mirror of https://github.com/ArduPilot/ardupilot
120 lines
2.4 KiB
XML
120 lines
2.4 KiB
XML
<?xml version="1.0"?>
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<PropertyList>
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<generic>
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<!-- template
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<chunk>
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<name></name>
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<type>double</type>
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<node></node>
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</chunk>
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-->
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<input>
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<binary_mode>true</binary_mode>
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<!-- ##### Flight Controls -->
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<chunk>
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<name>aileron</name>
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<type>double</type>
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<node>/controls/flight/aileron</node>
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</chunk>
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<chunk>
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<name>elevator</name>
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<type>double</type>
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<node>/controls/flight/elevator</node>
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</chunk>
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<chunk>
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<name>rudder</name>
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<type>double</type>
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<node>/controls/flight/rudder</node>
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</chunk>
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<chunk>
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<name>throttle</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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</input>
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<output>
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<binary_mode>true</binary_mode>
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<binary_footer>magic,0x4c56414d</binary_footer>
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<!-- ##### GPS ##### -->
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<chunk>
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<name>latitude</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</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</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>heading</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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<!-- ground course = atan(ve/vn), speed = sqrt((ve*ve) + (vn*vn)) -->
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<chunk>
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<name>speed - north</name>
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<type>double</type>
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<node>/velocities/speed-north-fps</node>
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</chunk>
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<chunk>
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<name>speed - east</name>
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<type>double</type>
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<node>/velocities/speed-east-fps</node>
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</chunk>
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<!-- ##### IMU ##### -->
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<chunk>
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<name>x-accel</name>
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<type>double</type>
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<node>/accelerations/pilot/x-accel-fps_sec</node>
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</chunk>
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<chunk>
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<name>y-accel</name>
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<type>double</type>
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<node>/accelerations/pilot/y-accel-fps_sec</node>
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</chunk>
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<chunk>
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<name>z-accel</name>
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<type>double</type>
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<node>/accelerations/pilot/z-accel-fps_sec</node>
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</chunk>
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<chunk>
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<name>roll-rate</name>
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<type>double</type>
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<node>/orientation/roll-rate-degps</node>
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</chunk>
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<chunk>
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<name>pitch-rate</name>
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<type>double</type>
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<node>/orientation/pitch-rate-degps</node>
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</chunk>
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<chunk>
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<name>yaw-rate</name>
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<type>double</type>
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<node>/orientation/yaw-rate-degps</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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