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 Dependent 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

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

AISR¶

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

TimeUS	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	data payload

AOA¶

Angle of attack and Side Slip Angle values

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

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

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
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	Time since system startup
Angle	current angle
Rate	current angular rate

ATSC¶

Scale factors for attitude controller

TimeUS	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	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
AEKF	active EKF type

AUXF¶

Auxiliary function invocation information

TimeUS	Time since system startup
function	ID of triggered function
pos	switch position when function triggered
source	source of auxiliary function invocation
result	true if function was successful

BARD¶

Barometer dynamic data

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

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	consumed Ah, current * time
EnrgTot	consumed Wh, energy this battery has expended
Temp	measured temperature
Res	estimated battery resistance
RemPct	remaining percentage

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

BCL2¶

Battery cell voltage information

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

BCN¶

Beacon information

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 fourth 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

CAND¶

Info from GetNodeInfo request

TimeUS	Time since system startup
NodeId	Node ID
UID1	Hardware ID, part 1
UID2	Hardware ID, part 2
Name	Name string
Major	major revision id
Minor	minor revision id
Version	AP_Periph git hash

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

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

CTUN¶

Control Tuning information

TimeUS	Time since system startup
ThI	throttle input
ABst	angle boost
ThO	throttle output
ThH	calculated hover throttle
DAlt	desired altitude
Alt	achieved altitude
BAlt	barometric altitude
DSAlt	desired rangefinder altitude
SAlt	achieved rangefinder altitude
TAlt	terrain altitude
DCRt	desired climb rate
CRt	climb rate

D16¶

Generic 16-bit-signed-integer storage

TimeUS	Time since system startup
Id	Data type identifier
Value	Value

D32¶

Generic 32-bit-signed-integer storage

TimeUS	Time since system startup
Id	Data type identifier
Value	Value

DFLT¶

Generic float storage

TimeUS	Time since system startup
Id	Data type identifier
Value	Value

DMS¶

DataFlash-Over-MAVLink statistics

TimeUS	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	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

DU16¶

Generic 16-bit-unsigned-integer storage

TimeUS	Time since system startup
Id	Data type identifier
Value	Value

DU32¶

Generic 32-bit-unsigned-integer storage

TimeUS	Time since system startup
Id	Data type identifier
Value	Value

EAH1¶

External AHRS data

TimeUS	Time since system startup
Roll	euler roll
Pitch	euler pitch
Yaw	euler yaw
VN	velocity north
VE	velocity east
VD	velocity down
Lat	latitude
Lon	longitude
Alt	altitude AMSL
UXY	uncertainty in XY position
UV	uncertainty in velocity
UR	uncertainty in roll
UP	uncertainty in pitch
UY	uncertainty in yaw

EAH3¶

External AHRS data

TimeUS	Time since system startup
Temp	Temprature
Pres	Pressure
MX	Magnetic feild X-axis
MY	Magnetic feild Y-axis
MZ	Magnetic feild Z-axis
AX	Acceleration X-axis
AY	Acceleration Y-axis
AZ	Acceleration Z-axis
GX	Rotation rate X-axis
GY	Rotation rate Y-axis
GZ	Rotation rate Z-axis
Q1	Attitude quaternion 1
Q2	Attitude quaternion 2
Q3	Attitude quaternion 3
Q4	Attitude quaternion 4

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
RawRPM	reported motor rotation rate without slew adjustment
Volt	Perceived input voltage for the ESC
Curr	Perceived current through the ESC
Temp	ESC temperature in centi-degrees C
CTot	current consumed total mAh
MotTemp	measured motor temperature in centi-degrees C
Err	error rate

EV¶

Specifically coded event messages

TimeUS	Time since system startup
Id	Event identifier

FINI¶

Fin input

TimeUS	Time since system startup
R	Right
F	Front
D	Down
Y	Yaw

FINO¶

Fin output

TimeUS	Time since system startup
F1A	Fin 1 Amplitude
F1O	Fin 1 Offset
F2A	Fin 2 Amplitude
F2O	Fin 2 Offset
F3A	Fin 3 Amplitude
F3O	Fin 3 Offset
F4A	Fin 4 Amplitude
F4O	Fin 4 Offset

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

FNCE¶

currently loaded Geo Fence points

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

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 Message - per motor

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

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 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	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
BwX	bandwidth of the peak frequency on roll where edges are determined by FFT_ATT_REF
BwY	bandwidth of the peak frequency on pitch where edges are determined by FFT_ATT_REF
BwZ	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	microseconds since system startup
I	instance
NF	dynamic harmonic notch centre frequency

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
Und	Undulation

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

HYGR¶

Hygrometer data

TimeUS	Time since system startup
Id	sensor ID
Humidity	percentage humidity
Temp	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

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
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	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
fh	Height for flare timing.

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

MAV¶

GCS MAVLink link statistics

TimeUS	Time since system startup
chan	mavlink channel number
txp	transmitted packet count
rxp	received packet count
rxdp	perceived number of packets we never received
flags	compact representation of some stage of the channel
ss	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	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

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 performance monitoring message.

TimeUS	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	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
FailFlags	bit 0 motor failed, bit 1 motors balanced, should be 2 in normal flight

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 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	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	tilt error convergence metric
errRP	Filtered error in roll/pitch estimate
OFN	Most recent position reset (North component)
OFE	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	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¶

EKF Yaw Estimator States

TimeUS	Time since system startup
C	EKF core this data is for
YC	GSF yaw estimate (deg)
YCS	GSF yaw estimate 1-Sigma uncertainty (deg)
Y0	Yaw estimate from individual EKF filter 0 (deg)
Y1	Yaw estimate from individual EKF filter 1 (deg)
Y2	Yaw estimate from individual EKF filter 2 (deg)
Y3	Yaw estimate from individual EKF filter 3 (deg)
Y4	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	Time since system startup
C	EKF 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 above EKF Origin
OLt	Intermediate location chosen for avoidance
OLg	Intermediate location chosen for avoidance
OAlt	Intermediate alt chosen for avoidance above EKF origin

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

OAVG¶

Object avoidance path planning visgraph points

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

OFCA¶

Optical Flow Calibration sample

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

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