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120 lines
2.9 KiB
120 lines
2.9 KiB
<?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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