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

ADSB: Automatic Dependant Serveillance - Broadcast detected vehicle information

TimeUS Time since system startup
ICAO_address Transponder address
Lat Vehicle latitude
Lng Vehicle longitude
Alt Vehicle altitude
Heading Vehicle heading
Hor_vel Vehicle horizontal velocity
Ver_vel Vehicle vertical velocity
Squark Transponder squawk code

AHR2: Backup AHRS data

TimeUS Time since system startup
Roll Estimated roll
Pitch Estimated pitch
Yaw Estimated yaw
Alt Estimated altitude
Lat Estimated latitude
Lng 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

ARM: Arming status changes

TimeUS Time since system startup
ArmState true if vehicle is now armed
ArmChecks arming bitmask at time of arming
Forced true if arm/disarm was forced
Method method used for arming

AROT: Helicopter AutoRotation information

TimeUS Time since system startup
P P-term for headspeed controller response
hserr head speed error; difference between current and desired head speed
ColOut Collective Out
FFCol FF-term for headspeed controller response
CRPM current headspeed RPM
SpdF current forward speed
CmdV desired forward speed
p p-term of velocity response
ff ff-term of velocity response
AccO forward acceleration output
AccT forward acceleration target
PitT pitch target

ARSP: Airspeed sensor data

TimeUS Time since system startup
I Airspeed sensor instance number
Airspeed Current airspeed
DiffPress Pressure difference between static and dynamic port
Temp Temperature used for calculation
RawPress Raw pressure less offset
Offset Offset from parameter
U True if sensor is being used
H True if sensor is healthy
Hfp Probability sensor has failed
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 Time since system startup
Angle current angle
Rate current angular rate

ATT: Canonical vehicle attitude

TimeUS Time since system startup
DesRoll vehicle desired roll
Roll achieved vehicle roll
DesPitch vehicle desired pitch
Pitch achieved vehicle pitch
DesYaw vehicle desired yaw
Yaw achieved vehicle yaw
ErrRP lowest estimated gyro drift error
ErrYaw difference between measured yaw and DCM yaw estimate

BARO: Gathered Barometer data

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

BAT: Gathered battery data

TimeUS Time since system startup
Instance battery instance number
Volt measured voltage
VoltR estimated resting voltage
Curr measured current
CurrTot current * time
EnrgTot energy this battery has produced
Temp measured temperature
Res estimated battery resistance

BCL: Battery cell voltage information

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

BCN: Beacon informtaion

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

CAM: Camera shutter information

TimeUS Time since system startup
GPSTime milliseconds since start of GPS week
GPSWeek weeks since 5 Jan 1980
Lat current latitude
Lng current longitude
Alt current altitude
RelAlt current altitude relative to home
GPSAlt altitude as reported by GPS
Roll current vehicle roll
Pitch current vehicle pitch
Yaw current vehicle yaw

CESC: CAN ESC data

TimeUS Time since system startup
Id ESC identifier
ECnt Error count
Voltage Battery voltage measurement
Curr Battery current measurement
Temp Temperature
RPM Measured RPM
Pow Rated power output

CMD: Executed mission command information

TimeUS 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 Command latitude
Lng Command longitude
Alt Command altitude
Frame Frame used for position

COFS: Current compass learn offsets

TimeUS Time since system startup
OfsX best learnt offset, x-axis
OfsY best learnt offset, y-axis
OfsZ best learnt offset, z-axis
Var error of best offset vector
Yaw best learnt yaw
WVar error of best learn yaw
N number of samples used

CSRV: Servo feedback data

TimeUS Time since system startup
Id Servo number this data relates to
Pos Current servo position
Force Force being applied
Speed Current servo movement speed
Pow Amount of rated power being applied

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

DSF: Onboard logging statistics

TimeUS Time since system startup
Dp Number of times we rejected a write to the backend
Blk Current block number
Bytes 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 Time since system startup
Stg Deepstall landing stage
THdg Target heading
Lat Landing point latitude
Lng Landing point longitude
Alt 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

ECYL: EFI per-cylinder information

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

EFI: Electronic Fuel Injection system data

TimeUS Time since system startup
LP Reported engine load
Rpm Reported engine RPM
SDT Spark Dwell Time
ATM Atmospheric pressure
IMP Intake manifold pressure
IMT Intake manifold temperature
ECT Engine Coolant Temperature
OilP Oil Pressure
OilT Oil temperature
FP 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 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

ERR: Specifically coded error messages

TimeUS Time since system startup
Subsys Subsystem in which the error occurred
ECode Subsystem-specific error code

ESC: Feedback received from ESCs

TimeUS microseconds since system startup
Instance ESC instance number
RPM reported motor rotation rate
Volt Perceived input voltage for the ESC
Curr Perceived current through the ESC
Temp ESC temperature
CTot current consumed total
MotTemp measured motor temperature

EV: Specifically coded event messages

TimeUS Time since system startup
Id Event identifier

FMT: Message defining the format of messages in this file

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

FMTU: Message defining units and multipliers used for fields of other messages

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

FOLL: Follow library diagnostic data

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

FTN: Filter Tuning Messages

TimeUS microseconds since system startup
NDn number of active dynamic harmonic notches
DnF1 dynamic harmonic notch centre frequency for motor 1
DnF2 dynamic harmonic notch centre frequency for motor 2
DnF3 dynamic harmonic notch centre frequency for motor 3
DnF4 dynamic harmonic notch centre frequency for motor 4

FTN1: FFT Filter Tuning

TimeUS microseconds since system startup
PkAvg peak noise frequency as an energy-weighted average of roll and pitch peak frequencies
BwAvg bandwidth of weighted peak freqency where edges are determined by FFT_ATT_REF
DnF dynamic harmonic notch centre frequency
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
FH FFT health
Tc FFT cycle time

FTN2: FFT Noise Frequency Peak

TimeUS microseconds since system startup
Id peak id where 0 is the centre peak, 1 is the lower shoulder and 2 is the upper shoulder
PkX noise frequency of the peak on roll
PkY noise frequency of the peak on pitch
PkZ noise frequency of the peak on yaw
DnF dynamic harmonic notch centre frequency
BwX bandwidth of the peak freqency on roll where edges are determined by FFT_ATT_REF
BwY bandwidth of the peak freqency on pitch where edges are determined by FFT_ATT_REF
BwZ bandwidth of the peak freqency on yaw where edges are determined by FFT_ATT_REF
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

GPA: GPS accuracy information

I GPS instance number
TimeUS Time since system startup
VDop vertical degree of procession
HAcc horizontal position accuracy
VAcc vertical position accuracy
SAcc speed accuracy
YAcc yaw accuracy
VV true if vertical velocity is available
SMS time since system startup this sample was taken
Delta system time delta between the last two reported positions

GPS: Information received from GNSS systems attached to the autopilot

TimeUS Time since system startup
I GPS instance number
Status GPS Fix type; 2D fix, 3D fix etc.
GMS milliseconds since start of GPS Week
GWk weeks since 5 Jan 1980
NSats number of satellites visible
HDop horizontal precision
Lat latitude
Lng longitude
Alt altitude
Spd ground speed
GCrs ground course
VZ vertical speed
Yaw vehicle yaw
U boolean value indicating whether this GPS is in use

GRAW: Raw uBlox data

TimeUS Time since system startup
WkMS receiver TimeOfWeek measurement
Week GPS week
numSV 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 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 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 Time since system startup
I gyroscope sensor instance number
SampleUS time since system startup this sample was taken
GyrX measured rotation rate about X axis
GyrY measured rotation rate about Y axis
GyrZ 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

ICMB: ICM20789 diagnostics

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

IMU: Inertial Measurement Unit data

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

IOMC: IOMCU diagnostic information

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

JSN2: Log data received from JSON simulator

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

LGR: Landing gear information

TimeUS Time since system startup
LandingGear Current landing gear state
WeightOnWheels True if there is weight on wheels

MAG: Information received from compasses

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

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

MODE: vehicle control mode information

TimeUS Time since system startup
Mode vehicle-specific mode number
ModeNum alias for Mode
Rsn reason for entering this mode; enumeration value

MON: Main loop stuck data

TimeUS Time since system startup
LDelay Time main loop has been stuck for
Task Current scheduler task number
IErr Internal error mask; which internal errors have been detected
IErrCnt Internal error count; how many internal errors have been detected
IErrLn Line on which internal error ocurred
MavMsg Id of the last mavlink message processed
MavCmd Id of the last mavlink command processed
SemLine Line number of semaphore most recently taken
SPICnt Number of SPI transactions processed
I2CCnt Number of i2c transactions processed

MSG: Textual messages

TimeUS Time since system startup
Message message text

MULT: Message mapping from single character to numeric multiplier

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

NKF0: EKF2 beacon sensor diagnostics

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

NKF1: EKF2 estimator outputs

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

NKF2: EKF2 estimator secondary outputs

TimeUS Time since system startup
C 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 Estimated wind velocity (North component)
VWE Estimated wind velocity (East component)
MN Magnetic field strength (North component)
ME Magnetic field strength (East component)
MD Magnetic field strength (Down component)
MX Magnetic field strength (body X-axis)
MY Magnetic field strength (body Y-axis)
MZ Magnetic field strength (body Z-axis)
MI Magnetometer used for data

NKF3: EKF2 innovations

TimeUS Time since system startup
C EKF2 core this data is for
IVN Innovation in velocity (North component)
IVE Innovation in velocity (East component)
IVD Innovation in velocity (Down component)
IPN Innovation in position (North component)
IPE Innovation in position (East component)
IPD Innovation in position (Down component)
IMX Innovation in magnetic field strength (X-axis component)
IMY Innovation in magnetic field strength (Y-axis component)
IMZ Innovation in magnetic field strength (Z-axis component)
IYAW Innovation in vehicle yaw
IVT 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

TimeUS Time since system startup
C 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 Square root of the total airspeed variance
errRP Filtered error in roll/pitch estimate
OFN Most recent position recent magnitude (North component)
OFE Most recent position recent magnitude (East component)
FS Filter fault status
TS Filter timeout status
SS Filter solution status
GPS Filter GPS status
PI Primary core index

NKF5: EKF2 Sensor innovations (primary core) and general dumping ground

TimeUS Time since system startup
C 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 Height above ground level
offset Estimated vertical position of the terrain relative to the nav filter zero datum
RI Range finder innovations
rng Measured range
Herr Filter ground offset state error
eAng Magnitude of angular error
eVel Magnitude of velocity error
ePos Magnitude of position error

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

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

NKY0: EKF2 Yaw Estimator States

TimeUS Time since system startup
C EKF2 core this data is for
YC GSF yaw estimate (rad)
YCS GSF yaw estimate 1-Sigma uncertainty (rad)
Y0 Yaw estimate from individual EKF filter 0 (rad)
Y1 Yaw estimate from individual EKF filter 1 (rad)
Y2 Yaw estimate from individual EKF filter 2 (rad)
Y3 Yaw estimate from individual EKF filter 3 (rad)
Y4 Yaw estimate from individual EKF filter 4 (rad)
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: EKF2 Yaw Estimator Innovations

TimeUS Time since system startup
C EKF2 core this data is for
IVN0 North velocity innovation from individual EKF filter 0 (m/s)
IVN1 North velocity innovation from individual EKF filter 1 (m/s)
IVN2 North velocity innovation from individual EKF filter 2 (m/s)
IVN3 North velocity innovation from individual EKF filter 3 (m/s)
IVN4 North velocity innovation from individual EKF filter 4 (m/s)
IVE0 East velocity innovation from individual EKF filter 0 (m/s)
IVE1 East velocity innovation from individual EKF filter 1 (m/s)
IVE2 East velocity innovation from individual EKF filter 2 (m/s)
IVE3 East velocity innovation from individual EKF filter 3 (m/s)
IVE4 East velocity innovation from individual EKF filter 4 (m/s)

OABR: Object avoidance (Bendy Ruler) diagnostics

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

OADJ: Object avoidance (Dijkstra) diagnostics

TimeUS 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 Destination latitude
DLng Destination longitude
OALat Object Avoidance chosen destination point latitude
OALng Object Avoidance chosen destination point longitude

OF: Optical flow sensor data

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

ORGN: Vehicle navigation origin or other notable position

TimeUS Time since system startup
Type Position type
Lat Position latitude
Lng Position longitude
Alt Position altitude

PARM: parameter value

TimeUS Time since system startup
Name parameter name
Value parameter vlaue

PIDA: Proportional/Integral/Derivative gain values for Roll/Pitch/Yaw/Altitude/Steering

TimeUS 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
Dmod scaler applied to D gain to reduce limit cycling

PIDP: Proportional/Integral/Derivative gain values for Roll/Pitch/Yaw/Altitude/Steering

TimeUS 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
Dmod scaler applied to D gain to reduce limit cycling

PIDR: Proportional/Integral/Derivative gain values for Roll/Pitch/Yaw/Altitude/Steering

TimeUS 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
Dmod scaler applied to D gain to reduce limit cycling

PIDS: Proportional/Integral/Derivative gain values for Roll/Pitch/Yaw/Altitude/Steering

TimeUS 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
Dmod scaler applied to D gain to reduce limit cycling

PIDY: Proportional/Integral/Derivative gain values for Roll/Pitch/Yaw/Altitude/Steering

TimeUS 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
Dmod scaler applied to D gain to reduce limit cycling

PM: autopilot system performance and general data dumping ground

TimeUS Time since system startup
NLon Number of long loops detected
NLoop Number of measurement loops for this message
MaxT Maximum loop time
Mem Free memory available
Load System processor load
IntE Internal error mask; which internal errors have been detected
ErrL Internal error line number; last line number on which a internal error was detected
ErrC 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 number of microseconds being added to each loop to address scheduler overruns

POS: Canonical vehicle position

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

POWR: System power information

TimeUS Time since system startup
Vcc Flight board voltage
VServo Servo rail voltage
Flags System power flags
AccFlags Accumulated System power flags; all flags which have ever been set
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 sensor data

TimeUS Time since system startup
Health True if proximity sensor is healthy
D0 Nearest object in sector surrounding 0-degrees
D45 Nearest object in sector surrounding 45-degrees
D90 Nearest object in sector surrounding 90-degrees
D135 Nearest object in sector surrounding 135-degrees
D180 Nearest object in sector surrounding 180-degrees
D225 Nearest object in sector surrounding 225-degrees
D270 Nearest object in sector surrounding 270-degrees
D315 Nearest object in sector surrounding 315-degrees
DUp Nearest object in upwards direction
CAn Angle to closest object
CDis Distance to closest object

PSC: Position Control data

TimeUS Time since system startup
TPX Target position relative to origin, X-axis
TPY Target position relative to origin, Y-axis
PX Position relative to origin, X-axis
PY Position relative to origin, Y-axis
TVX Target velocity, X-axis
TVY Target velocity, Y-axis
VX Velocity, X-axis
VY Velocity, Y-axis
TAX Target acceleration, X-axis
TAY Target acceleration, Y-axis
AX Acceleration, X-axis
AY Acceleration, Y-axis

RAD: Telemetry radio statistics

TimeUS 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 Time since system startup
Tot total number of rally points onboard
Seq this rally point’s sequence number
Lat latitude of rally point
Lng longitude of rally point
Alt altitude of rally point

RATE: Desired and achieved vehicle attitude rates

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

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

RCIN: RC input channels to vehicle

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

RCOU: Servo channel output values

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

REPH: Replay external position data

REV2: Replay Event

REVH: Replay external position data

REY3: Replay Euler Yaw event

RFND: Rangefinder sensor information

TimeUS Time since system startup
Instance rangefinder instance number this data is from
Dist Reported distance from sensor
Stat Sensor state
Orient Sensor orientation

RGPH: Replay Data GPS Header

RGPI: Replay Data GPS Instance, infrequently changing data

RGPJ: Replay Data GPS Instance - rapidly changing data

RMGH: Replay Data Magnetometer Header

RMGI: Replay Data Magnetometer Instance

ROFH: Replay optical flow data

RPM: Data from RPM sensors

TimeUS Time since system startup
rpm1 First sensor’s data
rpm2 Second sensor’s data

RRNH: Replay Data Rangefinder Header

RRNI: Replay Data Rangefinder Instance

RSO2: Replay Set Origin event

RSSI: Received Signal Strength Indicator for RC receiver

TimeUS Time since system startup
RXRSSI RSSI

RVOH: Replay Data Visual Odometry data

RWA2: Replay set-default-airspeed event

RWOH: Replay wheel odometry data

SA: Simple Avoidance messages

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

SBPH: Swift Health Data

TimeUS 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 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

SIM: SITL simulator state

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

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

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 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 most recent internal action taken by SRTL library
N point associated with most recent action (North component)
E point associated with most recent action (East component)
D point associated with most recent action (Down component)

TERR: Terrain database infomration

TimeUS Time since system startup
Status Terrain database status
Lat Current vehicle latitude
Lng Current vehicle longitude
Spacing terrain Tile spacing
TerrH current Terrain height
CHeight Vehicle height above terrain
Pending Number of tile requests outstanding
Loaded Number of tiles in memory

TRIG: Camera shutter information

TimeUS Time since system startup
GPSTime milliseconds since start of GPS week
GPSWeek weeks since 5 Jan 1980
Lat current latitude
Lng current longitude
Alt current altitude
RelAlt current altitude relative to home
GPSAlt altitude as reported by GPS
Roll current vehicle roll
Pitch current vehicle pitch
Yaw current vehicle yaw

TSYN: Time synchronisation response information

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

UBX1: uBlox-specific GPS information (part 1)

TimeUS Time since system startup
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 Time since system startup
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

UNIT: Message mapping from single character to SI unit

TimeUS Time since system startup
Id character referenced by FMTU
Label Unit - SI where available

VBAR: Information received from tracked vehicle; barometer data

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

VIBE: Processed (acceleration) vibration information

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

VISO: Visual Odometry

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

VISP: Vision Position

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

VISV: Vision Velocity

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

VPOS: Information received from tracked vehicle; barometer position data

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

WENC: Wheel encoder measurements

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

WINC: Winch

TimeUS 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 Desired Length
Len Estimated Length
DRate Desired Rate
Tens Tension on line
Vcc Voltage to Motor
Temp Motor temperature

XKF0: EKF3 beacon sensor diagnostics

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

XKF1: EKF3 estimator outputs

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

XKF2: EKF3 estimator secondary outputs

TimeUS Time since system startup
C EKF3 core this data is for
AX Estimated accelerometer X bias
AY Estimated accelerometer Y bias
AZ Estimated accelerometer Z bias
VWN Estimated wind velocity (North component)
VWE Estimated wind velocity (East component)
MN Magnetic field strength (North component)
ME Magnetic field strength (East component)
MD Magnetic field strength (Down component)
MX Magnetic field strength (body X-axis)
MY Magnetic field strength (body Y-axis)
MZ Magnetic field strength (body Z-axis)

XKF3: EKF3 innovations

TimeUS Time since system startup
C EKF3 core this data is for
IVN Innovation in velocity (North component)
IVE Innovation in velocity (East component)
IVD Innovation in velocity (Down component)
IPN Innovation in position (North component)
IPE Innovation in position (East component)
IPD Innovation in position (Down component)
IMX Innovation in magnetic field strength (X-axis component)
IMY Innovation in magnetic field strength (Y-axis component)
IMZ Innovation in magnetic field strength (Z-axis component)
IYAW Innovation in vehicle yaw
IVT 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

TimeUS Time since system startup
C 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 Most recent position recent magnitude (North component)
OFE Most recent position recent magnitude (East component)
FS Filter fault status
TS Filter timeout status
SS Filter solution status
GPS Filter GPS status
PI Primary core index

XKF5: EKF3 Sensor innovations (primary core) and general dumping ground

TimeUS Time since system startup
C 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 Height above ground level
offset Estimated vertical position of the terrain relative to the nav filter zero datum
RI Range finder innovations
rng Measured range
Herr Filter ground offset state error
eAng Magnitude of angular error
eVel Magnitude of velocity error
ePos Magnitude of position error

XKFD: EKF3 Body Frame Odometry errors

TimeUS Time since system startup
C 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 Time since system startup
C 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 Time since system startup
C EKF3 core this data is for
MI compass selection index
BI barometer selection index
GI GPS selection index
AI airspeed selection index

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

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

XKT: EKF3 timing information

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

XKTV: EKF3 Yaw Estimator States

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

XKV1: EKF3 State variances (primary core)

TimeUS Time since system startup
C 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 Time since system startup
C 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: EKF3 Yaw Estimator States

TimeUS Time since system startup
C EKF3 core this data is for
YC GSF yaw estimate (rad)
YCS GSF yaw estimate 1-Sigma uncertainty (rad)
Y0 Yaw estimate from individual EKF filter 0 (rad)
Y1 Yaw estimate from individual EKF filter 1 (rad)
Y2 Yaw estimate from individual EKF filter 2 (rad)
Y3 Yaw estimate from individual EKF filter 3 (rad)
Y4 Yaw estimate from individual EKF filter 4 (rad)
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: EKF3 Yaw Estimator Innovations

TimeUS Time since system startup
C EKF3 core this data is for
IVN0 North velocity innovation from individual EKF filter 0 (m/s)
IVN1 North velocity innovation from individual EKF filter 1 (m/s)
IVN2 North velocity innovation from individual EKF filter 2 (m/s)
IVN3 North velocity innovation from individual EKF filter 3 (m/s)
IVN4 North velocity innovation from individual EKF filter 4 (m/s)
IVE0 East velocity innovation from individual EKF filter 0 (m/s)
IVE1 East velocity innovation from individual EKF filter 1 (m/s)
IVE2 East velocity innovation from individual EKF filter 2 (m/s)
IVE3 East velocity innovation from individual EKF filter 3 (m/s)
IVE4 East velocity innovation from individual EKF filter 4 (m/s)