decideg"/>
<field name="speed" type="uint16" unit="cm/s"/>
<field name="itow" type="uint32" unit="ms"/>
</message>
<message name="TEST_BOARD_RESULTS" ID="111">
<field name="uart" type="uint8"/>
<field name="ppm" type="uint8"/>
<field name="servo" type="uint16[]"/>
</message>
<message name="BETH_CONTROLLER_SFB" id="112">
<field name="one" type="float"/>
</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="VERTICAL_ENERGY" id="125">
<field name="Epot_err" type="float"/>
<field name="Ekin_err" type="float"/>
<field name="Etot_err" type="float"/>
<field name="Edis_err" type="float"/>
<field name="throttle" type="float"/>
<field name="nav_pitch" type="float"/>
<field name="speed_sp" type="float"/>
</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="snapshot_image_number" type="uint16"/>
</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="degres/s" alt_unit_coef="57.29578"/>
<field name="est_q" type="float" alt_unit="degres/s" alt_unit_coef="57.29578"/>
<field name="est_r" type="float" alt_unit="degres/s" alt_unit_coef="57.29578"/>
<field name="est_phi" type="float" alt_unit="degres" alt_unit_coef="57.29578"/>
<field name="est_theta" type="float" alt_unit="degres" alt_unit_coef="57.29578"/>
<field name="est_psi" type="float" alt_unit="degres" alt_unit_coef="57.29578"/>
<field name="ref_phi" type="float" alt_unit="degres" alt_unit_coef="57.29578"/>
<field name="ref_theta" type="float" alt_unit="degres" alt_unit_coef="57.29578"/>
<field name="ref_psi" type="float" alt_unit="degres" 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="degres/s^2" alt_unit_coef="57.29578"/>
<field name="est_q_d" type="float" alt_unit="degres/s^2" alt_unit_coef="57.29578"/>
<field name="est_r_d" type="float" alt_unit="degres/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="degres" alt_unit_coef="0.0139882"/>
<field name="theta" type="int32" alt_unit="degres" alt_unit_coef="0.0139882"/>
<field name="psi" type="int32" alt_unit="degres" alt_unit_coef="0.0139882"/>
<field name="measure_phi" type="int32" alt_unit="degres" alt_unit_coef="0.0000273"/>
<field name="measure_theta" type="int32" alt_unit="degres" alt_unit_coef="0.0000273"/>
<field name="measure_psi" type="int32" alt_unit="degres" alt_unit_coef="0.0000273"/>
<field name="corrected_phi" type="int32" alt_unit="degres" alt_unit_coef="0.0000273"/>
<field name="corrected_theta" type="int32" alt_unit="degres" alt_unit_coef="0.0000273"/>
<field name="corrected_psi" type="int32" alt_unit="degres" 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"/>
</message>
<message name="FILTER2" id="135">
<field name="px" type="int32"/>
<field name="py" type="int32"/>
<field name="pz" type="int32"/>
<field name="gsx" type="int32"/>
<field name="gsy" type="int32"/>
<field name="gsz" type="int32"/>
</message>
<message name="RATE_LOOP" id="136">
<field name="sp_p" type="int32"/>
<field name="sp_q" type="int32"/>
<field name="sp_r" type="int32"/>
<field name="ref_p" type="int32"/>
<field name="ref_q" type="int32"/>
<field name="ref_r" type="int32"/>
<field name="refdot_p" type="int32"/>
<field name="refdot_q" type="int32"/>
<field name="refdot_r" type="int32"/>
<field name="sumerr_p" type="int32"/>
<field name="sumerr_q" type="int32"/>
<field name="sumerr_r" type="int32"/>
<field name="ff_p" type="int32"/>
<field name="ff_q" type="int32"/>
<field name="ff_r" type="int32"/>
<field name="fb_p" type="int32"/>
<field name="fb_q" type="int32"/>
<field name="fb_r" type="int32"/>
<field name="delta_t" type="int32"/>
</message>
<message name="FILTER_ALIGNER" id="137">
<field name="lp_gp" type="int32" alt_unit="degres/s" alt_unit_coef="0.0139882"/>
<field name="lp_gq" type="int32" alt_unit="degres/s" alt_unit_coef="0.0139882"/>
<field name="lp_gr" type="int32" alt_unit="degres/s" alt_unit_coef="0.0139882"/>
<field name="gp" type="int32" alt_unit="degres/s" alt_unit_coef="0.0139882"/>
<field name="gq" type="int32" alt_unit="degres/s" alt_unit_coef="0.0139882"/>
<field name="gr" type="int32" alt_unit="degres/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>
<!-- 138 is free -->
<message name="FILTER_COR" id="139">
<field name="mphi" type="int32"/>
<field name="mtheta" type="int32"/>
<field name="mpsi" type="int32"/>
<field name="qi" type="int32"/>
<field name="qx" type="int32"/>
<field name="qy" type="int32"/>
<field name="qz" type="int32"/>
</message>
<message name="STAB_ATTITUDE_INT" id="140">
<field name="est_p" type="int32" alt_unit="degres/s" alt_unit_coef="0.0139882"/>
<field name="est_q" type="int32" alt_unit="degres/s" alt_unit_coef="0.0139882"/>
<field name="est_r" type="int32" alt_unit="degres/s" alt_unit_coef="0.0139882"/>
<field name="est_phi" type="int32" alt_unit="degres" alt_unit_coef="0.0139882"/>
<field name="est_theta" type="int32" alt_unit="degres" alt_unit_coef="0.0139882"/>
<field name="est_psi" type="int32" alt_unit="degres" alt_unit_coef="0.0139882"/>
<field name="sp_phi" type="int32" alt_unit="degres" alt_unit_coef="0.0000546"/>
<field name="sp_theta" type="int32" alt_unit="degres" alt_unit_coef="0.0000546"/>
<field name="sp_psi" type="int32" alt_unit="degres" alt_unit_coef="0.0000546"/>
<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="degres" alt_unit_coef="0.0000546"/>
<field name="sp_theta" type="int32" alt_unit="degres" alt_unit_coef="0.0000546"/>
<field name="sp_psi" type="int32" alt_unit="degres" alt_unit_coef="0.0000546"/>
<field name="ref_phi" type="int32" alt_unit="degres" alt_unit_coef="0.0000546"/>
<field name="ref_theta" type="int32" alt_unit="degres" alt_unit_coef="0.0000546"/>
<field name="ref_psi" type="int32" alt_unit="degres" alt_unit_coef="0.0000546"/>
<field name="ref_p" type="int32" alt_unit="degres/s" alt_unit_coef="0.0008743"/>
<field name="ref_q" type="int32" alt_unit="degres/s" alt_unit_coef="0.0008743"/>
<field name="ref_r" type="int32" alt_unit="degres/s" alt_unit_coef="0.0008743"/>
<field name="ref_pd" type="int32" alt_unit="degres/s2" alt_unit_coef="0.0139882"/>
<field name="ref_qd" type="int32" alt_unit="degres/s2" alt_unit_coef="0.0139882"/>
<field name="ref_rd" type="int32" alt_unit="degres/s2" alt_unit_coef="0.0139882"/>
</message>
<message name="STAB_ATTITUDE_REF_FLOAT" id="142">
<field name="sp_phi" type="float" alt_unit="degres" alt_unit_coef="57.29578"/>
<field name="sp_theta" type="float" alt_unit="degres" alt_unit_coef="57.29578"/>
<field name="sp_psi" type="float" alt_unit="degres" alt_unit_coef="57.29578"/>
<field name="ref_phi" type="float" alt_unit="degres" alt_unit_coef="57.29578"/>
<field name="ref_theta" type="float" alt_unit="degres" alt_unit_coef="57.29578"/>
<field name="ref_psi" type="float" alt_unit="degres" alt_unit_coef="57.29578"/>
<field name="ref_p" type="float" alt_unit="degres/s" alt_unit_coef="57.29578"/>
<field name="ref_q" type="float" alt_unit="degres/s" alt_unit_coef="57.29578"/>
<field name="ref_r" type="float" alt_unit="degres/s" alt_unit_coef="57.29578"/>
<field name="ref_pd" type="float" alt_unit="degres/s2" alt_unit_coef="57.29578"/>
<field name="ref_qd" type="float" alt_unit="degres/s2" alt_unit_coef="57.29578"/>
<field name="ref_rd" type="float" alt_unit="degres/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" id="144">
<field name="pos_n" type="int32"/>
<field name="pos_e" type="int32"/>
<field name="sp_pos_n" type="int32"/>
<field name="sp_pos_e" type="int32"/>
</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="0.0000038"/>
<field name="adp_cov" type="int32" alt_unit="foo" alt_unit_coef="0.0000038"/>
<field name="adp_meas" type="int32" alt_unit="foo" alt_unit_coef="0.0000038"/>
<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="err_nav_x" type="int32"/>
<field name="err_nav_y" type="int32"/>
<field name="cmd_x" type="int32"/>
<field name="cmd_y" type="int32"/>
<field name="cmd_phi" type="int32"/>
<field name="cmd_theta" type="int32"/>
<field name="cmd_psi" type="int32"/>
</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="degres" alt_unit_coef="0.0139882"/>
<field name="theta" type="int32" alt_unit="degres" alt_unit_coef="0.0139882"/>
<field name="psi" type="int32" alt_unit="degres" 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="degres" alt_unit_coef="0.0000546"/>
<field name="thrust" type="int32"/>
<field name="flight_time" type="uint16" unit="s"/>
</message>
<message name="BOOZ2_FMS_INFO" id="148">
<field name="tbd" type="float"/>
</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="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="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" alt_unit="-100/100" alt_unit_coef="0.01041670"/>
<field name="rc_pitch" type="int16" alt_unit="-100/100" alt_unit_coef="0.01041670"/>
<field name="rc_yaw" type="int16" alt_unit="-100/100" alt_unit_coef="0.01041670"/>
<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="imu_phi" type="int32" alt_unit="degres" alt_unit_coef="0.0139882"/>
<field name="imu_theta" type="int32" alt_unit="degres" alt_unit_coef="0.0139882"/>
<field name="imu_psi" type="int32" alt_unit="degres" alt_unit_coef="0.0139882"/>
<field name="body_phi" type="int32" alt_unit="degres" alt_unit_coef="0.0139882"/>
<field name="body_theta" type="int32" alt_unit="degres" alt_unit_coef="0.0139882"/>
<field name="body_psi" type="int32" alt_unit="degres" alt_unit_coef="0.0139882"/>
</message>
<message name="INS_Z" id="151">
<field name="baro_alt" 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_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" alt_unit="deg" alt_unit_coef="0.0000057296"/>
<field name="lon0" type="int32" alt_unit="deg" alt_unit_coef="0.0000057296"/>
<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="int32"/>
</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" alt_unit="deg" alt_unit_coef="0.0000057296"/>
<field name="lon" type="int32" alt_unit="deg" alt_unit_coef="0.0000057296"/>
<field name="alt" type="int32" unit="mm" alt_unit="m"/>
<field name="hmsl" type="int32" unit="mm" alt_unit="m"/>
<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="int32" unit="cm" alt_unit="m"/>
<field name="sacc" type="int32" 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|UKN1|UKN2|3D"/>
</message>
<message name="AHRS_EULER_INT" id="156">
<field name="imu_phi" type="int32" alt_unit="degres" alt_unit_coef="0.0139882"/>
<field name="imu_theta" type="int32" alt_unit="degres" alt_unit_coef="0.0139882"/>
<field name="imu_psi" type="int32" alt_unit="degres" alt_unit_coef="0.0139882"/>
<field name="body_phi" type="int32" alt_unit="degres" alt_unit_coef="0.0139882"/>
<field name="body_theta" type="int32" alt_unit="degres" alt_unit_coef="0.0139882"/>
<field name="body_psi" type="int32" alt_unit="degres" alt_unit_coef="0.0139882"/>
</message>
<message name="AHRS_QUAT_INT" id="157">
<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"/>
</message>
<message name="AHRS_RMAT_INT" id="158">
<field name="imu_m00" type="int32" alt_unit="" alt_unit_coef="0.0000610"/>
<field name="imu_m01" type="int32" alt_unit="" alt_unit_coef="0.0000610"/>
<field name="imu_m02" type="int32" alt_unit="" alt_unit_coef="0.0000610"/>
<field name="imu_m10" type="int32" alt_unit="" alt_unit_coef="0.0000610"/>
<field name="imu_m11" type="int32" alt_unit="" alt_unit_coef="0.0000610"/>
<field name="imu_m12" type="int32" alt_unit="" alt_unit_coef="0.0000610"/>
<field name="imu_m20" type="int32" alt_unit="" alt_unit_coef="0.0000610"/>
<field name="imu_m21" type="int32" alt_unit="" alt_unit_coef="0.0000610"/>
<field name="imu_m22" type="int32" alt_unit="" alt_unit_coef="0.0000610"/>
<field name="body_m00" type="int32" alt_unit="" alt_unit_coef="0.0000610"/>
<field name="body_m01" type="int32" alt_unit="" alt_unit_coef="0.0000610"/>
<field name="body_m02" type="int32" alt_unit="" alt_unit_coef="0.0000610"/>
<field name="body_m10" type="int32" alt_unit="" alt_unit_coef="0.0000610"/>
<field name="body_m11" type="int32" alt_unit="" alt_unit_coef="0.0000610"/>
<field name="body_m12" type="int32" alt_unit="" alt_unit_coef="0.0000610"/>
<field name="body_m20" type="int32" alt_unit="" alt_unit_coef="0.0000610"/>
<field name="body_m21" type="int32" alt_unit="" alt_unit_coef="0.0000610"/>
<field name="body_m22" type="int32" alt_unit="" alt_unit_coef="0.0000610"/>
</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="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>
<!-- 161 is free -->
<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="BOOZ2_TUNE_FF" id="163">
<field name="fb_rms" type="float"/>
<field name="dg" type="float"/>
<field name="g" type="float"/>
</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="yd_measure" type="float"/>
<field name="xd_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="BOOZ2_SONAR" id="167">
<field name="front" type="uint16" unit="adc"/>
<field name="back" type="uint16" unit="adc"/>
<field name="right" type="uint16" unit="adc"/>
<field name="left" type="uint16" unit="adc"/>
</message>
<message name="BOOZ2_CAM" id="168">
<field name="tilt" type="int16" unit="us"/>
<field name="pan" type="int16" unit="2^12rad" alt_unit="degres" 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="EKF7_XHAT" id="170">
<field name="c" type="float"/>
<field name="s1" type="float"/>
<field name="s2" type="float"/>
<field name="s3" type="float"/>
<field name="p" type="float" alt_unit="deg/s" alt_unit_coef="57.29578"/>
<field name="q" type="float" alt_unit="deg/s" alt_unit_coef="57.29578"/>
<field name="r" type="float" alt_unit="deg/s" alt_unit_coef="57.29578"/>
<field name="bp" type="float"/>
<field name="bq" type="float"/>
<field name="br" type="float"/>
</message>
<message name="EKF7_Y" id="171">
<field name="timecount" type="uint16"/>
<field name="g1" type="float"/>
<field name="g2" type="float"/>
<field name="g3" type="float"/>
<field name="m1" type="float"/>
<field name="m2" type="float"/>
<field name="m3" type="float"/>
<field name="p" type="float" alt_unit="deg/s" alt_unit_coef="57.29578"/>
<field name="q" type="float" alt_unit="deg/s" alt_unit_coef="57.29578"/>
<field name="r" type="float" alt_unit="deg/s" alt_unit_coef="57.29578"/>
</message>
<message name="EKF7_P_DIAG" id="172">
<field name="c" type="float"/>
<field name="s1" type="float"/>
<field name="s2" type="float"/>
<field name="s3" type="float"/>
<field name="p" type="float" alt_unit="deg^2/s^2" alt_unit_coef="3283"/>
<field name="q" type="float" alt_unit="deg^2/s^2" alt_unit_coef="3283"/>
<field name="r" type="float" alt_unit="deg^2/s^2" alt_unit_coef="3283"/>
<field name="bp" type="float" alt_unit="deg^2/s^2" alt_unit_coef="3283"/>
<field name="bq" type="float" alt_unit="deg^2/s^2" alt_unit_coef="3283"/>
<field name="br" type="float" alt_unit="deg^2/s^2" alt_unit_coef="3283"/>
</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" />
</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="degres/s" alt_unit_coef="0.0139882"/>
<field name="bq" type="int32" alt_unit="degres/s" alt_unit_coef="0.0139882"/>
<field name="br" type="int32" alt_unit="degres/s" alt_unit_coef="0.0139882"/>
</message>
<!--179 is free -->
<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="LOADCELL" id="181">
<field name="load" type="int32"/>
</message>
<message name="FLA_DEBUG" id="182">
<field name="past_input" type="float"/>
<field name="imu_rate" type="float"/>
<field name="desired_accel" type="float"/>
<field name="motor_command" type="float"/>
</message>
<message name="BLMC_FAULT_STATUS" id="183">
<field name="raw_fault" type="uint16[]"/>
</message>
<message name="BLMC_SPEEDS" id="184">
<field name="speeds" type="int16[]"/>
</message>
<message name="AHRS_DEBUG_QUAT" id="185">
<field name="jqi" type="float"/>
<field name="jqx" type="float"/>
<field name="jqy" type="float"/>
<field name="jqz" type="float"/>
<field name="xqi" type="float"/>
<field name="xqx" type="float"/>
<field name="xqy" type="float"/>
<field name="xqz" type="float"/>
<field name="mqi" type="float"/>
<field name="mqx" type="float"/>
<field name="mqy" type="float"/>
<field name="mqz" type="float"/>
</message>
<message name="BLMC_BUSVOLTS" id="186">
<field name="busvolts" type="uint16[]"/>
</message>
<message name="SYSTEM_STATUS" id="187">
<field name="csc1_loop_count" type="uint32"/>
<field name="csc1_msg_count" type="uint32"/>
<field name="csc2_loop_count" type="uint32"/>
<field name="csc2_msg_count" type="uint32"/>
<field name="can_rx_err" type="uint32"/>
<field name="can_tx_err" type="uint32"/>
<field name="rc_parser_err" type="uint32"/>
<field name="system_fault" type="uint8"/>
</message>
<message name="DYNAMIXEL" id="188">
<field name="left_wing" type="uint16"/>
<field name="right_wing" type="uint16"/>
<field name="left_wing_flag" type="uint8"/>
<field name="right_wing_flag" type="uint8"/>
<field name="invalid_position" type="uint32"/>
<field name="timeout_events" type="uint32"/>
<field name="checksum_errors" type="uint32"/>
<field name="fuse_rotation_angle" type="float"/>
<field name="fuse_rotation_rate" type="float"/>
</message>
<message name="RMAT_DEBUG" id="189">
<field name="a" type="float" />
<field name="b" type="float" />
<field name="c" type="float" />
<field name="d" type="float" />
<field name="e" type="float" />
<field name="f" type="float" />
<field name="g" type="float" />
<field name="h" type="float" />
<field name="i" type="float" />
</message>
<message name="SIMPLE_COMMANDS" id="190">
<field name="roll" type="int16" />
<field name="pitch" type="int16" />
<field name="yaw" type="int16" />
</message>
<message name="VANE_SENSOR" id="191">
<field name="alpha" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
<field name="alpha_filtered" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
<field name="alpha_target" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
<field name="alpha_vane_error" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
<field name="alpha2" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
<field name="beta" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
<field name="beta_filtered" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
<field name="beta_target" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
<field name="beta_vane_error" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
<field name="beta2" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
</message>
<message name="CONTROLLER_GAINS" id="192">
<field name="roll_gamma_p" type="float" />
<field name="roll_gamma_d" type="float" />
<field name="roll_gamma_i" type="float" />
<field name="pitch_gamma_p" type="float" />
<field name="pitch_gamma_d" type="float" />
<field name="pitch_gamma_i" type="float" />
<field name="yaw_gamma_p" type="float" />
<field name="yaw_gamma_d" type="float" />
<field name="yaw_gamma_i" type="float" />
</message>
<message name="AHRS_LKF" id="193">
<field name="phi" type="float" unit="rad" alt_unit="degres" alt_unit_coef="57.29578" />
<field name="theta" type="float" unit="rad" alt_unit="degres" alt_unit_coef="57.29578" />
<field name="psi" type="float" unit="rad" alt_unit="degres" 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="degres/s" alt_unit_coef="57.29578" />
<field name="q" type="float" unit="rad/s" alt_unit="degres/s" alt_unit_coef="57.29578" />
<field name="r" type="float" unit="rad/s" alt_unit="degres/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="AHRS_LKF_DEBUG" id="194">
<field name="phi_err" type="float" unit="rad" alt_unit="degres" alt_unit_coef="57.29578" />
<field name="theta_err" type="float" unit="rad" alt_unit="degres" alt_unit_coef="57.29578" />
<field name="psi_err" type="float" unit="rad" alt_unit="degres" alt_unit_coef="57.29578" />
<field name="bp" type="float" unit="rad/s" alt_unit="degres/s" alt_unit_coef="57.29578" />
<field name="bq" type="float" unit="rad/s" alt_unit="degres/s" alt_unit_coef="57.29578" />
<field name="br" type="float" unit="rad/s" alt_unit="degres/s" alt_unit_coef="57.29578" />
<field name="quat_norm" type="float" />
<field name="phi_accel" type="float" unit="rad" alt_unit="degres" alt_unit_coef="57.29578" />
<field name="theta_accel" type="float" unit="rad" alt_unit="degres" alt_unit_coef="57.29578" />
<field name="phi_cov" type="float" />
<field name="theta_cov" type="float" />
<field name="psi_cov" type="float" />
<field name="bp_cov" type="float" />
<field name="bq_cov" type="float" />
<field name="br_cov" type="float" />
</message>
<message name="AHRS_LKF_ACC_DBG" id="195">
<field name="qi_err" type="float" />
<field name="qx_err" type="float" />
<field name="qy_err" type="float" />
<field name="qz_err" type="float" />
<field name="bp_err" type="float" unit="rad/s" alt_unit="degres/s" alt_unit_coef="57.29578" />
<field name="bq_err" type="float" unit="rad/s" alt_unit="degres/s" alt_unit_coef="57.29578" />
<field name="br_err" type="float" unit="rad/s" alt_unit="degres/s" alt_unit_coef="57.29578" />
</message>
<message name="AHRS_LKF_MAG_DBG" id="196">
<field name="qi_err" type="float" />
<field name="qx_err" type="float" />
<field name="qy_err" type="float" />
<field name="qz_err" type="float" />
<field name="bp_err" type="float" unit="rad/s" alt_unit="degres/s" alt_unit_coef="57.29578" />
<field name="bq_err" type="float" unit="rad/s" alt_unit="degres/s" alt_unit_coef="57.29578" />
<field name="br_err" type="float" unit="rad/s" alt_unit="degres/s" alt_unit_coef="57.29578" />
</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="GPS_ERROR" id="199">
<field name="x_position" type="float" unit="m"/>
<field name="y_position" type="float" unit="m"/>
<field name="z_position" type="float" unit="m"/>
<field name="x_velocity" type="float" unit="m"/>
<field name="y_velocity" type="float" unit="m"/>
<field name="z_velocity" type="float" unit="m"/>
</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>
<!--207 is free -->
<!--208 is free -->
<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="IMU_HS_GYRO" id="211">
<field name="axis" type="uint8"/>
<field name="samples" type="uint32[]"/>
</message>
<message name="TEST_PASSTHROUGH_STATUS" id="212">
<field name="io_proc_msg_cnt" type="uint32"/>
<field name="io_proc_err_cnt" type="uint32"/>
<field name="io_link_msg_cnt" type="uint32"/>
<field name="io_link_err_cnt" type="uint32"/>
<field name="rc_status" type="uint8" values="OK|LOST|REALLY_LOST"/>
</message>
<!--213 is free -->
<!--214 is free -->
<!--215 is free -->
<!--216 is free -->
<!--217 is free -->
<!--218 is free -->
<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"/>
</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="int32"/>
<field name="diff" type="int32"/>
</message>
<!--222 is free -->
<!--223 is free -->
<!--224 is free -->
<!--225 is free -->
<!--226 is free -->
<message name="TIME" id="227">
<field name="t" type="uint32"/>
</message>
<!--228 is free -->
<!--229 is free -->
<!--230 is free -->
<message name="ROTORCRAFT_STATUS" id="231">
<field name="link_imu_nb_err" type="uint32"/>
<field name="blmc_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|NA|3Dfix"/>
<field name="ap_mode" type="uint8" values="FAILSAFE|KILL|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"/>
<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"/>
<field name="ap_v_mode" type="uint8" values="KILL|RC_DIRECT|RC_CLIMB|CLIMB|HOVER|NAV"/>
<field name="vsupply" type="uint8" unit="decivolt"/>
<field name="cpu_time" type="uint16" unit="s"/>
</message>
<message name="STATE_FILTER_STATUS" id="232">
<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>
<!--233 is free -->
<message name="OPTICFLOW" id="234">
<field name="flow" type="uint16"></field>
<field name="ref_alt" type="float"></field>
</message>
<message name="VISUALTARGET" id="235">
<field name="x" type="uint16"></field>
<field name="y" type="uint16"></field>
</message>
<!--236 is free -->
<!--237 is free -->
<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_RPMS" id="239">
<field name="front" type="float" unit="RPM"/>
<field name="back" type="float" unit="RPM"/>
<field name="right" type="float" unit="RPM"/>
<field name="left" type="float" unit="RPM"/>
</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="degres/s"/>
<field name="q" type="float" unit="degres/s"/>
<field name="r" type="float" unit="degres/s"/>
<field name="phi" type="float" unit="degres"/>
<field name="theta" type="float" unit="degres"/>
<field name="psi" type="float" unit="degres"/>
</message>
<message name="NPS_GYRO_BIAS" id="242">
<field name="bp" type="float" unit="degres/s"/>
<field name="bq" type="float" unit="degres/s"/>
<field name="br" type="float" unit="degres/s"/>
</message>
<message name="NPS_RANGE_METER" id="243">
<field name="dist" type="float" unit="adc"/>
</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="BOOZ_DEBUG_FOO" id="245">
<field name="ami_stat" type="uint8"/>
</message>
<message name="BOOZ_MAX1167_ERR" id="246">
<field name="erno" type="uint8"/>
</message>
<message name="PPRZ_DEBUG" id="247">
<field name="module" type="uint8"/>
<field name="errno" type="uint8"/>
</message>
<message name="NPS_ACCEL_LTP" id="248">
<field name="xdd" type="float" unit="m/s2"/>
<field name="ydd" type="float" unit="m/s2"/>
<field name="zdd" type="float" unit="m/s2"/>
</message>
<message name="LOOSE_INS_GPS" id="249">
<field name="status" type="uint8" values="UNINITIALIZED|STARTUP_TRANSIENTS|LOWPASSING|GPS_LOST|NOMINAL"/>
<field name="time_running" type="double" alt_unit="minutes" alt_unit_coef="0.016666666666667"/>
<field name="q0" type="double" />
<field name="q1" type="double" />
<field name="q2" type="double" />
<field name="q3" type="double" />
<field name="phi" type="double" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="theta" type="double" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="psi" type="double" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="north" type="double" unit="m" />
<field name="east" type="double" unit="m" />
<field name="down" type="double" unit="m" />
<field name="v_north" type="double" unit="m/s"/>
<field name="v_east" type="double" unit="m/s"/>
<field name="v_down" type="double" unit="m/s"/>
<field name="est_p" type="double" alt_unit="degres/s" alt_unit_coef="57.29578"/>
<field name="est_q" type="double" alt_unit="degres/s" alt_unit_coef="57.29578"/>
<field name="est_r" type="double" alt_unit="degres/s" alt_unit_coef="57.29578"/>
<field name="gyroBias_x" type="double" alt_unit="degres/s" alt_unit_coef="57.29578"/>
<field name="gyroBias_y" type="double" alt_unit="degres/s" alt_unit_coef="57.29578"/>
<field name="gyroBias_z" type="double" alt_unit="degres/s" alt_unit_coef="57.29578"/>
<field name="imuCallbacks" type="uint32" />
<field name="gpsCallbacks" type="uint32" />
<field name="baroCallbacks" type="uint32" />
<!-- <field name="mahrs_gbx" type="float" alt_unit="degres/s" alt_unit_coef="57.29578"/>
<field name="mahrs_gby" type="float" alt_unit="degres/s" alt_unit_coef="57.29578"/>
<field name="mahrs_gbz" type="float" alt_unit="degres/s" alt_unit_coef="57.29578"/>
<field name="alpha" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3" />
<field name="beta" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3" />
<field name="airspeed" type="float" unit="m/s" />
<field name="barometer" type="float" unit="Pa" /> -->
</message>
<message name="AFL_COEFFS" id="250">
<field name="roll_a" type="float"/>
<field name="roll_b" type="float"/>
<field name="roll_c" type="float"/>
<field name="pitch_a" type="float"/>
<field name="pitch_b" type="float"/>
<field name="pitch_c" type="float"/>
<field name="yaw_a" type="float"/>
<field name="yaw_b" type="float"/>
<field name="yaw_c" type="float"/>
</message>
<message name="BOOZ_ATT_REF_MODEL" id="251">
<field name="omega_p" type="float" />
<field name="zeta_p" type="float" />
<field name="omega_q" type="float" />
<field name="zeta_q" type="float" />
<field name="omega_r" type="float" />
<field name="zeta_r" type="float" />
</message>
<message name="BOOZ2_FF_ADAP" id="252">
<field name="roll" type="float"/>
<field name="pitch" type="float"/>
<field name="yaw" type="float"/>
</message>
<message name="I2C_ERRORS" id="253">
<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"/>
</message>
<message name="RDYB_TRAJECTORY" id="254">
<field name="commanded_phi" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="commanded_theta" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="commanded_psi" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="setpoint_x" type="float" unit="m N"/>
<field name="setpoint_y" type="float" unit="m E"/>
<field name="setpoint_z" type="float" unit="m D"/>
</message>
<message name="HENRY_GNSS" id="255">
<field name="last_imu_update" type="uint32"/>
<field name="GPS_time" type="double"/>
<field name="GPS_solution_valid" type="uint8"/>
<field name="latitude" type="double" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="longitude" type="double" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="altitude" type="double" />
<field name="North" type="double" />
<field name="East" type="double" />
<field name="Down" type="double" />
<field name="SVs_Tracked" type="uint8" />
<field name="SVs_PVT" type="uint8" />
<field name="V_North" type="double"/>
<field name="V_East" type="double"/>
<field name="V_Down" type="double"/>
</message>
</class>
<class name="datalink">
<message name="ACINFO" id="1" link="broadcasted">
<field name="course" type="int16" unit="decideg"></field>
<field name="utm_east" type="int32" unit="cm"></field>
<field name="utm_north" type="int32" unit="cm"></field>
<field name="alt" type="int32" unit="cm"></field>
<field name="itow" type="uint32" unit="ms"></field>
<field name="speed" type="uint16" unit="cm/s"></field>
<field name="climb" type="int16" unit="cm/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="e-7deg"/>
<field name="lon" type="int32" unit="e-7deg"/>
<field name="alt" type="int32" unit="cm"/>
</message>
<message name="WIND_INFO" id="3" link="forwarded">
<field name="ac_id" type="uint8"/>
<field name="pad0" type="uint8"/>
<field name="east" type="float" unit="m/s"/>
<field name="north" type="float" unit="m/s"/>
<field name="airspeed" type="float" unit="m/s"/>
</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="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="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="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="BOOZ_CAM_STICK" id="152" link="forwarded">
<field name="ac_id" type="uint8"/>
<field name="tilt" type="int8"/>
<field name="pan" type="int8"/>
</message>
</class>
<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"/>
</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|DRO|2D|3D|GPSDRO"/>
<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> <!-- local ref. -->
<field name="north" type="float" unit="m"></field> <!-- local ref. -->
<field name="up" type="float" unit="m"></field> <!-- local ref. -->
</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"></field>
<field name="long" type="float" unit="deg"></field>
<field name="alt" type="float" unit="m"></field>
</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"></field>
<field name="long" type="float" unit="deg"></field>
<field name="alt" type="float" unit="m"></field>
</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">
<field name="ac_id" type="string"/>
<field name="time_since_last_msg" type="float" unit="s"/>
</message>
<message name="TELEMETRY_ERROR" id="33">
<field name="ac_id" type="string"/>
<field name="message" type="string"/>
</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>
</class>
<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>
</class>
<class name="DIA"> <!-- data in audio -->
<message name="NAV_INFO" id="1">
<field name="unix_time" type="float"/>
<field name="lat" type="float" unit="deg"/>
<field name="long" type="float" unit="deg"/>
<field name="alt" type="uint16" unit="m"/>
<field name="course" type="uint16" unit="deg"/>
<field name="speed" type="uint16" unit="cm/s"/>
<field name="cam_roll" type="int16" unit="deg"/>
<field name="cam_pitch" type="int16" unit="deg"/>
</message>
</class>
</protocol>
