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 |
AETR: Normalised pre-mixer control surface outputs¶
| TimeUS | Time since system startup |
| Ail | Pre-mixer value for aileron output (between -4500 to 4500) |
| Elev | Pre-mixer value for elevator output (between -4500 to 4500) |
| Thr | Pre-mixer value for throttle output (between -4500 to 4500) |
| Rudd | Pre-mixer value for rudder output (between -4500 to 4500) |
| Flap | Pre-mixer value for flaps output (between -4500 to 4500) |
| SS | Surface movement / airspeed scaling value |
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 |
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 |
| 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 |
ATRP: Plane AutoTune¶
| TimeUS | Time since system startup |
| Axis | tuning axis |
| State | tuning state |
| Sur | control surface deflection |
| PSlew | P slew rate |
| DSlew | D slew rate |
| FF0 | FF value single sample |
| FF | FF value |
| P | P value |
| I | I value |
| D | D value |
| Action | action taken |
| RMAX | Rate maximum |
| TAU | time constant |
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 |
ATUN: Copter/QuadPlane AutoTune¶
| TimeUS | Time since system startup |
| Axis | which axis is currently being tuned |
| TuneStep | step in autotune process |
| Targ | target angle or rate, depending on tuning step |
| Min | measured minimum target angle or rate |
| Max | measured maximum target angle or rate |
| RP | new rate gain P term |
| RD | new rate gain D term |
| SP | new angle P term |
| ddt | maximum measured twitching acceleration |
AUXF: Auixillary function invocation information¶
| TimeUS | Time since system startup |
| function | ID of triggered function |
| pos | switch position when function triggered |
| source | source of auxillary function invocation |
| result | true if function was successful |
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 |
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 |
CMDI: Generic CommandInt message logger(CMDI)¶
| TimeUS | Time since system startup |
| CId | command id |
| TSys | target system |
| TCmp | target component |
| cur | current |
| cont | autocontinue |
| Prm1 | parameter 1 |
| Prm2 | parameter 2 |
| Prm3 | parameter 3 |
| Prm4 | parameter 4 |
| Lat | target latitude |
| Lng | target longitude |
| Alt | target altitude |
| F | frame |
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 |
| NavRoll | desired roll |
| Roll | achieved roll |
| NavPitch | desired pitch |
| Pitch | achieved pitch |
| ThO | scaled output throttle |
| RdrOut | scaled output rudder |
| ThD | demanded speed-height-controller throttle |
| As | airspeed estimate (or measurement if airspeed sensor healthy and ARSPD_USE>0) |
| SAs | synthetic airspeed measurement derived from non-airspeed sensors, NaN if not available |
| E2T | equivalent to true airspeed ratio |
| GU | groundspeed undershoot when flying with minimum groundspeed |
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 |
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 |
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 |
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 |
| 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 | target system for command |
| SC | target 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 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 |
MPPT: Information about the Maximum Power Point Tracker sensor¶
| TimeUS | Time since system startup |
| Inst | Driver Instance |
| SN | Serial number |
| F | Faults |
| Temp | Temperature |
| InV | Input Voltage |
| InC | Input Current |
| InP | Input Power |
| OutV | Output Voltage |
| OutC | Output Current |
| OutP | Output Power |
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 (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: 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 |
OFG: OFfboard-Guided - an advanced version of GUIDED for companion computers that includes rate/s.¶
| TimeUS | Time since system startup |
| Arsp | target airspeed cm |
| ArspA | target airspeed accel |
| Alt | target alt |
| AltA | target alt accel |
| AltF | target alt frame |
| Hdg | target heading |
| HdgA | target heading lim |
PARM: parameter value¶
| TimeUS | Time since system startup |
| Name | parameter name |
| Value | parameter value |
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 |
| SRate | slew rate used in slew limiter |
| Limit | 1 if I term is limited due to output saturation |
PIDG: Plane Proportional/Integral/Derivative gain values for Heading when using COMMAND_INT control.¶
| 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 |
| SRate | slew rate |
| Limit | 1 if I term is limited due to output saturation |
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 |
| SRate | slew rate used in slew limiter |
| Limit | 1 if I term is limited due to output saturation |
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 |
| SRate | slew rate used in slew limiter |
| Limit | 1 if I term is limited due to output saturation |
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 |
| SRate | slew rate used in slew limiter |
| Limit | 1 if I term is limited due to output saturation |
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 |
| SRate | slew rate used in slew limiter |
| Limit | 1 if I term is limited due to output saturation |
PIQA: QuadPlane Proportional/Integral/Derivative gain values for Roll/Pitch/Yaw/Z¶
| 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 |
| SRate | slew rate |
| Limit | 1 if I term is limited due to output saturation |
PIQP: QuadPlane Proportional/Integral/Derivative gain values for Roll/Pitch/Yaw/Z¶
| 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 |
| SRate | slew rate |
| Limit | 1 if I term is limited due to output saturation |
PIQR: QuadPlane Proportional/Integral/Derivative gain values for Roll/Pitch/Yaw/Z¶
| 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 |
| SRate | slew rate |
| Limit | 1 if I term is limited due to output saturation |
PIQY: QuadPlane Proportional/Integral/Derivative gain values for Roll/Pitch/Yaw/Z¶
| 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 |
| SRate | slew rate |
| Limit | 1 if I term is limited due to output saturation |
PL: Precision Landing messages¶
| TimeUS | Time since system startup |
| Heal | True if Precision Landing is healthy |
| TAcq | True if landing target is detected |
| pX | Target position relative to vehicle, X-Axis (0 if target not found) |
| pY | Target position relative to vehicle, Y-Axis (0 if target not found) |
| vX | Target velocity relative to vehicle, X-Axis (0 if target not found) |
| vY | Target velocity relative to vehicle, Y-Axis (0 if target not found) |
| mX | Target’s relative to origin position as 3-D Vector, X-Axis |
| mY | Target’s relative to origin position as 3-D Vector, Y-Axis |
| mZ | Target’s relative to origin position as 3-D Vector, Z-Axis |
| LastMeasMS | 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 | 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 |
| MTemp | MCU Temperature |
| MVolt | MCU Voltage |
| MVmin | MCU Voltage min |
| MVmax | MCU Voltage max |
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 | Time since system startup |
| Layer | 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 | 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 |
PRXR: Proximity Raw sensor data¶
| TimeUS | Time since system startup |
| Layer | 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 | 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 |
PSCD: Position Control Down¶
| TimeUS | Time since system startup |
| TPD | Target position relative to EKF origin |
| PD | Position relative to EKF origin |
| DVD | Desired velocity Down |
| TVD | Target velocity Down |
| VD | Velocity Down |
| DAD | Desired acceleration Down |
| TAD | Target acceleration Down |
| AD | Acceleration Down |
PSCE: Position Control East¶
| TimeUS | Time since system startup |
| TPE | Target position relative to EKF origin |
| PE | Position relative to EKF origin |
| DVE | Desired velocity East |
| TVE | Target velocity East |
| VE | Velocity East |
| DAE | Desired acceleration East |
| TAE | Target acceleration East |
| AE | Acceleration East |
PSCN: Position Control North¶
| TimeUS | Time since system startup |
| TPN | Target position relative to EKF origin |
| PN | Position relative to EKF origin |
| DVN | Desired velocity North |
| TVN | Target velocity North |
| VN | Velocity North |
| DAN | Desired acceleration North |
| TAN | Target acceleration North |
| AN | Acceleration North |
QTUN: QuadPlane vertical tuning message¶
| 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 |
| DCRt | desired climb rate |
| CRt | climb rate |
| TMix | transition throttle mix value |
| Sscl | speed scalar for tailsitter control surfaces |
| Trn | Transistion state |
| Ast | Q assist active state |
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. Not logged in Fixed Wing Plane modes.¶
| 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 |
| Y | achieved vehicle yaw rate |
| YOut | normalized output for Yaw |
| YDes | vehicle desired yaw rate |
| 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 |
| RXLQ | RX Link Quality |
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) |
| DVelZ | Desired velocity, Z-Axis (Velocity before Avoidance) |
| MVelX | Modified velocity, X-Axis (Velocity after Avoidance) |
| MVelY | Modified velocity, Y-Axis (Velocity after Avoidance) |
| MVelZ | Modified velocity, Z-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 |
SCR: Scripting runtime stats¶
| TimeUS | Time since system startup |
| Name | script name |
| Runtime | run time |
| Total_mem | total memory useage |
| Run_mem | run memory usage |
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 |
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 |
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 |
SLV1: Log data received from JSON simulator 1¶
| TimeUS | Time since system startup (us) |
| 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 | Time since system startup |
| Instance | Slave instance |
| 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 |
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 |
SOAR: Logged data from soaring feature¶
| TimeUS | microseconds since system startup |
| nettorate | Estimate of vertical speed of surrounding airmass |
| x0 | Thermal strength estimate |
| x1 | Thermal radius estimate |
| x2 | Thermal position estimate north from home |
| x3 | Thermal position estimate east from home |
| north | Aircraft position north from home |
| east | Aircraft position east from home |
| alt | Aircraft altitude |
| dx_w | Wind speed north |
| dy_w | Wind speed east |
| th | Estimate of achievable climbrate in thermal |
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) |
STAK: Stack information¶
| TimeUS | Time since system startup |
| Id | thread ID |
| Pri | thread priority |
| Total | total stack |
| Free | free stack |
| Name | thread name |
STAT: Current status of the aircraft¶
| TimeUS | Time since system startup |
| isFlying | True if aircraft is probably flying |
| isFlyProb | Probabilty that the aircraft is flying |
| Armed | Arm status of the aircraft |
| Safety | State of the safety switch |
| Crash | True if crash is detected |
| Still | True when vehicle is not moving in any axis |
| Stage | Current stage of the flight |
| Hit | True if impact is detected |
TEC2: Additional Information about the Total Energy Control System¶
| TimeUS | Time since system startup |
| pmax | maximum allowed pitch from parameter |
| pmin | minimum allowed pitch from parameter |
| KErr | difference between estimated kinetic energy and desired kinetic energy |
| PErr | difference between estimated potential energy and desired potential energy |
| EDelta | current error in speed/balance weighting |
| LF | aerodynamic load factor |
| hdem1 | demanded height input |
| hdem2 | rate-limited height demand |
TECS: Information about the Total Energy Control System¶
| TimeUS | Time since system startup |
| h | height estimate (UP) currently in use by TECS |
| dh | current climb rate (“delta-height”) |
| hdem | height TECS is currently trying to achieve |
| dhdem | climb rate TECS is currently trying to achieve |
| spdem | True AirSpeed TECS is currently trying to achieve |
| sp | current estimated True AirSpeed |
| dsp | x-axis acceleration estimate (“delta-speed”) |
| ith | throttle integrator value |
| iph | Specific Energy Balance integrator value |
| th | throttle output |
| ph | pitch output |
| dspdem | demanded acceleration output (“delta-speed demand”) |
| w | current TECS prioritization of height vs speed (0==100% height,2==100% speed, 1==50%height+50%speed |
| f | flags |
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 |
TRMP: Torqeedo Motor Param¶
| TimeUS | Time since system startup |
| RPM | Motor RPM |
| Pow | Motor power |
| Volt | Motor voltage |
| Cur | Motor current |
| ETemp | ESC Temp |
| MTemp | Motor Temp |
TRMS: Torqeedo Motor Status¶
| TimeUS | Time since system startup |
| State | Motor status flags |
| Err | Motor error flags |
TRQD: Torqeedo Status¶
| TimeUS | Time since system startup |
| 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 | Time since system startup |
| Flag | Flags |
| MotType | Motor type |
| MotVer | Motor software version |
| BattCap | Battery capacity |
| BattPct | Battery charge percentage |
| BattType | Battery type |
| SwVer | Master software version |
TRST: Torqeedo System State¶
| TimeUS | Time since system startup |
| F | Flags bitmask |
| Err | Master error code |
| MVolt | Motor voltage |
| MCur | Motor current |
| Pow | Motor power |
| RPM | Motor RPM |
| MTemp | Motor Temp (higher of pcb or stator) |
| BPct | Battery charge percentage |
| BVolt | Battery voltage |
| BCur | Battery current |
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 |
VAR: Variometer data¶
| TimeUS | Time since system startup |
| aspd_raw | always zero |
| aspd_filt | filtered and constrained airspeed |
| alt | AHRS altitude |
| roll | AHRS roll |
| raw | estimated air vertical speed |
| filt | low-pass filtered air vertical speed |
| cl | raw climb rate |
| fc | filtered climb rate |
| exs | expected sink rate relative to air in thermalling turn |
| dsp | average acceleration along X axis |
| dspb | detected bias in average acceleration along X axis |
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 |
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 |
WIND: Windvane readings¶
| TimeUS | Time since system startup |
| DrRaw | raw apparent wind direction direct from sensor, in body-frame |
| DrApp | Apparent wind direction, in body-frame |
| DrTru | True wind direction |
| SpdRaw | raw wind speed direct from sensor |
| SpdApp | Apparent wind Speed |
| SpdTru | True wind speed |
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) |
| IDX | Innovation in vehicle drag acceleration (X-axis component) |
| IDY | Innovation in vehicle drag acceleration (Y-axis component) |
| IS | Innovation in vehicle sideslip |
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. 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 | 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 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 |
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 |
| SS | Source Set (primary=0/secondary=1/tertiary=2) |
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: EKF Yaw Estimator States¶
| TimeUS | Time since system startup |
| C | EKF 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: 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) |