<?xml version="1.0"?>
<!DOCTYPE telemetry SYSTEM "telemetry.dtd">
<telemetry>


  <process name="Controller">
    <mode name="default">
      <message name="ALIVE"             period="5."/>
      <message name="BOOZ_STATUS"       period=".5"/>
<!--      <message name="RC"                period="0.5"/>  -->
<!--      <message name="BOOZ_FD"           period="0.05"/> -->
<!--      <message name="BOOZ_DEBUG"        period="0.25"/> -->
      <message name="ACTUATORS"         period="0.5"/>
<!--      <message name="BOOZ_HOV_LOOP"     period="0.05"/> -->
<!--      <message name="BOOZ_VERT_LOOP"    period="0.05"/> -->
<!--      <message name="BOOZ_CONTROL"      period="0.025"/> -->
<!--      <message name="BOOZ_CMDS"         period="0.025"/> -->
<!--      <message name="BOOZ_UF_RATES"     period="0.05"/> -->
      <message name="DL_VALUE"          period="1."/>
    </mode>
    <mode name="debug">
      <message name="DL_VALUE"          period=".5"/>
    </mode>
  </process>



  <process name="Filter">

    <mode name="default">
<!--      <message name="IMU_GYRO_LP"           period=".017"/> -->
      <message name="AHRS_STATE"            period=".5"/>
      <message name="AHRS_COV"              period=".5"/> 
      <message name="AHRS_MEASURE"          period=".5"/>
<!--      <message name="IMU_ACCEL_RAW"         period=".02"/> -->
      <message name="IMU_ACCEL"             period=".5"/>
<!--      <message name="IMU_GYRO_RAW"          period=".05"/> -->
      <message name="IMU_GYRO"              period=".5"/>
<!--      <message name="IMU_MAG_RAW"           period=".05"/>
      <message name="IMU_MAG"               period=".5"/>
      <message name="IMU_PRESSURE"          period=".5"/>
      <message name="INS_STATE"             period=".1"/> -->
    </mode>

    <mode name="raw_sensors">
      <message name="IMU_GYRO_RAW"          period=".017"/>
    </mode>

    <mode name="scaled_sensors">
      <message name="IMU_GYRO"              period=".017"/>
    </mode>

    <mode name="simulation">
<!--      <message name="BOOZ_DEBUG"            period=".1"/>-->
      <message name="AHRS_STATE"            period=".1"/>
      <message name="AHRS_COV"              period=".1"/>
      <message name="IMU_GYRO"              period=".017"/>
<!--      <message name="IMU_GYRO_LP"           period=".017"/> -->
      <message name="IMU_GYRO_RAW"          period=".25"/>
      <message name="IMU_ACCEL"             period=".25"/>
      <message name="IMU_ACCEL_RAW"         period=".25"/>
      <message name="IMU_MAG"               period="1."/>
      <message name="IMU_MAG_RAW"           period="1."/>
    </mode>

  </process>


</telemetry>
