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36 lines
1.7 KiB
36 lines
1.7 KiB
15 years ago
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<?xml version="1.0"?>
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<messages>
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<message name="HEARTBEAT" id="0">
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<field name="type" type="uint8">Type of the MAV (quadrotor, helicopter, etc.)</field>
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</message>
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<message name="BOOT" id="1">
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<field name="version" type="uint32">The onboard software version</field>
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</message>
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<message name="RAW_SENSOR" id="100">
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<field name="xacc" type="uint32">X acceleration (mg raw)</field>
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<field name="yacc" type="uint32">Y acceleration (mg raw)</field>
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<field name="zacc" type="uint32">Z acceleration (mg raw)</field>
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<field name="xgyro" type="uint32">Angular speed around X axis (adc units)</field>
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<field name="ygyro" type="uint32">Angular speed around Y axis (adc units)</field>
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<field name="zgyro" type="uint32">Angular speed around Z axis (adc units)</field>
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<field name="xmag" type="uint32">X Magnetic field (milli tesla)</field>
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<field name="ymag" type="uint32">Y Magnetic field (milli tesla)</field>
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<field name="zmag" type="uint32">Z Magnetic field (milli tesla)</field>
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<field name="baro" type="int32">Barometric pressure (hecto Pascal)</field>
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<field name="gdist" type="uint32">Ground distance (meters)</field>
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<field name="temp" type="int32">Temperature (degrees celcius)</field>
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</message>
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<message name="ATTITUDE" id="90">
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<field name="roll" type="float">Roll angle (rad)</field>
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<field name="pitch" type="float">Pitch angle (rad)</field>
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<field name="yaw" type="float">Yaw angle (rad)</field>
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<field name="rollspeed" type="float">Roll angular speed (rad/s)</field>
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<field name="pitchspeed" type="float">Pitch angular speed (rad/s)</field>
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<field name="yawspeed" type="float">Yaw angular speed (rad/s)</field>
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</message>
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</messages>
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