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abi.xml
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<?xml version="1.0"?>
<!DOCTYPE protocol SYSTEM "abi.dtd">
<protocol>
<msg_class name="airborne">
<message name="BARO_ABS" id="0">
<field name="pressure" type="float" unit="Pa"/>
</message>
<message name="BARO_DIFF" id="1">
<field name="pressure" type="float" unit="Pa"/>
</message>
<message name="AGL" id="2">
<field name="distance" type="float" unit="m"/>
</message>
<message name="TEMPERATURE" id="3">
<field name="temp" type="float" unit="deg Celcius"/>
</message>
<message name="IMU_GYRO_INT32" id="4">
<field name="stamp" type="uint32_t" unit="us"/>
<field name="gyro" type="struct Int32Rates *"/>
</message>
<message name="IMU_ACCEL_INT32" id="5">
<field name="stamp" type="uint32_t" unit="us"/>
<field name="accel" type="struct Int32Vect3 *"/>
</message>
<message name="IMU_MAG_INT32" id="6">
<field name="stamp" type="uint32_t" unit="us"/>
<field name="mag" type="struct Int32Vect3 *"/>
</message>
<message name="IMU_LOWPASSED" id="7">
<field name="stamp" type="uint32_t" unit="us"/>
<field name="gyro" type="struct Int32Rates *"/>
<field name="accel" type="struct Int32Vect3 *"/>
<field name="mag" type="struct Int32Vect3 *"/>
</message>
<message name="BODY_TO_IMU_QUAT" id="8">
<field name="q_b2i_f" type="struct FloatQuat *"/>
</message>
<message name="GEO_MAG" id="9">
<field name="h" type="struct FloatVect3 *" unit="1.0"/>
</message>
<message name="GPS" id="10">
<field name="stamp" type="uint32_t" unit="us"/>
<field name="gps_s" type="struct GpsState *"/>
</message>
<message name="OPTICAL_FLOW" id="11">
<field name="stamp" type="uint32_t" unit="us"/>
<field name="flow_x" type="int16_t">Flow in x direction from the camera (in subpixels)</field>
<field name="flow_y" type="int16_t">Flow in y direction from the camera (in subpixels)</field>
<field name="flow_der_x" type="int16_t">The derotated flow calculation in the x direction (in subpixels)</field>
<field name="flow_der_y" type="int16_t">The derotated flow calculation in the y direction (in subpixels)</field>
<field name="quality" type="uint8_t"/>
<field name="size_divergence" type="float">Divergence as determined with the size method (in 1/seconds)</field>
<field name="dist" type="float">Distance to ground</field>
</message>
<message name="VELOCITY_ESTIMATE" id="12">
<field name="stamp" type="uint32_t" unit="us"/>
<field name="x" type="float" unit="m/s"/>
<field name="y" type="float" unit="m/s"/>
<field name="z" type="float" unit="m/s"/>
<field name="noise" type="float"/>
</message>
<message name="RSSI" id="13">
<field name="ac_id" type="uint8_t"/>
<field name="source_strength" type="int8_t" unit="dB"/>
<field name="rssi" type="int8_t" unit="dB"/>
</message>
</msg_class>
</protocol>