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) |