diff --git a/Protocol/insgns-truth.xml b/Protocol/insgns-truth.xml new file mode 100644 index 000000000..c26605d38 --- /dev/null +++ b/Protocol/insgns-truth.xml @@ -0,0 +1,96 @@ +<?xml version="1.0"?> + +<!-- Example usage: <dash><dash>generic=file,out,50,fgfs.truth,insgns-truth --> + +<PropertyList> + + <generic> + + <output> + <line_separator>newline</line_separator> + <var_separator>tab</var_separator> + + <chunk> + <name>time (sec)</name> + <type>float</type> + <format>%.4f</format> + <node>/sim/time/elapsed-sec</node> + </chunk> + + <chunk> + <name>latitude (rad)</name> + <type>float</type> + <format>%.10f</format> + <node>/position/latitude-deg</node> + <factor>0.01745329251994329576</factor> <!-- degrees to radians --> + </chunk> + + <chunk> + <name>longitude (rad)</name> + <type>float</type> + <format>%.10f</format> + <node>/position/longitude-deg</node> + <factor>0.01745329251994329576</factor> <!-- degrees to radians --> + </chunk> + + <chunk> + <name>negative altitiude (m)</name> + <type>float</type> + <format>%.3f</format> + <node>/position/altitude-ft</node> + <factor>-0.3048</factor> <!-- feet to meter --> + </chunk> + + <chunk> + <name>Velocity North ("vn" mps)</name> + <type>float</type> + <format>%.8f</format> + <node>/velocities/speed-north-fps</node> + <factor>0.3048</factor> <!-- fps to mps --> + </chunk> + + <chunk> + <name>Velocity East ("ve" mps)</name> + <type>float</type> + <format>%.8f</format> + <node>/velocities/speed-east-fps</node> + <factor>0.3048</factor> <!-- fps to mps --> + </chunk> + + <chunk> + <name>Velocity Down ("vd" mps)</name> + <type>float</type> + <format>%.8f</format> + <node>/velocities/speed-down-fps</node> + <factor>0.3048</factor> <!-- fps to mps --> + </chunk> + + <chunk> + <name>yaw angle</name> + <type>float</type> + <format>%.5f</format> + <node>/orientation/heading-deg</node> + <factor>0.01745329251994329576</factor> <!-- degrees to radians --> + </chunk> + + <chunk> + <name>pitch angle (rad)</name> + <type>float</type> + <format>%.5f</format> + <node>/orientation/pitch-deg</node> + <factor>0.01745329251994329576</factor> <!-- degrees to radians --> + </chunk> + + <chunk> + <name>roll angle</name> + <type>float</type> + <format>%.5f</format> + <node>/orientation/roll-deg</node> + <factor>0.01745329251994329576</factor> <!-- degrees to radians --> + </chunk> + + </output> + + </generic> + +</PropertyList>