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Code Issues Releases Activity

GCS/UAVObjects Modify update rate and acked flag of periodic objects, added new gpsobject fields

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@683 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
vassilis 2010-05-30 01:55:47 +00:00 committed by vassilis
parent 7bc37e891d
commit 30a127ebad
19 changed files with 65 additions and 33 deletions
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4
ground/src/plugins/uavobjects/actuatorcommand.cpp
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@ -65,10 +65,10 @@ UAVObject::Metadata ActuatorCommand::getDefaultMetadata()
UAVObject::Metadata metadata; UAVObject::Metadata metadata;
metadata.flightAccess = ACCESS_READWRITE; metadata.flightAccess = ACCESS_READWRITE;
metadata.gcsAccess = ACCESS_READWRITE; metadata.gcsAccess = ACCESS_READWRITE;
metadata.gcsTelemetryAcked = 1; metadata.gcsTelemetryAcked = 0;
metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_MANUAL; metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_MANUAL;
metadata.gcsTelemetryUpdatePeriod = 0; metadata.gcsTelemetryUpdatePeriod = 0;
metadata.flightTelemetryAcked = 1; metadata.flightTelemetryAcked = 0;
metadata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC; metadata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
metadata.flightTelemetryUpdatePeriod = 1000; metadata.flightTelemetryUpdatePeriod = 1000;
metadata.loggingUpdateMode = UAVObject::UPDATEMODE_NEVER; metadata.loggingUpdateMode = UAVObject::UPDATEMODE_NEVER;

4
ground/src/plugins/uavobjects/actuatordesired.cpp
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@ -67,10 +67,10 @@ UAVObject::Metadata ActuatorDesired::getDefaultMetadata()
UAVObject::Metadata metadata; UAVObject::Metadata metadata;
metadata.flightAccess = ACCESS_READWRITE; metadata.flightAccess = ACCESS_READWRITE;
metadata.gcsAccess = ACCESS_READWRITE; metadata.gcsAccess = ACCESS_READWRITE;
metadata.gcsTelemetryAcked = 1; metadata.gcsTelemetryAcked = 0;
metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_MANUAL; metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_MANUAL;
metadata.gcsTelemetryUpdatePeriod = 0; metadata.gcsTelemetryUpdatePeriod = 0;
metadata.flightTelemetryAcked = 1; metadata.flightTelemetryAcked = 0;
metadata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC; metadata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
metadata.flightTelemetryUpdatePeriod = 1000; metadata.flightTelemetryUpdatePeriod = 1000;
metadata.loggingUpdateMode = UAVObject::UPDATEMODE_NEVER; metadata.loggingUpdateMode = UAVObject::UPDATEMODE_NEVER;

4
ground/src/plugins/uavobjects/altitudeactual.cpp
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@ -64,10 +64,10 @@ UAVObject::Metadata AltitudeActual::getDefaultMetadata()
UAVObject::Metadata metadata; UAVObject::Metadata metadata;
metadata.flightAccess = ACCESS_READWRITE; metadata.flightAccess = ACCESS_READWRITE;
metadata.gcsAccess = ACCESS_READWRITE; metadata.gcsAccess = ACCESS_READWRITE;
metadata.gcsTelemetryAcked = 1; metadata.gcsTelemetryAcked = 0;
metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_MANUAL; metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_MANUAL;
metadata.gcsTelemetryUpdatePeriod = 0; metadata.gcsTelemetryUpdatePeriod = 0;
metadata.flightTelemetryAcked = 1; metadata.flightTelemetryAcked = 0;
metadata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC; metadata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
metadata.flightTelemetryUpdatePeriod = 1000; metadata.flightTelemetryUpdatePeriod = 1000;
metadata.loggingUpdateMode = UAVObject::UPDATEMODE_NEVER; metadata.loggingUpdateMode = UAVObject::UPDATEMODE_NEVER;

2
ground/src/plugins/uavobjects/exampleobject1.cpp
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@ -87,7 +87,7 @@ UAVObject::Metadata ExampleObject1::getDefaultMetadata()
metadata.gcsAccess = ACCESS_READWRITE; metadata.gcsAccess = ACCESS_READWRITE;
metadata.gcsTelemetryAcked = 1; metadata.gcsTelemetryAcked = 1;
metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC; metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
metadata.gcsTelemetryUpdatePeriod = 200; metadata.gcsTelemetryUpdatePeriod = 500;
metadata.flightTelemetryAcked = 1; metadata.flightTelemetryAcked = 1;
metadata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE; metadata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
metadata.flightTelemetryUpdatePeriod = 0; metadata.flightTelemetryUpdatePeriod = 0;

2
ground/src/plugins/uavobjects/exampleobject2.cpp
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@ -75,7 +75,7 @@ UAVObject::Metadata ExampleObject2::getDefaultMetadata()
metadata.gcsTelemetryUpdatePeriod = 0; metadata.gcsTelemetryUpdatePeriod = 0;
metadata.flightTelemetryAcked = 1; metadata.flightTelemetryAcked = 1;
metadata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC; metadata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
metadata.flightTelemetryUpdatePeriod = 100; metadata.flightTelemetryUpdatePeriod = 500;
metadata.loggingUpdateMode = UAVObject::UPDATEMODE_NEVER; metadata.loggingUpdateMode = UAVObject::UPDATEMODE_NEVER;
metadata.loggingUpdatePeriod = 0; metadata.loggingUpdatePeriod = 0;
return metadata; return metadata;

10
ground/src/plugins/uavobjects/gpsobject.cpp
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@ -49,6 +49,12 @@ GpsObject::GpsObject(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS, NAME)
QStringList AltitudeElemNames; QStringList AltitudeElemNames;
AltitudeElemNames.append("0"); AltitudeElemNames.append("0");
fields.append( new UAVObjectField(QString("Altitude"), QString("meters"), UAVObjectField::FLOAT32, AltitudeElemNames, QStringList()) ); fields.append( new UAVObjectField(QString("Altitude"), QString("meters"), UAVObjectField::FLOAT32, AltitudeElemNames, QStringList()) );
QStringList HeadingElemNames;
HeadingElemNames.append("0");
fields.append( new UAVObjectField(QString("Heading"), QString("degrees"), UAVObjectField::FLOAT32, HeadingElemNames, QStringList()) );
QStringList GroundSpeedElemNames;
GroundSpeedElemNames.append("0");
fields.append( new UAVObjectField(QString("GroundSpeed"), QString("m/s"), UAVObjectField::FLOAT32, GroundSpeedElemNames, QStringList()) );
QStringList SatellitesElemNames; QStringList SatellitesElemNames;
SatellitesElemNames.append("0"); SatellitesElemNames.append("0");
fields.append( new UAVObjectField(QString("Satellites"), QString(""), UAVObjectField::INT8, SatellitesElemNames, QStringList()) ); fields.append( new UAVObjectField(QString("Satellites"), QString(""), UAVObjectField::INT8, SatellitesElemNames, QStringList()) );
@ -82,10 +88,10 @@ UAVObject::Metadata GpsObject::getDefaultMetadata()
UAVObject::Metadata metadata; UAVObject::Metadata metadata;
metadata.flightAccess = ACCESS_READWRITE; metadata.flightAccess = ACCESS_READWRITE;
metadata.gcsAccess = ACCESS_READWRITE; metadata.gcsAccess = ACCESS_READWRITE;
metadata.gcsTelemetryAcked = 1; metadata.gcsTelemetryAcked = 0;
metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_MANUAL; metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_MANUAL;
metadata.gcsTelemetryUpdatePeriod = 0; metadata.gcsTelemetryUpdatePeriod = 0;
metadata.flightTelemetryAcked = 1; metadata.flightTelemetryAcked = 0;
metadata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC; metadata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
metadata.flightTelemetryUpdatePeriod = 1000; metadata.flightTelemetryUpdatePeriod = 1000;
metadata.loggingUpdateMode = UAVObject::UPDATEMODE_PERIODIC; metadata.loggingUpdateMode = UAVObject::UPDATEMODE_PERIODIC;

6
ground/src/plugins/uavobjects/gpsobject.h
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@ -44,6 +44,8 @@ public:
float Latitude; float Latitude;
float Longitude; float Longitude;
float Altitude; float Altitude;
float Heading;
float GroundSpeed;
qint8 Satellites; qint8 Satellites;
quint16 Updates; quint16 Updates;
quint16 Failures; quint16 Failures;
@ -57,6 +59,8 @@ public:
// Field Latitude information // Field Latitude information
// Field Longitude information // Field Longitude information
// Field Altitude information // Field Altitude information
// Field Heading information
// Field GroundSpeed information
// Field Satellites information // Field Satellites information
// Field Updates information // Field Updates information
// Field Failures information // Field Failures information
@ -66,7 +70,7 @@ public:
// Constants // Constants
static const quint32 OBJID = 2363300180U; static const quint32 OBJID = 3887395742U;
static const QString NAME; static const QString NAME;
static const bool ISSINGLEINST = 1; static const bool ISSINGLEINST = 1;
static const bool ISSETTINGS = 0; static const bool ISSETTINGS = 0;

22
ground/src/plugins/uavobjects/gpsobject.py
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@ -67,6 +67,26 @@ _fields = [ \
{ {
} }
), ),
uavobject.UAVObjectField(
'Heading',
'f',
1,
[
'0',
],
{
}
),
uavobject.UAVObjectField(
'GroundSpeed',
'f',
1,
[
'0',
],
{
}
),
uavobject.UAVObjectField( uavobject.UAVObjectField(
'Satellites', 'Satellites',
'b', 'b',
@ -132,7 +152,7 @@ _fields = [ \
class GpsObject(uavobject.UAVObject): class GpsObject(uavobject.UAVObject):
## Object constants ## Object constants
OBJID = 2363300180 OBJID = 3887395742
NAME = "GpsObject" NAME = "GpsObject"
METANAME = "GpsObjectMeta" METANAME = "GpsObjectMeta"
ISSINGLEINST = 1 ISSINGLEINST = 1

6
ground/src/plugins/uavobjects/manualcontrolcommand.cpp
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@ -90,12 +90,12 @@ UAVObject::Metadata ManualControlCommand::getDefaultMetadata()
UAVObject::Metadata metadata; UAVObject::Metadata metadata;
metadata.flightAccess = ACCESS_READWRITE; metadata.flightAccess = ACCESS_READWRITE;
metadata.gcsAccess = ACCESS_READWRITE; metadata.gcsAccess = ACCESS_READWRITE;
metadata.gcsTelemetryAcked = 1; metadata.gcsTelemetryAcked = 0;
metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_MANUAL; metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_MANUAL;
metadata.gcsTelemetryUpdatePeriod = 0; metadata.gcsTelemetryUpdatePeriod = 0;
metadata.flightTelemetryAcked = 1; metadata.flightTelemetryAcked = 0;
metadata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC; metadata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
metadata.flightTelemetryUpdatePeriod = 3000; metadata.flightTelemetryUpdatePeriod = 2000;
metadata.loggingUpdateMode = UAVObject::UPDATEMODE_NEVER; metadata.loggingUpdateMode = UAVObject::UPDATEMODE_NEVER;
metadata.loggingUpdatePeriod = 0; metadata.loggingUpdatePeriod = 0;
return metadata; return metadata;

4
ground/src/plugins/uavobjects/systemstats.cpp
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@ -64,10 +64,10 @@ UAVObject::Metadata SystemStats::getDefaultMetadata()
UAVObject::Metadata metadata; UAVObject::Metadata metadata;
metadata.flightAccess = ACCESS_READWRITE; metadata.flightAccess = ACCESS_READWRITE;
metadata.gcsAccess = ACCESS_READWRITE; metadata.gcsAccess = ACCESS_READWRITE;
metadata.gcsTelemetryAcked = 1; metadata.gcsTelemetryAcked = 0;
metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_MANUAL; metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_MANUAL;
metadata.gcsTelemetryUpdatePeriod = 0; metadata.gcsTelemetryUpdatePeriod = 0;
metadata.flightTelemetryAcked = 1; metadata.flightTelemetryAcked = 0;
metadata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC; metadata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
metadata.flightTelemetryUpdatePeriod = 1000; metadata.flightTelemetryUpdatePeriod = 1000;
metadata.loggingUpdateMode = UAVObject::UPDATEMODE_PERIODIC; metadata.loggingUpdateMode = UAVObject::UPDATEMODE_PERIODIC;

4
ground/src/shared/uavobjectdefinition/actuatorcommand.xml
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@ -2,8 +2,8 @@
<object name="ActuatorCommand" singleinstance="true" settings="false"> <object name="ActuatorCommand" singleinstance="true" settings="false">
<field name="Channel" units="us" type="int16" elements="8"/> <field name="Channel" units="us" type="int16" elements="8"/>
<access gcs="readwrite" flight="readwrite"/> <access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="manual" period="0"/> <telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="true" updatemode="periodic" period="1000"/> <telemetryflight acked="false" updatemode="periodic" period="1000"/>
<logging updatemode="never" period="0"/> <logging updatemode="never" period="0"/>
</object> </object>
</xml> </xml>

4
ground/src/shared/uavobjectdefinition/actuatordesired.xml
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@ -5,8 +5,8 @@
<field name="Yaw" units="%" type="float" elements="1"/> <field name="Yaw" units="%" type="float" elements="1"/>
<field name="Throttle" units="%" type="float" elements="1"/> <field name="Throttle" units="%" type="float" elements="1"/>
<access gcs="readwrite" flight="readwrite"/> <access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="manual" period="0"/> <telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="true" updatemode="periodic" period="1000"/> <telemetryflight acked="false" updatemode="periodic" period="1000"/>
<logging updatemode="never" period="0"/> <logging updatemode="never" period="0"/>
</object> </object>
</xml> </xml>

4
ground/src/shared/uavobjectdefinition/altitudeactual.xml
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@ -4,8 +4,8 @@
<field name="Temperature" units="C" type="float" elements="1"/> <field name="Temperature" units="C" type="float" elements="1"/>
<field name="Pressure" units="kPa" type="float" elements="1"/> <field name="Pressure" units="kPa" type="float" elements="1"/>
<access gcs="readwrite" flight="readwrite"/> <access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="manual" period="0"/> <telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="true" updatemode="periodic" period="1000"/> <telemetryflight acked="false" updatemode="periodic" period="1000"/>
<logging updatemode="never" period="0"/> <logging updatemode="never" period="0"/>
</object> </object>
</xml> </xml>

4
ground/src/shared/uavobjectdefinition/attitudedesired.xml
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@ -5,8 +5,8 @@
<field name="Yaw" units="degrees" type="float" elements="1"/> <field name="Yaw" units="degrees" type="float" elements="1"/>
<field name="Throttle" units="%" type="float" elements="1"/> <field name="Throttle" units="%" type="float" elements="1"/>
<access gcs="readwrite" flight="readwrite"/> <access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="manual" period="0"/> <telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="true" updatemode="periodic" period="1000"/> <telemetryflight acked="false" updatemode="periodic" period="1000"/>
<logging updatemode="never" period="0"/> <logging updatemode="never" period="0"/>
</object> </object>
</xml> </xml>

2
ground/src/shared/uavobjectdefinition/exampleobject1.xml
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@ -9,7 +9,7 @@
<field name="Field7" units="unit7" type="uint32" elements="1"/> <field name="Field7" units="unit7" type="uint32" elements="1"/>
<field name="Field8" units="unit8" type="enum" elements="1" options="Option1, Option2"/> <field name="Field8" units="unit8" type="enum" elements="1" options="Option1, Option2"/>
<access gcs="readwrite" flight="readwrite"/> <access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="periodic" period="200"/> <telemetrygcs acked="true" updatemode="periodic" period="500"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/> <telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="never" period="0"/> <logging updatemode="never" period="0"/>
</object> </object>

2
ground/src/shared/uavobjectdefinition/exampleobject2.xml
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@ -6,7 +6,7 @@
<field name="Field4" units="unit4" type="float" elements="4"/> <field name="Field4" units="unit4" type="float" elements="4"/>
<access gcs="readwrite" flight="readwrite"/> <access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/> <telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="periodic" period="100"/> <telemetryflight acked="true" updatemode="periodic" period="500"/>
<logging updatemode="never" period="0"/> <logging updatemode="never" period="0"/>
</object> </object>
</xml> </xml>

6
ground/src/shared/uavobjectdefinition/gpsobject.xml
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@ -3,6 +3,8 @@
<field name="Latitude" units="degrees" type="float" elements="1"/> <field name="Latitude" units="degrees" type="float" elements="1"/>
<field name="Longitude" units="degrees" type="float" elements="1"/> <field name="Longitude" units="degrees" type="float" elements="1"/>
<field name="Altitude" units="meters" type="float" elements="1"/> <field name="Altitude" units="meters" type="float" elements="1"/>
<field name="Heading" units="degrees" type="float" elements="1"/>
<field name="GroundSpeed" units="m/s" type="float" elements="1"/>
<field name="Satellites" units="" type="int8" elements="1"/> <field name="Satellites" units="" type="int8" elements="1"/>
<field name="Updates" units="" type="uint16" elements="1"/> <field name="Updates" units="" type="uint16" elements="1"/>
<field name="Failures" units="" type="uint16" elements="1"/> <field name="Failures" units="" type="uint16" elements="1"/>
@ -10,8 +12,8 @@
<field name="HDOP" units="" type="float" elements="1"/> <field name="HDOP" units="" type="float" elements="1"/>
<field name="VDOP" units="" type="float" elements="1"/> <field name="VDOP" units="" type="float" elements="1"/>
<access gcs="readwrite" flight="readwrite"/> <access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="manual" period="0"/> <telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="true" updatemode="periodic" period="1000"/> <telemetryflight acked="false" updatemode="periodic" period="1000"/>
<logging updatemode="periodic" period="1000"/> <logging updatemode="periodic" period="1000"/>
</object> </object>
</xml> </xml>

4
ground/src/shared/uavobjectdefinition/manualcontrolcommand.xml
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@ -8,8 +8,8 @@
<field name="FlightMode" units="" type="enum" elements="1" options="Manual,Stabilized,Auto"/> <field name="FlightMode" units="" type="enum" elements="1" options="Manual,Stabilized,Auto"/>
<field name="Channel" units="us" type="int16" elements="8"/> <field name="Channel" units="us" type="int16" elements="8"/>
<access gcs="readwrite" flight="readwrite"/> <access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="manual" period="0"/> <telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="true" updatemode="periodic" period="3000"/> <telemetryflight acked="false" updatemode="periodic" period="2000"/>
<logging updatemode="never" period="0"/> <logging updatemode="never" period="0"/>
</object> </object>
</xml> </xml>

4
ground/src/shared/uavobjectdefinition/systemstats.xml
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@ -4,8 +4,8 @@
<field name="HeapRemaining" units="bytes" type="uint16" elements="1"/> <field name="HeapRemaining" units="bytes" type="uint16" elements="1"/>
<field name="CPULoad" units="%" type="uint8" elements="1"/> <field name="CPULoad" units="%" type="uint8" elements="1"/>
<access gcs="readwrite" flight="readwrite"/> <access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="manual" period="0"/> <telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="true" updatemode="periodic" period="1000"/> <telemetryflight acked="false" updatemode="periodic" period="1000"/>
<logging updatemode="periodic" period="1000"/> <logging updatemode="periodic" period="1000"/>
</object> </object>
</xml> </xml>