ardupilot/Tools/FlightGear/MAVLink.xml

<?xml version="1.0"?>

<PropertyList>

  <generic>

    <!-- template
	 <chunk>
	   <name></name>
	   <type>double</type>
	   <node></node>
	 </chunk> 
	 -->

    <input>
      <binary_mode>true</binary_mode>

      <!-- ##### Flight Controls -->
      <chunk>
	<name>aileron</name>
	<type>double</type>
	<node>/controls/flight/aileron</node>
      </chunk> 
      <chunk>
	<name>elevator</name>
	<type>double</type>
	<node>/controls/flight/elevator</node>
      </chunk> 
      <chunk>
	<name>rudder</name>
	<type>double</type>
	<node>/controls/flight/rudder</node>
      </chunk> 
      <chunk>
	<name>throttle</name>
	<type>double</type>
	<node>/controls/engines/engine[0]/throttle</node>
      </chunk> 

    </input>

    <output>
      <binary_mode>true</binary_mode>
      <binary_footer>magic,0x4c56414d</binary_footer>

      <!-- ##### GPS ##### -->
      <chunk>
	<name>latitude</name>
	<type>double</type>
	<node>/position/latitude-deg</node>
      </chunk> 
      <chunk>
	<name>longitude</name>
	<type>double</type>
	<node>/position/longitude-deg</node>
      </chunk> 
      <chunk>
	<name>altitude</name>
	<type>double</type>
	<node>/position/altitude-ft</node>
      </chunk> 
      <chunk>
	<name>heading</name>
	<type>double</type>
	<node>/orientation/heading-deg</node>
      </chunk>

      <!-- ground course = atan(ve/vn), speed = sqrt((ve*ve) + (vn*vn)) -->
      <chunk>
	<name>speed - north</name>
	<type>double</type>
	<node>/velocities/speed-north-fps</node>
      </chunk> 
      <chunk>
	<name>speed - east</name>
	<type>double</type>
	<node>/velocities/speed-east-fps</node>
      </chunk> 
      

      <!-- ##### IMU ##### -->
      <chunk>
	<name>x-accel</name>
	<type>double</type>
	<node>/accelerations/pilot/x-accel-fps_sec</node>
      </chunk>
      <chunk>
	<name>y-accel</name>
	<type>double</type>
	<node>/accelerations/pilot/y-accel-fps_sec</node>
      </chunk>
      <chunk>
	<name>z-accel</name>
	<type>double</type>
	<node>/accelerations/pilot/z-accel-fps_sec</node>
      </chunk>

      <chunk>
	<name>roll-rate</name>
	<type>double</type>
	<node>/orientation/roll-rate-degps</node>
      </chunk> 
      <chunk>
	<name>pitch-rate</name>
	<type>double</type>
	<node>/orientation/pitch-rate-degps</node>
      </chunk> 
      <chunk>
	<name>yaw-rate</name>
	<type>double</type>
	<node>/orientation/yaw-rate-degps</node>
      </chunk> 

      
    </output>

  </generic>

</PropertyList>