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