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MAVLink.xml
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MAVLink.xml
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<?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>