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

Forced

true if arm/disarm was forced

Method

method used for arming

ARSP

Airspeed sensor data

TimeUS

Time since system startup

I

Airspeed sensor instance number

Airspeed

Current airspeed

DiffPress

Pressure difference between static and dynamic port

Temp

Temperature used for calculation

RawPress

Raw pressure less offset

Offset

Offset from parameter

U

True if sensor is being used

H

True if sensor is healthy

Hp

Probability sensor is healthy

TR

innovation test ratio

Pri

True if sensor is the primary sensor

ASM1

AirSim simulation data

TimeUS

Time since system startup

TUS

Simulation’s timestamp

R

Simulation’s roll

P

Simulation’s pitch

Y

Simulation’s yaw

GX

Simulated gyroscope, X-axis

GY

Simulated gyroscope, Y-axis

GZ

Simulated gyroscope, Z-axis

ASM2

More AirSim simulation data

TimeUS

Time since system startup

AX

simulation’s acceleration, X-axis

AY

simulation’s acceleration, Y-axis

AZ

simulation’s acceleration, Z-axis

VX

simulation’s velocity, X-axis

VY

simulation’s velocity, Y-axis

VZ

simulation’s velocity, Z-axis

PX

simulation’s position, X-axis

PY

simulation’s position, Y-axis

PZ

simulation’s position, Z-axis

Alt

simulation’s gps altitude

SD

simulation’s earth-frame speed-down

ATDE

AutoTune data packet

TimeUS

Time since system startup

Angle

current angle

Rate

current angular rate

ATRP

Plane AutoTune

TimeUS

Time since system startup

Axis

tuning axis

State

tuning state

Sur

control surface deflection

PSlew

P slew rate

DSlew

D slew rate

FF0

FF value single sample

FF

FF value

P

P value

I

I value

D

D value

Action

action taken

RMAX

Rate maximum

TAU

time constant

ATT

Canonical vehicle attitude

TimeUS

Time since system startup

DesRoll

vehicle desired roll

Roll

achieved vehicle roll

DesPitch

vehicle desired pitch

Pitch

achieved vehicle pitch

DesYaw

vehicle desired yaw

Yaw

achieved vehicle yaw

ErrRP

lowest estimated gyro drift error

ErrYaw

difference between measured yaw and DCM yaw estimate

AEKF

active EKF type

ATUN

Copter/QuadPlane AutoTune

TimeUS

Time since system startup

Axis

which axis is currently being tuned

TuneStep

step in autotune process

Targ

target angle or rate, depending on tuning step

Min

measured minimum target angle or rate

Max

measured maximum target angle or rate

RP

new rate gain P term

RD

new rate gain D term

SP

new angle P term

ddt

maximum measured twitching acceleration

AUXF

Auxiliary function invocation information

TimeUS

Time since system startup

function

ID of triggered function

pos

switch position when function triggered

source

source of auxiliary function invocation

result

true if function was successful

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

ECYL

EFI per-cylinder information

TimeUS

Time since system startup

Inst

Cylinder this data belongs to

IgnT

Ignition timing

InjT

Injection time

CHT

Cylinder head temperature

EGT

Exhaust gas temperature

Lambda

Estimated lambda coefficient (dimensionless ratio)

IDX

Index of the publishing ECU

EFI

Electronic Fuel Injection system data

TimeUS

Time since system startup

LP

Reported engine load

Rpm

Reported engine RPM

SDT

Spark Dwell Time

ATM

Atmospheric pressure

IMP

Intake manifold pressure

IMT

Intake manifold temperature

ECT

Engine Coolant Temperature

OilP

Oil Pressure

OilT

Oil temperature

FP

Fuel Pressure

FCR

Fuel Consumption Rate

CFV

Consumed fueld volume

TPS

Throttle Position

IDX

Index of the publishing ECU

EFI2

Electronic Fuel Injection system data - redux

TimeUS

Time since system startup

Healthy

True if EFI is healthy

ES

Engine state

GE

General error

CSE

Crankshaft sensor status

TS

Temperature status

FPS

Fuel pressure status

OPS

Oil pressure status

DS

Detonation status

MS

Misfire status

DebS

Debris status

SPU

Spark plug usage

IDX

Index of the publishing ECU

ERR

Specifically coded error messages

TimeUS

Time since system startup

Subsys

Subsystem in which the error occurred

ECode

Subsystem-specific error code

ESC

Feedback received from ESCs

TimeUS

microseconds since system startup

Instance

ESC instance number

RPM

reported motor rotation rate

RawRPM

reported motor rotation rate without slew adjustment

Volt

Perceived input voltage for the ESC

Curr

Perceived current through the ESC

Temp

ESC temperature in centi-degrees C

CTot

current consumed total mAh

MotTemp

measured motor temperature in centi-degrees C

Err

error rate

EV

Specifically coded event messages

TimeUS

Time since system startup

Id

Event identifier

FMT

Message defining the format of messages in this file

Type

unique-to-this-log identifier for message being defined

Length

the number of bytes taken up by this message (including all headers)

Name

name of the message being defined

Format

character string defining the C-storage-type of the fields in this message

Columns

the labels of the message being defined

FMTU

Message defining units and multipliers used for fields of other messages

TimeUS

Time since system startup

FmtType

numeric reference to associated FMT message

UnitIds

each character refers to a UNIT message. The unit at an offset corresponds to the field at the same offset in FMT.Format

MultIds

each character refers to a MULT message. The multiplier at an offset corresponds to the field at the same offset in FMT.Format

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 Messages

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 freqency 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

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

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

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

ICMB

ICM20789 diagnostics

TimeUS

Time since system startup

Traw

raw temperature from sensor

Praw

raw pressure from sensor

P

pressure

T

temperature

IMU

Inertial Measurement Unit data

TimeUS

Time since system startup

I

IMU sensor instance number

GyrX

measured rotation rate about X axis

GyrY

measured rotation rate about Y axis

GyrZ

measured rotation rate about Z axis

AccX

acceleration along X axis

AccY

acceleration along Y axis

AccZ

acceleration along Z axis

EG

gyroscope error count

EA

accelerometer error count

T

IMU temperature

GH

gyroscope health

AH

accelerometer health

GHz

gyroscope measurement rate

AHz

accelerometer measurement rate

IOMC

IOMCU diagnostic information

TimeUS

Time since system startup

RSErr

Status Read error count (zeroed on successful read)

Mem

Free memory

TS

IOMCU uptime

NPkt

Number of packets received by IOMCU

Nerr

Protocol failures on MCU side

Nerr2

Reported number of failures on IOMCU side

NDel

Number of delayed packets received by MCU

JSN1

Log data received from JSON simulator

TimeUS

Time since system startup (us)

TStamp

Simulation’s timestamp (s)

R

Simulation’s roll (rad)

P

Simulation’s pitch (rad)

Y

Simulation’s yaw (rad)

GX

Simulated gyroscope, X-axis (rad/sec)

GY

Simulated gyroscope, Y-axis (rad/sec)

GZ

Simulated gyroscope, Z-axis (rad/sec)

JSN2

Log data received from JSON simulator

TimeUS

Time since system startup (us)

VN

simulation’s velocity, North-axis (m/s)

VE

simulation’s velocity, East-axis (m/s)

VD

simulation’s velocity, Down-axis (m/s)

AX

simulation’s acceleration, X-axis (m/s^2)

AY

simulation’s acceleration, Y-axis (m/s^2)

AZ

simulation’s acceleration, Z-axis (m/s^2)

AN

simulation’s acceleration, North (m/s^2)

AE

simulation’s acceleration, East (m/s^2)

AD

simulation’s acceleration, Down (m/s^2)

LAND

Slope Landing data

TimeUS

Time since system startup

stage

progress through landing sequence

f1

Landing flags

f2

Slope-specific landing flags

slope

Slope to landing point

slopeInit

Initial slope to landing point

altO

Rangefinder correction

fh

Height for flare timing.

LGR

Landing gear information

TimeUS

Time since system startup

LandingGear

Current landing gear state

WeightOnWheels

True if there is weight on wheels

MAG

Information received from compasses

TimeUS

Time since system startup

I

magnetometer sensor instance number

MagX

magnetic field strength in body frame

MagY

magnetic field strength in body frame

MagZ

magnetic field strength in body frame

OfsX

magnetic field offset in body frame

OfsY

magnetic field offset in body frame

OfsZ

magnetic field offset in body frame

MOX

motor interference magnetic field offset in body frame

MOY

motor interference magnetic field offset in body frame

MOZ

motor interference magnetic field offset in body frame

Health

true if the compass is considered healthy

S

time measurement was taken

MAV

GCS MAVLink link statistics

TimeUS

Time since system startup

chan

mavlink channel number

txp

transmitted packet count

rxp

received packet count

rxdp

perceived number of packets we never received

flags

compact representation of some stage of the channel

ss

stream slowdown is the number of ms being added to each message to fit within bandwidth

tf

times buffer was full when a message was going to be sent

MAVC

MAVLink command we have just executed

TimeUS

Time since system startup

TS

target system for command

TC

target component for command

SS

source system for command

SC

source component for command

Fr

command frame

Cmd

mavlink command enum value

P1

first parameter from mavlink packet

P2

second parameter from mavlink packet

P3

third parameter from mavlink packet

P4

fourth parameter from mavlink packet

X

X coordinate from mavlink packet

Y

Y coordinate from mavlink packet

Z

Z coordinate from mavlink packet

Res

command result being returned from autopilot

WL

true if this command arrived via a COMMAND_LONG rather than COMMAND_INT

MMO

MMC3416 compass data

TimeUS

Time since system startup

Nx

new measurement X axis

Ny

new measurement Y axis

Nz

new measurement Z axis

Ox

new offset X axis

Oy

new offset Y axis

Oz

new offset Z axis

MODE

vehicle control mode information

TimeUS

Time since system startup

Mode

vehicle-specific mode number

ModeNum

alias for Mode

Rsn

reason for entering this mode; enumeration value

MON

Main loop performance monitoring message.

TimeUS

Time since system startup

Dly

Loop delay so far

Tsk

Current task

IErr

Internal error mask

IErrCnt

Count of internal error occurances

IErrLn

Internal Error line

MM

MAVLink message currently being processed

MC

MAVLink command currently being processed

SmLn

If semaphore taken, line of semaphore take call

SPICnt

count of SPI transactions

I2CCnt

count of i2c transactions

MOTB

Motor mixer information

TimeUS

Time since system startup

LiftMax

Maximum motor compensation gain

BatVolt

Ratio between detected battery voltage and maximum battery voltage

ThLimit

Throttle limit set due to battery current limitations

ThrAvMx

Maximum average throttle that can be used to maintain attitude control, derived from throttle mix params

FailFlags

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

MSG

Textual messages

TimeUS

Time since system startup

Message

message text

MULT

Message mapping from single character to numeric multiplier

TimeUS

Time since system startup

Id

character referenced by FMTU

Mult

numeric multiplier

NKF0

EKF2 beacon sensor diagnostics

TimeUS

Time since system startup

C

EKF2 core this data is for

ID

Beacon sensor ID

rng

Beacon range

innov

Beacon range innovation

SIV

sqrt of beacon range innovation variance

TR

Beacon range innovation consistency test ratio

BPN

Beacon north position

BPE

Beacon east position

BPD

Beacon down position

OFH

High estimate of vertical position offset of beacons rel to EKF origin

OFL

Low estimate of vertical position offset of beacons rel to EKF origin

OFN

always zero

OFE

always zero

OFD

always zero

NKF1

EKF2 estimator outputs

TimeUS

Time since system startup

C

EKF2 core this data is for

Roll

Estimated roll

Pitch

Estimated pitch

Yaw

Estimated yaw

VN

Estimated velocity (North component)

VE

Estimated velocity (East component)

VD

Estimated velocity (Down component)

dPD

Filtered derivative of vertical position (down)

PN

Estimated distance from origin (North component)

PE

Estimated distance from origin (East component)

PD

Estimated distance from origin (Down component)

GX

Estimated gyro bias, X axis

GY

Estimated gyro bias, Y axis

GZ

Estimated gyro bias, Z axis

OH

Height of origin above WGS-84

NKF2

EKF2 estimator secondary outputs

TimeUS

Time since system startup

C

EKF2 core this data is for

AZbias

Estimated accelerometer Z bias

GSX

Gyro Scale Factor (X-axis)

GSY

Gyro Scale Factor (Y-axis)

GSZ

Gyro Scale Factor (Z-axis)

VWN

Estimated wind velocity (North component)

VWE

Estimated wind velocity (East component)

MN

Magnetic field strength (North component)

ME

Magnetic field strength (East component)

MD

Magnetic field strength (Down component)

MX

Magnetic field strength (body X-axis)

MY

Magnetic field strength (body Y-axis)

MZ

Magnetic field strength (body Z-axis)

MI

Magnetometer used for data

NKF3

EKF2 innovations

TimeUS

Time since system startup

C

EKF2 core this data is for

IVN

Innovation in velocity (North component)

IVE

Innovation in velocity (East component)

IVD

Innovation in velocity (Down component)

IPN

Innovation in position (North component)

IPE

Innovation in position (East component)

IPD

Innovation in position (Down component)

IMX

Innovation in magnetic field strength (X-axis component)

IMY

Innovation in magnetic field strength (Y-axis component)

IMZ

Innovation in magnetic field strength (Z-axis component)

IYAW

Innovation in vehicle yaw

IVT

Innovation in true-airspeed

RErr

Accumulated relative error of this core with respect to active primary core

ErSc

A consolidated error score where higher numbers are less healthy

NKF4

EKF2 variances SV, SP, SH and SM are probably best described as ‘Squared Innovation Test Ratios’ where values <1 tells us the measurement was accepted and >1 tells us it was rejected. They represent the square of the (innovation / maximum allowed innovation) where the innovation is the difference between predicted and measured value and the maximum allowed innovation is determined from the uncertainty of the measurement, uncertainty of the prediction and scaled using the number of standard deviations set by the innovation gate parameter for that measurement, eg EK2_MAG_I_GATE, EK2_HGT_I_GATE, etc

TimeUS

Time since system startup

C

EKF2 core this data is for

SV

Square root of the velocity variance

SP

Square root of the position variance

SH

Square root of the height variance

SM

Magnetic field variance

SVT

tilt error convergence metric

errRP

Filtered error in roll/pitch estimate

OFN

Most recent position reset (North component)

OFE

Most recent position reset (East component)

FS

Filter fault status

TS

Filter timeout status bitmask (0:position measurement, 1:velocity measurement, 2:height measurement, 3:magnetometer measurement, 4:airspeed measurement)

SS

Filter solution status

GPS

Filter GPS status

PI

Primary core index

NKF5

EKF2 Sensor innovations (primary core) and general dumping ground

TimeUS

Time since system startup

C

EKF2 core this data is for

NI

Normalised flow variance

FIX

Optical flow LOS rate vector innovations from the main nav filter (X-axis)

FIY

Optical flow LOS rate vector innovations from the main nav filter (Y-axis)

AFI

Optical flow LOS rate innovation from terrain offset estimator

HAGL

Height above ground level

offset

Estimated vertical position of the terrain relative to the nav filter zero datum

RI

Range finder innovations

rng

Measured range

Herr

Filter ground offset state error

eAng

Magnitude of angular error

eVel

Magnitude of velocity error

ePos

Magnitude of position error

NKQ

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

TimeUS

Time since system startup

C

EKF2 core this data is for

Q1

Quaternion a term

Q2

Quaternion b term

Q3

Quaternion c term

Q4

Quaternion d term

NKT

EKF2 timing information

TimeUS

Time since system startup

C

EKF core this message instance applies to

Cnt

count of samples used to create this message

IMUMin

smallest IMU sample interval

IMUMax

largest IMU sample interval

EKFMin

low-passed achieved average time step rate for the EKF (minimum)

EKFMax

low-passed achieved average time step rate for the EKF (maximum)

AngMin

accumulated measurement time interval for the delta angle (minimum)

AngMax

accumulated measurement time interval for the delta angle (maximum)

VMin

accumulated measurement time interval for the delta velocity (minimum)

VMax

accumulated measurement time interval for the delta velocity (maximum)

NKY0

EKF Yaw Estimator States

TimeUS

Time since system startup

C

EKF core this data is for

YC

GSF yaw estimate (deg)

YCS

GSF yaw estimate 1-Sigma uncertainty (deg)

Y0

Yaw estimate from individual EKF filter 0 (deg)

Y1

Yaw estimate from individual EKF filter 1 (deg)

Y2

Yaw estimate from individual EKF filter 2 (deg)

Y3

Yaw estimate from individual EKF filter 3 (deg)

Y4

Yaw estimate from individual EKF filter 4 (deg)

W0

Weighting applied to yaw estimate from individual EKF filter 0

W1

Weighting applied to yaw estimate from individual EKF filter 1

W2

Weighting applied to yaw estimate from individual EKF filter 2

W3

Weighting applied to yaw estimate from individual EKF filter 3

W4

Weighting applied to yaw estimate from individual EKF filter 4

NKY1

EKF Yaw Estimator Innovations

TimeUS

Time since system startup

C

EKF core this data is for

IVN0

North velocity innovation from individual EKF filter 0 (m/s)

IVN1

North velocity innovation from individual EKF filter 1 (m/s)

IVN2

North velocity innovation from individual EKF filter 2 (m/s)

IVN3

North velocity innovation from individual EKF filter 3 (m/s)

IVN4

North velocity innovation from individual EKF filter 4 (m/s)

IVE0

East velocity innovation from individual EKF filter 0 (m/s)

IVE1

East velocity innovation from individual EKF filter 1 (m/s)

IVE2

East velocity innovation from individual EKF filter 2 (m/s)

IVE3

East velocity innovation from individual EKF filter 3 (m/s)

IVE4

East velocity innovation from individual EKF filter 4 (m/s)

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

AltErr

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

AspdE

difference between vehicle’s airspeed and desired airspeed

TLat

target latitude

TLng

target longitude

TAlt

target altitude

TAspd

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

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

NLon

Number of long loops detected

NLoop

Number of measurement loops for this message

MaxT

Maximum loop time

Mem

Free memory available

Load

System processor load

IntE

Internal error mask; which internal errors have been detected

ErrL

Internal error line number; last line number on which a internal error was detected

ErrC

Internal error count; how many internal errors have been detected

SPIC

Number of SPI transactions processed

I2CC

Number of i2c transactions processed

I2CI

Number of i2c interrupts serviced

Ex

number of microseconds being added to each loop to address scheduler overruns

POS

Canonical vehicle position

TimeUS

Time since system startup

Lat

Canonical vehicle latitude

Lng

Canonical vehicle longitude

Alt

Canonical vehicle altitude

RelHomeAlt

Canonical vehicle altitude relative to home

RelOriginAlt

Canonical vehicle altitude relative to navigation origin

POWR

System power information

TimeUS

Time since system startup

Vcc

Flight board voltage

VServo

Servo rail voltage

Flags

System power flags

AccFlags

Accumulated System power flags; all flags which have ever been set

Safety

Hardware Safety Switch status

MTemp

MCU Temperature

MVolt

MCU Voltage

MVmin

MCU Voltage min

MVmax

MCU Voltage max

PRTN

Plane Parameter Tuning data

TimeUS

Time since system startup

Set

Parameter set being tuned

Parm

Parameter being tuned

Value

Current parameter value

CenterValue

Center value (startpoint of current modifications) of parameter being tuned

PRX

Proximity Filtered sensor data

TimeUS

Time since system startup

Layer

Pitch(instance) at which the obstacle is at. 0th layer {-75,-45} degrees. 1st layer {-45,-15} degrees. 2nd layer {-15, 15} degrees. 3rd layer {15, 45} degrees. 4th layer {45,75} degrees. Minimum distance in each layer will be logged.

He

True if proximity sensor is healthy

D0

Nearest object in sector surrounding 0-degrees

D45

Nearest object in sector surrounding 45-degrees

D90

Nearest object in sector surrounding 90-degrees

D135

Nearest object in sector surrounding 135-degrees

D180

Nearest object in sector surrounding 180-degrees

D225

Nearest object in sector surrounding 225-degrees

D270

Nearest object in sector surrounding 270-degrees

D315

Nearest object in sector surrounding 315-degrees

DUp

Nearest object in upwards direction

CAn

Angle to closest object

CDis

Distance to closest object

PRXR

Proximity Raw sensor data

TimeUS

Time since system startup

Layer

Pitch(instance) at which the obstacle is at. 0th layer {-75,-45} degrees. 1st layer {-45,-15} degrees. 2nd layer {-15, 15} degrees. 3rd layer {15, 45} degrees. 4th layer {45,75} degrees. Minimum distance in each layer will be logged.

D0

Nearest object in sector surrounding 0-degrees

D45

Nearest object in sector surrounding 45-degrees

D90

Nearest object in sector surrounding 90-degrees

D135

Nearest object in sector surrounding 135-degrees

D180

Nearest object in sector surrounding 180-degrees

D225

Nearest object in sector surrounding 225-degrees

D270

Nearest object in sector surrounding 270-degrees

D315

Nearest object in sector surrounding 315-degrees

PSCD

Position Control Down

TimeUS

Time since system startup

TPD

Target position relative to EKF origin

PD

Position relative to EKF origin

DVD

Desired velocity Down

TVD

Target velocity Down

VD

Velocity Down

DAD

Desired acceleration Down

TAD

Target acceleration Down

AD

Acceleration Down

PSCE

Position Control East

TimeUS

Time since system startup

TPE

Target position relative to EKF origin

PE

Position relative to EKF origin

DVE

Desired velocity East

TVE

Target velocity East

VE

Velocity East

DAE

Desired acceleration East

TAE

Target acceleration East

AE

Acceleration East

PSCN

Position Control North

TimeUS

Time since system startup

TPN

Target position relative to EKF origin

PN

Position relative to EKF origin

DVN

Desired velocity North

TVN

Target velocity North

VN

Velocity North

DAN

Desired acceleration North

TAN

Target acceleration North

AN

Acceleration North

QTUN

QuadPlane vertical tuning message

TimeUS

Time since system startup

ThI

throttle input

ABst

angle boost

ThO

throttle output

ThH

calculated hover throttle

DAlt

desired altitude

Alt

achieved altitude

BAlt

barometric altitude

DCRt

desired climb rate

CRt

climb rate

TMix

transition throttle mix value

Sscl

speed scalar for tailsitter control surfaces

Trn

Transistion state

Ast

Q assist active state

RAD

Telemetry radio statistics

TimeUS

Time since system startup

RSSI

RSSI

RemRSSI

RSSI reported from remote radio

TxBuf

number of bytes in radio ready to be sent

Noise

local noise floor

RemNoise

local noise floor reported from remote radio

RxErrors

damaged packet count

Fixed

fixed damaged packet count

RALY

Rally point information

TimeUS

Time since system startup

Tot

total number of rally points onboard

Seq

this rally point’s sequence number

Lat

latitude of rally point

Lng

longitude of rally point

Alt

altitude of rally point

RATE

Desired and achieved vehicle attitude rates. Not logged in Fixed Wing Plane modes.

TimeUS

Time since system startup

RDes

vehicle desired roll rate

R

achieved vehicle roll rate

ROut

normalized output for Roll

PDes

vehicle desired pitch rate

P

vehicle pitch rate

POut

normalized output for Pitch

Y

achieved vehicle yaw rate

YOut

normalized output for Yaw

YDes

vehicle desired yaw rate

ADes

desired vehicle vertical acceleration

A

achieved vehicle vertical acceleration

AOut

percentage of vertical thrust output current being used

RBCH

Replay Data Beacon Header

RBCI

Replay Data Beacon Instance

RBOH

Replay body odometry data

RBRH

Replay Data Barometer Header

RBRI

Replay Data Barometer Instance

RCDA

Raw RC data

TimeUS

Time since system startup

TS

data arrival timestamp

Prot

Protocol currently being decoded

Len

Number of valid bytes in message

U0

first quartet of bytes

U1

second quartet of bytes

U2

third quartet of bytes

U3

fourth quartet of bytes

U4

fifth quartet of bytes

U5

sixth quartet of bytes

U6

seventh quartet of bytes

U7

eight quartet of bytes

U8

ninth quartet of bytes

U9

tenth quartet of bytes

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

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

N

point associated with most recent action (North component)

E

point associated with most recent action (East component)

D

point associated with most recent action (Down component)

STAK

Stack information

TimeUS

Time since system startup

Id

thread ID

Pri

thread priority

Total

total stack

Free

free stack

Name

thread name

STAT

Current status of the aircraft

TimeUS

Time since system startup

isFlying

True if aircraft is probably flying

isFlyProb

Probabilty that the aircraft is flying

Armed

Arm status of the aircraft

Safety

State of the safety switch

Crash

True if crash is detected

Still

True when vehicle is not moving in any axis

Stage

Current stage of the flight

Hit

True if impact is detected

TEC2

Additional Information about the Total Energy Control System

TimeUS

Time since system startup

pmax

maximum allowed pitch from parameter

pmin

minimum allowed pitch from parameter

KErr

difference between estimated kinetic energy and desired kinetic energy

PErr

difference between estimated potential energy and desired potential energy

EDelta

current error in speed/balance weighting

LF

aerodynamic load factor

hdem1

demanded height input

hdem2

rate-limited height demand

TECS

Information about the Total Energy Control System

TimeUS

Time since system startup

h

height estimate (UP) currently in use by TECS

dh

current climb rate (“delta-height”)

hdem

height TECS is currently trying to achieve

dhdem

climb rate TECS is currently trying to achieve

spdem

True AirSpeed TECS is currently trying to achieve

sp

current estimated True AirSpeed

dsp

x-axis acceleration estimate (“delta-speed”)

ith

throttle integrator value

iph

Specific Energy Balance integrator value

th

throttle output

ph

pitch output

dspdem

demanded acceleration output (“delta-speed demand”)

w

current TECS prioritization of height vs speed (0==100% height,2==100% speed, 1==50%height+50%speed

f

flags

TERR

Terrain database infomration

TimeUS

Time since system startup

Status

Terrain database status

Lat

Current vehicle latitude

Lng

Current vehicle longitude

Spacing

terrain Tile spacing

TerrH

current Terrain height

CHeight

Vehicle height above terrain

Pending

Number of tile requests outstanding

Loaded

Number of tiles in memory

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)