From 9472122d7d2e91f23acc348f3151cb881ddb65ea Mon Sep 17 00:00:00 2001
From: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com>
Date: Mon, 13 Jan 2025 23:56:39 -0700
Subject: [PATCH] ardupilotmega.xml: Add ardusoar EKF estimate

* This WIP message replaces use of named-value-float in MAVProxy's soar
  module which displays the ArduSoar EKF state on the map

Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com>
---
 message_definitions/v1.0/ardupilotmega.xml | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/message_definitions/v1.0/ardupilotmega.xml b/message_definitions/v1.0/ardupilotmega.xml
index 33e0e9d6e62..0db9340c5c9 100644
--- a/message_definitions/v1.0/ardupilotmega.xml
+++ b/message_definitions/v1.0/ardupilotmega.xml
@@ -1890,5 +1890,13 @@
       <field type="uint16_t[4]" name="rpm" units="rpm">RPM (eRPM).</field>
       <field type="uint16_t[4]" name="count">count of telemetry packets received (wraps at 65535).</field>
     </message>
+    <message id="11045" name="ARDUSOAR_EKF_ESTIMATE">
+      <wip/>
+      <description>Thermal strength, radius, and location estimate from the ArduSoar algorithm.</description>
+      <field type="float" name="radius" units="m">Estimated thermal radius</field>
+      <field type="float" name="strength" units="m/s">Estimated thermal peak lift rate</field>
+      <field type="float" name="x" units="m">Estimated thermal position, north of home (y)</field>
+      <field type="float" name="y" units="m">Estimated thermal position, east of home (x)</field>
+    </message>
   </messages>
 </mavlink>