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[paparazzi-commits] [5520] improved indentation
|
From: |
antoine drouin |
|
Subject: |
[paparazzi-commits] [5520] improved indentation |
|
Date: |
Sat, 21 Aug 2010 14:34:58 +0000 |
Revision: 5520
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5520
Author: poine
Date: 2010-08-21 14:34:57 +0000 (Sat, 21 Aug 2010)
Log Message:
-----------
improved indentation
Modified Paths:
--------------
paparazzi3/trunk/conf/messages.xml
Modified: paparazzi3/trunk/conf/messages.xml
===================================================================
--- paparazzi3/trunk/conf/messages.xml 2010-08-21 01:30:13 UTC (rev 5519)
+++ paparazzi3/trunk/conf/messages.xml 2010-08-21 14:34:57 UTC (rev 5520)
@@ -5,7 +5,7 @@
<class name="telemetry">
<message name="BOOT" id="1">
- <field name="version" type="uint16"></field>
+ <field name="version" type="uint16"/>
</message>
<message name="ALIVE" id="2">
@@ -30,48 +30,48 @@
</message>
<message name="ATTITUDE" id="6">
- <field name="phi" type="float" unit="rad" alt_unit="deg"
alt_unit_coef="57.3"></field>
- <field name="psi" type="float" unit="rad" alt_unit="deg"
alt_unit_coef="57.3"></field>
- <field name="theta" type="float" unit="rad" alt_unit="deg"
alt_unit_coef="57.3"></field>
+ <field name="phi" type="float" unit="rad" alt_unit="deg"
alt_unit_coef="57.3"/>
+ <field name="psi" type="float" unit="rad" alt_unit="deg"
alt_unit_coef="57.3"/>
+ <field name="theta" type="float" unit="rad" alt_unit="deg"
alt_unit_coef="57.3"/>
</message>
<message name="IR_SENSORS" id="7">
- <field name="ir1" type="int16"></field>
- <field name="ir2" type="int16"></field>
- <field name="longitudinal" type="int16"></field>
- <field name="lateral" type="int16"></field>
- <field name="vertical" type="int16"></field>
+ <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>
- <field name="utm_east" type="int32" unit="cm" alt_unit="m"
alt_unit_coef="0.01"></field>
- <field name="utm_north" type="int32" unit="cm" alt_unit="m"
alt_unit_coef="0.01"></field>
- <field name="course" type="int16" unit="decideg" alt_unit="deg"
alt_unit_coef="0.1"></field>
- <field name="alt" type="int32" unit="cm" alt_unit="m"
alt_unit_coef="0.01"></field>
- <field name="speed" type="uint16" unit="cm/s" alt_unit="m/s"
alt_unit_coef="0.01"></field>
- <field name="climb" type="int16" unit="cm/s" alt_unit="m/s"
alt_unit_coef="0.01"></field>
- <field name="week" type="uint16" unit="weeks"></field>
- <field name="itow" type="uint32" unit="ms"></field>
- <field name="utm_zone" type="uint8"></field>
- <field name="gps_nb_err" type="uint8"></field>
+ <field name="mode" type="uint8" unit="byte_mask"/>
+ <field name="utm_east" type="int32" unit="cm" alt_unit="m"
alt_unit_coef="0.01"/>
+ <field name="utm_north" type="int32" unit="cm" alt_unit="m"
alt_unit_coef="0.01"/>
+ <field name="course" type="int16" unit="decideg" alt_unit="deg"
alt_unit_coef="0.1"/>
+ <field name="alt" type="int32" unit="cm" alt_unit="m"
alt_unit_coef="0.01"/>
+ <field name="speed" type="uint16" unit="cm/s" alt_unit="m/s"
alt_unit_coef="0.01"/>
+ <field name="climb" type="int16" unit="cm/s" alt_unit="m/s"
alt_unit_coef="0.01"/>
+ <field name="week" type="uint16" unit="weeks"></field>
+ <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>
- <field name="utm_north" type="int32" unit="m"></field>
- <field name="utm_zone" type="uint8"></field>
+ <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>
- <field name="cur_stage" type="uint8"></field>
- <field name="pos_x" type="float" unit="m" format="%.1f"></field>
- <field name="pos_y" type="float" unit="m" format="%.1f"></field>
- <field name="dist2_wp" type="float" format="%.1f" unit="m^2"></field>
- <field name="dist2_home" type="float" format="%.1f" unit="m^2"></field>
- <field name="circle_count" type="uint8"></field>
- <field name="oval_count" type="uint8"></field>
+ <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">
@@ -84,12 +84,12 @@
</message>
<message name="BAT" id="12">
- <field name="throttle" type="int16" unit="pprz"></field>
- <field name="voltage" type="uint8" unit="1e-1V" alt_unit="V"
alt_unit_coef="0.1"></field>
- <field name="flight_time" type="uint16" unit="s"></field>
- <field name="kill_auto_throttle" type="uint8" unit="bool"></field>
- <field name="block_time" type="uint16" unit="s"></field>
- <field name="stage_time" type="uint16" unit="s"></field>
+ <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="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>
@@ -100,13 +100,13 @@
</message>
<message name="CALIBRATION" id="14">
- <field name="climb_sum_err" type="float" format="%.1f"></field>
- <field name="climb_gaz_submode" type="uint8"></field>
+ <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>
- <field name="slider_2_val" type="float"></field>
+ <field name="slider_1_val" type="float"/>
+ <field name="slider_2_val" type="float"/>
</message>
<message name="DESIRED" id="16">
@@ -144,35 +144,35 @@
</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>
+ <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 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>
- <field name="rx_bytes" type="uint32"></field>
- <field name="rx_msgs" type="uint32"></field>
- <field name="rx_err" type="uint32"></field>
- <field name="rx_bytes_rate" type="float" format="%.1f"></field>
- <field name="rx_msgs_rate" type="float" format="%.1f"></field>
- <field name="ping_time" type="float" format="%.2f" unit="ms"></field>
+ <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>
- <field name="valim" type="float" format="%.1f"></field>
- <field name="cd" type="uint8"></field>
- <field name="nb_byte" type="uint32"></field>
- <field name="nb_msg" type="uint32"></field>
- <field name="nb_err" type="uint32"></field>
+ <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">
@@ -211,53 +211,52 @@
</message>
<message name="DOWNLINK" id="30">
- <field name="nb_ovrn" type="uint8"></field>
- <field name="rate" type="uint16" unit="bytes/s"></field>
- <field name="nb_msgs" type="uint16"></field>
+ <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">
+ <message name="DL_VALUE" id="31">
<field name="index" type="uint8"/>
<field name="value" type="float"/>
- </message>
+ </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="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="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="MOTOR" id="34">
+ <field name="rpm" type="uint16" unit="Hz"/>
+ <field name="current" type="int32" unit="mA"/>
+ </message>
- <message name="WP_MOVED" id="35">
+ <message name="WP_MOVED" id="35">
<field name="wp_id" type="uint8"/>
- <field name="utm_east" type="float" unit="m"></field>
- <field name="utm_north" type="float" unit="m"></field>
- <field name="alt" type="float" unit="m"></field>
- <field name="utm_zone" type="uint8"></field>
- </message>
+ <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>
- <message name="GYRO_RATES" id="36">
- <field name="roll_adc" type="int16"></field>
- <field name="roll" type="float" unit="rad/s"></field>
- <field name="pitch" type="float" unit="rad/s"></field>
- </message>
+ <message name="GYRO_RATES" id="36">
+ <field name="roll_adc" type="int16"/>
+ <field name="roll" type="float" unit="rad/s"/>
+ <field name="pitch" type="float" unit="rad/s"/>
+ </message>
-
<message name="ENERGY" id="37">
<field name="bat" type="float" unit="V"/>
<field name="amp" type="float" unit="A"/>
@@ -266,28 +265,27 @@
</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"/>
+ <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"/>
+ <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"/>
@@ -310,59 +308,59 @@
</message>
<message name="TUNE_ROLL" id="43">
- <field name="p" type="float"/>
- <field name="phi" type="float"/>
- <field name="phi_sp" type="float"/>
+ <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"/>
+ <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="adc" type="float"/>
- <field name="airspeed" type="float" unit="m/s"/>
- <field name="altitude_adc" type="float"/>
- <field name="altitude" type="float" unit="m"/>
- <field name="airspeed_sp" type="float" unit="m/s"/>
- <field name="altitude_sp" type="float" unit="m/s"/>
- <field name="groundspeed_sp" type="float" unit="m/s"/>
+ <field name="adc" type="float"/>
+ <field name="airspeed" type="float" unit="m/s"/>
+ <field name="altitude_adc" type="float"/>
+ <field name="altitude" type="float" unit="m"/>
+ <field name="airspeed_sp" type="float" unit="m/s"/>
+ <field name="altitude_sp" type="float" unit="m/s"/>
+ <field name="groundspeed_sp" type="float" unit="m/s"/>
</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"/>
+ <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">
+ <message name="WP_MOVED_LLA" id="47">
<field name="wp_id" type="uint8"/>
- <field name="lat" type="int32" unit="degres"></field>
- <field name="lon" type="int32" unit="degres"></field>
- <field name="alt" type="int32" unit="cm"></field>
- </message>
+ <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">
+ <message name="CHRONO" id="48">
<field name="tag" type="uint8"/>
- <field name="time" type="uint32" unit="us"></field>
- </message>
+ <field name="time" type="uint32" unit="us"/>
+ </message>
- <message name="WP_MOVED_ENU" id="49">
+ <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>
- <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="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"/>
@@ -371,28 +369,27 @@
</message>
<message name="MPPT" id="52">
- <field name="values" type="int16[]" alt_unit_coef="1e-3"/>
+ <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>
- <field name="ir2" type="int16" unit="adc"></field>
- <field name="top" type="int16" unit="adc"></field>
- <field name="phi" type="float" unit="rad" alt_unit="deg"
alt_unit_coef="57.3"/>
- <field name="theta" type="float" unit="rad" alt_unit="deg"
alt_unit_coef="57.3"/>
+ <field name="ir1" type="int16" unit="adc"/>
+ <field name="ir2" type="int16" unit="adc"/>
+ <field name="top" type="int16" unit="adc"/>
+ <field name="phi" type="float" unit="rad" alt_unit="deg"
alt_unit_coef="57.3"/>
+ <field name="theta" type="float" unit="rad" alt_unit="deg"
alt_unit_coef="57.3"/>
</message>
<message name="AIRSPEED" id="54">
- <field name="adc" type="uint16"/>
- <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"/>
+ <field name="adc" type="uint16"/>
+ <field name="airspeed" type="float" unit="m/s"/>
+ <field name="airspeed_sp" type="float" unit="m/s"/>
+ <field name="airspeed_cnt" type="float" unit="m/s"/>
+ <field name="groundspeed_sp" type="float" unit="m/s"/>
</message>
<!-- 55 is free -->
-
<message name="BARO_ETS" id="56">
<field name="adc" type="uint16"/>
<field name="offset" type="uint16"/>
@@ -467,14 +464,14 @@
<!-- 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_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>
+ <message name="VF_PREDICT" id="77">
+ <field name="accel" type="float" unit="m/s/s"/>
+ </message>
<!-- 78 is free -->
<!-- 79 is free -->
@@ -491,94 +488,93 @@
<field name="ir_lp_last_out" type="float"/>
</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_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="FORMATION_STATUS_TM" id="83">
+ <field name="ac_id" type="uint8"/>
+ <field name="leader_id" type="uint8"/>
+ <field name="status" type="uint8"/>
+ </message>
<!-- 84 is free -->
<!-- 85 is free -->
<!-- 86 is free -->
- <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="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"/>
+ <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"/>
- <field name="temp" type="float" unit="deg_celsius"/>
+ <field name="ihumid" type="uint16"/>
+ <field name="itemp" type="uint16"/>
+ <field name="humid" type="float" unit="rel_hum"/>
+ <field name="temp" type="float" unit="deg_celsius"/>
</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[]"/>
+ <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"/>
- <field name="ftemp" type="float" unit="deg_celsius"/>
+ <field name="humid" type="uint16"/>
+ <field name="temp" type="uint16"/>
+ <field name="fhumid" type="float" unit="rel_hum"/>
+ <field name="ftemp" type="float" unit="deg_celsius"/>
</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"/>
+ <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"/>
+ <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"/>
-
+ <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="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>
<!-- 96 is free -->
<!-- 97 is free -->
@@ -653,16 +649,16 @@
<!--109 is free -->
<message name="DC_SHOT" id="110">
- <field name="photo_nr" type="int16" unit=""></field>
- <field name="utm_east" type="int32" unit="cm"></field>
- <field name="utm_north" type="int32" unit="cm"></field>
- <field name="z" type="float" unit="m"/>
- <field name="utm_zone" type="uint8"></field>
- <field name="phi" type="int16" unit="decideg"></field>
- <field name="theta" type="int16" unit="decideg"></field>
- <field name="course" type="int16" unit="decideg"></field>
- <field name="speed" type="uint16" unit="cm/s"></field>
- <field name="itow" type="uint32" unit="ms"></field>
+ <field name="photo_nr" type="int16" unit=""></field>
+ <field name="utm_east" type="int32" unit="cm"></field>
+ <field name="utm_north" type="int32" unit="cm"></field>
+ <field name="z" type="float" unit="m"/>
+ <field name="utm_zone" type="uint8"></field>
+ <field name="phi" type="int16" unit="decideg"></field>
+ <field name="theta" type="int16" unit="decideg"></field>
+ <field name="course" type="int16" unit="decideg"></field>
+ <field name="speed" type="uint16" unit="cm/s"></field>
+ <field name="itow" type="uint32" unit="ms"></field>
</message>
<message name="TEST_BOARD_RESULTS" ID="111">
@@ -721,7 +717,7 @@
<!--128 is free -->
<!--129 is free -->
- <message name="BOOZ2_STAB_ATTITUDE_FLOAT" id="130">
+ <message name="BOOZ2_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"/>
@@ -746,102 +742,102 @@
<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>
- <message name="BOOZ2_GYRO" 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="BOOZ2_GYRO" 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="BOOZ2_ACCEL" 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="BOOZ2_ACCEL" 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="BOOZ2_MAG" 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="BOOZ2_MAG" 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="BOOZ2_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="BOOZ2_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="BOOZ2_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="BOOZ2_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="BOOZ2_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="BOOZ2_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="BOOZ2_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"/>
- </message>
+ <message name="BOOZ2_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"/>
+ </message>
- <message name="BOOZ2_FILTER_Q" id="138">
- <field name="qi" type="int32"/>
- <field name="qx" type="int32"/>
- <field name="qy" type="int32"/>
- <field name="qz" type="int32"/>
- </message>
+ <message name="BOOZ2_FILTER_Q" id="138">
+ <field name="qi" type="int32"/>
+ <field name="qx" type="int32"/>
+ <field name="qy" type="int32"/>
+ <field name="qz" type="int32"/>
+ </message>
- <message name="BOOZ2_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="BOOZ2_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="BOOZ2_STAB_ATTITUDE_INT" id="140">
<field name="est_p" type="int32" alt_unit="degres/s"
alt_unit_coef="0.0139882"/>
@@ -1043,25 +1039,24 @@
<field name="baro_qfe" type="int32"/>
</message>
- <message name="BOOZ2_GPS" id="155">
- <field name="ecef_x" type="int32" alt_unit="m" alt_unit_coef="0.01"/>
- <field name="ecef_y" type="int32" alt_unit="m" alt_unit_coef="0.01"/>
- <field name="ecef_z" type="int32" alt_unit="m" alt_unit_coef="0.01"/>
- <field name="lat" type="int32" alt_unit="deg"
alt_unit_coef="0.0000001"/>
- <field name="lon" type="int32" alt_unit="deg"
alt_unit_coef="0.0000001"/>
- <field name="alt" type="int32" alt_unit="m" alt_unit_coef="0.01"/>
- <field name="ecef_xd" type="int32" alt_unit="m/s" alt_unit_coef="0.01"/>
- <field name="ecef_yd" type="int32" alt_unit="m/s" alt_unit_coef="0.01"/>
- <field name="ecef_zd" type="int32" alt_unit="m/s" alt_unit_coef="0.01"/>
- <field name="pacc" type="int32" alt_unit="m" alt_unit_coef="0.01"/>
- <field name="sacc" type="int32" alt_unit="m/s" alt_unit_coef="0.01"/>
- <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="BOOZ2_GPS" id="155">
+ <field name="ecef_x" type="int32" alt_unit="m" alt_unit_coef="0.01"/>
+ <field name="ecef_y" type="int32" alt_unit="m" alt_unit_coef="0.01"/>
+ <field name="ecef_z" type="int32" alt_unit="m" alt_unit_coef="0.01"/>
+ <field name="lat" type="int32" alt_unit="deg"
alt_unit_coef="0.0000001"/>
+ <field name="lon" type="int32" alt_unit="deg"
alt_unit_coef="0.0000001"/>
+ <field name="alt" type="int32" alt_unit="m" alt_unit_coef="0.01"/>
+ <field name="ecef_xd" type="int32" alt_unit="m/s" alt_unit_coef="0.01"/>
+ <field name="ecef_yd" type="int32" alt_unit="m/s" alt_unit_coef="0.01"/>
+ <field name="ecef_zd" type="int32" alt_unit="m/s" alt_unit_coef="0.01"/>
+ <field name="pacc" type="int32" alt_unit="m" alt_unit_coef="0.01"/>
+ <field name="sacc" type="int32" alt_unit="m/s" alt_unit_coef="0.01"/>
+ <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="BOOZ2_AHRS_EULER" 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"/>
@@ -1193,42 +1188,42 @@
</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"/>
+ <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 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 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">
@@ -1248,10 +1243,10 @@
</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_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"/>
@@ -1308,59 +1303,59 @@
<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="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"/>
+ <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="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="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="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" />
@@ -1498,33 +1493,10 @@
<field name="mz" type="int32" unit="adc"/>
</message>
- <message name="IMU_GYRO_RAW_AVG" id="206">
- <field name="gp" type="uint16" unit="adc"/>
- <field name="gq" type="uint16" unit="adc"/>
- <field name="gr" type="uint16" unit="adc"/>
- <field name="vgp" type="float" unit="adc" format="%.0f"/>
- <field name="vgq" type="float" unit="adc" format="%.0f"/>
- <field name="vgr" type="float" unit="adc" format="%.0f"/>
- </message>
+ <!--206 is free -->
+ <!--207 is free -->
+ <!--208 is free -->
- <message name="IMU_ACCEL_RAW_AVG" id="207">
- <field name="ax" type="uint16" unit="adc"/>
- <field name="ay" type="uint16" unit="adc"/>
- <field name="az" type="uint16" unit="adc"/>
- <field name="vax" type="float" unit="adc"/>
- <field name="vay" type="float" unit="adc"/>
- <field name="vaz" type="float" unit="adc"/>
- </message>
-
- <message name="IMU_MAG_RAW_AVG" id="208">
- <field name="mx" type="int16" unit="adc"/>
- <field name="my" type="int16" unit="adc"/>
- <field name="mz" type="int16" unit="adc"/>
- <field name="vmx" type="float" unit="adc"/>
- <field name="vmy" type="float" unit="adc"/>
- <field name="vmz" type="float" unit="adc"/>
- </message>
-
<message name="IMU_GYRO_LP" id="209">
<field name="gp" type="float" unit="rad/s"/>
<field name="gq" type="float" unit="rad/s"/>
@@ -1561,8 +1533,8 @@
</message>
<message name="BOOZ_BARO2_RAW" id="221">
- <field name="abs" type="int16"/>
- <field name="diff" type="int16"/>
+ <field name="abs" type="int16"/>
+ <field name="diff" type="int16"/>
</message>
<!--222 is free -->
@@ -1580,17 +1552,17 @@
<!--230 is free -->
<message name="BOOZ_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="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"></field>
+ <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="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"></field>
</message>
<!--232 is free -->
@@ -1676,21 +1648,21 @@
<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="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"/>
@@ -1736,15 +1708,15 @@
</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"/>
+ <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">
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