QG4/resources/flightgear/Protocol/qgroundcontrol-quadrotor.xml

<?xml version="1.0"?>

<PropertyList>
 <generic>

  <output>
   <line_separator>newline</line_separator>
   <var_separator>tab</var_separator>

   <chunk>
    <name>time (sec)</name>
    <type>float</type>
    <format>%.4f</format>
    <node>/sim/time/elapsed-sec</node>
   </chunk>

   <!-- Position -->
   <chunk>
    <name>latitude-deg</name>
    <type>double</type>
    <format>%.18f</format>
    <node>/position/latitude-deg</node>
   </chunk>

   <chunk>
    <name>longitude-deg</name>
    <type>double</type>
    <format>%.18f</format>
    <node>/position/longitude-deg</node>
   </chunk>

   <chunk>
    <name>altitiude (m)</name>
    <type>double</type>
    <format>%.5f</format>
    <node>/position/altitude-ft</node>
    <factor>0.3048</factor>                  <!-- feet to meter -->
   </chunk>

   <!-- Orientation -->

   <chunk>
    <name>roll angle</name>
    <type>float</type>
    <format>%.5f</format>
    <node>/orientation/roll-deg</node>
    <factor>0.01745329251994329576</factor>  <!-- degrees to radians -->
   </chunk>

   <chunk>
    <name>pitch angle (rad)</name>
    <type>float</type>
    <format>%.5f</format>
    <node>/orientation/pitch-deg</node>
    <factor>0.01745329251994329576</factor>  <!-- degrees to radians -->
   </chunk>

   <chunk>
    <name>yaw angle</name>
    <type>float</type>
    <format>%.5f</format>
    <node>/orientation/heading-deg</node>
    <factor>0.01745329251994329576</factor>  <!-- degrees to radians -->
   </chunk>

   <chunk>
    <name>roll rate ("p" rad/sec)</name>
    <type>float</type>
    <format>%.6f</format>
    <node>/fdm/jsbsim/velocities/pi-rad_sec</node>
   </chunk>

   <chunk>
    <name>pitch rate ("q" rad/sec)</name>
    <type>float</type>
    <format>%.6f</format>
    <node>/fdm/jsbsim/velocities/qi-rad_sec</node>
   </chunk>

   <chunk>
    <name>yaw rate ("r" rad/sec)</name>
    <type>float</type>
    <format>%.6f</format>
    <node>/fdm/jsbsim/velocities/ri-rad_sec</node>
   </chunk>

   <chunk>
    <name>X accel (body axis) (mps)</name>
    <type>float</type>
    <format>%.5f</format>
    <node>/accelerations/pilot/x-accel-fps_sec</node>
    <factor>0.3048</factor>  <!-- feet to meter -->
   </chunk>

   <chunk>
    <name>Y accel (body axis) (mps)</name>
    <type>float</type>
    <format>%.5f</format>
    <node>/accelerations/pilot/y-accel-fps_sec</node>
    <factor>0.3048</factor>  <!-- feet to meter -->
   </chunk>

   <chunk>
    <name>Z accel (body axis) (mps)</name>
    <type>float</type>
    <format>%.5f</format>
    <node>/accelerations/pilot/z-accel-fps_sec</node>
    <factor>0.3048</factor>  <!-- feet to meter -->
   </chunk>

   <!-- Velocities -->

   <chunk>
    <name>Velocity North ("vn" mps)</name>
    <type>float</type>
    <format>%.8f</format>
    <node>/velocities/speed-north-fps</node>
    <factor>0.3048</factor>                  <!-- fps to mps -->
   </chunk>

   <chunk>
    <name>Velocity East ("ve" mps)</name>
    <type>float</type>
    <format>%.8f</format>
    <node>/velocities/speed-east-fps</node>
    <factor>0.3048</factor>                  <!-- fps to mps -->
   </chunk>

   <chunk>
    <name>Velocity Down ("vd" mps)</name>
    <type>float</type>
    <format>%.8f</format>
    <node>/velocities/speed-down-fps</node>
    <factor>0.3048</factor>                  <!-- fps to mps -->
   </chunk>

   <chunk>
     <name>airspeed-mps</name>
     <type>float</type>
     <format>%.8f</format>
     <node>/velocities/airspeed-kt</node>
     <factor>0.514444444444444</factor>      <!-- knots to mps -->
   </chunk>

   <!-- Magnetometer -->
   <chunk>
    <name>Magnetic Variation (rad)</name>
    <type>float</type>
    <format>%.8f</format>
    <node>/environment/magnetic-variation-deg</node>
    <factor>0.01745329251994329576</factor>  <!-- degrees to radians -->
   </chunk>

   <chunk>
    <name>Magnetic Dip (rad)</name>
    <type>float</type>
    <format>%.8f</format>
    <node>/environment/magnetic-dip-deg</node>
    <factor>0.01745329251994329576</factor>  <!-- degrees to radians -->
   </chunk>

   <!-- Temperature -->
   <chunk>
    <name>Temperature (deg C)</name>
    <type>float</type>
    <format>%.8f</format>
    <node>/environment/temperature-degc</node>
    <factor>1</factor>
   </chunk>

   <!-- Pressure -->
   <chunk>
    <name>Pressure (hPa)</name>
    <type>float</type>
    <format>%.8f</format>
    <node>/environment/pressure-inhg</node>
    <factor>33.86389</factor>                  <!-- inhg to hpa -->
   </chunk>
   
   <!-- Altitude AGL -->
   <chunk>
       <name>Altitude AGL (m)</name>
       <type>float</type>
       <format>%.5f</format>
       <node>/position/altitude-agl-ft</node>
       <factor>0.3048</factor>  <!-- feet to meter -->
   </chunk>

  </output>

  <input>
   <line_separator>newline</line_separator>
   <var_separator>tab</var_separator>

   <!-- Controls -->
     <!-- motors, in range 0.0 to 1.0 -->
     <chunk>
       <name>throttle0</name>
       <type>float</type>
       <node>/controls/engines/engine[0]/throttle</node>
     </chunk>
     <chunk>
       <name>throttle1</name>
       <type>float</type>
       <node>/controls/engines/engine[1]/throttle</node>
     </chunk>
     <chunk>
       <name>throttle2</name>
       <type>float</type>
       <node>/controls/engines/engine[2]/throttle</node>
     </chunk>
     <chunk>
       <name>running</name>
       <type>bool</type>
       <node>/engines/engine/running</node>
     </chunk>
     <chunk>
       <name>throttle3</name>
       <type>float</type>
       <node>/controls/engines/engine[3]/throttle</node>
     </chunk>


 </input>

 </generic>

</PropertyList>