<?xml version="1.0"?> <!-- quadcopter HIL protocol definition Andrew Tridgell July 2011 --> <PropertyList> <generic> <!-- inputs, sent from quad_hil.py to FlightGear --> <input> <binary_mode>true</binary_mode> <!-- <binary_footer>magic,0xc465414d</binary_footer>--> <!-- motors, in range 0.0 to 1.0 --> <chunk> <name>throttle0</name> <type>double</type> <node>/controls/engines/engine[0]/throttle</node> </chunk> <chunk> <name>throttle1</name> <type>double</type> <node>/controls/engines/engine[1]/throttle</node> </chunk> <chunk> <name>throttle2</name> <type>double</type> <node>/controls/engines/engine[2]/throttle</node> </chunk> <chunk> <name>throttle3</name> <type>double</type> <node>/controls/engines/engine[3]/throttle</node> </chunk> <!-- Position --> <chunk> <name>latitude-deg</name> <type>double</type> <node>/position/latitude-deg</node> </chunk> <chunk> <name>longitude-deg</name> <type>double</type> <node>/position/longitude-deg</node> </chunk> <chunk> <name>altitude-ft</name> <type>double</type> <node>/position/altitude-ft</node> </chunk> <chunk> <name>altitude-agl-ft</name> <type>double</type> <node>/position/altitude-agl-ft</node> </chunk> <!-- Attitude --> <chunk> <name>roll-deg</name> <type>double</type> <node>/orientation/roll-deg</node> </chunk> <chunk> <name>pitch-deg</name> <type>double</type> <node>/orientation/pitch-deg</node> </chunk> <chunk> <name>heading-deg</name> <type>double</type> <node>/orientation/heading-deg</node> </chunk> </input> <!-- outputs, sent from FlightGear to quad_hil.py --> <output> <binary_mode>true</binary_mode> <binary_footer>magic,0xc465414e</binary_footer> <!-- we need to know the ground level so we know when to crash! --> <chunk> <name>ground-elev-m</name> <type>double</type> <node>/position/ground-elev-m</node> </chunk> <!-- the rest we only need once at startup, to know where we are taking off from --> <chunk> <name>latitude-deg</name> <type>double</type> <node>/position/latitude-deg</node> </chunk> <chunk> <name>longitude-deg</name> <type>double</type> <node>/position/longitude-deg</node> </chunk> <chunk> <name>heading-deg</name> <type>double</type> <node>/orientation/heading-deg</node> </chunk> </output> </generic> </PropertyList>