ardupilot.xml

<?xml version="1.0"?>

<PropertyList>
 <generic>

  <output>
   <line_separator>newline</line_separator>
   <var_separator>,</var_separator>

   <!-- Position -->
   <chunk>
    <name>latitude-deg</name>
    <type>float</type>
    <format>%f</format>
    <node>/position/latitude-deg</node>
   </chunk>

   <chunk>
    <name>longitude-deg</name>
    <type>float</type>
    <format>%f</format>
    <node>/position/longitude-deg</node>
   </chunk>

   <chunk>
    <name>altitude-ft</name>
    <type>float</type>
    <format>%f</format>
    <node>/position/altitude-ft</node>
   </chunk>

   <!-- Orientation -->
   <chunk>
    <name>roll-deg</name>
    <type>float</type>
    <format>%f</format>
    <node>/orientation/roll-deg</node>
   </chunk>

   <chunk>
    <name>pitch-deg</name>
    <type>float</type>
    <format>%f</format>
    <node>/orientation/pitch-deg</node>
   </chunk>

   <chunk>
    <name>heading-deg</name>
    <type>float</type>
    <format>%f</format>
    <node>/orientation/heading-deg</node>
   </chunk>

   <!-- Velocities -->
   <chunk>
     <name>airspeed-kt</name>
     <type>float</type>
     <format>%f</format>
     <node>/velocities/airspeed-kt</node>
   </chunk>
   
  </output>

  <input>
   <line_separator>newline</line_separator>
   <var_separator>,</var_separator>

   <!-- Controls -->
   <chunk>
    <name>magnetos</name>
    <type>float</type>
    <format>%f</format>
    <node>/controls/engines/engine[0]/magnetos</node>
   </chunk>
   
   <chunk>
    <name>aileron</name>
    <type>float</type>
    <node>/controls/flight/aileron</node>
   </chunk>

   <chunk>
    <name>elevator</name>
    <type>float</type>
    <node>/controls/flight/elevator</node>
   </chunk>
   
   <chunk>
     <name>rudder</name>
     <type>float</type>
     <node>/controls/flight/rudder</node>
   </chunk>

   <chunk>
    <name>throttle</name>
    <type>float</type>
    <node>/controls/engines/engine/throttle</node>
   </chunk>

 </input>

 </generic>

</PropertyList>