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


  <process name="Ap">
    <mode name="default">
      <message name="ALIVE"          period="5"/>
      <message name="PPM"            period="5"/>
      <message name="RC"             period="5"/>
      <message name="COMMANDS"       period="5"/>
      <message name="ACTUATORS"      period="1"/> 
      <message name="BAT"            period="3"/>
      <message name="ESTIMATOR"      period="1"/>
      <message name="TL_ESTIMATOR"   period="0.5"/>
      <message name="NAVIGATION_REF" period="9"/>
      <message name="NAVIGATION"     period="1"/>
      <message name="WP_MOVED"       period="0.5"/>
      <message name="LOOP"           period="0.5"/>
      <message name="TL_DEBUG"       period="0.5"/>
    </mode>

    <mode name="test_imu">
      <message name="ALIVE"          period="5"/>
      <message name="IMU_ACCEL"       period="0.25"/>
      <message name="IMU_GYRO"        period="0.25"/>
      <message name="IMU_MAG"         period="0.25"/>
      <message name="IMU_PRESSURE"    period="0.25"/>
      <message name="IMU_RANGEMETER"  period="0.25"/>
    </mode>


    <mode name="test_psi_filter">
      <message name="ALIVE"          period="5"/>
      <message name="IMU_GYRO"       period="0.5"/>
      <message name="IMU_MAG"        period="0.5"/>
      <message name="TL_KALM_PSI_STATE" period="0.5"/>
      <message name="TL_KALM_PSI_COV"   period="0.5"/>
    </mode>

    <mode name="test_vfilter">
      <message name="ALIVE"          period="5"/>
      <message name="IMU_PRESSURE"    period="0.25"/>
      <message name="COMMANDS"        period="1"/>
      <message name="BAT"             period="1"/>
      <message name="IMU_ACCEL"       period="0.1"/>
      <message name="TL_KALM_V_STATE" period="0.1"/>
      <message name="TL_KALM_V_COV"   period="0.5"/>
    </mode>

    <mode name="test_accel">
      <message name="ALIVE"          period="5"/>
      <message name="IMU_ACCEL"       period="0.017"/>
    </mode>

    <mode name="test_vloop">
      <message name="ALIVE"          period="5"/>
      <message name="TL_VERTICAL_LOOP"       period="0.017"/>
      <message name="BAT"             period="1"/>
    </mode>

    <mode name="test_speed_loop">
      <message name="ALIVE"          period="5"/>
      <message name="TL_SPEED_LOOP"  period="0.25"/>
      <message name="TL_ESTIMATOR"   period="0.25"/>
    </mode>
  </process>

</telemetry>
