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


  <process name="Main">

    <mode name="default">
      <message name="DL_VALUE"          period="1.1"/>
      <message name="BOOZ_STATUS"       period="1.2"/>
      <message name="BOOZ2_FP"          period="0.25"/>
      <message name="ALIVE"             period="2.1"/>
      <message name="BOOZ2_INS_REF"     period="5.1"/>
      <message name="BOOZ2_NAV_STATUS"  period="1.6"/>
      <message name="WP_MOVED"          period="1.3"/>
      <message name="BOOZ2_CAM"         period="1."/>
      <message name="BOOZ2_GPS"         period=".25"/>
      <message name="BOOZ_INS"          period=".25"/>
    </mode>

    <mode name="ppm">
      <message name="PPM"                 period="0.5"/>
      <message name="RC"                  period="0.5"/>
      <message name="BOOZ2_RADIO_CONTROL" period="0.5"/>
      <message name="BOOZ_STATUS"       period="1"/>
    </mode>

    <mode name="raw_sensors">
      <message name="BOOZ_STATUS"       period="1.2"/>
      <message name="DL_VALUE"          period="0.5"/>
      <message name="ALIVE"             period="2.1"/>
      <message name="IMU_ACCEL_RAW"     period=".05"/>
      <message name="IMU_GYRO_RAW"      period=".05"/>
      <message name="IMU_MAG_RAW"       period=".05"/>
      <message name="BOOZ2_BARO_RAW"    period=".1"/>
    </mode>

    <mode name="scaled_sensors">
      <message name="BOOZ_STATUS"       period="1.2"/>
      <message name="DL_VALUE"          period="0.5"/>
      <message name="ALIVE"             period="2.1"/>
      <message name="BOOZ2_GYRO"        period=".075"/>
      <message name="BOOZ2_ACCEL"       period=".075"/>
      <message name="BOOZ2_MAG"         period=".1"/>
    </mode>

    <mode name="ahrs">
      <message name="BOOZ_STATUS"       period="1.2"/>
      <message name="DL_VALUE"          period="0.5"/>
      <message name="ALIVE"             period="2.1"/>
<!--      <message name="BOOZ2_ALIGNER"     period=".1"/> -->
      <message name="BOOZ2_FILTER"      period=".5"/>
<!--      <message name="BOOZ2_AHRS_QUAT"   period=".25"/> -->
      <message name="BOOZ2_AHRS_EULER"  period=".1"/>
<!--      <message name="BOOZ2_AHRS_RMAT"   period=".5"/> -->
    </mode>

    <mode name="rate_loop">
      <message name="BOOZ_STATUS"       period="1.2"/>
      <message name="DL_VALUE"          period="0.5"/>
      <message name="ALIVE"             period="2.1"/>
      <message name="BOOZ2_RATE_LOOP"   period=".02"/>
    </mode>

    <mode name="attitude_loop">
      <message name="BOOZ_STATUS"             period="1.2"/>
      <message name="DL_VALUE"                period="0.5"/>
      <message name="ALIVE"                   period="0.9"/>
      <message name="BOOZ2_STAB_ATTITUDE"     period=".03"/>
      <message name="BOOZ2_STAB_ATTITUDE_REF" period=".03"/>
    </mode>

    <mode name="vert_loop">
      <message name="BOOZ_STATUS"             period="1.2"/>
      <message name="DL_VALUE"                period="0.5"/>
      <message name="ALIVE"                   period="0.9"/>
      <message name="BOOZ2_VFF"               period=".05"/>
      <message name="BOOZ2_VERT_LOOP"         period=".05"/>
<!--      <message name="BOOZ2_CMD"               period=".05"/> -->
      <message name="BOOZ2_INS"               period=".05"/>
      <message name="BOOZ2_INS_REF"           period="5.1"/>
    </mode>

    <mode name="h_loop">
      <message name="ALIVE"                   period="0.9"/>
      <message name="BOOZ2_HOVER_LOOP"        period="0.062"/>
      <message name="BOOZ2_STAB_ATTITUDE"     period=".4"/>
      <message name="BOOZ2_HFF_DBG"           period=".2"/>
      <!--<message name="BOOZ2_STAB_ATTITUDE_REF" period=".4"/>-->
      <message name="BOOZ2_FP"                period="0.8"/>
      <message name="BOOZ_STATUS"             period="1.2"/>
      <message name="BOOZ2_NAV_STATUS"        period="1.6"/>
	  <message name="BOOZ2_HFF_GPS"           period=".03"/>
      <message name="BOOZ2_INS_REF"           period="5.1"/>
    </mode>

    <mode name="aligner">
      <message name="ALIVE"                   period="0.9"/>
      <message name="BOOZ2_FILTER_ALIGNER"    period="0.02"/>
    </mode>

    <mode name="hs_att_roll">
      <message name="BOOZ_STATUS"                 period="1.2"/>
      <message name="ALIVE"                       period="0.9"/>
      <message name="DL_VALUE"                    period="0.5"/>
<!--      <message name="BOOZ2_STAB_ATTITUDE_HS_ROLL" period="0.02"/> -->
    </mode>

    <mode name="tune_hover">
      <message name="DL_VALUE"          period="1.1"/>
      <message name="BOOZ_STATUS"       period="1.2"/>
      <message name="ALIVE"             period="2.1"/>
      <!--<message name="BOOZ2_SONAR"       period="0.1"/>-->
      <!--<message name="BOOZ2_TUNE_HOVER"               period=".1"/>-->
      <!-- <message name="BOOZ2_GPS"               period=".20"/> -->
      <!--<message name="BOOZ2_INS2"              period=".05"/>
      <message name="BOOZ2_INS3"              period=".20"/>-->
      <message name="BOOZ2_INS_REF"           period="5.1"/>
    </mode>


  </process>

</telemetry>
