From c9d2b8be5bffff836347d961a6e4c61124ce7853 Mon Sep 17 00:00:00 2001
From: curt <curt>
Date: Mon, 14 Sep 2009 18:03:20 +0000
Subject: [PATCH] Add an <input> section to this file so that a saved "truth"
 file can be replayed back at a later time.

---
 Protocol/insgns-truth.xml | 96 +++++++++++++++++++++++++++++++++++++--
 1 file changed, 91 insertions(+), 5 deletions(-)

diff --git a/Protocol/insgns-truth.xml b/Protocol/insgns-truth.xml
index c26605d38..06b5287c0 100644
--- a/Protocol/insgns-truth.xml
+++ b/Protocol/insgns-truth.xml
@@ -19,23 +19,23 @@
 
    <chunk>
     <name>latitude (rad)</name>
-    <type>float</type>
-    <format>%.10f</format>
+    <type>double</type>
+    <format>%.12f</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>
+    <type>double</type>
+    <format>%.12f</format>
     <node>/position/longitude-deg</node>
     <factor>0.01745329251994329576</factor>  <!-- degrees to radians -->
    </chunk>
 
    <chunk>
     <name>negative altitiude (m)</name>
-    <type>float</type>
+    <type>double</type>
     <format>%.3f</format>
     <node>/position/altitude-ft</node>
     <factor>-0.3048</factor>                  <!-- feet to meter -->
@@ -91,6 +91,92 @@
 
   </output>
 
+  <input>
+   <line_separator>newline</line_separator>
+   <var_separator>tab</var_separator>
+
+   <chunk>
+    <name>time (sec)</name>
+    <type>double</type>
+    <format>%.4f</format>
+    <node>/sim/time/srcfile-time-stamp-sec</node>
+   </chunk>
+
+   <chunk>
+    <name>latitude (rad)</name>
+    <type>double</type>
+    <format>%.12f</format>
+    <node>/position/latitude-deg</node>
+    <factor>57.29577951308232090712</factor>  <!-- radians to degrees -->
+   </chunk>
+
+   <chunk>
+    <name>longitude (rad)</name>
+    <type>double</type>
+    <format>%.12f</format>
+    <node>/position/longitude-deg</node>
+    <factor>57.29577951308232090712</factor>  <!-- radians to degrees -->
+   </chunk>
+
+   <chunk>
+    <name>negative altitiude (m)</name>
+    <type>double</type>
+    <format>%.3f</format>
+    <node>/position/altitude-ft</node>
+    <factor>-3.2808</factor>                  <!-- meter to feet -->
+    <offset>100</offset>		      <!-- this is in feet -->
+   </chunk>
+
+   <chunk>
+    <name>Velocity North ("vn" mps)</name>
+    <type>float</type>
+    <format>%.8f</format>
+    <node>/velocities/speed-north-fps</node>
+    <factor>3.2808</factor>                  <!-- mps to fps -->
+   </chunk>
+
+   <chunk>
+    <name>Velocity East ("ve" mps)</name>
+    <type>float</type>
+    <format>%.8f</format>
+    <node>/velocities/speed-east-fps</node>
+    <factor>3.2808</factor>                  <!-- mps to fps -->
+   </chunk>
+
+   <chunk>
+    <name>Velocity Down ("vd" mps)</name>
+    <type>float</type>
+    <format>%.8f</format>
+    <node>/velocities/speed-down-fps</node>
+    <factor>3.2808</factor>                  <!-- mps to fps -->
+   </chunk>
+
+   <chunk>
+    <name>yaw angle</name>
+    <type>float</type>
+    <format>%.5f</format>
+    <node>/orientation/heading-deg</node>
+    <factor>57.29577951308232090712</factor>  <!-- radians to degrees -->
+   </chunk>
+
+   <chunk>
+    <name>pitch angle (rad)</name>
+    <type>float</type>
+    <format>%.5f</format>
+    <node>/orientation/pitch-deg</node>
+    <factor>57.29577951308232090712</factor>  <!-- radians to degrees -->
+   </chunk>
+
+   <chunk>
+    <name>roll angle</name>
+    <type>float</type>
+    <format>%.5f</format>
+    <node>/orientation/roll-deg</node>
+    <factor>57.29577951308232090712</factor>  <!-- radians to degrees -->
+   </chunk>
+
+  </input>
+
  </generic>
 
 </PropertyList>