Onboard Message Log Messages

This is a list of log messages which may be present in logs produced and stored onboard ArduPilot vehicles.

ACC

IMU accelerometer data

TimeUS	μs	Time since system startup
I	instance	accelerometer sensor instance number
SampleUS	μs	time since system startup this sample was taken
AccX	m/s/s	acceleration along X axis
AccY	m/s/s	acceleration along Y axis
AccZ	m/s/s	acceleration along Z axis

ADSB

Automatic Dependent Serveillance - Broadcast detected vehicle information

TimeUS	μs	Time since system startup
ICAO_address		Transponder address
Lat	1e-7 deglatitude	Vehicle latitude
Lng	1e-7 deglongitude	Vehicle longitude
Alt	mm	Vehicle altitude
Heading	cdegheading	Vehicle heading
Hor_vel	mm/s	Vehicle horizontal velocity
Ver_vel	mm/s	Vehicle vertical velocity
Squark		Transponder squawk code

AHR2

Backup AHRS data

TimeUS	μs	Time since system startup
Roll	deg	Estimated roll
Pitch	deg	Estimated pitch
Yaw	degheading	Estimated yaw
Alt	m	Estimated altitude
Lat	deglatitude	Estimated latitude
Lng	deglongitude	Estimated longitude
Q1		Estimated attitude quaternion component 1
Q2		Estimated attitude quaternion component 2
Q3		Estimated attitude quaternion component 3
Q4		Estimated attitude quaternion component 4

AIS1

Contents of ‘position report’ AIS message, see: https://gpsd.gitlab.io/gpsd/AIVDM.html#_types_1_2_and_3_position_report_class_a

US	μs	Time since system startup
typ		Message Type
rep		Repeat Indicator
mmsi		MMSI
nav		Navigation Status
rot		Rate of Turn (ROT)
sog		Speed Over Ground (SOG)
pos		Position Accuracy
lon		Longitude
lat		Latitude
cog		Course Over Ground (COG)
hed		True Heading (HDG)
sec		Time Stamp
man		Maneuver Indicator
raim		RAIM flag
rad		Radio status

AIS4

Contents of ‘Base Station Report’ AIS message, see: https://gpsd.gitlab.io/gpsd/AIVDM.html#_type_4_base_station_report

US	μs	Time since system startup
rep		Repeat Indicator
mmsi		MMSI
year		Year (UTC)
mth		Month (UTC)
day		Day (UTC)
h		Hour (UTC)
m		Minute (UTC)
s		Second (UTC)
fix		Fix quality
lon		Longitude
lat		Latitude
epfd		Type of EPFD
raim		RAIM flag
rad		Radio status

AIS5

Contents of ‘static and voyage related data’ AIS message, see: https://gpsd.gitlab.io/gpsd/AIVDM.html#_type_5_static_and_voyage_related_data

US	μs	Time since system startup
rep		Repeat Indicator
mmsi		MMSI
ver		AIS Version
imo		IMO Number
cal	char[16]	Call Sign
nam	char[64]	Vessel Name
typ		Ship Type
bow	m	Dimension to Bow
stn	m	Dimension to Stern
prt	m	Dimension to Port
str	m	Dimension to Starboard
fix		Position Fix Type
dght	dm	Draught
dst	char[64]	Destination
dte		DTE

AISR

Raw AIS AVDIM messages contents, see: https://gpsd.gitlab.io/gpsd/AIVDM.html#_aivdmaivdo_sentence_layer

TimeUS	μs	Time since system startup
num		count of fragments in the currently accumulating message
total		fragment number of this sentence
ID		sequential message ID for multi-sentence messages
payload	char[64]	data payload

ANG

Attitude control attitude

TimeUS	μs	Timestamp of the current Attitude loop
DesRoll	deg	vehicle desired roll
Roll	deg	achieved vehicle roll
DesPitch	deg	vehicle desired pitch
Pitch	deg	achieved vehicle pitch
DesYaw	degheading	vehicle desired yaw
Yaw	degheading	achieved vehicle yaw
Dt	s	attitude delta time

AOA

Angle of attack and Side Slip Angle values

TimeUS	μs	Time since system startup
AOA	deg	Angle of Attack calculated from airspeed, wind vector,velocity vector
SSA	deg	Side Slip Angle calculated from airspeed, wind vector,velocity vector

ARM

Arming status changes

TimeUS	μs	Time since system startup
ArmState		true if vehicle is now armed
ArmChecks	bitmask	arming bitmask at time of arming Bitmask values: ARMING_CHECK_ALL 1 ARMING_CHECK_BARO 2 ARMING_CHECK_COMPASS 4 ARMING_CHECK_GPS 8 ARMING_CHECK_INS 16 ARMING_CHECK_PARAMETERS 32 ARMING_CHECK_RC 64 ARMING_CHECK_VOLTAGE 128 ARMING_CHECK_BATTERY 256 ARMING_CHECK_AIRSPEED 512 ARMING_CHECK_LOGGING 1024 ARMING_CHECK_SWITCH 2048 ARMING_CHECK_GPS_CONFIG 4096 ARMING_CHECK_SYSTEM 8192 ARMING_CHECK_MISSION 16384 ARMING_CHECK_RANGEFINDER 32768 ARMING_CHECK_CAMERA 65536 ARMING_CHECK_AUX_AUTH 131072 ARMING_CHECK_VISION 262144 ARMING_CHECK_FFT 524288 ARMING_CHECK_OSD 1048576
Forced		true if arm/disarm was forced
Method	enum	method used for arming Values: RUDDER 0 MAVLINK 1 AUXSWITCH 2 MOTORTEST 3 SCRIPTING 4 TERMINATION 5 only disarm uses this… CPUFAILSAFE 6 only disarm uses this… BATTERYFAILSAFE 7 only disarm uses this… SOLOPAUSEWHENLANDED 8 only disarm uses this… AFS 9 only disarm uses this… ADSBCOLLISIONACTION 10 only disarm uses this… PARACHUTE_RELEASE 11 only disarm uses this… CRASH 12 only disarm uses this… LANDED 13 only disarm uses this… MISSIONEXIT 14 only disarm uses this… FENCEBREACH 15 only disarm uses this… RADIOFAILSAFE 16 only disarm uses this… DISARMDELAY 17 only disarm uses this… GCSFAILSAFE 18 only disarm uses this… TERRRAINFAILSAFE 19 only disarm uses this… FAILSAFE_ACTION_TERMINATE 20 only disarm uses this… TERRAINFAILSAFE 21 only disarm uses this… MOTORDETECTDONE 22 only disarm uses this… BADFLOWOFCONTROL 23 only disarm uses this… EKFFAILSAFE 24 only disarm uses this… GCS_FAILSAFE_SURFACEFAILED 25 only disarm uses this… GCS_FAILSAFE_HOLDFAILED 26 only disarm uses this… TAKEOFFTIMEOUT 27 only disarm uses this… AUTOLANDED 28 only disarm uses this… PILOT_INPUT_FAILSAFE 29 only disarm uses this… TOYMODELANDTHROTTLE 30 only disarm uses this… TOYMODELANDFORCE 31 only disarm uses this… LANDING 32 only disarm uses this… DEADRECKON_FAILSAFE 33 only disarm uses this… BLACKBOX 34 DDS 35 UNKNOWN 100

ARSP

Airspeed sensor data

TimeUS	μs	Time since system startup
I	instance	Airspeed sensor instance number
Airspeed	m/s	Current airspeed
DiffPress	Pa	Pressure difference between static and dynamic port
Temp	degC	Temperature used for calculation
RawPress	Pa	Raw pressure less offset
Offset	Pa	Offset from parameter
U		True if sensor is being used
H		True if sensor is healthy
Hp		Probability sensor is healthy
TR		innovation test ratio
Pri		True if sensor is the primary sensor

ASM1

AirSim simulation data

TimeUS		Time since system startup
TUS		Simulation’s timestamp
R		Simulation’s roll
P		Simulation’s pitch
Y		Simulation’s yaw
GX		Simulated gyroscope, X-axis
GY		Simulated gyroscope, Y-axis
GZ		Simulated gyroscope, Z-axis

ASM2

More AirSim simulation data

TimeUS		Time since system startup
AX		simulation’s acceleration, X-axis
AY		simulation’s acceleration, Y-axis
AZ		simulation’s acceleration, Z-axis
VX		simulation’s velocity, X-axis
VY		simulation’s velocity, Y-axis
VZ		simulation’s velocity, Z-axis
PX		simulation’s position, X-axis
PY		simulation’s position, Y-axis
PZ		simulation’s position, Z-axis
Alt		simulation’s gps altitude
SD		simulation’s earth-frame speed-down

ATDE

AutoTune data packet

TimeUS	μs	Time since system startup
Angle	deg	current angle
Rate	deg/s	current angular rate

ATSC

Scale factors for attitude controller

TimeUS	μs	Time since system startup
AngPScX		Angle P scale X
AngPScY		Angle P scale Y
AngPScZ		Angle P scale Z
PDScX		PD scale X
PDScY		PD scale Y
PDScZ		PD scale Z

ATT

Canonical vehicle attitude

TimeUS	μs	Time since system startup
DesRoll	deg	vehicle desired roll
Roll	deg	achieved vehicle roll
DesPitch	deg	vehicle desired pitch
Pitch	deg	achieved vehicle pitch
DesYaw	degheading	vehicle desired yaw
Yaw	degheading	achieved vehicle yaw
AEKF		active EKF type

AUXF

Auxiliary function invocation information

TimeUS	μs	Time since system startup
function	instance	ID of triggered function Values: DO_NOTHING 0 aux switch disabled FLIP 2 flip SIMPLE_MODE 3 change to simple mode RTL 4 change to RTL flight mode SAVE_TRIM 5 save current position as level SAVE_WP 7 save mission waypoint or RTL if in auto mode CAMERA_TRIGGER 9 trigger camera servo or relay RANGEFINDER 10 allow enabling or disabling rangefinder in flight which helps avoid surface tracking when you are far above the ground FENCE 11 allow enabling or disabling fence in flight RESETTOARMEDYAW 12 UNUSED SUPERSIMPLE_MODE 13 change to simple mode in middle, super simple at top ACRO_TRAINER 14 low = disabled, middle = leveled, high = leveled and limited SPRAYER 15 enable/disable the crop sprayer AUTO 16 change to auto flight mode AUTOTUNE_MODE 17 auto tune LAND 18 change to LAND flight mode GRIPPER 19 Operate cargo grippers low=off, middle=neutral, high=on PARACHUTE_ENABLE 21 Parachute enable/disable PARACHUTE_RELEASE 22 Parachute release PARACHUTE_3POS 23 Parachute disable, enable, release with 3 position switch MISSION_RESET 24 Reset auto mission to start from first command ATTCON_FEEDFWD 25 enable/disable the roll and pitch rate feed forward ATTCON_ACCEL_LIM 26 enable/disable the roll, pitch and yaw accel limiting RETRACT_MOUNT1 27 Retract Mount1 RELAY 28 Relay pin on/off (only supports first relay) LANDING_GEAR 29 Landing gear controller LOST_VEHICLE_SOUND 30 Play lost vehicle sound MOTOR_ESTOP 31 Emergency Stop Switch MOTOR_INTERLOCK 32 Motor On/Off switch BRAKE 33 Brake flight mode RELAY2 34 Relay2 pin on/off RELAY3 35 Relay3 pin on/off RELAY4 36 Relay4 pin on/off THROW 37 change to THROW flight mode AVOID_ADSB 38 enable AP_Avoidance library PRECISION_LOITER 39 enable precision loiter AVOID_PROXIMITY 40 enable object avoidance using proximity sensors (ie. horizontal lidar) ARMDISARM_UNUSED 41 UNUSED SMART_RTL 42 change to SmartRTL flight mode INVERTED 43 enable inverted flight WINCH_ENABLE 44 winch enable/disable WINCH_CONTROL 45 winch control RC_OVERRIDE_ENABLE 46 enable RC Override USER_FUNC1 47 user function #1 USER_FUNC2 48 user function #2 USER_FUNC3 49 user function #3 LEARN_CRUISE 50 learn cruise throttle (Rover) MANUAL 51 manual mode ACRO 52 acro mode STEERING 53 steering mode HOLD 54 hold mode GUIDED 55 guided mode LOITER 56 loiter mode FOLLOW 57 follow mode CLEAR_WP 58 clear waypoints SIMPLE 59 simple mode ZIGZAG 60 zigzag mode ZIGZAG_SaveWP 61 zigzag save waypoint COMPASS_LEARN 62 learn compass offsets SAILBOAT_TACK 63 rover sailboat tack REVERSE_THROTTLE 64 reverse throttle input GPS_DISABLE 65 disable GPS for testing RELAY5 66 Relay5 pin on/off RELAY6 67 Relay6 pin on/off STABILIZE 68 stabilize mode POSHOLD 69 poshold mode ALTHOLD 70 althold mode FLOWHOLD 71 flowhold mode CIRCLE 72 circle mode DRIFT 73 drift mode SAILBOAT_MOTOR_3POS 74 Sailboat motoring 3pos SURFACE_TRACKING 75 Surface tracking upwards or downwards STANDBY 76 Standby mode TAKEOFF 77 takeoff RUNCAM_CONTROL 78 control RunCam device RUNCAM_OSD_CONTROL 79 control RunCam OSD VISODOM_ALIGN 80 align visual odometry camera’s attitude to AHRS DISARM 81 disarm vehicle Q_ASSIST 82 disable, enable and force Q assist ZIGZAG_Auto 83 zigzag auto switch AIRMODE 84 enable / disable airmode for copter GENERATOR 85 generator control TER_DISABLE 86 disable terrain following in CRUISE/FBWB modes CROW_SELECT 87 select CROW mode for diff spoilers;high disables,mid forces progressive SOARING 88 three-position switch to set soaring mode LANDING_FLARE 89 force flare, throttle forced idle, pitch to LAND_PITCH_DEG, tilts up EKF_SOURCE_SET 90 change EKF data source set between primary, secondary and tertiary ARSPD_CALIBRATE 91 calibrate airspeed ratio FBWA 92 Fly-By-Wire-A RELOCATE_MISSION 93 used in separate branch MISSION_RELATIVE VTX_POWER 94 VTX power level FBWA_TAILDRAGGER 95 enables FBWA taildragger takeoff mode. Once this feature is enabled it will stay enabled until the aircraft goes above TKOFF_TDRAG_SPD1 airspeed, changes mode, or the pitch goes above the initial pitch when this is engaged or goes below 0 pitch. When enabled the elevator will be forced to TKOFF_TDRAG_ELEV. This option allows for easier takeoffs on taildraggers in FBWA mode, and also makes it easier to test auto-takeoff steering handling in FBWA. MODE_SWITCH_RESET 96 trigger re-reading of mode switch WIND_VANE_DIR_OFSSET 97 flag for windvane direction offset input, used with windvane type 2 TRAINING 98 mode training AUTO_RTL 99 AUTO RTL via DO_LAND_START KILL_IMU1 100 disable first IMU (for IMU failure testing) KILL_IMU2 101 disable second IMU (for IMU failure testing) CAM_MODE_TOGGLE 102 Momentary switch to cycle camera modes EKF_LANE_SWITCH 103 trigger lane switch attempt EKF_YAW_RESET 104 trigger yaw reset attempt GPS_DISABLE_YAW 105 disable GPS yaw for testing DISABLE_AIRSPEED_USE 106 equivalent to AIRSPEED_USE 0 FW_AUTOTUNE 107 fixed wing auto tune QRTL 108 QRTL mode CUSTOM_CONTROLLER 109 use Custom Controller KILL_IMU3 110 disable third IMU (for IMU failure testing) LOWEHEISER_STARTER 111 allows for manually running starter AHRS_TYPE 112 change AHRS_EKF_TYPE RETRACT_MOUNT2 113 Retract Mount2 CRUISE 150 CRUISE mode TURTLE 151 Turtle mode - flip over after crash SIMPLE_HEADING_RESET 152 reset simple mode reference heading to current ARMDISARM 153 arm or disarm vehicle ARMDISARM_AIRMODE 154 arm or disarm vehicle enabling airmode TRIM_TO_CURRENT_SERVO_RC 155 trim to current servo and RC TORQEEDO_CLEAR_ERR 156 clear torqeedo error EMERGENCY_LANDING_EN 157 Force long FS action to FBWA for landing out of range OPTFLOW_CAL 158 optical flow calibration FORCEFLYING 159 enable or disable land detection for GPS based manual modes preventing land detection and maintainting set_throttle_mix_max WEATHER_VANE_ENABLE 160 enable/disable weathervaning TURBINE_START 161 initialize turbine start sequence FFT_NOTCH_TUNE 162 FFT notch tuning function MOUNT_LOCK 163 Mount yaw lock vs follow LOG_PAUSE 164 Pauses logging if under logging rate control ARM_EMERGENCY_STOP 165 ARM on high, MOTOR_ESTOP on low CAMERA_REC_VIDEO 166 start recording on high, stop recording on low CAMERA_ZOOM 167 camera zoom high = zoom in, middle = hold, low = zoom out CAMERA_MANUAL_FOCUS 168 camera manual focus. high = long shot, middle = stop focus, low = close shot CAMERA_AUTO_FOCUS 169 camera auto focus QSTABILIZE 170 QuadPlane QStabilize mode MAG_CAL 171 Calibrate compasses (disarmed only) BATTERY_MPPT_ENABLE 172 Battery MPPT Power enable. high = ON, mid = auto (controlled by mppt/batt driver), low = OFF. This effects all MPPTs. PLANE_AUTO_LANDING_ABORT 173 Abort Glide-slope or VTOL landing during payload place or do_land type mission items CAMERA_IMAGE_TRACKING 174 camera image tracking CAMERA_LENS 175 camera lens selection VFWD_THR_OVERRIDE 176 force enabled VTOL forward throttle method MOUNT_LRF_ENABLE 177 mount LRF enable/disable FLIGHTMODE_PAUSE 178 e.g. pause movement towards waypoint ICE_START_STOP 179 AP_ICEngine start stop AUTOTUNE_TEST_GAINS 180 auto tune tuning switch to test or revert gains QUICKTUNE 181 quicktune 3 position switch ROLL 201 roll input PITCH 202 pitch input THROTTLE 203 throttle pilot input YAW 204 yaw pilot input MAINSAIL 207 mainsail input FLAP 208 flap input FWD_THR 209 VTOL manual forward throttle AIRBRAKE 210 manual airbrake control WALKING_HEIGHT 211 walking robot height input MOUNT1_ROLL 212 mount1 roll input MOUNT1_PITCH 213 mount1 pitch input MOUNT1_YAW 214 mount1 yaw input MOUNT2_ROLL 215 mount2 roll input MOUNT2_PITCH 216 mount3 pitch input MOUNT2_YAW 217 mount4 yaw input LOWEHEISER_THROTTLE 218 allows for throttle on slider TRANSMITTER_TUNING 219 use a transmitter knob or slider for in-flight tuning SCRIPTING_1 300 SCRIPTING_2 301 SCRIPTING_3 302 SCRIPTING_4 303 SCRIPTING_5 304 SCRIPTING_6 305 SCRIPTING_7 306 SCRIPTING_8 307 SCRIPTING_9 308 SCRIPTING_10 309 SCRIPTING_11 310 SCRIPTING_12 311 SCRIPTING_13 312 SCRIPTING_14 313 SCRIPTING_15 314 SCRIPTING_16 315 AUX_FUNCTION_MAX 316
pos	enum	switch position when function triggered Values: LOW 0 indicates auxiliary switch is in the low position (pwm <1200) MIDDLE 1 indicates auxiliary switch is in the middle position (pwm >1200, <1800) HIGH 2 indicates auxiliary switch is in the high position (pwm >1800)
source	enum	source of auxiliary function invocation Values: INIT 0 RC 1 BUTTON 2 MAVLINK 3 MISSION 4 SCRIPTING 5
result		true if function was successful

BARD

Barometer dynamic data

TimeUS	μs	Time since system startup
I	instance	barometer sensor instance number
DynPrX	Pa	calculated dynamic pressure in the bodyframe X-axis
DynPrY	Pa	calculated dynamic pressure in the bodyframe Y-axis
DynPrZ	Pa	calculated dynamic pressure in the bodyframe Z-axis

BARO

Gathered Barometer data

TimeUS	μs	Time since system startup
I	instance	barometer sensor instance number
Alt	m	calculated altitude
AltAMSL	m	altitude AMSL
Press	Pa	measured atmospheric pressure
Temp	degC	measured atmospheric temperature
CRt	m/s	derived climb rate from primary barometer
SMS	ms	time last sample was taken
Offset	m	raw adjustment of barometer altitude, zeroed on calibration, possibly set by GCS
GndTemp	degC	temperature on ground, specified by parameter or measured while on ground
Health		true if barometer is considered healthy

BAT

Gathered battery data

TimeUS	μs	Time since system startup
Inst	instance	battery instance number
Volt	V	measured voltage
VoltR	V	estimated resting voltage
Curr	A	measured current
CurrTot	mAh	consumed Ah, current * time
EnrgTot	W.h	consumed Wh, energy this battery has expended
Temp	degC	measured temperature
Res	Ohm	estimated battery resistance
RemPct	%	remaining percentage
H		health
SH	%	state of health percentage. 0 if unknown

BCL

Battery cell voltage information

TimeUS	μs	Time since system startup
Instance	instance	battery instance number
Volt	V	battery voltage
V1	mV	first cell voltage
V2	mV	second cell voltage
V3	mV	third cell voltage
V4	mV	fourth cell voltage
V5	mV	fifth cell voltage
V6	mV	sixth cell voltage
V7	mV	seventh cell voltage
V8	mV	eighth cell voltage
V9	mV	ninth cell voltage
V10	mV	tenth cell voltage
V11	mV	eleventh cell voltage
V12	mV	twelfth cell voltage

BCL2

Battery cell voltage information

TimeUS	μs	Time since system startup
Instance	instance	battery instance number
V13	mV	thirteenth cell voltage
V14	mV	fourteenth cell voltage

BCN

Beacon information

TimeUS	μs	Time since system startup
Health		True if beacon sensor is healthy
Cnt		Number of beacons being used
D0	m	Distance to first beacon
D1	m	Distance to second beacon
D2	m	Distance to third beacon
D3	m	Distance to fourth beacon
PosX	m	Calculated beacon position, x-axis
PosY	m	Calculated beacon position, y-axis
PosZ	m	Calculated beacon position, z-axis

CAFD

CANFD Frame

TimeUS	μs	Time since system startup
Bus	instance	bus number
Id		frame identifier
DLC		data length code
D0		data 0
D1		data 1
D2		data 2
D3		data 3
D4		data 4
D5		data 5
D6		data 6
D7		data 7

CAM

Camera shutter information

TimeUS	μs	Time since system startup
I	instance	Instance number
Img		Image number
GPSTime		milliseconds since start of GPS week
GPSWeek		weeks since 5 Jan 1980
Lat	deglatitude	current latitude
Lng	deglongitude	current longitude
Alt	m	current altitude
RelAlt	m	current altitude relative to home
GPSAlt	m	altitude as reported by GPS
R	deg	current vehicle roll
P	deg	current vehicle pitch
Y	deg	current vehicle yaw

CAND

Info from GetNodeInfo request

TimeUS	μs	Time since system startup
Driver		Driver index
NodeId	instance	Node ID
UID1		Hardware ID, part 1
UID2		Hardware ID, part 2
Name	char[64]	Name string
Major		major revision id
Minor		minor revision id
Version		AP_Periph git hash

CANF

CAN Frame

TimeUS	μs	Time since system startup
Bus	instance	bus number
Id		frame identifier
DLC		data length code
B0		byte 0
B1		byte 1
B2		byte 2
B3		byte 3
B4		byte 4
B5		byte 5
B6		byte 6
B7		byte 7

CANS

CAN Bus Statistics

TimeUS	μs	Time since system startup
I	instance	driver index
T		transmit success count
Trq		transmit request count
Trej		transmit reject count
Tov		transmit overflow count
Tto		transmit timeout count
Tab		transmit abort count
R		receive count
Rov		receive overflow count
Rer		receive error count
Bo		bus offset error count
Etx		ESC successful send count
Stx		Servo successful send count
Ftx		ESC/Servo failed-to-send count

CMD

Uploaded mission command information

TimeUS	μs	Time since system startup
CTot		Total number of mission commands
CNum		This command’s offset in mission
CId		Command type
Prm1		Parameter 1
Prm2		Parameter 2
Prm3		Parameter 3
Prm4		Parameter 4
Lat	deglatitude	Command latitude
Lng	deglongitude	Command longitude
Alt	m	Command altitude
Frame		Frame used for position

CSRV

Servo feedback data

TimeUS	μs	Time since system startup
Id	instance	Servo number this data relates to
Pos	deg	Current servo position
Force	N.m	Force being applied
Speed	deg/s	Current servo movement speed
Pow	%	Amount of rated power being applied
PosCmd	deg	commanded servo position
V	V	Voltage
A	A	Current
MotT	degC	motor temperature
PCBT	degC	PCB temperature
Err		error flags

CTRL

Attitude Control oscillation monitor diagnostics

TimeUS		Time since system startup
RMSRollP		LPF Root-Mean-Squared Roll Rate controller P gain
RMSRollD		LPF Root-Mean-Squared Roll rate controller D gain
RMSPitchP		LPF Root-Mean-Squared Pitch Rate controller P gain
RMSPitchD		LPF Root-Mean-Squared Pitch Rate controller D gain
RMSYaw		LPF Root-Mean-Squared Yaw Rate controller P+D gain

DCM

DCM Estimator Data

TimeUS	μs	Time since system startup
Roll	deg	estimated roll
Pitch	deg	estimated pitch
Yaw	deg	estimated yaw
ErrRP	deg	lowest estimated gyro drift error
ErrYaw	degheading	difference between measured yaw and DCM yaw estimate
VWN	m/s	wind velocity, to-the-North component
VWE	m/s	wind velocity, to-the-East component
VWD	m/s	wind velocity, Up-to-Down component

DMS

DataFlash-Over-MAVLink statistics

TimeUS	μs	Time since system startup
N		Current block number
Dp		Number of times we rejected a write to the backend
RT		Number of blocks sent from the retry queue
RS		Number of resends of unacknowledged data made
Fa		Average number of blocks on the free list
Fmn		Minimum number of blocks on the free list
Fmx		Maximum number of blocks on the free list
Pa		Average number of blocks on the pending list
Pmn		Minimum number of blocks on the pending list
Pmx		Maximum number of blocks on the pending list
Sa		Average number of blocks on the sent list
Smn		Minimum number of blocks on the sent list
Smx		Maximum number of blocks on the sent list

DSF

Onboard logging statistics

TimeUS	μs	Time since system startup
Dp		Number of times we rejected a write to the backend
Blk		Current block number
Bytes	B	Current write offset
FMn		Minimum free space in write buffer in last time period
FMx		Maximum free space in write buffer in last time period
FAv		Average free space in write buffer in last time period

DSTL

Deepstall Landing data

TimeUS	μs	Time since system startup
Stg		Deepstall landing stage
THdg	degheading	Target heading
Lat	deglatitude	Landing point latitude
Lng	deglongitude	Landing point longitude
Alt	m	Landing point altitude
XT		Crosstrack error
Travel		Expected travel distance vehicle will travel from this point
L1I		L1 controller crosstrack integrator value
Loiter		wind estimate loiter angle flown
Des		Deepstall steering PID desired value
P		Deepstall steering PID Proportional response component
I		Deepstall steering PID Integral response component
D		Deepstall steering PID Derivative response component

EAHR

External AHRS data

TimeUS	μs	Time since system startup
Roll	deg	euler roll
Pitch	deg	euler pitch
Yaw	deg	euler yaw
VN	m/s	velocity north
VE	m/s	velocity east
VD	m/s	velocity down
Lat	deglatitude	latitude
Lon	deglongitude	longitude
Alt	m	altitude AMSL
Flg		nav status flags

EAHV

External AHRS variances

TimeUS		Time since system startup
Vel		velocity variance
Pos		position variance
Hgt		height variance
MagX		magnetic variance, X
MagY		magnetic variance, Y
MagZ		magnetic variance, Z
TAS		true airspeed variance

ECYL

EFI per-cylinder information

TimeUS	μs	Time since system startup
Inst	instance	Cylinder this data belongs to
IgnT	deg	Ignition timing
InjT	ms	Injection time
CHT	degC	Cylinder head temperature
EGT	degC	Exhaust gas temperature
Lambda		Estimated lambda coefficient (dimensionless ratio)
CHT2	degC	Cylinder2 head temperature
EGT2	degC	Cylinder2 Exhaust gas temperature
IDX		Index of the publishing ECU

EDT2

Status received from ESCs via Extended DShot telemetry v2

TimeUS	μs	microseconds since system startup
Instance	instance	ESC instance number
Stress		current stress level (commutation effort), scaled to [0..255]
MaxStress		maximum stress level (commutation effort) since arming, scaled to [0..15]
Status	bitmask	status bits Bitmask values: HAS_STRESS_DATA 1 true if the message contains up-to-date stress data HAS_STATUS_DATA 2 true if the message contains up-to-date status data ALERT_BIT 4 true if the last status had the “alert” bit (e.g. demag) WARNING_BIT 8 true if the last status had the “warning” bit (e.g. desync) ERROR_BIT 16 true if the last status had the “error” bit (e.g. stall)

EFI

Electronic Fuel Injection system data

TimeUS	μs	Time since system startup
LP	%	Reported engine load
Rpm	rpm	Reported engine RPM
SDT	ms	Spark Dwell Time
ATM	Pa	Atmospheric pressure
IMP	Pa	Intake manifold pressure
IMT	degC	Intake manifold temperature
ECT	degC	Engine Coolant Temperature
OilP	Pa	Oil Pressure
OilT	degC	Oil temperature
FP	Pa	Fuel Pressure
FCR		Fuel Consumption Rate
CFV		Consumed fueld volume
TPS	%	Throttle Position
IDX		Index of the publishing ECU

EFI2

Electronic Fuel Injection system data - redux

TimeUS	μs	Time since system startup
Healthy		True if EFI is healthy
ES		Engine state
GE		General error
CSE		Crankshaft sensor status
TS		Temperature status
FPS		Fuel pressure status
OPS		Oil pressure status
DS		Detonation status
MS		Misfire status
DebS		Debris status
SPU		Spark plug usage
IDX		Index of the publishing ECU

EFIS

Electronic Fuel Injection data - Hirth specific Status information

TimeUS	μs	Time since system startup
EET	bitmask	Error Excess Temperature Bitfield Bitmask values: CHT_1_LOW 1 true if CHT1 is too low CHT_1_HIGH 2 true if CHT1 is too high CHT_1_ENRC_ACTIVE 4 true if CHT1 Enrichment is active CHT_2_LOW 8 true if CHT2 is too low CHT_2_HIGH 16 true if CHT2 is too high CHT_2_ENRC_ACTIVE 32 true if CHT2 Enrichment is active EGT_1_LOW 64 true if EGT1 is too low EGT_1_HIGH 128 true if EGT1 is too high EGT_1_ENRC_ACTIVE 256 true if EGT1 Enrichment is active EGT_2_LOW 512 true if EGT2 is too low EGT_2_HIGH 1024 true if EGT2 is too high EGT_2_ENRC_ACTIVE 2048 true if EGT2 Enrichment is active
FLAG	bitmask	Sensor Status Bitfield Bitmask values: ENGINE_TEMP_SENSOR_OK 2 true if engine temperature sensor is OK AIR_TEMP_SENSOR_OK 4 true if air temperature sensor is OK AIR_PRESSURE_SENSOR_OK 8 true if intake air pressure sensor is OK THROTTLE_SENSOR_OK 16 true if throttle sensor is OK
CRF		CRC failure count
AKF		ACK failure count
Up		Uptime between 2 messages
ThO		Throttle output as received by the engine
ThM		Modified throttle_to_hirth output sent to the engine

ERR

Specifically coded error messages

TimeUS	μs	Time since system startup
Subsys	enum	Subsystem in which the error occurred Values: MAIN 1 RADIO 2 COMPASS 3 OPTFLOW 4 not used FAILSAFE_RADIO 5 FAILSAFE_BATT 6 FAILSAFE_GPS 7 not used FAILSAFE_GCS 8 FAILSAFE_FENCE 9 FLIGHT_MODE 10 GPS 11 CRASH_CHECK 12 FLIP 13 AUTOTUNE 14 not used PARACHUTES 15 EKFCHECK 16 FAILSAFE_EKFINAV 17 BARO 18 CPU 19 FAILSAFE_ADSB 20 TERRAIN 21 NAVIGATION 22 FAILSAFE_TERRAIN 23 EKF_PRIMARY 24 THRUST_LOSS_CHECK 25 FAILSAFE_SENSORS 26 FAILSAFE_LEAK 27 PILOT_INPUT 28 FAILSAFE_VIBE 29 INTERNAL_ERROR 30 FAILSAFE_DEADRECKON 31
ECode		Subsystem-specific error code

ESC

Feedback received from ESCs

TimeUS	μs	microseconds since system startup
Instance	instance	ESC instance number
RPM	rpm	reported motor rotation rate
RawRPM	rpm	reported motor rotation rate without slew adjustment
Volt	V	Perceived input voltage for the ESC
Curr	A	Perceived current through the ESC
Temp	degC	ESC temperature in centi-degrees C
CTot	mAh	current consumed total mAh
MotTemp	degC	measured motor temperature in centi-degrees C
Err	%	error rate

ESCX

ESC extended telemetry data

TimeUS	μs	Time since system startup
Instance	instance	starts from 0
inpct	%	input duty cycle in percent
outpct	%	output duty cycle in percent
flags		manufacturer-specific status flags
Pwr	%	Power percentage

EV

Specifically coded event messages

TimeUS	μs	Time since system startup
Id	enum	Event identifier Values: ARMED 10 DISARMED 11 AUTO_ARMED 15 LAND_COMPLETE_MAYBE 17 LAND_COMPLETE 18 LOST_GPS 19 FLIP_START 21 FLIP_END 22 SET_HOME 25 SET_SIMPLE_ON 26 SET_SIMPLE_OFF 27 NOT_LANDED 28 SET_SUPERSIMPLE_ON 29 AUTOTUNE_INITIALISED 30 AUTOTUNE_OFF 31 AUTOTUNE_RESTART 32 AUTOTUNE_SUCCESS 33 AUTOTUNE_FAILED 34 AUTOTUNE_REACHED_LIMIT 35 AUTOTUNE_PILOT_TESTING 36 AUTOTUNE_SAVEDGAINS 37 SAVE_TRIM 38 SAVEWP_ADD_WP 39 FENCE_ENABLE 41 FENCE_DISABLE 42 ACRO_TRAINER_OFF 43 ACRO_TRAINER_LEVELING 44 ACRO_TRAINER_LIMITED 45 GRIPPER_GRAB 46 GRIPPER_RELEASE 47 PARACHUTE_DISABLED 49 PARACHUTE_ENABLED 50 PARACHUTE_RELEASED 51 LANDING_GEAR_DEPLOYED 52 LANDING_GEAR_RETRACTED 53 MOTORS_EMERGENCY_STOPPED 54 MOTORS_EMERGENCY_STOP_CLEARED 55 MOTORS_INTERLOCK_DISABLED 56 MOTORS_INTERLOCK_ENABLED 57 ROTOR_RUNUP_COMPLETE 58 Heli only ROTOR_SPEED_BELOW_CRITICAL 59 Heli only EKF_ALT_RESET 60 LAND_CANCELLED_BY_PILOT 61 EKF_YAW_RESET 62 AVOIDANCE_ADSB_ENABLE 63 AVOIDANCE_ADSB_DISABLE 64 AVOIDANCE_PROXIMITY_ENABLE 65 AVOIDANCE_PROXIMITY_DISABLE 66 GPS_PRIMARY_CHANGED 67 ZIGZAG_STORE_A 71 ZIGZAG_STORE_B 72 LAND_REPO_ACTIVE 73 STANDBY_ENABLE 74 STANDBY_DISABLE 75 FENCE_ALT_MAX_ENABLE 76 FENCE_ALT_MAX_DISABLE 77 FENCE_CIRCLE_ENABLE 78 FENCE_CIRCLE_DISABLE 79 FENCE_ALT_MIN_ENABLE 80 FENCE_ALT_MIN_DISABLE 81 FENCE_POLYGON_ENABLE 82 FENCE_POLYGON_DISABLE 83 EK3_SOURCES_SET_TO_PRIMARY 85 EK3_SOURCES_SET_TO_SECONDARY 86 EK3_SOURCES_SET_TO_TERTIARY 87 AIRSPEED_PRIMARY_CHANGED 90 SURFACED 163 NOT_SURFACED 164 BOTTOMED 165 NOT_BOTTOMED 166

FCN

Filter Center Message - per motor

TimeUS	μs	microseconds since system startup
I	instance	instance
NF		total number of active harmonic notches
CF1	Hz	First harmonic centre frequency for motor 1
CF2	Hz	First harmonic centre frequency for motor 2
CF3	Hz	First harmonic centre frequency for motor 3
CF4	Hz	First harmonic centre frequency for motor 4
CF5	Hz	First harmonic centre frequency for motor 5
CF6	Hz	First harmonic centre frequency for motor 6
HF1	Hz	Second harmonic centre frequency for motor 1
HF2	Hz	Second harmonic centre frequency for motor 2
HF3	Hz	Second harmonic centre frequency for motor 3
HF4	Hz	Second harmonic centre frequency for motor 4
HF5	Hz	Second harmonic centre frequency for motor 5
HF6	Hz	Second harmonic centre frequency for motor 6

FCNS

Filter Center Message

TimeUS	μs	microseconds since system startup
I	instance	instance
CF	Hz	notch centre frequency
HF	Hz	2nd harmonic frequency

FILE

File data

FileName	char[16]	File name
Offset		Offset into the file of this block
Length		Length of this data block
Data	char[64]	File data of this block

FMT

Message defining the format of messages in this file

Type		unique-to-this-log identifier for message being defined
Length	B	the number of bytes taken up by this message (including all headers)
Name	char[4]	name of the message being defined
Format	char[16]	character string defining the C-storage-type of the fields in this message
Columns	char[64]	the labels of the message being defined

FMTU

Message defining units and multipliers used for fields of other messages

TimeUS	μs	Time since system startup
FmtType		numeric reference to associated FMT message
UnitIds	char[16]	each character refers to a UNIT message. The unit at an offset corresponds to the field at the same offset in FMT.Format
MultIds	char[16]	each character refers to a MULT message. The multiplier at an offset corresponds to the field at the same offset in FMT.Format

FNCE

currently loaded Geo Fence points

TimeUS	μs	Time since system startup
Tot		total number of stored items
Seq		index in current sequence
Type		point type
Lat	deglatitude	point latitude
Lng	deglongitude	point longitude
Count		vertex cound in polygon if applicable
Radius	m	radius of circle if applicable

FOLL

Follow library diagnostic data

TimeUS	μs	Time since system startup
Lat	deglatitude	Target latitude
Lon	deglongitude	Target longitude
Alt	cm	Target absolute altitude
VelN	m/s	Target earth-frame velocity, North
VelE	m/s	Target earth-frame velocity, East
VelD	m/s	Target earth-frame velocity, Down
LatE	deglatitude	Vehicle latitude
LonE	deglongitude	Vehicle longitude
AltE	cm	Vehicle absolute altitude

FTN

Filter Tuning Message - per motor

TimeUS	μs	microseconds since system startup
I	instance	instance
NDn		number of active harmonic notches
NF1	Hz	desired harmonic notch centre frequency for motor 1
NF2	Hz	desired harmonic notch centre frequency for motor 2
NF3	Hz	desired harmonic notch centre frequency for motor 3
NF4	Hz	desired harmonic notch centre frequency for motor 4
NF5	Hz	desired harmonic notch centre frequency for motor 5
NF6	Hz	desired harmonic notch centre frequency for motor 6
NF7	Hz	desired harmonic notch centre frequency for motor 7
NF8	Hz	desired harmonic notch centre frequency for motor 8
NF9	Hz	desired harmonic notch centre frequency for motor 9
NF10	Hz	desired harmonic notch centre frequency for motor 10
NF11	Hz	desired harmonic notch centre frequency for motor 11
NF12	Hz	desired harmonic notch centre frequency for motor 12

FTN1

FFT Filter Tuning

TimeUS	μs	microseconds since system startup
PkAvg	Hz	peak noise frequency as an energy-weighted average of roll and pitch peak frequencies
BwAvg	Hz	bandwidth of weighted peak frequency where edges are determined by FFT_ATT_REF
SnX		signal-to-noise ratio on the roll axis
SnY		signal-to-noise ratio on the pitch axis
SnZ		signal-to-noise ratio on the yaw axis
FtX	%	harmonic fit on roll of the highest noise peak to the second highest noise peak
FtY	%	harmonic fit on pitch of the highest noise peak to the second highest noise peak
FtZ	%	harmonic fit on yaw of the highest noise peak to the second highest noise peak
FHX		FFT health, X-axis
FHY		FFT health, Y-axis
FHZ		FFT health, Z-axis
Tc	μs	FFT cycle time

FTN2

FFT Noise Frequency Peak

TimeUS	μs	microseconds since system startup
Id	instance	peak id where 0 is the centre peak, 1 is the lower shoulder and 2 is the upper shoulder
PkX	Hz	noise frequency of the peak on roll
PkY	Hz	noise frequency of the peak on pitch
PkZ	Hz	noise frequency of the peak on yaw
BwX	Hz	bandwidth of the peak frequency on roll where edges are determined by FFT_ATT_REF
BwY	Hz	bandwidth of the peak frequency on pitch where edges are determined by FFT_ATT_REF
BwZ	Hz	bandwidth of the peak frequency on yaw where edges are determined by FFT_ATT_REF
SnX		signal-to-noise ratio on the roll axis
SnY		signal-to-noise ratio on the pitch axis
SnZ		signal-to-noise ratio on the yaw axis
EnX		power spectral density bin energy of the peak on roll
EnY		power spectral density bin energy of the peak on roll
EnZ		power spectral density bin energy of the peak on roll

FTNS

Filter Tuning Message

TimeUS	μs	microseconds since system startup
I	instance	instance
NF	Hz	desired harmonic notch centre frequency

GPA

GPS accuracy information

I	μs	GPS instance number
TimeUS	instance	Time since system startup
VDop		vertical dilution of precision
HAcc	m	horizontal position accuracy
VAcc	m	vertical position accuracy
SAcc	m/s	speed accuracy
YAcc	deg	yaw accuracy
VV		true if vertical velocity is available
SMS	ms	time since system startup this sample was taken
Delta	ms	system time delta between the last two reported positions
Und	m	Undulation
RTCMFU		RTCM fragments used
RTCMFD		RTCM fragments discarded

GPS

Information received from GNSS systems attached to the autopilot

TimeUS	μs	Time since system startup
I	instance	GPS instance number
Status	enum	GPS Fix type; 2D fix, 3D fix etc. Values: NO_GPS 0 No GPS connected/detected NO_FIX 1 Receiving valid GPS messages but no lock GPS_OK_FIX_2D 2 Receiving valid messages and 2D lock GPS_OK_FIX_3D 3 Receiving valid messages and 3D lock GPS_OK_FIX_3D_DGPS 4 Receiving valid messages and 3D lock with differential improvements GPS_OK_FIX_3D_RTK_FLOAT 5 Receiving valid messages and 3D RTK Float GPS_OK_FIX_3D_RTK_FIXED 6 Receiving valid messages and 3D RTK Fixed
GMS	ms	milliseconds since start of GPS Week
GWk		weeks since 5 Jan 1980
NSats	satellites	number of satellites visible
HDop		horizontal dilution of precision
Lat	deglatitude	latitude
Lng	deglongitude	longitude
Alt	m	altitude
Spd	m/s	ground speed
GCrs	degheading	ground course
VZ	m/s	vertical speed
Yaw	degheading	vehicle yaw
U		boolean value indicating whether this GPS is in use

GPYW

GPS Yaw

TimeUS	μs	Time since system startup
Id	instance	instance
RHD	deg	reported heading,deg
RDist	m	antenna separation,m
RDown	m	vertical antenna separation,m
MinCDown	m	minimum tolerable vertical antenna separation,m
MaxCDown	m	maximum tolerable vertical antenna separation,m
OK		1 if have yaw

GRAW

Raw uBlox data

TimeUS	μs	Time since system startup
WkMS	ms	receiver TimeOfWeek measurement
Week		GPS week
numSV	satellites	number of space vehicles seen
sv		space vehicle number of first vehicle
cpMes		carrier phase measurement
prMes		pseudorange measurement
doMes		Doppler measurement
mesQI		measurement quality index
cno		carrier-to-noise density ratio
lli		loss of lock indicator

GRXH

Raw uBlox data - header

TimeUS	μs	Time since system startup
rcvTime		receiver TimeOfWeek measurement
week		GPS week
leapS		GPS leap seconds
numMeas		number of space-vehicle measurements to follow
recStat		receiver tracking status bitfield

GRXS

Raw uBlox data - space-vehicle data

TimeUS	μs	Time since system startup
prMes		Pseudorange measurement
cpMes		Carrier phase measurement
doMes		Doppler measurement
gnss		GNSS identifier
sv		Satellite identifier
freq		GLONASS frequency slot
lock		carrier phase locktime counter
cno		carrier-to-noise density ratio
prD		estimated pseudorange measurement standard deviation
cpD		estimated carrier phase measurement standard deviation
doD		estimated Doppler measurement standard deviation
trk		tracking status bitfield

GYR

IMU gyroscope data

TimeUS	μs	Time since system startup
I	instance	gyroscope sensor instance number
SampleUS	μs	time since system startup this sample was taken
GyrX	rad/s	measured rotation rate about X axis
GyrY	rad/s	measured rotation rate about Y axis
GyrZ	rad/s	measured rotation rate about Z axis

HEAT

IMU Heater data

TimeUS		Time since system startup
Temp		Current IMU temperature
Targ		Target IMU temperature
P		Proportional portion of response
I		Integral portion of response
Out		Controller output to heating element

HRSC

Helicopter related messages

I	μs	Instance, 0=Main, 1=Tail
TimeUS	instance	Time since system startup
DRRPM		Desired rotor speed
ERRPM		Estimated rotor speed
Gov		Governor Output
Throt		Throttle output
Ramp		throttle ramp up
Stat		RSC state

HYGR

Hygrometer data

TimeUS	μs	Time since system startup
Id	instance	sensor ID
Humidity	%	percentage humidity
Temp	degC	temperature in degrees C

ICMB

ICM20789 diagnostics

TimeUS		Time since system startup
Traw		raw temperature from sensor
Praw		raw pressure from sensor
P		pressure
T		temperature

ILB1

InertialLabs AHRS data1

TimeUS	μs	Time since system startup
GMS		GPS INS time (round)
GyrX	deg/s	Gyro X
GyrY	deg/s	Gyro Y
GyrZ	deg/s	Gyro z
AccX	m/s/s	Accelerometer X
AccY	m/s/s	Accelerometer Y
AccZ	m/s/s	Accelerometer Z

ILB2

InertialLabs AHRS data2

TimeUS	μs	Time since system startup
GMS		GPS INS time (round)
MagX		Magnetometer X
MagY		Magnetometer Y
MagZ		Magnetometer Z

ILB3

InertialLabs AHRS data3

TimeUS	μs	Time since system startup
GMS		GPS INS time (round)
Press	Pa	Static pressure
Diff	Pa	Differential pressure
Temp	degC	Temperature
Alt	m	Baro altitude
TAS	m/s	true airspeed
VWN	m/s	Wind velocity north
VWE	m/s	Wind velocity east
VWD	m/s	Wind velocity down
ADU		Air Data Unit status

ILB4

InertialLabs AHRS data4

TimeUS	μs	Time since system startup
GMS		GNSS Position timestamp
GWk		GPS Week
NSat		Number of satellites
NewGPS		Indicator of new update of GPS data
Lat	deglatitude	GNSS Latitude
Lng	deglongitude	GNSS Longitude
Alt	m	GNSS Altitude
GCrs	degheading	GNSS Track over ground
Spd	m/s	GNSS Horizontal speed
VZ	m/s	GNSS Vertical speed

ILB5

InertialLabs AHRS data5

TimeUS	μs	Time since system startup
GMS		GNSS Position timestamp
FType		fix type
GSS		GNSS spoofing status
GJS		GNSS jamming status
GI1		GNSS Info1
GI2		GNSS Info2
GAPS		GNSS Angles position type

ILB6

InertialLabs AHRS data6

TimeUS	μs	Time since system startup
GMS		GNSS Position timestamp
GpsHTS		GNSS Heading timestamp
GpsYaw	degheading	GNSS Heading
GpsPitch	deg	GNSS Pitch
GDOP		GNSS GDOP
PDOP		GNSS PDOP
HDOP		GNSS HDOP
VDOP		GNSS VDOP
TDOP		GNSS TDOP

ILB7

InertialLabs AHRS data7

TimeUS	μs	Time since system startup
GMS		GPS INS time (round)
Roll	deg	euler roll
Pitch	deg	euler pitch
Yaw	deg	euler yaw
VN	m/s	velocity north
VE	m/s	velocity east
VD	m/s	velocity down
Lat	deglatitude	latitude
Lng	deglongitude	longitude
Alt	m	altitude MSL
USW		USW1
USW2		USW2
Vdc	V	Supply voltage

ILB8

InertialLabs AHRS data8

TimeUS	μs	Time since system startup
GMS		GPS INS time (round)
PVN	m	position variance north
PVE	m	position variance east
PVD	m	position variance down
VVN	m/s	velocity variance north
VVE	m/s	velocity variance east
VVD	m/s	velocity variance down

IMU

Inertial Measurement Unit data

TimeUS	μs	Time since system startup
I	instance	IMU sensor instance number
GyrX	rad/s	measured rotation rate about X axis
GyrY	rad/s	measured rotation rate about Y axis
GyrZ	rad/s	measured rotation rate about Z axis
AccX	m/s/s	acceleration along X axis
AccY	m/s/s	acceleration along Y axis
AccZ	m/s/s	acceleration along Z axis
EG		gyroscope error count
EA		accelerometer error count
T	degC	IMU temperature
GH		gyroscope health
AH		accelerometer health
GHz	Hz	gyroscope measurement rate
AHz	Hz	accelerometer measurement rate

IOMC

IOMCU diagnostic information

TimeUS		Time since system startup
RSErr		Status Read error count (zeroed on successful read)
Mem		Free memory
TS		IOMCU uptime
NPkt		Number of packets received by IOMCU
Nerr		Protocol failures on MCU side
Nerr2		Reported number of failures on IOMCU side
NDel		Number of delayed packets received by MCU

JSN1

Log data received from JSON simulator

TimeUS	μs	Time since system startup (us)
TStamp	s	Simulation’s timestamp (s)
R	rad	Simulation’s roll (rad)
P	rad	Simulation’s pitch (rad)
Y	rad	Simulation’s yaw (rad)
GX	rad/s	Simulated gyroscope, X-axis (rad/sec)
GY	rad/s	Simulated gyroscope, Y-axis (rad/sec)
GZ	rad/s	Simulated gyroscope, Z-axis (rad/sec)

JSN2

Log data received from JSON simulator

TimeUS	μs	Time since system startup (us)
VN	m/s	simulation’s velocity, North-axis (m/s)
VE	m/s	simulation’s velocity, East-axis (m/s)
VD	m/s	simulation’s velocity, Down-axis (m/s)
AX	m/s/s	simulation’s acceleration, X-axis (m/s^2)
AY	m/s/s	simulation’s acceleration, Y-axis (m/s^2)
AZ	m/s/s	simulation’s acceleration, Z-axis (m/s^2)
AN	m/s/s	simulation’s acceleration, North (m/s^2)
AE	m/s/s	simulation’s acceleration, East (m/s^2)
AD	m/s/s	simulation’s acceleration, Down (m/s^2)

LAND

Slope Landing data

TimeUS		Time since system startup
stage		progress through landing sequence
f1		Landing flags
f2		Slope-specific landing flags
slope		Slope to landing point
slopeInit		Initial slope to landing point
altO		Rangefinder correction
fh		Height for flare timing.

LGR

Landing gear information

TimeUS		Time since system startup
LandingGear	enum	Current landing gear state Values: LG_UNKNOWN -1 LG_RETRACTED 0 LG_DEPLOYED 1 LG_RETRACTING 2 LG_DEPLOYING 3
WeightOnWheels	enum	Weight on wheels state Values: LG_WOW_UNKNOWN -1 LG_NO_WOW 0 LG_WOW 1

MAG

Information received from compasses

TimeUS	μs	Time since system startup
I	instance	magnetometer sensor instance number
MagX	mGauss	magnetic field strength in body frame
MagY	mGauss	magnetic field strength in body frame
MagZ	mGauss	magnetic field strength in body frame
OfsX	mGauss	magnetic field offset in body frame
OfsY	mGauss	magnetic field offset in body frame
OfsZ	mGauss	magnetic field offset in body frame
MOX	mGauss	motor interference magnetic field offset in body frame
MOY	mGauss	motor interference magnetic field offset in body frame
MOZ	mGauss	motor interference magnetic field offset in body frame
Health		true if the compass is considered healthy
S	μs	time measurement was taken

MAGH

Magnetometer high resolution data

TimeUS	μs	Time since system startup
Node	instance	CAN node
Sensor		sensor ID on node
Bus		CAN bus
Mx		X axis field
My		y axis field
Mz		z axis field

MAV

GCS MAVLink link statistics

TimeUS	μs	Time since system startup
chan	instance	mavlink channel number
txp		transmitted packet count
rxp		received packet count
rxdp		perceived number of packets we never received
flags	bitmask	compact representation of some state of the channel Bitmask values: USING_SIGNING 1 ACTIVE 2 STREAMING 4 PRIVATE 8 LOCKED 16
ss	ms	stream slowdown is the number of ms being added to each message to fit within bandwidth
tf		times buffer was full when a message was going to be sent

MAVC

MAVLink command we have just executed

TimeUS	μs	Time since system startup
TS		target system for command
TC		target component for command
SS		source system for command
SC		source component for command
Fr		command frame
Cmd		mavlink command enum value
P1		first parameter from mavlink packet
P2		second parameter from mavlink packet
P3		third parameter from mavlink packet
P4		fourth parameter from mavlink packet
X		X coordinate from mavlink packet
Y		Y coordinate from mavlink packet
Z		Z coordinate from mavlink packet
Res		command result being returned from autopilot
WL		true if this command arrived via a COMMAND_LONG rather than COMMAND_INT

MCU

MCU voltage and temprature monitering

TimeUS	μs	Time since system startup
MTemp	degC	Temperature
MVolt	V	Voltage
MVmin	V	Voltage min
MVmax	V	Voltage max

MISE

Executed mission command information; emitted when we start to run an item

TimeUS	μs	Time since system startup
CTot		Total number of mission commands
CNum		This command’s offset in mission
CId		Command type
Prm1		Parameter 1
Prm2		Parameter 2
Prm3		Parameter 3
Prm4		Parameter 4
Lat	deglatitude	Command latitude
Lng	deglongitude	Command longitude
Alt	m	Command altitude
Frame		Frame used for position

MMO

MMC3416 compass data

TimeUS		Time since system startup
Nx		new measurement X axis
Ny		new measurement Y axis
Nz		new measurement Z axis
Ox		new offset X axis
Oy		new offset Y axis
Oz		new offset Z axis

MNT

Mount’s desired and actual roll, pitch and yaw angles

TimeUS	μs	Time since system startup
I	instance	Instance number
DRoll	deg	Desired roll
Roll	deg	Actual roll
DPitch	deg	Desired pitch
Pitch	deg	Actual pitch
DYawB	deg	Desired yaw in body frame
YawB	deg	Actual yaw in body frame
DYawE	deg	Desired yaw in earth frame
YawE	deg	Actual yaw in earth frame
Dist	m	Rangefinder distance

MODE

vehicle control mode information

TimeUS	μs	Time since system startup
Mode		vehicle-specific mode number
ModeNum		alias for Mode
Rsn	enum	reason for entering this mode; enumeration value Values: UNKNOWN 0 RC_COMMAND 1 GCS_COMMAND 2 RADIO_FAILSAFE 3 BATTERY_FAILSAFE 4 GCS_FAILSAFE 5 EKF_FAILSAFE 6 GPS_GLITCH 7 MISSION_END 8 THROTTLE_LAND_ESCAPE 9 FENCE_BREACHED 10 TERRAIN_FAILSAFE 11 BRAKE_TIMEOUT 12 FLIP_COMPLETE 13 AVOIDANCE 14 AVOIDANCE_RECOVERY 15 THROW_COMPLETE 16 TERMINATE 17 TOY_MODE 18 CRASH_FAILSAFE 19 SOARING_FBW_B_WITH_MOTOR_RUNNING 20 SOARING_THERMAL_DETECTED 21 SOARING_THERMAL_ESTIMATE_DETERIORATED 22 VTOL_FAILED_TRANSITION 23 VTOL_FAILED_TAKEOFF 24 FAILSAFE 25 general failsafes, prefer specific failsafes over this as much as possible INITIALISED 26 SURFACE_COMPLETE 27 BAD_DEPTH 28 LEAK_FAILSAFE 29 SERVOTEST 30 STARTUP 31 SCRIPTING 32 UNAVAILABLE 33 AUTOROTATION_START 34 AUTOROTATION_BAILOUT 35 SOARING_ALT_TOO_HIGH 36 SOARING_ALT_TOO_LOW 37 SOARING_DRIFT_EXCEEDED 38 RTL_COMPLETE_SWITCHING_TO_VTOL_LAND_RTL 39 RTL_COMPLETE_SWITCHING_TO_FIXEDWING_AUTOLAND 40 MISSION_CMD 41 FRSKY_COMMAND 42 FENCE_RETURN_PREVIOUS_MODE 43 QRTL_INSTEAD_OF_RTL 44 AUTO_RTL_EXIT 45 LOITER_ALT_REACHED_QLAND 46 LOITER_ALT_IN_VTOL 47 RADIO_FAILSAFE_RECOVERY 48 QLAND_INSTEAD_OF_RTL 49 DEADRECKON_FAILSAFE 50 MODE_TAKEOFF_FAILSAFE 51 DDS_COMMAND 52 AUX_FUNCTION 53

MON

Main loop performance monitoring message.

TimeUS	μs	Time since system startup
Dly		Loop delay so far
Tsk		Current task
IErr		Internal error mask
IErrCnt		Count of internal error occurances
IErrLn		Internal Error line
MM		MAVLink message currently being processed
MC		MAVLink command currently being processed
SmLn		If semaphore taken, line of semaphore take call
SPICnt		count of SPI transactions
I2CCnt		count of i2c transactions

MOTB

Motor mixer information

TimeUS	μs	Time since system startup
LiftMax		Maximum motor compensation gain
BatVolt		Ratio between detected battery voltage and maximum battery voltage
ThLimit		Throttle limit set due to battery current limitations
ThrAvMx		Maximum average throttle that can be used to maintain attitude control, derived from throttle mix params
ThrOut		Throttle output
FailFlags		bit 0 motor failed, bit 1 motors balanced, should be 2 in normal flight

MSG

Textual messages

TimeUS	μs	Time since system startup
Message	char[64]	message text

MULT

Message mapping from single character to numeric multiplier

TimeUS	μs	Time since system startup
Id		character referenced by FMTU
Mult		numeric multiplier

NKF0

EKF2 beacon sensor diagnostics

TimeUS	μs	Time since system startup
C	instance	EKF2 core this data is for
ID		Beacon sensor ID
rng	m	Beacon range
innov		Beacon range innovation
SIV		sqrt of beacon range innovation variance
TR		Beacon range innovation consistency test ratio
BPN	m	Beacon north position
BPE	m	Beacon east position
BPD	m	Beacon down position
OFH	m	High estimate of vertical position offset of beacons rel to EKF origin
OFL	m	Low estimate of vertical position offset of beacons rel to EKF origin
OFN	m	always zero
OFE	m	always zero
OFD	m	always zero

NKF1

EKF2 estimator outputs

TimeUS	μs	Time since system startup
C	instance	EKF2 core this data is for
Roll	deg	Estimated roll
Pitch	deg	Estimated pitch
Yaw	degheading	Estimated yaw
VN	m/s	Estimated velocity (North component)
VE	m/s	Estimated velocity (East component)
VD	m/s	Estimated velocity (Down component)
dPD	m/s	Filtered derivative of vertical position (down)
PN	m	Estimated distance from origin (North component)
PE	m	Estimated distance from origin (East component)
PD	m	Estimated distance from origin (Down component)
GX	deg/s	Estimated gyro bias, X axis
GY	deg/s	Estimated gyro bias, Y axis
GZ	deg/s	Estimated gyro bias, Z axis
OH	m	Height of origin above WGS-84

NKF2

EKF2 estimator secondary outputs

TimeUS	μs	Time since system startup
C	instance	EKF2 core this data is for
AZbias		Estimated accelerometer Z bias
GSX		Gyro Scale Factor (X-axis)
GSY		Gyro Scale Factor (Y-axis)
GSZ		Gyro Scale Factor (Z-axis)
VWN	m/s	Estimated wind velocity (moving-to-North component)
VWE	m/s	Estimated wind velocity (moving-to-East component)
MN	mGauss	Magnetic field strength (North component)
ME	mGauss	Magnetic field strength (East component)
MD	mGauss	Magnetic field strength (Down component)
MX	mGauss	Magnetic field strength (body X-axis)
MY	mGauss	Magnetic field strength (body Y-axis)
MZ	mGauss	Magnetic field strength (body Z-axis)
MI		Magnetometer used for data

NKF3

EKF2 innovations

TimeUS	μs	Time since system startup
C	instance	EKF2 core this data is for
IVN	m/s	Innovation in velocity (North component)
IVE	m/s	Innovation in velocity (East component)
IVD	m/s	Innovation in velocity (Down component)
IPN	m	Innovation in position (North component)
IPE	m	Innovation in position (East component)
IPD	m	Innovation in position (Down component)
IMX	mGauss	Innovation in magnetic field strength (X-axis component)
IMY	mGauss	Innovation in magnetic field strength (Y-axis component)
IMZ	mGauss	Innovation in magnetic field strength (Z-axis component)
IYAW	deg	Innovation in vehicle yaw
IVT	UNKNOWN	Innovation in true-airspeed
RErr		Accumulated relative error of this core with respect to active primary core
ErSc		A consolidated error score where higher numbers are less healthy

NKF4

EKF2 variances SV, SP, SH and SM are probably best described as ‘Squared Innovation Test Ratios’ where values <1 tells us the measurement was accepted and >1 tells us it was rejected. They represent the square of the (innovation / maximum allowed innovation) where the innovation is the difference between predicted and measured value and the maximum allowed innovation is determined from the uncertainty of the measurement, uncertainty of the prediction and scaled using the number of standard deviations set by the innovation gate parameter for that measurement, eg EK2_MAG_I_GATE, EK2_HGT_I_GATE, etc

TimeUS	μs	Time since system startup
C	instance	EKF2 core this data is for
SV		Square root of the velocity variance
SP		Square root of the position variance
SH		Square root of the height variance
SM		Magnetic field variance
SVT		tilt error convergence metric
errRP		Filtered error in roll/pitch estimate
OFN	m	Most recent position reset (North component)
OFE	m	Most recent position reset (East component)
FS		Filter fault status
TS		Filter timeout status bitmask (0:position measurement, 1:velocity measurement, 2:height measurement, 3:magnetometer measurement, 4:airspeed measurement)
SS		Filter solution status
GPS		Filter GPS status
PI		Primary core index

NKF5

EKF2 Sensor innovations (primary core) and general dumping ground

TimeUS	μs	Time since system startup
C	instance	EKF2 core this data is for
NI		Normalised flow variance
FIX		Optical flow LOS rate vector innovations from the main nav filter (X-axis)
FIY		Optical flow LOS rate vector innovations from the main nav filter (Y-axis)
AFI		Optical flow LOS rate innovation from terrain offset estimator
HAGL	m	Height above ground level
offset	UNKNOWN	Estimated vertical position of the terrain relative to the nav filter zero datum
RI	UNKNOWN	Range finder innovations
rng	UNKNOWN	Measured range
Herr	m	Filter ground offset state error
eAng	rad	Magnitude of angular error
eVel	m/s	Magnitude of velocity error
ePos	m	Magnitude of position error

NKQ

EKF2 quaternion defining the rotation from NED to XYZ (autopilot) axes

TimeUS	μs	Time since system startup
C	instance	EKF2 core this data is for
Q1		Quaternion a term
Q2		Quaternion b term
Q3		Quaternion c term
Q4		Quaternion d term

NKT

EKF2 timing information

TimeUS	μs	Time since system startup
C	instance	EKF core this message instance applies to
Cnt	s	count of samples used to create this message
IMUMin	s	smallest IMU sample interval
IMUMax	s	largest IMU sample interval
EKFMin	s	low-passed achieved average time step rate for the EKF (minimum)
EKFMax	s	low-passed achieved average time step rate for the EKF (maximum)
AngMin	s	accumulated measurement time interval for the delta angle (minimum)
AngMax	s	accumulated measurement time interval for the delta angle (maximum)
VMin	s	accumulated measurement time interval for the delta velocity (minimum)
VMax	s	accumulated measurement time interval for the delta velocity (maximum)

NKY0

EKF Yaw Estimator States

TimeUS	μs	Time since system startup
C	instance	EKF core this data is for
YC	degheading	GSF yaw estimate (deg)
YCS	deg	GSF yaw estimate 1-Sigma uncertainty (deg)
Y0	degheading	Yaw estimate from individual EKF filter 0 (deg)
Y1	degheading	Yaw estimate from individual EKF filter 1 (deg)
Y2	degheading	Yaw estimate from individual EKF filter 2 (deg)
Y3	degheading	Yaw estimate from individual EKF filter 3 (deg)
Y4	degheading	Yaw estimate from individual EKF filter 4 (deg)
W0		Weighting applied to yaw estimate from individual EKF filter 0
W1		Weighting applied to yaw estimate from individual EKF filter 1
W2		Weighting applied to yaw estimate from individual EKF filter 2
W3		Weighting applied to yaw estimate from individual EKF filter 3
W4		Weighting applied to yaw estimate from individual EKF filter 4

NKY1

EKF Yaw Estimator Innovations

TimeUS	μs	Time since system startup
C	instance	EKF core this data is for
IVN0	m/s	North velocity innovation from individual EKF filter 0 (m/s)
IVN1	m/s	North velocity innovation from individual EKF filter 1 (m/s)
IVN2	m/s	North velocity innovation from individual EKF filter 2 (m/s)
IVN3	m/s	North velocity innovation from individual EKF filter 3 (m/s)
IVN4	m/s	North velocity innovation from individual EKF filter 4 (m/s)
IVE0	m/s	East velocity innovation from individual EKF filter 0 (m/s)
IVE1	m/s	East velocity innovation from individual EKF filter 1 (m/s)
IVE2	m/s	East velocity innovation from individual EKF filter 2 (m/s)
IVE3	m/s	East velocity innovation from individual EKF filter 3 (m/s)
IVE4	m/s	East velocity innovation from individual EKF filter 4 (m/s)

OABR

Object avoidance (Bendy Ruler) diagnostics

TimeUS	μs	Time since system startup
Type		Type of BendyRuler currently active
Act		True if Bendy Ruler avoidance is being used
DYaw	deg	Best yaw chosen to avoid obstacle
Yaw	deg	Current vehicle yaw
DP	deg	Desired pitch chosen to avoid obstacle
RChg		True if BendyRuler resisted changing bearing and continued in last calculated bearing
Mar	m	Margin from path to obstacle on best yaw chosen
DLt	deglatitude	Destination latitude
DLg	deglongitude	Destination longitude
DAlt	cm	Desired alt above EKF Origin
OLt	deglatitude	Intermediate location chosen for avoidance
OLg	deglongitude	Intermediate location chosen for avoidance
OAlt	cm	Intermediate alt chosen for avoidance above EKF origin

OADJ

Object avoidance (Dijkstra) diagnostics

TimeUS	μs	Time since system startup
State		Dijkstra avoidance library state
Err		Dijkstra library error condition
CurrPoint		Destination point in calculated path to destination
TotPoints		Number of points in path to destination
DLat	deglatitude	Destination latitude
DLng	deglongitude	Destination longitude
OALat	deglatitude	Object Avoidance chosen destination point latitude
OALng	deglongitude	Object Avoidance chosen destination point longitude

OAVG

Object avoidance path planning visgraph points

TimeUS	μs	Time since system startup
version		Visgraph version, increments each time the visgraph is re-generated
point_num		point number in visgraph
Lat	deglatitude	Latitude
Lon	deglongitude	longitude

OF

Optical flow sensor data

TimeUS	μs	Time since system startup
Qual		Estimated sensor data quality
flowX	rad/s	Sensor flow rate, X-axis
flowY	rad/s	Sensor flow rate,Y-axis
bodyX	rad/s	derived rotational velocity, X-axis
bodyY	rad/s	derived rotational velocity, Y-axis

OFCA

Optical Flow Calibration sample

TimeUS	μs	Time since system startup
Axis	instance	Axis (X=0 Y=1)
Num		Sample number
FRate	rad/s	Flow rate
BRate	rad/s	Body rate
LPred	rad/s	Los pred

ORGN

Vehicle navigation origin or other notable position

TimeUS	μs	Time since system startup
Type	instance	Position type Values: ekf_origin 0 ahrs_home 1
Lat	deglatitude	Position latitude
Lng	deglongitude	Position longitude
Alt	m	Position altitude

PARM

parameter value

TimeUS	μs	Time since system startup
Name	char[16]	parameter name
Value		parameter value
Default		default parameter value for this board and config

PIDA

Proportional/Integral/Derivative gain values for vertical acceleration

TimeUS	μs	Time since system startup
Tar		desired value
Act		achieved value
Err		error between target and achieved
P		proportional part of PID
I		integral part of PID
D		derivative part of PID
FF		controller feed-forward portion of response
DFF		controller derivative feed-forward portion of response
Dmod		scaler applied to D gain to reduce limit cycling
SRate		slew rate used in slew limiter
Flags	bitmask	bitmask of PID state flags Bitmask values: LIMIT 1 true if the output is saturated, I term anti windup is active PD_SUM_LIMIT 2 true if the PD sum limit is active RESET 4 true if the controller was reset I_TERM_SET 8 true if the I term has been set externally including reseting to 0

PIDE

Proportional/Integral/Derivative gain values for East/West velocity

TimeUS	μs	Time since system startup
Tar		desired value
Act		achieved value
Err		error between target and achieved
P		proportional part of PID
I		integral part of PID
D		derivative part of PID
FF		controller feed-forward portion of response
DFF		controller derivative feed-forward portion of response
Dmod		scaler applied to D gain to reduce limit cycling
SRate		slew rate used in slew limiter
Flags	bitmask	bitmask of PID state flags Bitmask values: LIMIT 1 true if the output is saturated, I term anti windup is active PD_SUM_LIMIT 2 true if the PD sum limit is active RESET 4 true if the controller was reset I_TERM_SET 8 true if the I term has been set externally including reseting to 0

PIDN

Proportional/Integral/Derivative gain values for North/South velocity

TimeUS	μs	Time since system startup
Tar		desired value
Act		achieved value
Err		error between target and achieved
P		proportional part of PID
I		integral part of PID
D		derivative part of PID
FF		controller feed-forward portion of response
DFF		controller derivative feed-forward portion of response
Dmod		scaler applied to D gain to reduce limit cycling
SRate		slew rate used in slew limiter
Flags	bitmask	bitmask of PID state flags Bitmask values: LIMIT 1 true if the output is saturated, I term anti windup is active PD_SUM_LIMIT 2 true if the PD sum limit is active RESET 4 true if the controller was reset I_TERM_SET 8 true if the I term has been set externally including reseting to 0

PIDP

Proportional/Integral/Derivative gain values for Pitch rate

TimeUS	μs	Time since system startup
Tar		desired value
Act		achieved value
Err		error between target and achieved
P		proportional part of PID
I		integral part of PID
D		derivative part of PID
FF		controller feed-forward portion of response
DFF		controller derivative feed-forward portion of response
Dmod		scaler applied to D gain to reduce limit cycling
SRate		slew rate used in slew limiter
Flags	bitmask	bitmask of PID state flags Bitmask values: LIMIT 1 true if the output is saturated, I term anti windup is active PD_SUM_LIMIT 2 true if the PD sum limit is active RESET 4 true if the controller was reset I_TERM_SET 8 true if the I term has been set externally including reseting to 0

PIDR

Proportional/Integral/Derivative gain values for Roll rate

TimeUS	μs	Time since system startup
Tar		desired value
Act		achieved value
Err		error between target and achieved
P		proportional part of PID
I		integral part of PID
D		derivative part of PID
FF		controller feed-forward portion of response
DFF		controller derivative feed-forward portion of response
Dmod		scaler applied to D gain to reduce limit cycling
SRate		slew rate used in slew limiter
Flags	bitmask	bitmask of PID state flags Bitmask values: LIMIT 1 true if the output is saturated, I term anti windup is active PD_SUM_LIMIT 2 true if the PD sum limit is active RESET 4 true if the controller was reset I_TERM_SET 8 true if the I term has been set externally including reseting to 0

PIDS

Proportional/Integral/Derivative gain values for ground steering yaw rate

TimeUS	μs	Time since system startup
Tar		desired value
Act		achieved value
Err		error between target and achieved
P		proportional part of PID
I		integral part of PID
D		derivative part of PID
FF		controller feed-forward portion of response
DFF		controller derivative feed-forward portion of response
Dmod		scaler applied to D gain to reduce limit cycling
SRate		slew rate used in slew limiter
Flags	bitmask	bitmask of PID state flags Bitmask values: LIMIT 1 true if the output is saturated, I term anti windup is active PD_SUM_LIMIT 2 true if the PD sum limit is active RESET 4 true if the controller was reset I_TERM_SET 8 true if the I term has been set externally including reseting to 0

PIDY

Proportional/Integral/Derivative gain values for Yaw rate

TimeUS	μs	Time since system startup
Tar		desired value
Act		achieved value
Err		error between target and achieved
P		proportional part of PID
I		integral part of PID
D		derivative part of PID
FF		controller feed-forward portion of response
DFF		controller derivative feed-forward portion of response
Dmod		scaler applied to D gain to reduce limit cycling
SRate		slew rate used in slew limiter
Flags	bitmask	bitmask of PID state flags Bitmask values: LIMIT 1 true if the output is saturated, I term anti windup is active PD_SUM_LIMIT 2 true if the PD sum limit is active RESET 4 true if the controller was reset I_TERM_SET 8 true if the I term has been set externally including reseting to 0

PL

Precision Landing messages

TimeUS	μs	Time since system startup
Heal		True if Precision Landing is healthy
TAcq		True if landing target is detected
pX	cm	Target position relative to vehicle, X-Axis (0 if target not found)
pY	cm	Target position relative to vehicle, Y-Axis (0 if target not found)
vX	cm/s	Target velocity relative to vehicle, X-Axis (0 if target not found)
vY	cm/s	Target velocity relative to vehicle, Y-Axis (0 if target not found)
mX	cm	Target’s relative to origin position as 3-D Vector, X-Axis
mY	cm	Target’s relative to origin position as 3-D Vector, Y-Axis
mZ	cm	Target’s relative to origin position as 3-D Vector, Z-Axis
LastMeasMS	ms	Time when target was last detected
EKFOutl		EKF’s outlier count
Est		Type of estimator used

PM

autopilot system performance and general data dumping ground

TimeUS	μs	Time since system startup
LR	Hz	Main loop rate
NLon		Number of long loops detected
NL		Number of measurement loops for this message
MaxT		Maximum loop time
Mem	B	Free memory available
Load	d%	System processor load
InE	bitmask	Internal error mask; which internal errors have been detected Bitmask values: logger_mapfailure 1 logger_missing_logstructure 2 logger_logwrite_missingfmt 4 logger_too_many_deletions 8 logger_bad_getfilename 16 panic 32 logger_flushing_without_sem 64 logger_bad_current_block 128 logger_blockcount_mismatch 256 logger_dequeue_failure 512 constraining_nan 1024 watchdog_reset 2048 iomcu_reset 4096 iomcu_fail 8192 spi_fail 16384 main_loop_stuck 32768 gcs_bad_missionprotocol_link 65536 bitmask_range 131072 gcs_offset 262144 i2c_isr 524288 flow_of_control 1048576 switch_full_sector_recursion 2097152 bad_rotation 4194304 stack_overflow 8388608 imu_reset 16777216 gpio_isr 33554432 mem_guard 67108864 dma_fail 134217728 params_restored 268435456 invalid_arg_or_result 536870912 __LAST__ 1073741824
ErrL		Internal error line number; last line number on which a internal error was detected
ErC		Internal error count; how many internal errors have been detected
SPIC		Number of SPI transactions processed
I2CC		Number of i2c transactions processed
I2CI		Number of i2c interrupts serviced
Ex	μs	number of microseconds being added to each loop to address scheduler overruns
R	μs	RTC time, time since Unix epoch

POS

Canonical vehicle position

TimeUS	μs	Time since system startup
Lat	deglatitude	Canonical vehicle latitude
Lng	deglongitude	Canonical vehicle longitude
Alt	m	Canonical vehicle altitude
RelHomeAlt	m	Canonical vehicle altitude relative to home
RelOriginAlt	m	Canonical vehicle altitude relative to navigation origin

POWR

System power information

TimeUS	μs	Time since system startup
Vcc	V	Flight board voltage
VServo	V	Servo rail voltage
Flags	bitmask	System power flags Bitmask values: BRICK_VALID 1 main brick power supply valid SERVO_VALID 2 main servo power supply valid for FMU USB_CONNECTED 4 USB power is connected PERIPH_OVERCURRENT 8 peripheral supply is in over-current state PERIPH_HIPOWER_OVERCURRENT 16 hi-power peripheral supply is in over-current state CHANGED 32 Power status has changed since boot
AccFlags	bitmask	Accumulated System power flags; all flags which have ever been set Bitmask values: BRICK_VALID 1 main brick power supply valid SERVO_VALID 2 main servo power supply valid for FMU USB_CONNECTED 4 USB power is connected PERIPH_OVERCURRENT 8 peripheral supply is in over-current state PERIPH_HIPOWER_OVERCURRENT 16 hi-power peripheral supply is in over-current state CHANGED 32 Power status has changed since boot
Safety		Hardware Safety Switch status

PRTN

Plane Parameter Tuning data

TimeUS		Time since system startup
Set		Parameter set being tuned
Parm		Parameter being tuned
Value		Current parameter value
CenterValue		Center value (startpoint of current modifications) of parameter being tuned

PRX

Proximity Filtered sensor data

TimeUS	μs	Time since system startup
Layer	instance	Pitch(instance) at which the obstacle is at. 0th layer {-75,-45} degrees. 1st layer {-45,-15} degrees. 2nd layer {-15, 15} degrees. 3rd layer {15, 45} degrees. 4th layer {45,75} degrees. Minimum distance in each layer will be logged.
He		True if proximity sensor is healthy
D0	m	Nearest object in sector surrounding 0-degrees
D45	m	Nearest object in sector surrounding 45-degrees
D90	m	Nearest object in sector surrounding 90-degrees
D135	m	Nearest object in sector surrounding 135-degrees
D180	m	Nearest object in sector surrounding 180-degrees
D225	m	Nearest object in sector surrounding 225-degrees
D270	m	Nearest object in sector surrounding 270-degrees
D315	m	Nearest object in sector surrounding 315-degrees
DUp	m	Nearest object in upwards direction
CAn	degheading	Angle to closest object
CDis	m	Distance to closest object

PRXR

Proximity Raw sensor data

TimeUS	μs	Time since system startup
Layer	instance	Pitch(instance) at which the obstacle is at. 0th layer {-75,-45} degrees. 1st layer {-45,-15} degrees. 2nd layer {-15, 15} degrees. 3rd layer {15, 45} degrees. 4th layer {45,75} degrees. Minimum distance in each layer will be logged.
D0	m	Nearest object in sector surrounding 0-degrees
D45	m	Nearest object in sector surrounding 45-degrees
D90	m	Nearest object in sector surrounding 90-degrees
D135	m	Nearest object in sector surrounding 135-degrees
D180	m	Nearest object in sector surrounding 180-degrees
D225	m	Nearest object in sector surrounding 225-degrees
D270	m	Nearest object in sector surrounding 270-degrees
D315	m	Nearest object in sector surrounding 315-degrees

PSCD

Position Control Down

TimeUS	μs	Time since system startup
DPD	m	Desired position relative to EKF origin + Offsets
TPD	m	Target position relative to EKF origin
PD	m	Position relative to EKF origin
DVD	m/s	Desired velocity Down
TVD	m/s	Target velocity Down
VD	m/s	Velocity Down
DAD	m/s/s	Desired acceleration Down
TAD	m/s/s	Target acceleration Down
AD	m/s/s	Acceleration Down

PSCE

Position Control East

TimeUS	μs	Time since system startup
DPE	m	Desired position relative to EKF origin + Offsets
TPE	m	Target position relative to EKF origin
PE	m	Position relative to EKF origin
DVE	m/s	Desired velocity East
TVE	m/s	Target velocity East
VE	m/s	Velocity East
DAE	m/s/s	Desired acceleration East
TAE	m/s/s	Target acceleration East
AE	m/s/s	Acceleration East

PSCN

Position Control North

TimeUS	μs	Time since system startup
DPN	m	Desired position relative to EKF origin
TPN	m	Target position relative to EKF origin
PN	m	Position relative to EKF origin
DVN	m/s	Desired velocity North
TVN	m/s	Target velocity North
VN	m/s	Velocity North
DAN	m/s/s	Desired acceleration North
TAN	m/s/s	Target acceleration North
AN	m/s/s	Acceleration North

PSOD

Position Control Offsets Down

TimeUS	μs	Time since system startup
TPOD	m	Target position offset Down
POD	m	Position offset Down
TVOD	m/s	Target velocity offset Down
VOD	m/s	Velocity offset Down
TAOD	m/s/s	Target acceleration offset Down
AOD	m/s/s	Acceleration offset Down

PSOE

Position Control Offsets East

TimeUS	μs	Time since system startup
TPOE	m	Target position offset East
POE	m	Position offset East
TVOE	m/s	Target velocity offset East
VOE	m/s	Velocity offset East
TAOE	m/s/s	Target acceleration offset East
AOE	m/s/s	Acceleration offset East

PSON

Position Control Offsets North

TimeUS	μs	Time since system startup
TPON	m	Target position offset North
PON	m	Position offset North
TVON	m/s	Target velocity offset North
VON	m/s	Velocity offset North
TAON	m/s/s	Target acceleration offset North
AON	m/s/s	Acceleration offset North

PSOT

Position Control Offsets Terrain (Down)

TimeUS	μs	Time since system startup
TPOT	m	Target position offset Terrain
POT	m	Position offset Terrain
TVOT	m/s	Target velocity offset Terrain
VOT	m/s	Velocity offset Terrain
TAOT	m/s/s	Target acceleration offset Terrain
AOT	m/s/s	Acceleration offset Terrain

QWIK

Quicktune

TimeUS	s	Time since system startup
ParamNo	instance	number of parameter being tuned
SRate		slew rate
Gain		test gain for current axis and PID element
Param	char[16]	name of parameter being being tuned

RAD

Telemetry radio statistics

TimeUS	μs	Time since system startup
RSSI		RSSI
RemRSSI		RSSI reported from remote radio
TxBuf		number of bytes in radio ready to be sent
Noise		local noise floor
RemNoise		local noise floor reported from remote radio
RxErrors		damaged packet count
Fixed		fixed damaged packet count

RALY

Rally point information

TimeUS	μs	Time since system startup
Tot		total number of rally points onboard
Seq		this rally point’s sequence number
Lat	deglatitude	latitude of rally point
Lng	deglongitude	longitude of rally point
Alt	cm	altitude of rally point
Flags		altitude frame flags

RASH

Replay Airspeed Sensor Header

RASI

Replay Airspeed Sensor Instance data

RATE

Desired and achieved vehicle attitude rates. Not logged in Fixed Wing Plane modes.

TimeUS	μs	Time since system startup
RDes	deg/s	vehicle desired roll rate
R	deg/s	achieved vehicle roll rate
ROut		normalized output for Roll
PDes	deg/s	vehicle desired pitch rate
P	deg/s	vehicle pitch rate
POut		normalized output for Pitch
Y	deg/s	achieved vehicle yaw rate
YOut	deg/s	normalized output for Yaw
YDes		vehicle desired yaw rate
ADes	cm/s/s	desired vehicle vertical acceleration
A	cm/s/s	achieved vehicle vertical acceleration
AOut		percentage of vertical thrust output current being used
AOutSlew		vertical thrust output slew rate

RBCH

Replay Data Beacon Header

RBCI

Replay Data Beacon Instance

RBOH

Replay body odometry data

RBRH

Replay Data Barometer Header

RBRI

Replay Data Barometer Instance

RCDA

Raw RC data

TimeUS		Time since system startup
TS		data arrival timestamp
Prot		Protocol currently being decoded
Len		Number of valid bytes in message
U0		first quartet of bytes
U1		second quartet of bytes
U2		third quartet of bytes
U3		fourth quartet of bytes
U4		fifth quartet of bytes
U5		sixth quartet of bytes
U6		seventh quartet of bytes
U7		eight quartet of bytes
U8		ninth quartet of bytes
U9		tenth quartet of bytes

RCI2

(More) RC input channels to vehicle

TimeUS	μs	Time since system startup
C15	us	channel 15 input
C16	us	channel 16 input
OMask		bitmask of RC channels being overridden by mavlink input
Flags	bitmask	bitmask of RC state flags Bitmask values: HAS_VALID_INPUT 1 true if the system is receiving good RC values IN_RC_FAILSAFE 2 true if the system is current in RC failsafe

RCIN

RC input channels to vehicle

TimeUS	μs	Time since system startup
C1	us	channel 1 input
C2	us	channel 2 input
C3	us	channel 3 input
C4	us	channel 4 input
C5	us	channel 5 input
C6	us	channel 6 input
C7	us	channel 7 input
C8	us	channel 8 input
C9	us	channel 9 input
C10	us	channel 10 input
C11	us	channel 11 input
C12	us	channel 12 input
C13	us	channel 13 input
C14	us	channel 14 input

RCO2

Servo channel output values 15 to 18

TimeUS	μs	Time since system startup
C15	us	channel 15 output
C16	us	channel 16 output
C17	us	channel 17 output
C18	us	channel 18 output

RCO3

Servo channel output values 19 to 32

TimeUS	μs	Time since system startup
C19	us	channel 19 output
C20	us	channel 20 output
C21	us	channel 21 output
C22	us	channel 22 output
C23	us	channel 23 output
C24	us	channel 24 output
C25	us	channel 25 output
C26	us	channel 26 output
C27	us	channel 27 output
C28	us	channel 28 output
C29	us	channel 29 output
C30	us	channel 30 output
C31	us	channel 31 output
C32	us	channel 32 output

RCOU

Servo channel output values 1 to 14

TimeUS	μs	Time since system startup
C1	us	channel 1 output
C2	us	channel 2 output
C3	us	channel 3 output
C4	us	channel 4 output
C5	us	channel 5 output
C6	us	channel 6 output
C7	us	channel 7 output
C8	us	channel 8 output
C9	us	channel 9 output
C10	us	channel 10 output
C11	us	channel 11 output
C12	us	channel 12 output
C13	us	channel 13 output
C14	us	channel 14 output

REPH

Replay external position data

REV2

Replay Event (EKF2)

REV3

Replay Event (EKF3)

REVH

Replay external position data

REY3

Replay Euler Yaw event

RFND

Rangefinder sensor information

TimeUS	μs	Time since system startup
Instance	instance	rangefinder instance number this data is from
Dist	m	Reported distance from sensor
Stat	enum	Sensor state Values: NotConnected 0 NoData 1 OutOfRangeLow 2 OutOfRangeHigh 3 Good 4
Orient		Sensor orientation
Quality	%	Signal quality. -1 means invalid, 0 is no signal, 100 is perfect signal

RFRF

Replay FRame data - Finished frame

RFRH

Replay FRame Header

RFRN

Replay FRame - aNother frame header

RGPH

Replay Data GPS Header

RGPI

Replay Data GPS Instance, infrequently changing data

RGPJ

Replay Data GPS Instance - rapidly changing data

RISH

Replay Inertial Sensor header

RISI

Replay Inertial Sensor instance data

RMGH

Replay Data Magnetometer Header

RMGI

Replay Data Magnetometer Instance

ROFH

Replay optical flow data

RPM

Data from RPM sensors

TimeUS	μs	Time since system startup
I	instance	Instance
RPM	rpm	Sensor’s rpm measurement
Qual		Signal quality
H		Sensor Health (Bool)

RRNH

Replay Data Rangefinder Header

RRNI

Replay Data Rangefinder Instance

RSLL

Replay Set Lat Lng event

RSO2

Replay Set Origin event (EKF2)

RSO3

Replay Set Origin event (EKF3)

RSSI

Received Signal Strength Indicator for RC receiver

TimeUS	μs	Time since system startup
RXRSSI		RSSI
RXLQ	%	RX Link Quality

RTC

Information about RTC clock resets

TimeUS	μs	Time since system startup
old_utc	μs	old time
new_utc	μs	new time

RVOH

Replay Data Visual Odometry data

RWA2

Replay set-default-airspeed event (EKF2)

RWA3

Replay set-default-airspeed event (EKF3)

RWOH

Replay wheel odometry data

SA

Simple Avoidance messages

TimeUS	μs	Time since system startup
State		True if Simple Avoidance is active
DVelX	m/s	Desired velocity, X-Axis (Velocity before Avoidance)
DVelY	m/s	Desired velocity, Y-Axis (Velocity before Avoidance)
DVelZ	m/s	Desired velocity, Z-Axis (Velocity before Avoidance)
MVelX	m/s	Modified velocity, X-Axis (Velocity after Avoidance)
MVelY	m/s	Modified velocity, Y-Axis (Velocity after Avoidance)
MVelZ	m/s	Modified velocity, Z-Axis (Velocity after Avoidance)
Back		True if vehicle is backing away

SBPH

Swift Health Data

TimeUS	μs	Time since system startup
CrcError		Number of packet CRC errors on serial connection
LastInject		Timestamp of last raw data injection to GPS
IARhyp		Current number of integer ambiguity hypotheses

SBRH

Swift Raw Message Data

TimeUS	μs	Time since system startup
msg_flag		Swift message type
1		Sender ID
2		index; always 1
3		pages; number of pages received
4		msg length; number of bytes received
5		unused; always zero
6		data received from device

SCR

Scripting runtime stats

TimeUS	μs	Time since system startup
Name	instance	script name
Runtime	μs	run time
Total_mem	B	total memory usage of all scripts
Run_mem	B	run memory usage

SCVE

Debug message for SCurve internal error

TimeUS	μs	Time since system startup
Sm		duration of the raised cosine jerk profile
Jm		maximum value of the raised cosine jerk profile
V0		initial velocity magnitude
Am		maximum constant acceleration
Vm		maximum constant velocity
L		Length of the path
Jm_out		maximum value of the raised cosine jerk profile
tj_out		segment duration
t2_out		segment duration
t4_out		segment duration
t6_out		segment duration

SIM

SITL simulator state

TimeUS	μs	Time since system startup
Roll	deg	Simulated roll
Pitch	deg	Simulated pitch
Yaw	degheading	Simulated yaw
Alt	m	Simulated altitude
Lat	deglatitude	Simulated latitude
Lng	deglongitude	Simulated longitude
Q1		Attitude quaternion component 1
Q2		Attitude quaternion component 2
Q3		Attitude quaternion component 3
Q4		Attitude quaternion component 4

SIM2

Additional simulator state

TimeUS		Time since system startup
PN		North position from home
PE		East position from home
PD		Down position from home
VN		Velocity north
VE		Velocity east
VD		Velocity down
As		Airspeed
ASpdU		Achieved simulation speedup value
UFC		Number of times simulation paused for serial0 output

SITL

Simulation data

TimeUS		Time since system startup
VN		Velocity - North component
VE		Velocity - East component
VD		Velocity - Down component
AN		Acceleration - North component
AE		Acceleration - East component
AD		Acceleration - Down component
PN		Position - North component
PE		Position - East component
PD		Position - Down component

SLUP

Slung payload

TimeUS	μs	Time since system startup
Land		1 if payload is landed, 0 otherwise
Tens	1e2 %	Tension ratio, 1 if line is taut, 0 if slack
Len	m	Line length
PN	m	Payload position as offset from vehicle in North direction
PE	m	Payload position as offset from vehicle in East direction
PD	m	Payload position as offset from vehicle in Down direction
VN	m/s	Payload velocity in North direction
VE	m/s	Payload velocity in East direction
VD	m/s	Payload velocity in Down direction
AN	m/s/s	Payload acceleration in North direction
AE	m/s/s	Payload acceleration in East direction
AD	m/s/s	Payload acceleration in Down direction
VFN		Force on vehicle in North direction
VFE		Force on vehicle in East direction
VFD		Force on vehicle in Down direction

SLV1

Log data received from JSON simulator 1

TimeUS	μs	Time since system startup (us)
Instance	instance	Slave instance
magic		magic JSON protocol key
frame_rate		Slave instance’s desired frame rate
frame_count		Slave instance’s current frame count
active		1 if the servo outputs are being used from this instance

SLV2

Log data received from JSON simulator 2

TimeUS	μs	Time since system startup
Instance	instance	Slave instance
C1	us	channel 1 output
C2	us	channel 2 output
C3	us	channel 3 output
C4	us	channel 4 output
C5	us	channel 5 output
C6	us	channel 6 output
C7	us	channel 7 output
C8	us	channel 8 output
C9	us	channel 9 output
C10	us	channel 10 output
C11	us	channel 11 output
C12	us	channel 12 output
C13	us	channel 13 output
C14	us	channel 14 output

SMOO

Smoothed sensor data fed to EKF to avoid inconsistencies

TimeUS		Time since system startup
AEx		Angular Velocity (around x-axis)
AEy		Angular Velocity (around y-axis)
AEz		Angular Velocity (around z-axis)
DPx		Velocity (along x-axis)
DPy		Velocity (along y-axis)
DPz		Velocity (along z-axis)
R		Roll
P		Pitch
Y		Yaw
R2		DCM Roll
P2		DCM Pitch
Y2		DCM Yaw

SRTL

SmartRTL statistics

TimeUS	μs	Time since system startup
Active		true if SmartRTL could be used right now
NumPts		number of points currently in use
MaxPts		maximum number of points that could be used
Action	enum	most recent internal action taken by SRTL library Values: POINT_ADD 0 POINT_PRUNE 1 POINT_SIMPLIFY 2 ADD_FAILED_NO_SEMAPHORE 3 ADD_FAILED_PATH_FULL 4 POP_FAILED_NO_SEMAPHORE 5 PEEK_FAILED_NO_SEMAPHORE 6 DEACTIVATED_INIT_FAILED 7 DEACTIVATED_BAD_POSITION_TIMEOUT 9 DEACTIVATED_PATH_FULL_TIMEOUT 10 DEACTIVATED_PROGRAM_ERROR 11
N	m	point associated with most recent action (North component)
E	m	point associated with most recent action (East component)
D	m	point associated with most recent action (Down component)

STAK

Stack information

TimeUS	μs	Time since system startup
Id	instance	thread ID
Pri		thread priority
Total		total stack
Free		free stack
Name	char[16]	thread name

SWSH

Helicopter swashplate logging

TimeUS	μs	Time since system startup
I	instance	Swashplate instance
Col	deg	Blade pitch angle contribution from collective
TCyc	deg	Total blade pitch angle contribution from cyclic
PCyc	deg	Blade pitch angle contribution from pitch cyclic
RCyc	deg	Blade pitch angle contribution from roll cyclic

TERR

Terrain database information

TimeUS	μs	Time since system startup
Status	enum	Terrain database status Values: TerrainStatusDisabled 0 not enabled TerrainStatusUnhealthy 1 no terrain data for current location TerrainStatusOK 2 terrain data available
Lat	deglatitude	Current vehicle latitude
Lng	deglongitude	Current vehicle longitude
Spacing		terrain Tile spacing
TerrH	m	current Terrain height
CHeight	m	Vehicle height above terrain
Pending		Number of tile requests outstanding
Loaded		Number of tiles in memory
ROfs	m	terrain reference offset for arming altitude

TETH

Tether state

TimeUS	μs	Time since system startup
Len		Tether length
VFN		Force on vehicle in North direction
VFE		Force on vehicle in East direction
VFD		Force on vehicle in Down direction

TRIG

Camera shutter information

TimeUS	μs	Time since system startup
I	instance	Instance number
Img		Image number
GPSTime		milliseconds since start of GPS week
GPSWeek		weeks since 5 Jan 1980
Lat	deglatitude	current latitude
Lng	deglongitude	current longitude
Alt	m	current altitude
RelAlt	m	current altitude relative to home
GPSAlt	m	altitude as reported by GPS
R	deg	current vehicle roll
P	deg	current vehicle pitch
Y	deg	current vehicle yaw

TRMP

Torqeedo Motor Param

TimeUS	μs	Time since system startup
I	instance	instance
RPM	rpm	Motor RPM
Pow	Watt	Motor power
Volt	V	Motor voltage
Cur	A	Motor current
ETemp	degC	ESC Temp
MTemp	degC	Motor Temp

TRMS

Torqeedo Motor Status

TimeUS	μs	Time since system startup
I	instance	instance
State		Motor status flags
Err		Motor error flags

TRQD

Torqeedo Status

TimeUS	μs	Time since system startup
I	instance	instance
Health		Health
DesMotSpeed		Desired Motor Speed (-1000 to 1000)
MotSpeed		Motor Speed (-1000 to 1000)
SuccCnt		Success Count
ErrCnt		Error Count

TRSE

Torqeedo System Setup

TimeUS	μs	Time since system startup
I	instance	instance
Flag		Flags
MotType		Motor type
MotVer		Motor software version
BattCap	Ah	Battery capacity
BattPct	%	Battery charge percentage
BattType		Battery type
SwVer		Master software version

TRST

Torqeedo System State

TimeUS	μs	Time since system startup
I	instance	instance
F		Flags bitmask
Err		Master error code
MVolt	V	Motor voltage
MCur	A	Motor current
Pow	Watt	Motor power
RPM	rpm	Motor RPM
MTemp	degC	Motor Temp (higher of pcb or stator)
BPct	%	Battery charge percentage
BVolt	V	Battery voltage
BCur	A	Battery current

TSYN

Time synchronisation response information

TimeUS	μs	Time since system startup
SysID		system ID this data is for
RTT	μs	round trip time for this system

UART

UART stats

TimeUS	μs	Time since system startup
I	instance	instance
Tx	B/s	transmitted data rate bytes per second
Rx	B/s	received data rate bytes per second

UBX1

uBlox-specific GPS information (part 1)

TimeUS	μs	Time since system startup
Instance	instance	GPS instance number
noisePerMS		noise level as measured by GPS
jamInd		jamming indicator; higher is more likely jammed
aPower		antenna power indicator; 2 is don’t know
agcCnt		automatic gain control monitor
config		bitmask for messages which haven’t been seen

UBX2

uBlox-specific GPS information (part 2)

TimeUS	μs	Time since system startup
Instance	instance	GPS instance number
ofsI		imbalance of I part of complex signal
magI		magnitude of I part of complex signal
ofsQ		imbalance of Q part of complex signal
magQ		magnitude of Q part of complex signal

UBXT

uBlox specific UBX-TIM-TM2 logging, see uBlox interface description

TimeUS	μs	Time since system startup
I	instance	GPS instance number
ch		Channel (i.e. EXTINT) upon which the pulse was measured
flags		Bitmask
count		Rising edge counter
wnR		Week number of last rising edge
MsR	ms	Tow of rising edge
SubMsR	ns	Millisecond fraction of tow of rising edge in nanoseconds
wnF		Week number of last falling edge
MsF	ms	Tow of falling edge
SubMsF	ns	Millisecond fraction of tow of falling edge in nanoseconds
accEst	ns	Accuracy estimate

UNIT

Message mapping from single character to SI unit

TimeUS	μs	Time since system startup
Id		character referenced by FMTU
Label	char[64]	Unit - SI where available

VBAR

Information received from tracked vehicle; barometer data

TimeUS	μs	Time since system startup
Press	Pa	vehicle barometric pressure
AltDiff	m	altitude difference based on difference on barometric pressure

VER

Ardupilot version

TimeUS	μs	Time since system startup
BT	enum	Board type Values: HAL_BOARD_SITL 3 HAL_BOARD_LINUX 7 HAL_BOARD_CHIBIOS 10 HAL_BOARD_ESP32 12 HAL_BOARD_QURT 13 HAL_BOARD_EMPTY 99
BST	enum	Board subtype Values: HAL_BOARD_SUBTYPE_NONE -1 HAL_BOARD_SUBTYPE_LINUX_NONE 1000 HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD 1001 HAL_BOARD_SUBTYPE_LINUX_PXF 1002 HAL_BOARD_SUBTYPE_LINUX_NAVIO 1003 HAL_BOARD_SUBTYPE_LINUX_ZYNQ 1004 HAL_BOARD_SUBTYPE_LINUX_BBBMINI 1005 HAL_BOARD_SUBTYPE_LINUX_BEBOP 1006 HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 1009 HAL_BOARD_SUBTYPE_LINUX_BH 1010 HAL_BOARD_SUBTYPE_LINUX_PXFMINI 1012 HAL_BOARD_SUBTYPE_LINUX_NAVIO2 1013 HAL_BOARD_SUBTYPE_LINUX_DISCO 1014 HAL_BOARD_SUBTYPE_LINUX_AERO 1015 HAL_BOARD_SUBTYPE_LINUX_DARK 1016 HAL_BOARD_SUBTYPE_LINUX_BLUE 1018 HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ 1019 HAL_BOARD_SUBTYPE_LINUX_EDGE 1020 HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ 1021 HAL_BOARD_SUBTYPE_LINUX_POCKET 1022 HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR 1023 HAL_BOARD_SUBTYPE_LINUX_VNAV 1024 HAL_BOARD_SUBTYPE_LINUX_OBAL_V1 1025 HAL_BOARD_SUBTYPE_LINUX_CANZERO 1026 HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412 5000 HAL_BOARD_SUBTYPE_CHIBIOS_FMUV3 5001 HAL_BOARD_SUBTYPE_CHIBIOS_GENERIC 5009 HAL_BOARD_SUBTYPE_CHIBIOS_FMUV5 5013 HAL_BOARD_SUBTYPE_ESP32_DIY 6001 HAL_BOARD_SUBTYPE_ESP32_ICARUS 6002 HAL_BOARD_SUBTYPE_ESP32_BUZZ 6003 HAL_BOARD_SUBTYPE_ESP32_EMPTY 6004 HAL_BOARD_SUBTYPE_ESP32_TOMTE76 6005 HAL_BOARD_SUBTYPE_ESP32_NICK 6006 HAL_BOARD_SUBTYPE_ESP32_S3DEVKIT 6007 HAL_BOARD_SUBTYPE_ESP32_S3EMPTY 6008
Maj		Major version number
Min		Minor version number
Pat		Patch number
FWT		Firmware type
GH		Github commit
FWS	char[64]	Firmware version string
APJ		Board ID
BU	enum	Build vehicle type Values: APM_BUILD_Rover 1 APM_BUILD_ArduCopter 2 APM_BUILD_ArduPlane 3 APM_BUILD_AntennaTracker 4 APM_BUILD_UNKNOWN 5 APM_BUILD_Replay 6 APM_BUILD_ArduSub 7 APM_BUILD_iofirmware 8 APM_BUILD_AP_Periph 9 APM_BUILD_AP_DAL_Standalone 10 APM_BUILD_AP_Bootloader 11 APM_BUILD_Blimp 12 APM_BUILD_Heli 13
FV		Filter version

VIBE

Processed (acceleration) vibration information

TimeUS	μs	Time since system startup
IMU	instance	Vibration instance number
VibeX	m/s/s	Primary accelerometer filtered vibration, x-axis
VibeY	m/s/s	Primary accelerometer filtered vibration, y-axis
VibeZ	m/s/s	Primary accelerometer filtered vibration, z-axis
Clip		Number of clipping events on 1st accelerometer

VISO

Visual Odometry

TimeUS	μs	System time
dt	μs	Time period this data covers
AngDX	rad	Angular change for body-frame roll axis
AngDY	rad	Angular change for body-frame pitch axis
AngDZ	rad	Angular change for body-frame z axis
PosDX	m	Position change for body-frame X axis (Forward-Back)
PosDY	m	Position change for body-frame Y axis (Right-Left)
PosDZ	m	Position change for body-frame Z axis (Down-Up)
conf		Confidence

VISP

Vision Position

TimeUS	μs	System time
RTimeUS	μs	Remote system time
CTimeMS	ms	Corrected system time
PX	m	Position X-axis (North-South)
PY	m	Position Y-axis (East-West)
PZ	m	Position Z-axis (Down-Up)
R	deg	Roll lean angle
P	deg	Pitch lean angle
Y	degheading	Yaw angle
PErr	m	Position estimate error
AErr	deg	Attitude estimate error
Rst		Position reset counter
Ign		Ignored
Q	%	Quality

VISV

Vision Velocity

TimeUS	μs	System time
RTimeUS	μs	Remote system time
CTimeMS	ms	Corrected system time
VX	m/s	Velocity X-axis (North-South)
VY	m/s	Velocity Y-axis (East-West)
VZ	m/s	Velocity Z-axis (Down-Up)
VErr	m/s	Velocity estimate error
Rst		Velocity reset counter
Ign		Ignored
Q	%	Quality

VNAT

VectorNav Attitude data

TimeUS	μs	Time since system startup
Q1		Attitude quaternion 1
Q2		Attitude quaternion 2
Q3		Attitude quaternion 3
Q4		Attitude quaternion 4
Yaw	deg	Yaw
Pitch	deg	Pitch
Roll	deg	Roll
YU	deg	Yaw unceratainty
PU	deg	Pitch uncertainty
RU	deg	Roll uncertainty

VNIM

VectorNav IMU data

TimeUS	μs	Time since system startup
Temp	deg	Temprature
Pres	Pa	Pressure
MX	Gauss	Magnetic feild X-axis
MY	Gauss	Magnetic feild Y-axis
MZ	Gauss	Magnetic feild Z-axis
AX	m/s/s	Acceleration X-axis
AY	m/s/s	Acceleration Y-axis
AZ	m/s/s	Acceleration Z-axis
GX	rad/s	Rotation rate X-axis
GY	rad/s	Rotation rate Y-axis
GZ	rad/s	Rotation rate Z-axis

VNKF

VectorNav INS Kalman Filter data

TimeUS	μs	Time since system startup
InsStatus		VectorNav INS health status
Lat	deg	Latitude
Lon	deg	Longitude
Alt	m	Altitude
VelN	m/s	Velocity Northing
VelE	m/s	Velocity Easting
VelD	m/s	Velocity Downing
PosU	deg	Filter estimated position uncertainty
VelU	m/s	Filter estimated Velocity uncertainty

VPOS

Information received from tracked vehicle; barometer position data

TimeUS	μs	Time since system startup
Lat	deg	tracked vehicle latitude
Lng	deg	tracked vehicle longitude
Alt	m	tracked vehicle altitude
VelX	m/s	tracked vehicle velocity, latitude component
VelY	m/s	tracked vehicle velocity, longitude component
VelZ	m/s	tracked vehicle velocity, vertical component, down

VSTB

Log message for video stabilisation software such as Gyroflow

TimeUS	μs	Time since system startup
GyrX	rad/s	measured rotation rate about X axis
GyrY	rad/s	measured rotation rate about Y axis
GyrZ	rad/s	measured rotation rate about Z axis
AccX	m/s/s	acceleration along X axis
AccY	m/s/s	acceleration along Y axis
AccZ	m/s/s	acceleration along Z axis
Q1		Estimated attitude quaternion component 1
Q2		Estimated attitude quaternion component 2
Q3		Estimated attitude quaternion component 3
Q4		Estimated attitude quaternion component 4

WDOG

Watchdog diagnostics

TimeUS	μs	Time since system startup
Tsk		current task number
IE		internal error mast
IEC		internal error count
IEL		line internal error was raised on
MvMsg		mavlink message being acted on
MvCmd		mavlink command being acted on
SmLn		line semaphore was taken on
FL		fault_line
FT		fault_type
FA		fault address
FP		fault thread priority
ICSR		ICS regiuster
LR		long return address
TN	char[4]	Thread name

WENC

Wheel encoder measurements

TimeUS	μs	Time since system startup
Dist0	m	First wheel distance travelled
Qual0		Quality measurement of Dist0
Dist1	m	Second wheel distance travelled
Qual1		Quality measurement of Dist1

WINC

Winch

TimeUS	μs	Time since system startup
Heal		Healthy
ThEnd		Reached end of thread
Mov		Motor is moving
Clut		Clutch is engaged (motor can move freely)
Mode		0 is Relaxed, 1 is Position Control, 2 is Rate Control
DLen	m	Desired Length
Len	m	Estimated Length
DRate	m/s	Desired Rate
Tens	UNKNOWN	Tension on line
Vcc	V	Voltage to Motor
Temp	degC	Motor temperature

WIND

Windvane readings

TimeUS	μs	Time since system startup
DrRaw	deg	raw apparent wind direction direct from sensor, in body-frame
DrApp	deg	Apparent wind direction, in body-frame
DrTru	degheading	True wind direction
SpdRaw	m/s	raw wind speed direct from sensor
SpdApp	m/s	Apparent wind Speed
SpdTru	m/s	True wind speed

XKF0

EKF3 beacon sensor diagnostics

TimeUS	μs	Time since system startup
C	instance	EKF3 core this data is for
ID		Beacon sensor ID
rng	m	Beacon range
innov		Beacon range innovation
SIV		sqrt of beacon range innovation variance
TR		Beacon range innovation consistency test ratio
BPN	m	Beacon north position
BPE	m	Beacon east position
BPD	m	Beacon down position
OFH	m	High estimate of vertical position offset of beacons rel to EKF origin
OFL	m	Low estimate of vertical position offset of beacons rel to EKF origin
OFN	m	North position of receiver rel to EKF origin
OFE	m	East position of receiver rel to EKF origin
OFD	m	Down position of receiver rel to EKF origin

XKF1

EKF3 estimator outputs

TimeUS	μs	Time since system startup
C	instance	EKF3 core this data is for
Roll	deg	Estimated roll
Pitch	deg	Estimated pitch
Yaw	degheading	Estimated yaw
VN	m/s	Estimated velocity (North component)
VE	m/s	Estimated velocity (East component)
VD	m/s	Estimated velocity (Down component)
dPD	m/s	Filtered derivative of vertical position (down)
PN	m	Estimated distance from origin (North component)
PE	m	Estimated distance from origin (East component)
PD	m	Estimated distance from origin (Down component)
GX	deg/s	Estimated gyro bias, X axis
GY	deg/s	Estimated gyro bias, Y axis
GZ	deg/s	Estimated gyro bias, Z axis
OH	m	Height of origin above WGS-84

XKF2

EKF3 estimator secondary outputs

TimeUS	μs	Time since system startup
C	instance	EKF3 core this data is for
AX		Estimated accelerometer X bias
AY		Estimated accelerometer Y bias
AZ		Estimated accelerometer Z bias
VWN	m/s	Estimated wind velocity (moving-to-North component)
VWE	m/s	Estimated wind velocity (moving-to-East component)
MN	mGauss	Magnetic field strength (North component)
ME	mGauss	Magnetic field strength (East component)
MD	mGauss	Magnetic field strength (Down component)
MX	mGauss	Magnetic field strength (body X-axis)
MY	mGauss	Magnetic field strength (body Y-axis)
MZ	mGauss	Magnetic field strength (body Z-axis)
IDX	m/s/s	Innovation in vehicle drag acceleration (X-axis component)
IDY	m/s/s	Innovation in vehicle drag acceleration (Y-axis component)
IS	rad	Innovation in vehicle sideslip

XKF3

EKF3 innovations

TimeUS	μs	Time since system startup
C	instance	EKF3 core this data is for
IVN	m/s	Innovation in velocity (North component)
IVE	m/s	Innovation in velocity (East component)
IVD	m/s	Innovation in velocity (Down component)
IPN	m	Innovation in position (North component)
IPE	m	Innovation in position (East component)
IPD	m	Innovation in position (Down component)
IMX	mGauss	Innovation in magnetic field strength (X-axis component)
IMY	mGauss	Innovation in magnetic field strength (Y-axis component)
IMZ	mGauss	Innovation in magnetic field strength (Z-axis component)
IYAW	deg	Innovation in vehicle yaw
IVT	UNKNOWN	Innovation in true-airspeed
RErr		Accumulated relative error of this core with respect to active primary core
ErSc		A consolidated error score where higher numbers are less healthy

XKF4

EKF3 variances. SV, SP, SH and SM are probably best described as ‘Squared Innovation Test Ratios’ where values <1 tells us the measurement was accepted and >1 tells us it was rejected. They represent the square of the (innovation / maximum allowed innovation) where the innovation is the difference between predicted and measured value and the maximum allowed innovation is determined from the uncertainty of the measurement, uncertainty of the prediction and scaled using the number of standard deviations set by the innovation gate parameter for that measurement, eg EK3_MAG_I_GATE, EK3_HGT_I_GATE, etc

TimeUS	μs	Time since system startup
C	instance	EKF3 core this data is for
SV		Square root of the velocity variance
SP		Square root of the position variance
SH		Square root of the height variance
SM		Magnetic field variance
SVT		Square root of the total airspeed variance
errRP		Filtered error in roll/pitch estimate
OFN	m	Most recent position reset (North component)
OFE	m	Most recent position reset (East component)
FS		Filter fault status
TS		Filter timeout status bitmask (0:position measurement, 1:velocity measurement, 2:height measurement, 3:magnetometer measurement, 4:airspeed measurement, 5:drag measurement)
SS	bitmask	Filter solution status Bitmask values: ATTITUDE 1 attitude estimate valid HORIZ_VEL 2 horizontal velocity estimate valid VERT_VEL 4 vertical velocity estimate valid HORIZ_POS_REL 8 relative horizontal position estimate valid HORIZ_POS_ABS 16 absolute horizontal position estimate valid VERT_POS 32 vertical position estimate valid TERRAIN_ALT 64 terrain height estimate valid CONST_POS_MODE 128 in constant position mode PRED_HORIZ_POS_REL 256 expected good relative horizontal position estimate - used before takeoff PRED_HORIZ_POS_ABS 512 expected good absolute horizontal position estimate - used before takeoff TAKEOFF_DETECTED 1024 optical flow takeoff has been detected TAKEOFF_EXPECTED 2048 compensating for baro errors during takeoff TOUCHDOWN_EXPECTED 4096 compensating for baro errors during touchdown USING_GPS 8192 using GPS position GPS_GLITCHING 16384 GPS glitching is affecting navigation accuracy GPS_QUALITY_GOOD 32768 can use GPS for navigation INITALIZED 65536 has ever been healthy REJECTING_AIRSPEED 131072 rejecting airspeed data DEAD_RECKONING 262144 dead reckoning (e.g. no position or velocity source)
GPS		Filter GPS status
PI		Primary core index

XKF5

EKF3 Sensor innovations (primary core) and general dumping ground

TimeUS	μs	Time since system startup
C	instance	EKF3 core this data is for
NI		Normalised flow variance
FIX		Optical flow LOS rate vector innovations from the main nav filter (X-axis)
FIY		Optical flow LOS rate vector innovations from the main nav filter (Y-axis)
AFI		Optical flow LOS rate innovation from terrain offset estimator
HAGL	m	Height above ground level
offset	UNKNOWN	Estimated vertical position of the terrain relative to the nav filter zero datum
RI	UNKNOWN	Range finder innovations
rng	UNKNOWN	Measured range
Herr	m	Filter ground offset state error
eAng	rad	Magnitude of angular error
eVel	m/s	Magnitude of velocity error
ePos	m	Magnitude of position error

XKFD

EKF3 Body Frame Odometry errors

TimeUS	μs	Time since system startup
C	instance	EKF3 core this data is for
IX		Innovation in velocity (X-axis)
IY		Innovation in velocity (Y-axis)
IZ		Innovation in velocity (Z-axis)
IVX		Variance in velocity (X-axis)
IVY		Variance in velocity (Y-axis)
IVZ		Variance in velocity (Z-axis)

XKFM

EKF3 diagnostic data for on-ground-and-not-moving check

TimeUS	μs	Time since system startup
C	instance	EKF core this message instance applies to
OGNM		True of on ground and not moving
GLR		Gyroscope length ratio
ALR		Accelerometer length ratio
GDR		Gyroscope rate of change ratio
ADR		Accelerometer rate of change ratio

XKFS

EKF3 sensor selection

TimeUS	μs	Time since system startup
C	instance	EKF3 core this data is for
MI		compass selection index
BI		barometer selection index
GI		GPS selection index
AI		airspeed selection index
SS		Source Set (primary=0/secondary=1/tertiary=2)
GPS_GTA		GPS good to align
GPS_CHK_WAIT		Waiting for GPS checks to pass
MAG_FUSION		Magnetometer fusion (0=not fusing/1=fuse yaw/2=fuse mag)

XKQ

EKF3 quaternion defining the rotation from NED to XYZ (autopilot) axes

TimeUS	μs	Time since system startup
C	instance	EKF3 core this data is for
Q1	UNKNOWN	Quaternion a term
Q2	UNKNOWN	Quaternion b term
Q3	UNKNOWN	Quaternion c term
Q4	UNKNOWN	Quaternion d term

XKT

EKF3 timing information

TimeUS	μs	Time since system startup
C	instance	EKF core this message instance applies to
Cnt	s	count of samples used to create this message
IMUMin	s	smallest IMU sample interval
IMUMax	s	largest IMU sample interval
EKFMin	s	low-passed achieved average time step rate for the EKF (minimum)
EKFMax	s	low-passed achieved average time step rate for the EKF (maximum)
AngMin	s	accumulated measurement time interval for the delta angle (minimum)
AngMax	s	accumulated measurement time interval for the delta angle (maximum)
VMin	s	accumulated measurement time interval for the delta velocity (minimum)
VMax	s	accumulated measurement time interval for the delta velocity (maximum)

XKTV

EKF3 Yaw Estimator States

TimeUS	μs	Time since system startup
C	instance	EKF3 core this data is for
TVS	rad	Tilt Error Variance from symbolic equations (rad^2)
TVD	rad	Tilt Error Variance from difference method (rad^2)

XKV1

EKF3 State variances (primary core)

TimeUS	μs	Time since system startup
C	instance	EKF3 core this data is for
V00		Variance for state 0
V01		Variance for state 1
V02		Variance for state 2
V03		Variance for state 3
V04		Variance for state 4
V05		Variance for state 5
V06		Variance for state 6
V07		Variance for state 7
V08		Variance for state 8
V09		Variance for state 9
V10		Variance for state 10
V11		Variance for state 11

XKV2

more EKF3 State Variances (primary core)

TimeUS	μs	Time since system startup
C	instance	EKF3 core this data is for
V12		Variance for state 12
V13		Variance for state 13
V14		Variance for state 14
V15		Variance for state 15
V16		Variance for state 16
V17		Variance for state 17
V18		Variance for state 18
V19		Variance for state 19
V20		Variance for state 20
V21		Variance for state 21
V22		Variance for state 22
V23		Variance for state 23

XKY0

EKF Yaw Estimator States

TimeUS	μs	Time since system startup
C	instance	EKF core this data is for
YC	degheading	GSF yaw estimate (deg)
YCS	deg	GSF yaw estimate 1-Sigma uncertainty (deg)
Y0	degheading	Yaw estimate from individual EKF filter 0 (deg)
Y1	degheading	Yaw estimate from individual EKF filter 1 (deg)
Y2	degheading	Yaw estimate from individual EKF filter 2 (deg)
Y3	degheading	Yaw estimate from individual EKF filter 3 (deg)
Y4	degheading	Yaw estimate from individual EKF filter 4 (deg)
W0		Weighting applied to yaw estimate from individual EKF filter 0
W1		Weighting applied to yaw estimate from individual EKF filter 1
W2		Weighting applied to yaw estimate from individual EKF filter 2
W3		Weighting applied to yaw estimate from individual EKF filter 3
W4		Weighting applied to yaw estimate from individual EKF filter 4

XKY1

EKF Yaw Estimator Innovations

TimeUS	μs	Time since system startup
C	instance	EKF core this data is for
IVN0	m/s	North velocity innovation from individual EKF filter 0 (m/s)
IVN1	m/s	North velocity innovation from individual EKF filter 1 (m/s)
IVN2	m/s	North velocity innovation from individual EKF filter 2 (m/s)
IVN3	m/s	North velocity innovation from individual EKF filter 3 (m/s)
IVN4	m/s	North velocity innovation from individual EKF filter 4 (m/s)
IVE0	m/s	East velocity innovation from individual EKF filter 0 (m/s)
IVE1	m/s	East velocity innovation from individual EKF filter 1 (m/s)
IVE2	m/s	East velocity innovation from individual EKF filter 2 (m/s)
IVE3	m/s	East velocity innovation from individual EKF filter 3 (m/s)
IVE4	m/s	East velocity innovation from individual EKF filter 4 (m/s)