From 5ef38fdd1a5b9234e47cbc17803a7fdd85d55b83 Mon Sep 17 00:00:00 2001
From: curt <curt>
Date: Tue, 24 Nov 2009 18:54:38 +0000
Subject: [PATCH] Initial revision.

---
 Protocol/insgns-gps.xml | 71 +++++++++++++++++++++++++++++++++++++++++
 Protocol/insgns-imu.xml | 68 +++++++++++++++++++++++++++++++++++++++
 2 files changed, 139 insertions(+)
 create mode 100644 Protocol/insgns-gps.xml
 create mode 100644 Protocol/insgns-imu.xml

diff --git a/Protocol/insgns-gps.xml b/Protocol/insgns-gps.xml
new file mode 100644
index 000000000..18d00048d
--- /dev/null
+++ b/Protocol/insgns-gps.xml
@@ -0,0 +1,71 @@
+<?xml version="1.0"?>
+
+<!-- Example usage: <dash><dash>generic=file,out,4,fgfs.gps,insgns-gps -->
+
+<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>
+  </output>
+
+ </generic>
+
+</PropertyList>
diff --git a/Protocol/insgns-imu.xml b/Protocol/insgns-imu.xml
new file mode 100644
index 000000000..2880e027a
--- /dev/null
+++ b/Protocol/insgns-imu.xml
@@ -0,0 +1,68 @@
+<?xml version="1.0"?>
+
+<!-- Example usage: <dash><dash>generic=file,out,50,fgfs.imu,insgns-imu -->
+
+<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>roll rate ("p" rad/sec)</name>
+    <type>float</type>
+    <format>%.6f</format>
+    <node>/fdm/jsbsim/velocities/pi-rad_sec</node>
+   </chunk>
+
+   <chunk>
+    <name>pitch rate ("q" rad/sec)</name>
+    <type>float</type>
+    <format>%.6f</format>
+    <node>/fdm/jsbsim/velocities/qi-rad_sec</node>
+   </chunk>
+
+   <chunk>
+    <name>yaw rate ("r" rad/sec)</name>
+    <type>float</type>
+    <format>%.6f</format>
+    <node>/fdm/jsbsim/velocities/ri-rad_sec</node>
+   </chunk>
+
+   <chunk>
+    <name>X accel (body axis) (mps)</name>
+    <type>float</type>
+    <format>%.5f</format>
+    <node>/accelerations/pilot/x-accel-fps_sec</node>
+    <factor>0.3048</factor>  <!-- feet to meter -->
+   </chunk>
+
+   <chunk>
+    <name>Y accel (body axis) (mps)</name>
+    <type>float</type>
+    <format>%.5f</format>
+    <node>/accelerations/pilot/y-accel-fps_sec</node>
+    <factor>0.3048</factor>  <!-- feet to meter -->
+   </chunk>
+
+   <chunk>
+    <name>Z accel (body axis) (mps)</name>
+    <type>float</type>
+    <format>%.5f</format>
+    <node>/accelerations/pilot/z-accel-fps_sec</node>
+    <factor>0.3048</factor>  <!-- feet to meter -->
+   </chunk>
+  </output>
+
+ </generic>
+
+</PropertyList>