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