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<?xml version='1.0'?>
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<mavlink>
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     <include>common.xml</include>
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     <enums>
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          <enum name="DATA_TYPES">
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               <description>Content Types for data transmission handshake</description>
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               <entry value="1" name="DATA_TYPE_JPEG_IMAGE"/>
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               <entry value="2" name="DATA_TYPE_RAW_IMAGE"/>
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               <entry value="3" name="DATA_TYPE_KINECT"/>
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          </enum>
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     </enums>
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     <messages>
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          <message id="151" name="SET_CAM_SHUTTER">
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               <field type="uint8_t" name="cam_no">Camera id</field>
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               <field type="uint8_t" name="cam_mode">Camera mode: 0 = auto, 1 = manual</field>
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               <field type="uint8_t" name="trigger_pin">Trigger pin, 0-3 for PtGrey FireFly</field>
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               <field type="uint16_t" name="interval">Shutter interval, in microseconds</field>
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               <field type="uint16_t" name="exposure">Exposure time, in microseconds</field>
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               <field type="float" name="gain">Camera gain</field>
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          </message>
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          <message id="152" name="IMAGE_TRIGGERED">
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               <field type="uint64_t" name="timestamp">Timestamp</field>
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               <field type="uint32_t" name="seq">IMU seq</field>
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               <field type="float" name="roll">Roll angle in rad</field>
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               <field type="float" name="pitch">Pitch angle in rad</field>
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               <field type="float" name="yaw">Yaw angle in rad</field>
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               <field type="float" name="local_z">Local frame Z coordinate (height over ground)</field>
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               <field type="float" name="lat">GPS X coordinate</field>
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               <field type="float" name="lon">GPS Y coordinate</field>
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               <field type="float" name="alt">Global frame altitude</field>
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               <field type="float" name="ground_x">Ground truth X</field>
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               <field type="float" name="ground_y">Ground truth Y</field>
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               <field type="float" name="ground_z">Ground truth Z</field>
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          </message>
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          <message id="153" name="IMAGE_TRIGGER_CONTROL">
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               <field type="uint8_t" name="enable">0 to disable, 1 to enable</field>
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          </message>
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          <message id="154" name="IMAGE_AVAILABLE">
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               <field type="uint64_t" name="cam_id">Camera id</field>
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               <field type="uint8_t" name="cam_no">Camera # (starts with 0)</field>
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               <field type="uint64_t" name="timestamp">Timestamp</field>
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               <field type="uint64_t" name="valid_until">Until which timestamp this buffer will stay valid</field>
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               <field type="uint32_t" name="img_seq">The image sequence number</field>
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               <field type="uint32_t" name="img_buf_index">Position of the image in the buffer, starts with 0</field>
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               <field type="uint16_t" name="width">Image width</field>
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               <field type="uint16_t" name="height">Image height</field>
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               <field type="uint16_t" name="depth">Image depth</field>
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               <field type="uint8_t" name="channels">Image channels</field>
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               <field type="uint32_t" name="key">Shared memory area key</field>
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               <field type="uint32_t" name="exposure">Exposure time, in microseconds</field>
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               <field type="float" name="gain">Camera gain</field>
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               <field type="float" name="roll">Roll angle in rad</field>
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               <field type="float" name="pitch">Pitch angle in rad</field>
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               <field type="float" name="yaw">Yaw angle in rad</field>
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               <field type="float" name="local_z">Local frame Z coordinate (height over ground)</field>
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               <field type="float" name="lat">GPS X coordinate</field>
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               <field type="float" name="lon">GPS Y coordinate</field>
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               <field type="float" name="alt">Global frame altitude</field>
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               <field type="float" name="ground_x">Ground truth X</field>
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               <field type="float" name="ground_y">Ground truth Y</field>
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               <field type="float" name="ground_z">Ground truth Z</field>
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          </message>
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          <message id="156" name="VISION_POSITION_ESTIMATE">
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               <field type="uint64_t" name="usec">Timestamp (milliseconds)</field>
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               <field type="float" name="x">Global X position</field>
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               <field type="float" name="y">Global Y position</field>
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               <field type="float" name="z">Global Z position</field>
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               <field type="float" name="roll">Roll angle in rad</field>
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               <field type="float" name="pitch">Pitch angle in rad</field>
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               <field type="float" name="yaw">Yaw angle in rad</field>
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          </message>
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          <message id="157" name="VICON_POSITION_ESTIMATE">
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               <field type="uint64_t" name="usec">Timestamp (milliseconds)</field>
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               <field type="float" name="x">Global X position</field>
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               <field type="float" name="y">Global Y position</field>
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               <field type="float" name="z">Global Z position</field>
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               <field type="float" name="roll">Roll angle in rad</field>
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               <field type="float" name="pitch">Pitch angle in rad</field>
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               <field type="float" name="yaw">Yaw angle in rad</field>
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          </message>
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          <message id="158" name="VISION_SPEED_ESTIMATE">
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               <field type="uint64_t" name="usec">Timestamp (milliseconds)</field>
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               <field type="float" name="x">Global X speed</field>
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               <field type="float" name="y">Global Y speed</field>
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               <field type="float" name="z">Global Z speed</field>
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          </message>
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          <message id="159" name="POSITION_CONTROL_SETPOINT_SET">
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               <description>Message sent to the MAV to set a new position as reference for the controller</description>
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               <field type="uint8_t" name="target_system">System ID</field>
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               <field type="uint8_t" name="target_component">Component ID</field>
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               <field type="uint16_t" name="id">ID of waypoint, 0 for plain position</field>
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               <field type="float" name="x">x position</field>
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               <field type="float" name="y">y position</field>
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               <field type="float" name="z">z position</field>
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               <field type="float" name="yaw">yaw orientation in radians, 0 = NORTH</field>
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          </message>
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          <message id="160" name="POSITION_CONTROL_OFFSET_SET">
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               <description>Message sent to the MAV to set a new offset from the currently controlled position</description>
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               <field type="uint8_t" name="target_system">System ID</field>
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               <field type="uint8_t" name="target_component">Component ID</field>
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               <field type="float" name="x">x position offset</field>
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               <field type="float" name="y">y position offset</field>
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               <field type="float" name="z">z position offset</field>
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               <field type="float" name="yaw">yaw orientation offset in radians, 0 = NORTH</field>
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          </message>
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          <!-- Message sent by the MAV once it sets a new position as reference in the controller -->
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          <message id="170" name="POSITION_CONTROL_SETPOINT">
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               <field type="uint16_t" name="id">ID of waypoint, 0 for plain position</field>
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               <field type="float" name="x">x position</field>
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               <field type="float" name="y">y position</field>
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               <field type="float" name="z">z position</field>
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               <field type="float" name="yaw">yaw orientation in radians, 0 = NORTH</field>
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          </message>
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          <message id="171" name="MARKER">
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               <field type="uint16_t" name="id">ID</field>
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               <field type="float" name="x">x position</field>
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               <field type="float" name="y">y position</field>
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               <field type="float" name="z">z position</field>
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               <field type="float" name="roll">roll orientation</field>
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               <field type="float" name="pitch">pitch orientation</field>
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               <field type="float" name="yaw">yaw orientation</field>
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          </message>
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          <message id="172" name="RAW_AUX">
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               <field type="uint16_t" name="adc1">ADC1 (J405 ADC3, LPC2148 AD0.6)</field>
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               <field type="uint16_t" name="adc2">ADC2 (J405 ADC5, LPC2148 AD0.2)</field>
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               <field type="uint16_t" name="adc3">ADC3 (J405 ADC6, LPC2148 AD0.1)</field>
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               <field type="uint16_t" name="adc4">ADC4 (J405 ADC7, LPC2148 AD1.3)</field>
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               <field type="uint16_t" name="vbat">Battery voltage</field>
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               <field type="int16_t" name="temp">Temperature (degrees celcius)</field>
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               <field type="int32_t" name="baro">Barometric pressure (hecto Pascal)</field>
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          </message>
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          <message id="180" name="WATCHDOG_HEARTBEAT">
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               <field type="uint16_t" name="watchdog_id">Watchdog ID</field>
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               <field type="uint16_t" name="process_count">Number of processes</field>
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          </message>
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          <message id="181" name="WATCHDOG_PROCESS_INFO">
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               <field type="uint16_t" name="watchdog_id">Watchdog ID</field>
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               <field type="uint16_t" name="process_id">Process ID</field>
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               <field type="char[100]" name="name">Process name</field>
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               <field type="char[147]" name="arguments">Process arguments</field>
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               <field type="int32_t" name="timeout">Timeout (seconds)</field>
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          </message>
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          <message id="182" name="WATCHDOG_PROCESS_STATUS">
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               <field type="uint16_t" name="watchdog_id">Watchdog ID</field>
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               <field type="uint16_t" name="process_id">Process ID</field>
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               <field type="uint8_t" name="state">Is running / finished / suspended / crashed</field>
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               <field type="uint8_t" name="muted">Is muted</field>
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               <field type="int32_t" name="pid">PID</field>
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               <field type="uint16_t" name="crashes">Number of crashes</field>
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          </message>
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          <message id="183" name="WATCHDOG_COMMAND">
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               <field type="uint8_t" name="target_system_id">Target system ID</field>
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               <field type="uint16_t" name="watchdog_id">Watchdog ID</field>
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               <field type="uint16_t" name="process_id">Process ID</field>
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               <field type="uint8_t" name="command_id">Command ID</field>
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          </message>
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          <message id="190" name="PATTERN_DETECTED">
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               <field type="uint8_t" name="type">0: Pattern, 1: Letter</field>
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               <field type="float" name="confidence">Confidence of detection</field>
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               <field type="char[100]" name="file">Pattern file name</field>
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               <field type="uint8_t" name="detected">Accepted as true detection, 0 no, 1 yes</field>
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          </message>
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          <message id="191" name="POINT_OF_INTEREST">
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               <description>Notifies the operator about a point of interest (POI). This can be anything detected by the
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                system. This generic message is intented to help interfacing to generic visualizations and to display
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                the POI on a map.
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            </description>
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               <field type="uint8_t" name="type">0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug</field>
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               <field type="uint8_t" name="color">0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta</field>
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               <field type="uint8_t" name="coordinate_system">0: global, 1:local</field>
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               <field type="uint16_t" name="timeout">0: no timeout, >1: timeout in seconds</field>
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               <field type="float" name="x">X Position</field>
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               <field type="float" name="y">Y Position</field>
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               <field type="float" name="z">Z Position</field>
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               <field type="char[26]" name="name">POI name</field>
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          </message>
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          <message id="192" name="POINT_OF_INTEREST_CONNECTION">
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               <description>Notifies the operator about the connection of two point of interests (POI). This can be anything detected by the
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                system. This generic message is intented to help interfacing to generic visualizations and to display
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                the POI on a map.
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            </description>
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               <field type="uint8_t" name="type">0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug</field>
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               <field type="uint8_t" name="color">0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta</field>
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               <field type="uint8_t" name="coordinate_system">0: global, 1:local</field>
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               <field type="uint16_t" name="timeout">0: no timeout, >1: timeout in seconds</field>
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               <field type="float" name="xp1">X1 Position</field>
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               <field type="float" name="yp1">Y1 Position</field>
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               <field type="float" name="zp1">Z1 Position</field>
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               <field type="float" name="xp2">X2 Position</field>
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               <field type="float" name="yp2">Y2 Position</field>
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               <field type="float" name="zp2">Z2 Position</field>
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               <field type="char[26]" name="name">POI connection name</field>
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          </message>
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          <message id="193" name="DATA_TRANSMISSION_HANDSHAKE">
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               <field type="uint8_t" name="type">type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h)</field>
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               <field type="uint32_t" name="size">total data size in bytes (set on ACK only)</field>
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               <field type="uint8_t" name="packets">number of packets beeing sent (set on ACK only)</field>
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               <field type="uint8_t" name="payload">payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only)</field>
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               <field type="uint8_t" name="jpg_quality">JPEG quality out of [1,100]</field>
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          </message>
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          <message id="194" name="ENCAPSULATED_DATA">
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               <field type="uint16_t" name="seqnr">sequence number (starting with 0 on every transmission)</field>
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               <field type="uint8_t[253]" name="data">image data bytes</field>
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          </message>
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          <message id="195" name="BRIEF_FEATURE">
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               <field type="float" name="x">x position in m</field>
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               <field type="float" name="y">y position in m</field>
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               <field type="float" name="z">z position in m</field>
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               <field type="uint8_t" name="orientation_assignment">Orientation assignment 0: false, 1:true</field>
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               <field type="uint16_t" name="size">Size in pixels</field>
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               <field type="uint16_t" name="orientation">Orientation</field>
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               <field type="uint8_t[32]" name="descriptor">Descriptor</field>
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               <field type="float" name="response">Harris operator response at this location</field>
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          </message>
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                    <message id="200" name="ATTITUDE_CONTROL">
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               <field type="uint8_t" name="target">The system to be controlled</field>
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               <field type="float" name="roll">roll</field>
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               <field type="float" name="pitch">pitch</field>
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               <field type="float" name="yaw">yaw</field>
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               <field type="float" name="thrust">thrust</field>
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               <field type="uint8_t" name="roll_manual">roll control enabled auto:0, manual:1</field>
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               <field type="uint8_t" name="pitch_manual">pitch auto:0, manual:1</field>
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               <field type="uint8_t" name="yaw_manual">yaw auto:0, manual:1</field>
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               <field type="uint8_t" name="thrust_manual">thrust auto:0, manual:1</field>
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          </message>
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     </messages>
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</mavlink>