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 |
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 |
AROT: Helicopter AutoRotation information¶
| TimeUS | Time since system startup |
| P | P-term for headspeed controller response |
| hserr | head speed error; difference between current and desired head speed |
| ColOut | Collective Out |
| FFCol | FF-term for headspeed controller response |
| CRPM | current headspeed RPM |
| SpdF | current forward speed |
| CmdV | desired forward speed |
| p | p-term of velocity response |
| ff | ff-term of velocity response |
| AccO | forward acceleration output |
| AccT | forward acceleration target |
| PitT | pitch target |
ARSP: Airspeed sensor data¶
| TimeUS | Time since system startup |
| I | Airspeed sensor instance number |
| Airspeed | Current airspeed |
| DiffPress | Pressure difference between static and dynamic port |
| Temp | Temperature used for calculation |
| RawPress | Raw pressure less offset |
| Offset | Offset from parameter |
| U | True if sensor is being used |
| H | True if sensor is healthy |
| Hfp | Probability sensor has failed |
| Pri | True if sensor is the primary sensor |
ASM1: AirSim simulation data¶
| TimeUS | Time since system startup |
| TUS | Simulation’s timestamp |
| R | Simulation’s roll |
| P | Simulation’s pitch |
| Y | Simulation’s yaw |
| GX | Simulated gyroscope, X-axis |
| GY | Simulated gyroscope, Y-axis |
| GZ | Simulated gyroscope, Z-axis |
ASM2: More AirSim simulation data¶
| TimeUS | Time since system startup |
| AX | simulation’s acceleration, X-axis |
| AY | simulation’s acceleration, Y-axis |
| AZ | simulation’s acceleration, Z-axis |
| VX | simulation’s velocity, X-axis |
| VY | simulation’s velocity, Y-axis |
| VZ | simulation’s velocity, Z-axis |
| PX | simulation’s position, X-axis |
| PY | simulation’s position, Y-axis |
| PZ | simulation’s position, Z-axis |
| Alt | simulation’s gps altitude |
| SD | simulation’s earth-frame speed-down |
ATDE: AutoTune data packet¶
| TimeUS | Time since system startup |
| Angle | current angle |
| Rate | current angular rate |
ATRP: Pitch/Roll AutoTune messages for Plane¶
| TimeUS | Time since system startup |
| Type | Type of autotune (0 = Roll/ 1 = Pitch) |
| State | AutoTune state |
| Servo | Normalised control surface output (between -4500 to 4500) |
| Demanded | Desired Pitch/Roll rate |
| Achieved | Achieved Pitch/Roll rate |
| P | Proportional part of PID |
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 |
BARO: Gathered Barometer data¶
| TimeUS | Time since system startup |
| I | barometer sensor instance number |
| Alt | calculated altitude |
| Press | measured atmospheric pressure |
| Temp | measured atmospheric temperature |
| CRt | derived climb rate from primary barometer |
| SMS | time last sample was taken |
| Offset | raw adjustment of barometer altitude, zeroed on calibration, possibly set by GCS |
| GndTemp | temperature on ground, specified by parameter or measured while on ground |
| Health | true if barometer is considered healthy |
BAT: Gathered battery data¶
| TimeUS | Time since system startup |
| Instance | battery instance number |
| Volt | measured voltage |
| VoltR | estimated resting voltage |
| Curr | measured current |
| CurrTot | current * time |
| EnrgTot | energy this battery has produced |
| Temp | measured temperature |
| Res | estimated battery resistance |
BCL: Battery cell voltage information¶
| TimeUS | Time since system startup |
| Instance | battery instance number |
| Volt | battery voltage |
| V1 | first cell voltage |
| V2 | second cell voltage |
| V3 | third cell voltage |
| V4 | fourth cell voltage |
| V5 | fifth cell voltage |
| V6 | sixth cell voltage |
| V7 | seventh cell voltage |
| V8 | eighth cell voltage |
| V9 | ninth cell voltage |
| V10 | tenth cell voltage |
| V11 | eleventh cell voltage |
| V12 | twelfth cell voltage |
BCN: Beacon informtaion¶
| TimeUS | Time since system startup |
| Health | True if beacon sensor is healthy |
| Cnt | Number of beacons being used |
| D0 | Distance to first beacon |
| D1 | Distance to second beacon |
| D2 | Distance to third beacon |
| D3 | Distance to fouth beacon |
| PosX | Calculated beacon position, x-axis |
| PosY | Calculated beacon position, y-axis |
| PosZ | Calculated beacon position, z-axis |
CAM: Camera shutter information¶
| TimeUS | Time since system startup |
| GPSTime | milliseconds since start of GPS week |
| GPSWeek | weeks since 5 Jan 1980 |
| Lat | current latitude |
| Lng | current longitude |
| Alt | current altitude |
| RelAlt | current altitude relative to home |
| GPSAlt | altitude as reported by GPS |
| Roll | current vehicle roll |
| Pitch | current vehicle pitch |
| Yaw | current vehicle yaw |
CESC: CAN ESC data¶
| TimeUS | Time since system startup |
| Id | ESC identifier |
| ECnt | Error count |
| Voltage | Battery voltage measurement |
| Curr | Battery current measurement |
| Temp | Temperature |
| RPM | Measured RPM |
| Pow | Rated power output |
CMD: Executed mission command information¶
| TimeUS | Time since system startup |
| CTot | Total number of mission commands |
| CNum | This command’s offset in mission |
| CId | Command type |
| Prm1 | Parameter 1 |
| Prm2 | Parameter 2 |
| Prm3 | Parameter 3 |
| Prm4 | Parameter 4 |
| Lat | Command latitude |
| Lng | Command longitude |
| Alt | Command altitude |
| Frame | Frame used for position |
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 |
COFS: Current compass learn offsets¶
| TimeUS | Time since system startup |
| OfsX | best learnt offset, x-axis |
| OfsY | best learnt offset, y-axis |
| OfsZ | best learnt offset, z-axis |
| Var | error of best offset vector |
| Yaw | best learnt yaw |
| WVar | error of best learn yaw |
| N | number of samples used |
CSRV: Servo feedback data¶
| TimeUS | Time since system startup |
| Id | Servo number this data relates to |
| Pos | Current servo position |
| Force | Force being applied |
| Speed | Current servo movement speed |
| Pow | Amount of rated power being applied |
CTRL: Attitude Control oscillation monitor diagnostics¶
| TimeUS | Time since system startup |
| RMSRollP | LPF Root-Mean-Squared Roll Rate controller P gain |
| RMSRollD | LPF Root-Mean-Squared Roll rate controller D gain |
| RMSPitchP | LPF Root-Mean-Squared Pitch Rate controller P gain |
| RMSPitchD | LPF Root-Mean-Squared Pitch Rate controller D gain |
| RMSYaw | LPF Root-Mean-Squared Yaw Rate controller P+D gain |
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 |
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 |
| Volt | Perceived input voltage for the ESC |
| Curr | Perceived current through the ESC |
| Temp | ESC temperature |
| CTot | current consumed total |
| MotTemp | measured motor temperature |
| 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 |
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 |
| Fr | command frame |
| Cmd | mavlink command enum value |
| Cur | current flag from mavlink packet |
| AC | autocontinue flag from mavlink packet |
| 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 |
MSG: Textual messages¶
| TimeUS | Time since system startup |
| Message | message text |
MULT: Message mapping from single character to numeric multiplier¶
| TimeUS | Time since system startup |
| Id | character referenced by FMTU |
| Mult | numeric multiplier |
NKF0: EKF2 beacon sensor diagnostics¶
| TimeUS | Time since system startup |
| C | EKF2 core this data is for |
| ID | Beacon sensor ID |
| rng | Beacon range |
| innov | Beacon range innovation |
| SIV | sqrt of beacon range innovation variance |
| TR | Beacon range innovation consistency test ratio |
| BPN | Beacon north position |
| BPE | Beacon east position |
| BPD | Beacon down position |
| OFH | High estimate of vertical position offset of beacons rel to EKF origin |
| OFL | Low estimate of vertical position offset of beacons rel to EKF origin |
| OFN | always zero |
| OFE | always zero |
| OFD | always zero |
NKF1: EKF2 estimator outputs¶
| TimeUS | Time since system startup |
| C | EKF2 core this data is for |
| Roll | Estimated roll |
| Pitch | Estimated pitch |
| Yaw | Estimated yaw |
| VN | Estimated velocity (North component) |
| VE | Estimated velocity (East component) |
| VD | Estimated velocity (Down component) |
| dPD | Filtered derivative of vertical position (down) |
| PN | Estimated distance from origin (North component) |
| PE | Estimated distance from origin (East component) |
| PD | Estimated distance from origin (Down component) |
| GX | Estimated gyro bias, X axis |
| GY | Estimated gyro bias, Y axis |
| GZ | Estimated gyro bias, Z axis |
| OH | Height of origin above WGS-84 |
NKF2: EKF2 estimator secondary outputs¶
| TimeUS | Time since system startup |
| C | EKF2 core this data is for |
| AZbias | Estimated accelerometer Z bias |
| GSX | Gyro Scale Factor (X-axis) |
| GSY | Gyro Scale Factor (Y-axis) |
| GSZ | Gyro Scale Factor (Z-axis) |
| VWN | Estimated wind velocity (North component) |
| VWE | Estimated wind velocity (East component) |
| MN | Magnetic field strength (North component) |
| ME | Magnetic field strength (East component) |
| MD | Magnetic field strength (Down component) |
| MX | Magnetic field strength (body X-axis) |
| MY | Magnetic field strength (body Y-axis) |
| MZ | Magnetic field strength (body Z-axis) |
| MI | Magnetometer used for data |
NKF3: EKF2 innovations¶
| TimeUS | Time since system startup |
| C | EKF2 core this data is for |
| IVN | Innovation in velocity (North component) |
| IVE | Innovation in velocity (East component) |
| IVD | Innovation in velocity (Down component) |
| IPN | Innovation in position (North component) |
| IPE | Innovation in position (East component) |
| IPD | Innovation in position (Down component) |
| IMX | Innovation in magnetic field strength (X-axis component) |
| IMY | Innovation in magnetic field strength (Y-axis component) |
| IMZ | Innovation in magnetic field strength (Z-axis component) |
| IYAW | Innovation in vehicle yaw |
| IVT | Innovation in true-airspeed |
| RErr | Accumulated relative error of this core with respect to active primary core |
| ErSc | A consolidated error score where higher numbers are less healthy |
NKF4: EKF2 variances¶
| TimeUS | Time since system startup |
| C | EKF2 core this data is for |
| SV | Square root of the velocity variance |
| SP | Square root of the position variance |
| SH | Square root of the height variance |
| SM | Magnetic field variance |
| SVT | tilt error convergence metric |
| errRP | Filtered error in roll/pitch estimate |
| OFN | Most recent position recent magnitude (North component) |
| OFE | Most recent position recent magnitude (East component) |
| FS | Filter fault status |
| TS | Filter timeout status 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: EKF2 Yaw Estimator States¶
| TimeUS | Time since system startup |
| C | EKF2 core this data is for |
| YC | GSF yaw estimate (rad) |
| YCS | GSF yaw estimate 1-Sigma uncertainty (rad) |
| Y0 | Yaw estimate from individual EKF filter 0 (rad) |
| Y1 | Yaw estimate from individual EKF filter 1 (rad) |
| Y2 | Yaw estimate from individual EKF filter 2 (rad) |
| Y3 | Yaw estimate from individual EKF filter 3 (rad) |
| Y4 | Yaw estimate from individual EKF filter 4 (rad) |
| W0 | Weighting applied to yaw estimate from individual EKF filter 0 |
| W1 | Weighting applied to yaw estimate from individual EKF filter 1 |
| W2 | Weighting applied to yaw estimate from individual EKF filter 2 |
| W3 | Weighting applied to yaw estimate from individual EKF filter 3 |
| W4 | Weighting applied to yaw estimate from individual EKF filter 4 |
NKY1: EKF2 Yaw Estimator Innovations¶
| TimeUS | Time since system startup |
| C | EKF2 core this data is for |
| IVN0 | North velocity innovation from individual EKF filter 0 (m/s) |
| IVN1 | North velocity innovation from individual EKF filter 1 (m/s) |
| IVN2 | North velocity innovation from individual EKF filter 2 (m/s) |
| IVN3 | North velocity innovation from individual EKF filter 3 (m/s) |
| IVN4 | North velocity innovation from individual EKF filter 4 (m/s) |
| IVE0 | East velocity innovation from individual EKF filter 0 (m/s) |
| IVE1 | East velocity innovation from individual EKF filter 1 (m/s) |
| IVE2 | East velocity innovation from individual EKF filter 2 (m/s) |
| IVE3 | East velocity innovation from individual EKF filter 3 (m/s) |
| IVE4 | East velocity innovation from individual EKF filter 4 (m/s) |
OABR: Object avoidance (Bendy Ruler) diagnostics¶
| TimeUS | Time since system startup |
| Type | Type of BendyRuler currently active |
| Act | True if Bendy Ruler avoidance is being used |
| DYaw | Best yaw chosen to avoid obstacle |
| Yaw | Current vehicle yaw |
| DP | Desired pitch chosen to avoid obstacle |
| RChg | True if BendyRuler resisted changing bearing and continued in last calculated bearing |
| Mar | Margin from path to obstacle on best yaw chosen |
| DLt | Destination latitude |
| DLg | Destination longitude |
| DAlt | Desired alt |
| OLt | Intermediate location chosen for avoidance |
| OLg | Intermediate location chosen for avoidance |
| OAlt | Intermediate alt chosen for avoidance |
OADJ: Object avoidance (Dijkstra) diagnostics¶
| TimeUS | Time since system startup |
| State | Dijkstra avoidance library state |
| Err | Dijkstra library error condition |
| CurrPoint | Destination point in calculated path to destination |
| TotPoints | Number of points in path to destination |
| DLat | Destination latitude |
| DLng | Destination longitude |
| OALat | Object Avoidance chosen destination point latitude |
| OALng | Object Avoidance chosen destination point longitude |
OF: Optical flow sensor data¶
| TimeUS | Time since system startup |
| Qual | Estimated sensor data quality |
| flowX | Sensor flow rate, X-axis |
| flowY | Sensor flow rate,Y-axis |
| bodyX | derived velocity, X-axis |
| bodyY | derived velocity, Y-axis |
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 vlaue |
PIDA: Proportional/Integral/Derivative gain values for Roll/Pitch/Yaw/Altitude/Steering¶
| TimeUS | Time since system startup |
| Tar | desired value |
| Act | achieved value |
| Err | error between target and achieved |
| P | proportional part of PID |
| I | integral part of PID |
| D | derivative part of PID |
| FF | controller feed-forward portion of response |
| Dmod | scaler applied to D gain to reduce limit cycling |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| Limit | 1 if I term is limited due to output saturation |
PM: autopilot system performance and general data dumping ground¶
| TimeUS | Time since system startup |
| NLon | Number of long loops detected |
| NLoop | Number of measurement loops for this message |
| MaxT | Maximum loop time |
| Mem | Free memory available |
| Load | System processor load |
| IntE | Internal error mask; which internal errors have been detected |
| ErrL | Internal error line number; last line number on which a internal error was detected |
| ErrC | Internal error count; how many internal errors have been detected |
| SPIC | Number of SPI transactions processed |
| I2CC | Number of i2c transactions processed |
| I2CI | Number of i2c interrupts serviced |
| Ex | number of microseconds being added to each loop to address scheduler overruns |
POS: Canonical vehicle position¶
| TimeUS | Time since system startup |
| Lat | Canonical vehicle latitude |
| Lng | Canonical vehicle longitude |
| Alt | Canonical vehicle altitude |
| RelHomeAlt | Canonical vehicle altitude relative to home |
| RelOriginAlt | Canonical vehicle altitude relative to navigation origin |
POWR: System power information¶
| TimeUS | Time since system startup |
| Vcc | Flight board voltage |
| VServo | Servo rail voltage |
| Flags | System power flags |
| AccFlags | Accumulated System power flags; all flags which have ever been set |
| Safety | Hardware Safety Switch status |
PRTN: Plane Parameter Tuning data¶
| TimeUS | Time since system startup |
| Set | Parameter set being tuned |
| Parm | Parameter being tuned |
| Value | Current parameter value |
| CenterValue | Center value (startpoint of current modifications) of parameter being tuned |
PRX: Proximity sensor data¶
| TimeUS | Time since system startup |
| Health | True if proximity sensor is healthy |
| D0 | Nearest object in sector surrounding 0-degrees |
| D45 | Nearest object in sector surrounding 45-degrees |
| D90 | Nearest object in sector surrounding 90-degrees |
| D135 | Nearest object in sector surrounding 135-degrees |
| D180 | Nearest object in sector surrounding 180-degrees |
| D225 | Nearest object in sector surrounding 225-degrees |
| D270 | Nearest object in sector surrounding 270-degrees |
| D315 | Nearest object in sector surrounding 315-degrees |
| DUp | Nearest object in upwards direction |
| CAn | Angle to closest object |
| CDis | Distance to closest object |
PSC: Position Control data¶
| TimeUS | Time since system startup |
| TPX | Target position relative to origin, X-axis |
| TPY | Target position relative to origin, Y-axis |
| PX | Position relative to origin, X-axis |
| PY | Position relative to origin, Y-axis |
| TVX | Target velocity, X-axis |
| TVY | Target velocity, Y-axis |
| VX | Velocity, X-axis |
| VY | Velocity, Y-axis |
| TAX | Target acceleration, X-axis |
| TAY | Target acceleration, Y-axis |
| AX | Acceleration, X-axis |
| AY | Acceleration, Y-axis |
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¶
| TimeUS | Time since system startup |
| RDes | vehicle desired roll rate |
| R | achieved vehicle roll rate |
| ROut | normalized output for Roll |
| PDes | vehicle desired pitch rate |
| P | vehicle pitch rate |
| POut | normalized output for Pitch |
| YDes | vehicle desired yaw rate |
| Y | achieved vehicle yaw rate |
| YOut | normalized output for Yaw |
| ADes | desired vehicle vertical acceleration |
| A | achieved vehicle vertical acceleration |
| AOut | percentage of vertical thrust output current being used |
RBCH: Replay Data Beacon Header¶
RBCI: Replay Data Beacon Instance¶
RBOH: Replay body odometry data¶
RBRH: Replay Data Barometer Header¶
RBRI: Replay Data Barometer Instance¶
RCDA: Raw RC data¶
| TimeUS | Time since system startup |
| TS | data arrival timestamp |
| Prot | Protocol currently being decoded |
| Len | Number of valid bytes in message |
| U0 | first quartet of bytes |
| U1 | second quartet of bytes |
| U2 | third quartet of bytes |
| U3 | fourth quartet of bytes |
| U4 | fifth quartet of bytes |
| U5 | sixth quartet of bytes |
| U6 | seventh quartet of bytes |
| U7 | eight quartet of bytes |
| U8 | ninth quartet of bytes |
| U9 | tenth quartet of bytes |
RCIN: RC input channels to vehicle¶
| TimeUS | Time since system startup |
| C1 | channel 1 input |
| C2 | channel 2 input |
| C3 | channel 3 input |
| C4 | channel 4 input |
| C5 | channel 5 input |
| C6 | channel 6 input |
| C7 | channel 7 input |
| C8 | channel 8 input |
| C9 | channel 9 input |
| C10 | channel 10 input |
| C11 | channel 11 input |
| C12 | channel 12 input |
| C13 | channel 13 input |
| C14 | channel 14 input |
RCOU: Servo channel output values¶
| TimeUS | Time since system startup |
| C1 | channel 1 output |
| C2 | channel 2 output |
| C3 | channel 3 output |
| C4 | channel 4 output |
| C5 | channel 5 output |
| C6 | channel 6 output |
| C7 | channel 7 output |
| C8 | channel 8 output |
| C9 | channel 9 output |
| C10 | channel 10 output |
| C11 | channel 11 output |
| C12 | channel 12 output |
| C13 | channel 13 output |
| C14 | channel 14 output |
REPH: Replay external position data¶
REV2: Replay Event¶
REVH: Replay external position data¶
REY3: Replay Euler Yaw event¶
RFND: Rangefinder sensor information¶
| TimeUS | Time since system startup |
| Instance | rangefinder instance number this data is from |
| Dist | Reported distance from sensor |
| Stat | Sensor state |
| Orient | Sensor orientation |
RGPH: Replay Data GPS Header¶
RGPI: Replay Data GPS Instance, infrequently changing data¶
RGPJ: Replay Data GPS Instance - rapidly changing data¶
RMGH: Replay Data Magnetometer Header¶
RMGI: Replay Data Magnetometer Instance¶
ROFH: Replay optical flow data¶
RPM: Data from RPM sensors¶
| TimeUS | Time since system startup |
| rpm1 | First sensor’s data |
| rpm2 | Second sensor’s data |
RRNH: Replay Data Rangefinder Header¶
RRNI: Replay Data Rangefinder Instance¶
RSO2: Replay Set Origin event¶
RSSI: Received Signal Strength Indicator for RC receiver¶
| TimeUS | Time since system startup |
| RXRSSI | RSSI |
RVOH: Replay Data Visual Odometry data¶
RWA2: Replay set-default-airspeed event¶
RWOH: Replay wheel odometry data¶
SA: Simple Avoidance messages¶
| TimeUS | Time since system startup |
| State | True if Simple Avoidance is active |
| DVelX | Desired velocity, X-Axis (Velocity before Avoidance) |
| DVelY | Desired velocity, Y-Axis (Velocity before Avoidance) |
| MVelX | Modified velocity, X-Axis (Velocity after Avoidance) |
| MVelY | Modified velocity, Y-Axis (Velocity after Avoidance) |
| Back | True if vehicle is backing away |
SBPH: Swift Health Data¶
| TimeUS | Time since system startup |
| CrcError | Number of packet CRC errors on serial connection |
| LastInject | Timestamp of last raw data injection to GPS |
| IARhyp | Current number of integer ambiguity hypotheses |
SBRH: Swift Raw Message Data¶
| TimeUS | Time since system startup |
| msg_flag | Swift message type |
| 1 | Sender ID |
| 2 | index; always 1 |
| 3 | pages; number of pages received |
| 4 | msg length; number of bytes received |
| 5 | unused; always zero |
| 6 | data received from device |
SIM: SITL simulator state¶
| TimeUS | Time since system startup |
| Roll | Simulated roll |
| Pitch | Simulated pitch |
| Yaw | Simulated yaw |
| Alt | Simulated altitude |
| Lat | Simulated latitude |
| Lng | Simulated longitude |
| Q1 | Attitude quaternion component 1 |
| Q2 | Attitude quaternion component 2 |
| Q3 | Attitude quaternion component 3 |
| Q4 | Attitude quaternion component 4 |
SITL: Simulation data¶
| TimeUS | Time since system startup |
| VN | Velocity - North component |
| VE | Velocity - East component |
| VD | Velocity - Down component |
| AN | Acceleration - North component |
| AE | Acceleration - East component |
| AD | Acceleration - Down component |
| PN | Position - North component |
| PE | Position - East component |
| PD | Position - Down component |
SMOO: Smoothed sensor data fed to EKF to avoid inconsistencies¶
| TimeUS | Time since system startup |
| AEx | Angular Velocity (around x-axis) |
| AEy | Angular Velocity (around y-axis) |
| AEz | Angular Velocity (around z-axis) |
| DPx | Velocity (along x-axis) |
| DPy | Velocity (along y-axis) |
| DPz | Velocity (along z-axis) |
| R | Roll |
| P | Pitch |
| Y | Yaw |
| R2 | DCM Roll |
| P2 | DCM Pitch |
| Y2 | DCM Yaw |
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) |
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 |
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 |
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 |
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¶
| TimeUS | Time since system startup |
| C | EKF3 core this data is for |
| SV | Square root of the velocity variance |
| SP | Square root of the position variance |
| SH | Square root of the height variance |
| SM | Magnetic field variance |
| SVT | Square root of the total airspeed variance |
| errRP | Filtered error in roll/pitch estimate |
| OFN | Most recent position recent magnitude (North component) |
| OFE | Most recent position recent magnitude (East component) |
| FS | Filter fault status |
| TS | Filter timeout status 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 |
XKQ: EKF3 quaternion defining the rotation from NED to XYZ (autopilot) axes¶
| TimeUS | Time since system startup |
| C | EKF3 core this data is for |
| Q1 | Quaternion a term |
| Q2 | Quaternion b term |
| Q3 | Quaternion c term |
| Q4 | Quaternion d term |
XKT: EKF3 timing information¶
| TimeUS | Time since system startup |
| C | EKF core this message instance applies to |
| Cnt | count of samples used to create this message |
| IMUMin | smallest IMU sample interval |
| IMUMax | largest IMU sample interval |
| EKFMin | low-passed achieved average time step rate for the EKF (minimum) |
| EKFMax | low-passed achieved average time step rate for the EKF (maximum) |
| AngMin | accumulated measurement time interval for the delta angle (minimum) |
| AngMax | accumulated measurement time interval for the delta angle (maximum) |
| VMin | accumulated measurement time interval for the delta velocity (minimum) |
| VMax | accumulated measurement time interval for the delta velocity (maximum) |
XKTV: EKF3 Yaw Estimator States¶
| TimeUS | Time since system startup |
| C | EKF3 core this data is for |
| TVS | Tilt Error Variance from symbolic equations (rad^2) |
| TVD | Tilt Error Variance from difference method (rad^2) |
XKV1: EKF3 State variances (primary core)¶
| TimeUS | Time since system startup |
| C | EKF3 core this data is for |
| V00 | Variance for state 0 |
| V01 | Variance for state 1 |
| V02 | Variance for state 2 |
| V03 | Variance for state 3 |
| V04 | Variance for state 4 |
| V05 | Variance for state 5 |
| V06 | Variance for state 6 |
| V07 | Variance for state 7 |
| V08 | Variance for state 8 |
| V09 | Variance for state 9 |
| V10 | Variance for state 10 |
| V11 | Variance for state 11 |
XKV2: more EKF3 State Variances (primary core)¶
| TimeUS | Time since system startup |
| C | EKF3 core this data is for |
| V12 | Variance for state 12 |
| V13 | Variance for state 13 |
| V14 | Variance for state 14 |
| V15 | Variance for state 15 |
| V16 | Variance for state 16 |
| V17 | Variance for state 17 |
| V18 | Variance for state 18 |
| V19 | Variance for state 19 |
| V20 | Variance for state 20 |
| V21 | Variance for state 21 |
| V22 | Variance for state 22 |
| V23 | Variance for state 23 |
XKY0: EKF3 Yaw Estimator States¶
| TimeUS | Time since system startup |
| C | EKF3 core this data is for |
| YC | GSF yaw estimate (rad) |
| YCS | GSF yaw estimate 1-Sigma uncertainty (rad) |
| Y0 | Yaw estimate from individual EKF filter 0 (rad) |
| Y1 | Yaw estimate from individual EKF filter 1 (rad) |
| Y2 | Yaw estimate from individual EKF filter 2 (rad) |
| Y3 | Yaw estimate from individual EKF filter 3 (rad) |
| Y4 | Yaw estimate from individual EKF filter 4 (rad) |
| W0 | Weighting applied to yaw estimate from individual EKF filter 0 |
| W1 | Weighting applied to yaw estimate from individual EKF filter 1 |
| W2 | Weighting applied to yaw estimate from individual EKF filter 2 |
| W3 | Weighting applied to yaw estimate from individual EKF filter 3 |
| W4 | Weighting applied to yaw estimate from individual EKF filter 4 |
XKY1: EKF3 Yaw Estimator Innovations¶
| TimeUS | Time since system startup |
| C | EKF3 core this data is for |
| IVN0 | North velocity innovation from individual EKF filter 0 (m/s) |
| IVN1 | North velocity innovation from individual EKF filter 1 (m/s) |
| IVN2 | North velocity innovation from individual EKF filter 2 (m/s) |
| IVN3 | North velocity innovation from individual EKF filter 3 (m/s) |
| IVN4 | North velocity innovation from individual EKF filter 4 (m/s) |
| IVE0 | East velocity innovation from individual EKF filter 0 (m/s) |
| IVE1 | East velocity innovation from individual EKF filter 1 (m/s) |
| IVE2 | East velocity innovation from individual EKF filter 2 (m/s) |
| IVE3 | East velocity innovation from individual EKF filter 3 (m/s) |
| IVE4 | East velocity innovation from individual EKF filter 4 (m/s) |