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

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

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

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

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

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

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

Auxiliary function invocation information

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

BARD

Barometer dynamic data

TimeUS	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
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

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

ESC

Feedback received from ESCs

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

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 Values: LG_UNKNOWN -1 LG_RETRACTED 0 LG_DEPLOYED 1 LG_RETRACTING 2 LG_DEPLOYING 3
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 Bitmask values: USING_SIGNING 1 ACTIVE 2 STREAMING 4 PRIVATE 8 LOCKED 16
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

MCU

MCU voltage and temprature monitering

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

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

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)

NTUN

Navigation Tuning information - e.g. vehicle destination

TimeUS	Time since system startup
Dist	distance to the current navigation waypoint
TBrg	bearing to the current navigation waypoint
NavBrg	the vehicle’s desired heading
AltE	difference between current vehicle height and target height
XT	the vehicle’s current distance from the current travel segment
XTi	integration of the vehicle’s crosstrack error
AsE	difference between vehicle’s airspeed and desired airspeed
TLat	target latitude
TLng	target longitude
TAW	target altitude WP
TAT	target altitude TECS
TAsp	target airspeed

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

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

ORGN

Vehicle navigation origin or other notable position

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

PARM

parameter value

TimeUS	Time since system startup
Name	parameter name
Value	parameter value
Default	default parameter value for this board and config

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

PIDE

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

PIDN

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

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
LR	Main loop rate
NLon	Number of long loops detected
NL	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 Bitmask values: logger_mapfailure 1 logger_missing_logstructure 2 logger_logwrite_missingfmt 4 logger_too_many_deletions 8 logger_bad_getfilename 16 panic 32 logger_flushing_without_sem 64 logger_bad_current_block 128 logger_blockcount_mismatch 256 logger_dequeue_failure 512 constraining_nan 1024 watchdog_reset 2048 iomcu_reset 4096 iomcu_fail 8192 spi_fail 16384 main_loop_stuck 32768 gcs_bad_missionprotocol_link 65536 bitmask_range 131072 gcs_offset 262144 i2c_isr 524288 flow_of_control 1048576 switch_full_sector_recursion 2097152 bad_rotation 4194304 stack_overflow 8388608 imu_reset 16777216 gpio_isr 33554432 mem_guard 67108864 dma_fail 134217728 params_restored 268435456 invalid_arg_or_result 536870912 __LAST__ 1073741824
ErrL	Internal error line number; last line number on which a internal error was detected
ErrC	Internal error count; how many internal errors have been detected
SPIC	Number of SPI transactions processed
I2CC	Number of i2c transactions processed
I2CI	Number of i2c interrupts serviced
Ex	number of microseconds being added to each loop to address scheduler overruns

POS

Canonical vehicle position

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

POWR

System power information

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

PRTN

Plane Parameter Tuning data

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

PRX

Proximity 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
AOutSlew	vertical thrust output slew rate

RBCH

Replay Data Beacon Header

RBCI

Replay Data Beacon Instance

RBOH

Replay body odometry data

RBRH

Replay Data Barometer Header

RBRI

Replay Data Barometer Instance

RCDA

Raw RC data

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

RCI2

(More) RC input channels to vehicle

TimeUS	Time since system startup
C15	channel 15 input
C16	channel 16 input
OMask	bitmask of RC channels being overridden by mavlink input

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

RCO2

Servo channel output values 15 to 18

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

RCO3

Servo channel output values 19 to 32

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

RCOU

Servo channel output values 1 to 14

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 usage of all scripts
Run_mem	run memory usage

SCVE

Debug message for SCurve internal error

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

SIM

SITL simulator state

TimeUS	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
As	Airspeed

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 Values: SRTL_POINT_ADD 0 SRTL_POINT_PRUNE 1 SRTL_POINT_SIMPLIFY 2 SRTL_ADD_FAILED_NO_SEMAPHORE 3 SRTL_ADD_FAILED_PATH_FULL 4 SRTL_POP_FAILED_NO_SEMAPHORE 5 SRTL_PEEK_FAILED_NO_SEMAPHORE 6 SRTL_DEACTIVATED_INIT_FAILED 7 SRTL_DEACTIVATED_BAD_POSITION 8 SRTL_DEACTIVATED_BAD_POSITION_TIMEOUT 9 SRTL_DEACTIVATED_PATH_FULL_TIMEOUT 10 SRTL_DEACTIVATED_PROGRAM_ERROR 11
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

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”)
hin	height demand received by TECS
hdem	height demand after rate limiting and filtering that 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”)
th	throttle output
ph	pitch output
pmin	pitch lower limit
pmax	pitch upper limit
dspdem	demanded acceleration output (“delta-speed demand”)
f	flags Bitmask values: Underspeed 1 UnachievableDescent 2 AutoLanding 4 ReachedTakeoffSpd 8

TERR

Terrain database information

TimeUS	Time since system startup
Status	Terrain database status Values: TerrainStatusDisabled 0 not enabled TerrainStatusUnhealthy 1 no terrain data for current location TerrainStatusOK 2 terrain data available
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
ROfs	terrain reference offset for arming altitude

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

UBXT

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

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

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

VSTB

Log message for video stabilisation software such as Gyroflow

TimeUS	Time since system startup
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
Q1	Estimated attitude quaternion component 1
Q2	Estimated attitude quaternion component 2
Q3	Estimated attitude quaternion component 3
Q4	Estimated attitude quaternion component 4

WDOG

Watchdog diagnostics

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

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, 5:drag 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 (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

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)