<?xml version="1.0"?>

<control_panel name="paparazzi control panel">

  <section name="variables">
    <variable name="downlink_serial_port" value="/dev/ttyUSB0"/>
    <variable name="fbw_serial_port"      value="/dev/ttyS1"/>
    <variable name="ap_serial_port"       value="/dev/ttyS0"/>
    <variable name="ivy_bus"              value="127:2010"/>
    <variable name="map"                  value="muret_UTM.xml"/>
    <variable name="flight_plan"          value="flight_plans/muret1.xml"/>
  </section>

  <section name="programs">
    <program name="Server" command="sw/ground_segment/tmtc/server">
      <arg flag="-b" variable="ivy_bus"/>
    </program>

    <program name="Data Link" command="sw/ground_segment/tmtc/link">
      <arg flag="-b" variable="ivy_bus"/>
    </program>

    <program name="GCS" command="sw/ground_segment/cockpit/gcs">
      <arg flag="-b" variable="ivy_bus"/>
    </program>

    <program name="Messages" command="sw/ground_segment/tmtc/messages">
      <arg flag="-b" variable="ivy_bus"/>
    </program>

    <program name="Settings" command="sw/ground_segment/tmtc/settings">
      <arg flag="-b" variable="ivy_bus"/>
    </program>

    <program name="Log Plotter" command ="sw/logalizer/plot"/>

    <program name="Real-time Plotter" command ="sw/logalizer/plotter"/>

    <program name="Log File Player" command="sw/logalizer/play">
      <arg flag="-b" variable="ivy_bus"/>
    </program>

    <program name="Simulator" command="sw/simulator/launchsitl">
      <arg flag="-b" variable="ivy_bus"/>
    </program>

    <program name="Hardware in the Loop" command="sw/simulator/simhitl">
      <arg flag="-fbw" variable="fbw_serial_port"/>
      <arg flag="-ap" variable="ap_serial_port"/>
    </program>

    <program name="Environment Simulator" command="sw/simulator/gaia">
      <arg flag="-b" variable="ivy_bus"/>
    </program>

    <program name="Http Server" command="sw/ground_segment/tmtc/boa"/>
 </section>
  



  <section name="sessions">

   <session name="Flight with USB-serial modem">
      <program name="Data Link">
        <arg flag="-d" constant="/dev/ttyUSB0"/>
        <arg flag="-uplink" constant=""/>
      </program>
      <program name="Server"/>
      <program name="GCS"/>
    </session>

   <session name="Flight with Maxstream@57600">
      <program name="Data Link">
        <arg flag="-d" constant="/dev/paparazzi/xbee"/>
        <arg flag="-transport" constant="xbee"/>
        <arg flag="-s" constant="57600"/>
        <arg flag="-uplink" constant=""/>
      </program>
      <program name="Server"/>
      <program name="GCS"/>
    </session>

    <session name="Booz AHRS quat">

     <program name="Messages">
        <arg flag="-c" constant="telemetry"/>
     </program>

    <program name="Real-time Plotter">
        <arg flag="-t" constant="rate : p"/>
        <arg flag="-g" constant="950x300+0+20"/>
        <arg flag="-u" constant="0.1"/>
        <arg flag="-c" constant="'*:telemetry:BOOZ_SIM_RATE_ATTITUDE:p'"/>
        <arg flag="-c" constant="'*:telemetry:IMU_GYRO:gp:57.3'"/>
        <arg flag="-c" constant="'*:telemetry:BOOZ_RATE_LOOP:est_p:57.3'"/>
    </program>

    <program name="Real-time Plotter">
        <arg flag="-t" constant="rate : q"/>
        <arg flag="-g" constant="950x300+0+320"/>
        <arg flag="-u" constant="0.1"/>
        <arg flag="-c" constant="'*:telemetry:BOOZ_SIM_RATE_ATTITUDE:q'"/>
        <arg flag="-c" constant="'*:telemetry:IMU_GYRO:gq:57.3'"/>
        <arg flag="-c" constant="'*:telemetry:BOOZ_RATE_LOOP:est_q:57.3'"/>
    </program>

    <program name="Real-time Plotter">
        <arg flag="-t" constant="rate : r"/>
        <arg flag="-g" constant="950x300+0+620"/>
        <arg flag="-u" constant="0.1"/>
        <arg flag="-c" constant="'*:telemetry:BOOZ_SIM_RATE_ATTITUDE:r'"/>
        <arg flag="-c" constant="'*:telemetry:IMU_GYRO:gr:57.3'"/>
        <arg flag="-c" constant="'*:telemetry:BOOZ_RATE_LOOP:est_r:57.3'"/>
    </program>

    <program name="Real-time Plotter">
        <arg flag="-t" constant="attitude : phi"/>
        <arg flag="-g" constant="950x300+950+20"/>
        <arg flag="-u" constant="0.1"/>
        <arg flag="-c" constant="'*:telemetry:BOOZ_SIM_RATE_ATTITUDE:phi'"/>
        <arg flag="-c" constant="'*:telemetry:BOOZ_ATT_LOOP:est_phi:57.3'"/>
        <arg flag="-c" constant="'*:telemetry:AHRS_MEASURE:phi:57.3'"/>
    </program>

    <program name="Real-time Plotter">
        <arg flag="-t" constant="attitude : theta"/>
        <arg flag="-g" constant="950x300+950+320"/>
        <arg flag="-u" constant="0.1"/>
        <arg flag="-c" constant="'*:telemetry:BOOZ_SIM_RATE_ATTITUDE:theta'"/>
        <arg flag="-c" constant="'*:telemetry:BOOZ_ATT_LOOP:est_theta:57.3'"/>
        <arg flag="-c" constant="'*:telemetry:AHRS_MEASURE:theta:57.3'"/>
    </program>

    <program name="Real-time Plotter">
        <arg flag="-t" constant="attitude : psi"/>
        <arg flag="-g" constant="950x300+950+620"/>
        <arg flag="-u" constant="0.1"/>
        <arg flag="-c" constant="'*:telemetry:BOOZ_SIM_RATE_ATTITUDE:psi'"/>
        <arg flag="-c" constant="'*:telemetry:BOOZ_ATT_LOOP:est_psi:57.3'"/>
        <arg flag="-c" constant="'*:telemetry:AHRS_MEASURE:psi:57.3'"/>
    </program>

    <program name="Real-time Plotter">
        <arg flag="-t" constant="ahrs : bp bq br"/>
        <arg flag="-g" constant="950x300+0+920"/>
        <arg flag="-u" constant="0.1"/>
        <arg flag="-c" constant="'*:telemetry:AHRS_QUAT_STATE:bp:57.3'"/>
        <arg flag="-c" constant="'*:telemetry:AHRS_QUAT_STATE:bq:57.3'"/>
        <arg flag="-c" constant="'*:telemetry:AHRS_QUAT_STATE:br:57.3'"/>
        <arg flag="-c" constant="'*:telemetry:BOOZ_SIM_GYRO_BIAS:bp'"/>
        <arg flag="-c" constant="'*:telemetry:BOOZ_SIM_GYRO_BIAS:bq'"/>
        <arg flag="-c" constant="'*:telemetry:BOOZ_SIM_GYRO_BIAS:br'"/>
    </program>

    <program name="Real-time Plotter">
        <arg flag="-t" constant="ahrs : covariances"/>
        <arg flag="-g" constant="950x300+950+920"/>
        <arg flag="-u" constant="0.1"/>
        <arg flag="-c" constant="'*:telemetry:AHRS_QUAT_COV:p_q0_q0'"/>
        <arg flag="-c" constant="'*:telemetry:AHRS_QUAT_COV:p_q1_q1'"/>
        <arg flag="-c" constant="'*:telemetry:AHRS_QUAT_COV:p_q2_q2'"/>
        <arg flag="-c" constant="'*:telemetry:AHRS_QUAT_COV:p_q3_q3'"/>
        <arg flag="-c" constant="'*:telemetry:AHRS_QUAT_COV:p_bp_bp'"/>
        <arg flag="-c" constant="'*:telemetry:AHRS_QUAT_COV:p_bq_bq'"/>
        <arg flag="-c" constant="'*:telemetry:AHRS_QUAT_COV:p_br_br'"/>
    </program>

    </session>



	




  </section>

</control_panel>
