diff --git a/Protocol/aura-act.xml b/Protocol/aura-act.xml
new file mode 100644
index 000000000..277a3032c
--- /dev/null
+++ b/Protocol/aura-act.xml
@@ -0,0 +1,125 @@
+
+
+
+
+
+
+
+
+
+ true
+ none
+
+
+ time (sec)
+ double
+ /aura-uas/act/timestamp-sec
+
+
+
+ aileron
+ float
+ /aura-uas/act/aileron
+
+
+
+ elevator
+ float
+ /aura-uas/act/elevator
+
+
+
+ throttle
+ float
+ /aura-uas/act/throttle
+
+
+
+ rudder
+ float
+ /aura-uas/act/rudder
+
+
+
+ channel5
+ float
+ /aura-uas/act/channel5
+
+
+
+ channel6
+ float
+ /aura-uas/act/channel6
+
+
+
+ channel7
+ float
+ /aura-uas/act/channel7
+
+
+
+ channel8
+ float
+ /aura-uas/act/channel8
+
+
+
+ target-bank
+ float
+ /controls/reserved/reserved[0]
+
+
+
+ target-pitch
+ float
+ /controls/reserved/reserved[1]
+
+
+
+ wind-hdg-error
+ float
+ /controls/reserved/reserved[2]
+
+
+
+ climb-rate
+ float
+ /controls/reserved/reserved[3]
+
+
+
+ altitude
+ float
+ /controls/reserved/reserved[4]
+
+
+
+ speed
+ float
+ /controls/reserved/reserved[5]
+
+
+
+ ground-grack
+ float
+ /controls/reserved/reserved[6]
+
+
+
+ dist
+ float
+ /controls/reserved/reserved[7]
+
+
+
+ eta
+ float
+ /controls/reserved/reserved[8]
+
+
+
+
+
+
+
diff --git a/Protocol/aura-gps.xml b/Protocol/aura-gps.xml
new file mode 100644
index 000000000..6c7a1d31f
--- /dev/null
+++ b/Protocol/aura-gps.xml
@@ -0,0 +1,62 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/Protocol/aura-imu.xml b/Protocol/aura-imu.xml
new file mode 100644
index 000000000..761dd3fc1
--- /dev/null
+++ b/Protocol/aura-imu.xml
@@ -0,0 +1,95 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/Protocol/aura-pilot.xml b/Protocol/aura-pilot.xml
new file mode 100644
index 000000000..64c5d1bac
--- /dev/null
+++ b/Protocol/aura-pilot.xml
@@ -0,0 +1,53 @@
+
+
+
+
+
+
+
+
+
+
+
+
+