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 @@ + + + + + + + + + + true + none + + + time (sec) + double + /sim/time/elapsed-sec + + + + latitude + double + /position/latitude-deg + + + + longitude + double + /position/longitude-deg + + + + positive altitiude (m) + float + /position/altitude-ft + 0.3048 + + + + Velocity North ("vn" mps) + float + /velocities/speed-north-fps + 0.3048 + + + + Velocity East ("ve" mps) + float + /velocities/speed-east-fps + 0.3048 + + + + Velocity Down ("vd" mps) + float + /velocities/speed-down-fps + 0.3048 + + + + + + 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 @@ + + + + + + + + + + true + none + + + time (sec) + double + /sim/time/elapsed-sec + + + + roll rate ("p" rad/sec) + float + /orientation/p-body + + + + pitch rate ("q" rad/sec) + float + /orientation/q-body + + + + yaw rate ("r" rad/sec) + float + /orientation/r-body + + + + X accel (body axis) (mps) + float + /accelerations/pilot/x-accel-fps_sec + 0.3048 + + + + Y accel (body axis) (mps) + float + /accelerations/pilot/y-accel-fps_sec + 0.3048 + + + + Z accel (body axis) (mps) + float + /accelerations/pilot/z-accel-fps_sec + 0.3048 + + + + + Indicated airspeed (kt) + float + /velocities/airspeed-kt + + + + Local Pressure (inhg) + float + /environment/pressure-inhg + + + + + + roll truth (deg) + float + /orientation/roll-deg + + + + pitch truth (deg) + float + /orientation/pitch-deg + + + + heading truth (deg) + float + /orientation/heading-deg + + + + + + + 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 @@ + + + + + + + + + + true + none + + + time (sec) + double + /sim/time/elapsed-sec + + + + aileron + float + /controls/flight/aileron + + + + elevator + float + /controls/flight/elevator + + + + throttle + float + /controls/engines/engine[0]/throttle + + + + rudder + float + /controls/flight/rudder + + + + auto/manual select + float + /aura-uas/settings/ap-enable + + + + + + +