96 lines
2.2 KiB
XML
96 lines
2.2 KiB
XML
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<?xml version="1.0"?>
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<!-- Example usage: <dash><dash>generic=file,out,50,fgfs.imu,insgns-imu -->
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<PropertyList>
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<generic>
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<output>
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<binary_mode>true</binary_mode>
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<binary_footer>none</binary_footer>
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<chunk>
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<name>time (sec)</name>
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<type>double</type>
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<node>/sim/time/elapsed-sec</node>
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</chunk>
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<chunk>
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<name>roll rate ("p" rad/sec)</name>
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<type>float</type>
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<node>/orientation/p-body</node>
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</chunk>
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<chunk>
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<name>pitch rate ("q" rad/sec)</name>
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<type>float</type>
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<node>/orientation/q-body</node>
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</chunk>
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<chunk>
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<name>yaw rate ("r" rad/sec)</name>
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<type>float</type>
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<node>/orientation/r-body</node>
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</chunk>
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<chunk>
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<name>X accel (body axis) (mps)</name>
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<type>float</type>
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<node>/accelerations/pilot/x-accel-fps_sec</node>
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<factor>0.3048</factor> <!-- feet to meter -->
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</chunk>
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<chunk>
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<name>Y accel (body axis) (mps)</name>
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<type>float</type>
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<node>/accelerations/pilot/y-accel-fps_sec</node>
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<factor>0.3048</factor> <!-- feet to meter -->
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</chunk>
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<chunk>
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<name>Z accel (body axis) (mps)</name>
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<type>float</type>
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<node>/accelerations/pilot/z-accel-fps_sec</node>
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<factor>0.3048</factor> <!-- feet to meter -->
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</chunk>
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<!-- air data appended to IMU data for convenience -->
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<chunk>
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<name>Indicated airspeed (kt)</name>
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<type>float</type>
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<node>/velocities/airspeed-kt</node>
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</chunk>
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<chunk>
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<name>Local Pressure (inhg)</name>
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<type>float</type>
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<node>/environment/pressure-inhg</node>
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</chunk>
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<!-- attitude "truth" also appended for the purposes of allowing -->
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<!-- the filter to evaluate how well it's doing -->
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<chunk>
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<name>roll truth (deg)</name>
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<type>float</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 truth (deg)</name>
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<type>float</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 truth (deg)</name>
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<type>float</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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