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


  <process name="Main">

    <mode name="default">
      <message name="DL_VALUE"          period="0.25"/>
      <message name="WHIRLY_MOTORCONTROL" period="0.25"/>
      <message name="WHIRLY_STATUS" period="0.25"/>
      <message name="ALIVE"             period="2.1"/>
      <message name="WHIRLY_CONTROL"    period="0.01"/>
      <message name="WHIRLY_IMU"	period="0.001"/>
      <message name="WHIRLY_ESTIMATOR"  period="0.01"/>
      <message name="WHIRLY_KALMAN_DEBUG"  period="0.002"/>
      <message name="WHIRLY_ESTIMATOR_DEBUG"  period="0.002"/>
    </mode>

    <mode name="raw_sensors">
      <message name="DL_VALUE"          period="0.5"/>
      <message name="WHIRLY_MOTORCONTROL" period="0.33"/>
      <message name="WHIRLY_STATUS" period="0.33"/>
      <message name="WHIRLY_IMU_RAW"	period="0.01"/>
      <message name="ALIVE"             period="2.1"/>
    </mode>

    <mode name="scaled_sensors">
      <message name="DL_VALUE"          period="0.5"/>
      <message name="WHIRLY_MOTORCONTROL" period="0.33"/>
      <message name="WHIRLY_STATUS" period="0.33"/>
      <message name="WHIRLY_IMU"	period="0.01"/>
      <message name="ALIVE"             period="2.1"/>
    </mode>

    <mode name="ahrs">
      <message name="DL_VALUE"          period="0.5"/>
      <message name="WHIRLY_MOTORCONTROL" period="0.25"/>
      <message name="WHIRLY_STATUS" period="0.33"/>
      <message name="ALIVE"             period="2.1"/>
      <message name="WHIRLY_ESTIMATOR"  period=" .01"/>
      <message name="WHIRLY_CONTROL"    period="0.01"/>
    </mode>

    <mode name="setup_commands">
      <message name="DL_VALUE"          period="0.5"/>
      <message name="WHIRLY_MOTORCONTROL" period="0.33"/>
      <message name="WHIRLY_STATUS" period="0.33"/>
      <message name="ALIVE"             period="2.1"/>
      <message name="ACTUATORS"         period="0.25"/>
      <message name="COMMANDS"          period="0.25"/>
    </mode>



  </process>

</telemetry>
