<?xml version='1.0'?>
<mavlink>
     <include>common.xml</include>
     <enums>
          <enum name="SENSESOAR_MODE">
               <description> Different flight modes </description>
               <entry name="SENSESOAR_MODE_GLIDING">  Gliding mode with motors off</entry>
               <entry name="SENSESOAR_MODE_AUTONOMOUS"> Autonomous flight</entry>
               <entry name="SENSESOAR_MODE_MANUAL"> RC controlled</entry>
          </enum>
     </enums>
     <messages>
          <message id="170" name="OBS_POSITION">
     Position estimate of the observer in global frame
     <field type="int32_t" name="lon">Longitude expressed in 1E7</field>
               <field type="int32_t" name="lat">Latitude expressed in 1E7</field>
               <field type="int32_t" name="alt">Altitude expressed in milimeters</field>
          </message>
          <message id="172" name="OBS_VELOCITY">
     velocity estimate of the observer in NED inertial frame
     <field type="float[3]" name="vel">Velocity</field>
          </message>
          <message id="174" name="OBS_ATTITUDE">
     attitude estimate of the observer
     <field type="double[4]" name="quat">Quaternion re;im</field>
          </message>
          <message id="176" name="OBS_WIND">
     Wind estimate in NED inertial frame
     <field type="float[3]" name="wind">Wind</field>
          </message>
          <message id="178" name="OBS_AIR_VELOCITY">
     Estimate of the air velocity
     <field type="float" name="magnitude">Air speed</field>
               <field type="float" name="aoa">angle of attack</field>
               <field type="float" name="slip">slip angle</field>
          </message>
          <message id="180" name="OBS_BIAS">
     IMU biases
     <field type="float[3]" name="accBias">accelerometer bias</field>
               <field type="float[3]" name="gyroBias">gyroscope bias</field>
          </message>
          <message id="182" name="OBS_QFF">
     estimate of the pressure at sea level
     <field type="float" name="qff">Wind</field>
          </message>
          <message id="183" name="OBS_AIR_TEMP">
     ambient air temperature
     <field type="float" name="airT">Air Temperatur</field>
          </message>
          <message id="184" name="FILT_ROT_VEL">
     filtered rotational velocity
     <field type="float[3]" name="rotVel">rotational velocity</field>
          </message>
          <message id="186" name="LLC_OUT">
     low level control output
     <field type="int16_t[4]" name="servoOut">Servo signal</field>
               <field type="int16_t[2]" name="MotorOut">motor signal</field>
          </message>
          <message id="188" name="PM_ELEC">
     Power managment
     <field type="float" name="PwCons">current power consumption</field>
               <field type="float" name="BatStat">battery status</field>
               <field type="float[3]" name="PwGen">Power generation from each module</field>
          </message>
          <message id="190" name="SYS_Stat">
     system status
     <field type="uint8_t" name="gps">gps status</field>
               <field type="uint8_t" name="act">actuator status</field>
               <field type="uint8_t" name="mod">module status</field>
               <field type="uint8_t" name="commRssi">module status</field>
          </message>
          <message id="192" name="CMD_AIRSPEED_CHNG">
     change commanded air speed
     <field type="uint8_t" name="target">Target ID</field>
               <field type="float" name="spCmd">commanded airspeed</field>
          </message>
          <message id="194" name="CMD_AIRSPEED_ACK">
     accept change of airspeed
     <field type="float" name="spCmd">commanded airspeed</field>
               <field type="uint8_t" name="ack">0:ack, 1:nack</field>
          </message>
     </messages>
</mavlink>
