<xml>
    <object name="AhrsStatus" singleinstance="true" settings="false">
        <description>Status for the @ref AHRSCommsModule, including communication errors</description>
        <field name="SerialNumber" units="" type="uint8" elements="8"/>
        <field name="CPULoad" units="count" type="uint8" elements="1"/>
        <field name="RunningTime" units="ms" type="uint32" elements="1"/>
        <field name="IdleTimePerCyle" units="10x ms" type="uint8" elements="1"/>
        <field name="RunningTimePerCyle" units="10x ms" type="uint8" elements="1"/>
        <field name="DroppedUpdates" units="count" type="uint8" elements="1"/>

        <field name="LinkRunning" units="" type="enum" elements="1" options="FALSE,TRUE"/>
        <field name="AhrsKickstarts" units="count" type="uint8" elements="1"/>
        <field name="AhrsCrcErrors" units="count" type="uint8" elements="1"/>
        <field name="AhrsRetries" units="count" type="uint8" elements="1"/>
        <field name="AhrsInvalidPackets" units="count" type="uint8" elements="1"/>
        <field name="OpCrcErrors" units="count" type="uint8" elements="1"/>
        <field name="OpRetries" units="count" type="uint8" elements="1"/>
        <field name="OpInvalidPackets" units="count" type="uint8" elements="1"/>

        <access gcs="readwrite" flight="readwrite"/>
        <telemetrygcs acked="false" updatemode="manual" period="0"/>
        <telemetryflight acked="false" updatemode="periodic" period="1000"/>
        <logging updatemode="periodic" period="1000"/>
    </object>
</xml>
