This is a list of log messages which may be present in logs produced and stored onboard ArduPilot vehicles.
[toc exclude="Onboard Message Log Messages"]| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| I | instance | accelerometer sensor instance number |
| SampleUS | μs | time since system startup this sample was taken |
| AccX | m/s/s | acceleration along X axis |
| AccY | m/s/s | acceleration along Y axis |
| AccZ | m/s/s | acceleration along Z axis |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| ICAO_address | Transponder address | |
| Lat | 1e-7 deglatitude | Vehicle latitude |
| Lng | 1e-7 deglongitude | Vehicle longitude |
| Alt | mm | Vehicle altitude |
| Heading | cdegheading | Vehicle heading |
| Hor_vel | mm/s | Vehicle horizontal velocity |
| Ver_vel | mm/s | Vehicle vertical velocity |
| Squark | Transponder squawk code |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Roll | deg | Estimated roll |
| Pitch | deg | Estimated pitch |
| Yaw | degheading | Estimated yaw |
| Alt | m | Estimated altitude |
| Lat | deglatitude | Estimated latitude |
| Lng | deglongitude | 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 |
| FieldName | Units/Type | Description |
|---|---|---|
| US | μs | 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 |
| FieldName | Units/Type | Description |
|---|---|---|
| US | μs | 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 |
| FieldName | Units/Type | Description |
|---|---|---|
| US | μs | Time since system startup |
| rep | Repeat Indicator | |
| mmsi | MMSI | |
| ver | AIS Version | |
| imo | IMO Number | |
| cal | char[16] | Call Sign |
| nam | char[64] | Vessel Name |
| typ | Ship Type | |
| bow | m | Dimension to Bow |
| stn | m | Dimension to Stern |
| prt | m | Dimension to Port |
| str | m | Dimension to Starboard |
| fix | Position Fix Type | |
| dght | dm | Draught |
| dst | char[64] | Destination |
| dte | DTE |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | 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 | char[64] | data payload |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Timestamp of the current Attitude loop |
| DesRoll | deg | vehicle desired roll |
| Roll | deg | achieved vehicle roll |
| DesPitch | deg | vehicle desired pitch |
| Pitch | deg | achieved vehicle pitch |
| DesYaw | degheading | vehicle desired yaw |
| Yaw | degheading | achieved vehicle yaw |
| Dt | s | attitude delta time |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| AOA | deg | Angle of Attack calculated from airspeed, wind vector,velocity vector |
| SSA | deg | Side Slip Angle calculated from airspeed, wind vector,velocity vector |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| ArmState | true if vehicle is now armed | |
| ArmChecks | bitmask | arming bitmask at time of arming |
| Forced | true if arm/disarm was forced | |
| Method | enum | method used for arming |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| I | instance | Airspeed sensor instance number |
| Airspeed | m/s | Current airspeed |
| DiffPress | Pa | Pressure difference between static and dynamic port |
| Temp | degC | Temperature used for calculation |
| RawPress | Pa | Raw pressure less offset |
| Offset | Pa | 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 |
| FieldName | Units/Type | Description |
|---|---|---|
| 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 |
| FieldName | Units/Type | Description |
|---|---|---|
| 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 |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Angle | deg | current angle |
| Rate | deg/s | current angular rate |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| AngPScX | Angle P scale X | |
| AngPScY | Angle P scale Y | |
| AngPScZ | Angle P scale Z | |
| PDScX | PD scale X | |
| PDScY | PD scale Y | |
| PDScZ | PD scale Z |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| DesRoll | deg | vehicle desired roll |
| Roll | deg | achieved vehicle roll |
| DesPitch | deg | vehicle desired pitch |
| Pitch | deg | achieved vehicle pitch |
| DesYaw | degheading | vehicle desired yaw |
| Yaw | degheading | achieved vehicle yaw |
| AEKF | active EKF type |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| function | instance | ID of triggered function |
| pos | enum | switch position when function triggered |
| source | enum | source of auxiliary function invocation |
| index | index within source. 0 indexed. Invalid for scripting. | |
| result | true if function was successful |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| I | instance | barometer sensor instance number |
| DynPrX | Pa | calculated dynamic pressure in the bodyframe X-axis |
| DynPrY | Pa | calculated dynamic pressure in the bodyframe Y-axis |
| DynPrZ | Pa | calculated dynamic pressure in the bodyframe Z-axis |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| I | instance | barometer sensor instance number |
| Alt | m | calculated altitude |
| AltAMSL | m | altitude AMSL |
| Press | Pa | measured atmospheric pressure |
| Temp | degC | measured atmospheric temperature |
| CRt | m/s | derived climb rate from primary barometer |
| SMS | ms | time last sample was taken |
| Offset | m | raw adjustment of barometer altitude, zeroed on calibration, possibly set by GCS |
| GndTemp | degC | temperature on ground, specified by parameter or measured while on ground |
| H | true if barometer is considered healthy | |
| CPress | Pa | compensated atmospheric pressure |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Inst | instance | battery instance number |
| Volt | V | measured voltage |
| VoltR | V | estimated resting voltage |
| Curr | A | measured current |
| CurrTot | mAh | consumed Ah, current * time |
| EnrgTot | W.h | consumed Wh, energy this battery has expended |
| Temp | degC | measured temperature |
| Res | Ohm | estimated battery resistance |
| RemPct | % | remaining percentage |
| H | health | |
| SH | % | state of health percentage. 0 if unknown |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Instance | instance | battery instance number |
| Volt | V | battery voltage |
| V1 | mV | first cell voltage |
| V2 | mV | second cell voltage |
| V3 | mV | third cell voltage |
| V4 | mV | fourth cell voltage |
| V5 | mV | fifth cell voltage |
| V6 | mV | sixth cell voltage |
| V7 | mV | seventh cell voltage |
| V8 | mV | eighth cell voltage |
| V9 | mV | ninth cell voltage |
| V10 | mV | tenth cell voltage |
| V11 | mV | eleventh cell voltage |
| V12 | mV | twelfth cell voltage |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Instance | instance | battery instance number |
| V13 | mV | thirteenth cell voltage |
| V14 | mV | fourteenth cell voltage |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Health | True if beacon sensor is healthy | |
| Cnt | Number of beacons being used | |
| D0 | m | Distance to first beacon |
| D1 | m | Distance to second beacon |
| D2 | m | Distance to third beacon |
| D3 | m | Distance to fourth beacon |
| PosX | m | Calculated beacon position, x-axis |
| PosY | m | Calculated beacon position, y-axis |
| PosZ | m | Calculated beacon position, z-axis |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Bus | instance | bus number |
| Id | frame identifier | |
| DLC | data length code | |
| D0 | data 0 | |
| D1 | data 1 | |
| D2 | data 2 | |
| D3 | data 3 | |
| D4 | data 4 | |
| D5 | data 5 | |
| D6 | data 6 | |
| D7 | data 7 |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| I | instance | Instance number |
| Img | Image number | |
| GPSTime | milliseconds since start of GPS week | |
| GPSWeek | weeks since 5 Jan 1980 | |
| Lat | deglatitude | current latitude |
| Lng | deglongitude | current longitude |
| Alt | m | current altitude |
| RelAlt | m | current altitude relative to home |
| GPSAlt | m | altitude as reported by GPS |
| R | deg | current vehicle roll |
| P | deg | current vehicle pitch |
| Y | deg | current vehicle yaw |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Driver | Driver index | |
| NodeId | instance | Node ID |
| UID1 | Hardware ID, part 1 | |
| UID2 | Hardware ID, part 2 | |
| Name | char[64] | Name string |
| Major | major revision id | |
| Minor | minor revision id | |
| Version | AP_Periph git hash |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Bus | instance | bus number |
| Id | frame identifier | |
| DLC | data length code | |
| B0 | byte 0 | |
| B1 | byte 1 | |
| B2 | byte 2 | |
| B3 | byte 3 | |
| B4 | byte 4 | |
| B5 | byte 5 | |
| B6 | byte 6 | |
| B7 | byte 7 |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| I | instance | driver index |
| T | transmit success count | |
| Trq | transmit request count | |
| Trej | transmit reject count | |
| Tov | transmit overflow count | |
| Tto | transmit timeout count | |
| Tab | transmit abort count | |
| R | receive count | |
| Rov | receive overflow count | |
| Rer | receive error count | |
| Bo | bus offset error count | |
| Etx | ESC successful send count | |
| Stx | Servo successful send count | |
| Ftx | ESC/Servo failed-to-send count |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | Time since system startup | |
| Type | enum | controller type |
| Act | true if controller is active |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | 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 | deglatitude | Command latitude |
| Lng | deglongitude | Command longitude |
| Alt | m | Command altitude |
| Frame | Frame used for position |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Id | instance | Servo number this data relates to |
| Pos | deg | Current servo position |
| Force | N.m | Force being applied |
| Speed | deg/s | Current servo movement speed |
| Pow | % | Amount of rated power being applied |
| PosCmd | deg | commanded servo position |
| V | V | Voltage |
| A | A | Current |
| MotT | degC | motor temperature |
| PCBT | degC | PCB temperature |
| Err | error flags |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| ThI | throttle input | |
| ABst | angle boost | |
| ThO | throttle output | |
| ThH | calculated hover throttle | |
| DAlt | m | desired altitude |
| Alt | m | achieved altitude |
| BAlt | cm | barometric altitude |
| DSAlt | m | desired rangefinder altitude |
| SAlt | m | achieved rangefinder altitude |
| TAlt | cm | terrain altitude |
| DCRt | cm/s | desired climb rate |
| CRt | cm/s | climb rate |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Id | Data type identifier | |
| Value | Value |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Id | Data type identifier | |
| Value | Value |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Roll | deg | estimated roll |
| Pitch | deg | estimated pitch |
| Yaw | deg | estimated yaw |
| ErrRP | deg | lowest estimated gyro drift error |
| ErrYaw | degheading | difference between measured yaw and DCM yaw estimate |
| VWN | m/s | wind velocity, to-the-North component |
| VWE | m/s | wind velocity, to-the-East component |
| VWD | m/s | wind velocity, Up-to-Down component |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Id | Data type identifier | |
| Value | Value |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | 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 |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Dp | Number of times we rejected a write to the backend | |
| Blk | Current block number | |
| Bytes | B | 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 |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Stg | Deepstall landing stage | |
| THdg | degheading | Target heading |
| Lat | deglatitude | Landing point latitude |
| Lng | deglongitude | Landing point longitude |
| Alt | m | 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 |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Id | Data type identifier | |
| Value | Value |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Id | Data type identifier | |
| Value | Value |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Roll | deg | euler roll |
| Pitch | deg | euler pitch |
| Yaw | deg | euler yaw |
| VN | m/s | velocity north |
| VE | m/s | velocity east |
| VD | m/s | velocity down |
| Lat | deglatitude | latitude |
| Lon | deglongitude | longitude |
| Alt | m | altitude AMSL |
| Flg | nav status flags |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | Time since system startup | |
| Vel | velocity variance | |
| Pos | position variance | |
| Hgt | height variance | |
| MagX | magnetic variance, X | |
| MagY | magnetic variance, Y | |
| MagZ | magnetic variance, Z | |
| TAS | true airspeed variance |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Inst | instance | Cylinder this data belongs to |
| IgnT | deg | Ignition timing |
| InjT | ms | Injection time |
| CHT | degC | Cylinder head temperature |
| EGT | degC | Exhaust gas temperature |
| Lambda | Estimated lambda coefficient (dimensionless ratio) | |
| CHT2 | degC | Cylinder2 head temperature |
| EGT2 | degC | Cylinder2 Exhaust gas temperature |
| IDX | Index of the publishing ECU |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | microseconds since system startup |
| Instance | instance | ESC instance number |
| Stress | current stress level (commutation effort), scaled to [0..255] | |
| MaxStress | maximum stress level (commutation effort) since arming, scaled to [0..15] | |
| Status | bitmask | status bits |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| LP | % | Reported engine load |
| Rpm | rpm | Reported engine RPM |
| SDT | ms | Spark Dwell Time |
| ATM | Pa | Atmospheric pressure |
| IMP | Pa | Intake manifold pressure |
| IMT | degC | Intake manifold temperature |
| ECT | degC | Engine Coolant Temperature |
| OilP | Pa | Oil Pressure |
| OilT | degC | Oil temperature |
| FP | Pa | Fuel Pressure |
| FCR | Fuel Consumption Rate | |
| CFV | Consumed fuel volume | |
| TPS | % | Throttle Position |
| IDX | Index of the publishing ECU |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | 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 |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| EET | bitmask | Error Excess Temperature Bitfield |
| FLAG | bitmask | Sensor Status Bitfield |
| CRF | CRC failure count | |
| AKF | ACK failure count | |
| Up | Uptime between 2 messages | |
| ThO | Throttle output as received by the engine | |
| ThM | Modified throttle_to_hirth output sent to the engine |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Subsys | enum | Subsystem in which the error occurred |
| ECode | Subsystem-specific error code |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | microseconds since system startup |
| Instance | instance | ESC instance number |
| RPM | rpm | reported motor rotation rate |
| RawRPM | rpm | reported motor rotation rate without slew adjustment |
| Volt | V | Perceived input voltage for the ESC |
| Curr | A | Perceived current through the ESC |
| Temp | degC | ESC temperature in centi-degrees C |
| CTot | mAh | current consumed total mAh |
| MotTemp | degC | measured motor temperature in centi-degrees C |
| Err | % | error rate |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Instance | instance | starts from 0 |
| inpct | % | input duty cycle in percent |
| outpct | % | output duty cycle in percent |
| flags | manufacturer-specific status flags | |
| Pwr | % | Power percentage |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Id | enum | Event identifier |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | microseconds since system startup |
| I | instance | instance |
| NF | total number of active harmonic notches | |
| CF1 | Hz | First harmonic centre frequency for motor 1 |
| CF2 | Hz | First harmonic centre frequency for motor 2 |
| CF3 | Hz | First harmonic centre frequency for motor 3 |
| CF4 | Hz | First harmonic centre frequency for motor 4 |
| CF5 | Hz | First harmonic centre frequency for motor 5 |
| CF6 | Hz | First harmonic centre frequency for motor 6 |
| HF1 | Hz | Second harmonic centre frequency for motor 1 |
| HF2 | Hz | Second harmonic centre frequency for motor 2 |
| HF3 | Hz | Second harmonic centre frequency for motor 3 |
| HF4 | Hz | Second harmonic centre frequency for motor 4 |
| HF5 | Hz | Second harmonic centre frequency for motor 5 |
| HF6 | Hz | Second harmonic centre frequency for motor 6 |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | microseconds since system startup |
| I | instance | instance |
| CF | Hz | notch centre frequency |
| HF | Hz | 2nd harmonic frequency |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | Time since system startup | |
| EN | bitmask of enabled fences | |
| AE | bitmask of automatically enabled fences | |
| CF | bitmask of configured-in-parameters fences | |
| EF | bitmask of enabled fences | |
| DF | bitmask of currently disabled fences | |
| Alt | current vehicle altitude |
| FieldName | Units/Type | Description |
|---|---|---|
| FileName | char[16] | File name |
| Offset | Offset into the file of this block | |
| Length | Length of this data block | |
| Data | char[64] | File data of this block |
| FieldName | Units/Type | Description |
|---|---|---|
| Type | unique-to-this-log identifier for message being defined | |
| Length | B | the number of bytes taken up by this message (including all headers) |
| Name | char[4] | name of the message being defined |
| Format | char[16] | character string defining the C-storage-type of the fields in this message |
| Columns | char[64] | the labels of the message being defined |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| FmtType | numeric reference to associated FMT message | |
| UnitIds | char[16] | each character refers to a UNIT message. The unit at an offset corresponds to the field at the same offset in FMT.Format |
| MultIds | char[16] | each character refers to a MULT message. The multiplier at an offset corresponds to the field at the same offset in FMT.Format |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Tot | total number of stored items | |
| Seq | index in current sequence | |
| Type | point type | |
| Lat | deglatitude | point latitude |
| Lng | deglongitude | point longitude |
| Count | vertex cound in polygon if applicable | |
| Radius | m | radius of circle if applicable |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup (microseconds) |
| Lat | deglatitude | Target latitude (degrees * 1E7) |
| Lon | deglongitude | Target longitude (degrees * 1E7) |
| Alt | cm | Target absolute altitude (centimeters) |
| VelN | m/s | Target velocity, North (m/s) |
| VelE | m/s | Target velocity, East (m/s) |
| VelD | m/s | Target velocity, Down (m/s) |
| LatE | deglatitude | Vehicle estimated latitude (degrees * 1E7) |
| LonE | deglongitude | Vehicle estimated longitude (degrees * 1E7) |
| AltE | cm | Vehicle estimated absolute altitude (centimeters) |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | microseconds since system startup |
| I | instance | instance |
| NDn | number of active harmonic notches | |
| NF1 | Hz | desired harmonic notch centre frequency for motor 1 |
| NF2 | Hz | desired harmonic notch centre frequency for motor 2 |
| NF3 | Hz | desired harmonic notch centre frequency for motor 3 |
| NF4 | Hz | desired harmonic notch centre frequency for motor 4 |
| NF5 | Hz | desired harmonic notch centre frequency for motor 5 |
| NF6 | Hz | desired harmonic notch centre frequency for motor 6 |
| NF7 | Hz | desired harmonic notch centre frequency for motor 7 |
| NF8 | Hz | desired harmonic notch centre frequency for motor 8 |
| NF9 | Hz | desired harmonic notch centre frequency for motor 9 |
| NF10 | Hz | desired harmonic notch centre frequency for motor 10 |
| NF11 | Hz | desired harmonic notch centre frequency for motor 11 |
| NF12 | Hz | desired harmonic notch centre frequency for motor 12 |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | microseconds since system startup |
| PkAvg | Hz | peak noise frequency as an energy-weighted average of roll and pitch peak frequencies |
| BwAvg | Hz | bandwidth of weighted peak frequency where edges are determined by FFT_ATT_REF |
| SnX | signal-to-noise ratio on the roll axis | |
| SnY | signal-to-noise ratio on the pitch axis | |
| SnZ | signal-to-noise ratio on the yaw axis | |
| FtX | % | harmonic fit on roll of the highest noise peak to the second highest noise peak |
| FtY | % | harmonic fit on pitch of the highest noise peak to the second highest noise peak |
| FtZ | % | harmonic fit on yaw of the highest noise peak to the second highest noise peak |
| FHX | FFT health, X-axis | |
| FHY | FFT health, Y-axis | |
| FHZ | FFT health, Z-axis | |
| Tc | μs | FFT cycle time |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | microseconds since system startup |
| Id | instance | peak id where 0 is the centre peak, 1 is the lower shoulder and 2 is the upper shoulder |
| PkX | Hz | noise frequency of the peak on roll |
| PkY | Hz | noise frequency of the peak on pitch |
| PkZ | Hz | noise frequency of the peak on yaw |
| BwX | Hz | bandwidth of the peak frequency on roll where edges are determined by FFT_ATT_REF |
| BwY | Hz | bandwidth of the peak frequency on pitch where edges are determined by FFT_ATT_REF |
| BwZ | Hz | bandwidth of the peak frequency on yaw where edges are determined by FFT_ATT_REF |
| SnX | signal-to-noise ratio on the roll axis | |
| SnY | signal-to-noise ratio on the pitch axis | |
| SnZ | signal-to-noise ratio on the yaw axis | |
| EnX | power spectral density bin energy of the peak on roll | |
| EnY | power spectral density bin energy of the peak on roll | |
| EnZ | power spectral density bin energy of the peak on roll |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | microseconds since system startup |
| Id | instance | update axis |
| Pk1 | Hz | Peak 1 frequency |
| Pk2 | Hz | Peak 2 frequency |
| Pk3 | Hz | Peak 3 Frequency |
| Bw1 | Hz | Peak 1 noise bandwidth |
| Bw2 | Hz | Peak 2 noise bandwidth |
| Bw3 | Hz | Peak 3 noise bandwidth |
| En1 | Peak 1 Maximum energy | |
| En2 | Peak 2 Maximum energy | |
| En3 | Peak 3 Maximum energy |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | microseconds since system startup |
| I | instance | instance |
| NF | Hz | desired harmonic notch centre frequency |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | Time since system startup | |
| Alpha | alpha angle | |
| Beta | beta angle | |
| Cl | lift coefficent | |
| Cm | roll coffecient | |
| Cn | yaw coefficient |
| FieldName | Units/Type | Description |
|---|---|---|
| I | μs | GPS instance number |
| TimeUS | instance | Time since system startup |
| VDop | vertical dilution of precision | |
| HAcc | m | horizontal position accuracy |
| VAcc | m | vertical position accuracy |
| SAcc | m/s | speed accuracy |
| YAcc | deg | yaw accuracy |
| VV | true if vertical velocity is available | |
| SMS | ms | time since system startup this sample was taken |
| Delta | ms | system time delta between the last two reported positions |
| AEl | m | altitude above WGS-84 ellipsoid; INT32_MIN (-2147483648) if unknown |
| RTCMFU | RTCM fragments used | |
| RTCMFD | RTCM fragments discarded |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| I | instance | GPS instance number |
| Status | enum | GPS Fix type; 2D fix, 3D fix etc. |
| GMS | ms | milliseconds since start of GPS Week |
| GWk | weeks since 5 Jan 1980 | |
| NSats | satellites | number of satellites visible |
| HDop | horizontal dilution of precision | |
| Lat | deglatitude | latitude |
| Lng | deglongitude | longitude |
| Alt | m | altitude |
| Spd | m/s | ground speed |
| GCrs | degheading | ground course |
| VZ | m/s | vertical speed |
| Yaw | degheading | vehicle yaw |
| U | boolean value indicating whether this GPS is in use |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Id | instance | instance |
| RHD | deg | reported heading,deg |
| RDist | m | antenna separation,m |
| RDown | m | vertical antenna separation,m |
| MinCDown | m | minimum tolerable vertical antenna separation,m |
| MaxCDown | m | maximum tolerable vertical antenna separation,m |
| OK | 1 if have yaw |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| WkMS | ms | receiver TimeOfWeek measurement |
| Week | GPS week | |
| numSV | satellites | 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 |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | 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 |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | 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 |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Type | Type of guided mode | |
| pX | m | Target position, X-Axis |
| pY | m | Target position, Y-Axis |
| pZ | m | Target position, Z-Axis |
| vX | m/s | Target velocity, X-Axis |
| vY | m/s | Target velocity, Y-Axis |
| vZ | m/s | Target velocity, Z-Axis |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| I | instance | gyroscope sensor instance number |
| SampleUS | μs | time since system startup this sample was taken |
| GyrX | rad/s | measured rotation rate about X axis |
| GyrY | rad/s | measured rotation rate about Y axis |
| GyrZ | rad/s | measured rotation rate about Z axis |
| FieldName | Units/Type | Description |
|---|---|---|
| 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 |
| FieldName | Units/Type | Description |
|---|---|---|
| I | μs | Instance, 0=Main, 1=Tail |
| TimeUS | instance | Time since system startup |
| DRRPM | Desired rotor speed | |
| ERRPM | Estimated rotor speed | |
| Gov | Governor Output | |
| Throt | Throttle output | |
| Ramp | throttle ramp up | |
| Stat | RSC state |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Id | instance | sensor ID |
| Humidity | % | percentage humidity |
| Temp | degC | temperature in degrees C |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | Time since system startup | |
| Traw | raw temperature from sensor | |
| Praw | raw pressure from sensor | |
| P | pressure | |
| T | temperature |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| FUEL | 1e2 % | Fuel remaining |
| SPMPWR | Watt | stack power module power draw |
| POUT | Watt | output power |
| ERR | enum | error codes |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Tank | % | Fuel remaining |
| Inlet | Inlet pressure | |
| BattV | V | battery voltage |
| OutPwr | Watt | output power |
| SPMPwr | Watt | stack power module power draw |
| FNo | fault number | |
| BPwr | Watt | battery power draw |
| State | enum | generator state |
| F1 | enum | error code |
| F2 | sub-error code |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| GMS | GPS INS time (round) | |
| GyrX | deg/s | Gyro X |
| GyrY | deg/s | Gyro Y |
| GyrZ | deg/s | Gyro z |
| AccX | m/s/s | Accelerometer X |
| AccY | m/s/s | Accelerometer Y |
| AccZ | m/s/s | Accelerometer Z |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| GMS | GPS INS time (round) | |
| MagX | Magnetometer X | |
| MagY | Magnetometer Y | |
| MagZ | Magnetometer Z |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| GMS | GPS INS time (round) | |
| Press | Pa | Static pressure |
| Diff | Pa | Differential pressure |
| Temp | degC | Temperature |
| Alt | m | Baro altitude |
| TAS | m/s | true airspeed |
| VWN | m/s | Wind velocity north |
| VWE | m/s | Wind velocity east |
| VWD | m/s | Wind velocity down |
| ADU | Air Data Unit status |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| GMS | GNSS Position timestamp | |
| GWk | GPS Week | |
| NSat | Number of satellites | |
| NewGPS | Indicator of new update of GPS data | |
| Lat | deglatitude | GNSS Latitude |
| Lng | deglongitude | GNSS Longitude |
| Alt | m | GNSS Altitude |
| GCrs | degheading | GNSS Track over ground |
| Spd | m/s | GNSS Horizontal speed |
| VZ | m/s | GNSS Vertical speed |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| GMS | GNSS Position timestamp | |
| FType | fix type | |
| GSS | GNSS spoofing status | |
| GJS | GNSS jamming status | |
| GI1 | GNSS Info1 | |
| GI2 | GNSS Info2 | |
| GAPS | GNSS Angles position type |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| GMS | GNSS Position timestamp | |
| GpsHTS | GNSS Heading timestamp | |
| GpsYaw | degheading | GNSS Heading |
| GpsPitch | deg | GNSS Pitch |
| GDOP | GNSS GDOP | |
| PDOP | GNSS PDOP | |
| HDOP | GNSS HDOP | |
| VDOP | GNSS VDOP | |
| TDOP | GNSS TDOP |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| GMS | GPS INS time (round) | |
| Roll | deg | euler roll |
| Pitch | deg | euler pitch |
| Yaw | deg | euler yaw |
| VN | m/s | velocity north |
| VE | m/s | velocity east |
| VD | m/s | velocity down |
| Lat | deglatitude | latitude |
| Lng | deglongitude | longitude |
| Alt | m | altitude MSL |
| USW | USW1 | |
| USW2 | USW2 | |
| Vdc | V | Supply voltage |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| GMS | GPS INS time (round) | |
| PVN | m | position variance north |
| PVE | m | position variance east |
| PVD | m | position variance down |
| VVN | m/s | velocity variance north |
| VVE | m/s | velocity variance east |
| VVD | m/s | velocity variance down |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| I | instance | IMU sensor instance number |
| GyrX | rad/s | measured rotation rate about X axis |
| GyrY | rad/s | measured rotation rate about Y axis |
| GyrZ | rad/s | measured rotation rate about Z axis |
| AccX | m/s/s | acceleration along X axis |
| AccY | m/s/s | acceleration along Y axis |
| AccZ | m/s/s | acceleration along Z axis |
| EG | gyroscope error count | |
| EA | accelerometer error count | |
| T | degC | IMU temperature |
| GH | gyroscope health | |
| AH | accelerometer health | |
| GHz | Hz | gyroscope measurement rate |
| AHz | Hz | accelerometer measurement rate |
| FieldName | Units/Type | Description |
|---|---|---|
| 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 |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | Time since system startup | |
| DevID | bus ID | |
| Bank | device register bank | |
| Reg | device register | |
| Val | unexpected value |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| N | batch sequence number | |
| seqno | sample sequence number | |
| x | m/s/s | x-axis sample value |
| y | m/s/s | y-axis sample value |
| z | m/s/s | z-axis sample value |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| N | batch sequence number | |
| type | indicates if this is accel or gyro data | |
| instance | IMU sensor instance | |
| mul | multiplier to be applied to samples in this batch | |
| smp_cnt | samples in this batch | |
| SampleUS | μs | timestamp of first sample |
| smp_rate | Hz | rate at which samples have been collected |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup (us) |
| TStamp | s | Simulation's timestamp (s) |
| R | rad | Simulation's roll (rad) |
| P | rad | Simulation's pitch (rad) |
| Y | rad | Simulation's yaw (rad) |
| GX | rad/s | Simulated gyroscope, X-axis (rad/sec) |
| GY | rad/s | Simulated gyroscope, Y-axis (rad/sec) |
| GZ | rad/s | Simulated gyroscope, Z-axis (rad/sec) |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup (us) |
| VN | m/s | simulation's velocity, North-axis (m/s) |
| VE | m/s | simulation's velocity, East-axis (m/s) |
| VD | m/s | simulation's velocity, Down-axis (m/s) |
| AX | m/s/s | simulation's acceleration, X-axis (m/s^2) |
| AY | m/s/s | simulation's acceleration, Y-axis (m/s^2) |
| AZ | m/s/s | simulation's acceleration, Z-axis (m/s^2) |
| AN | m/s/s | simulation's acceleration, North (m/s^2) |
| AE | m/s/s | simulation's acceleration, East (m/s^2) |
| AD | m/s/s | simulation's acceleration, Down (m/s^2) |
| FieldName | Units/Type | Description |
|---|---|---|
| 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. |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | Time since system startup | |
| LandingGear | enum | Current landing gear state |
| WeightOnWheels | enum | Weight on wheels state |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| SI | target system ID | |
| CI | target component ID | |
| C | command | |
| I | instance | efi index |
| ES | desired engine state (0:EFI off 1:EFI on) | |
| GS | desired governor state (0:Governor off 1:Governor on) | |
| Thr | manual throttle value | |
| Strtr | desired electric start |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| I | instance | EFI/Gov sensor instance number |
| VB | V | battery voltage |
| CB | A | battery current |
| CG | A | generator current |
| Th | % | throttle input |
| EB | V | EFI battery voltage |
| RPM | rpm | generator RPM |
| PW | μs | EFI pulse-width |
| FF | l/s | fuel flow |
| FC | l | fuel consumed |
| EP | Pa | EFI pressure |
| EMT | degC | EFI manifold air temperature |
| CHT | degC | cylinder head temperature |
| TPS | % | throttle position sensor |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| I | instance | magnetometer sensor instance number |
| MagX | mGauss | magnetic field strength in body frame |
| MagY | mGauss | magnetic field strength in body frame |
| MagZ | mGauss | magnetic field strength in body frame |
| OfsX | mGauss | magnetic field offset in body frame |
| OfsY | mGauss | magnetic field offset in body frame |
| OfsZ | mGauss | magnetic field offset in body frame |
| MOX | mGauss | motor interference magnetic field offset in body frame |
| MOY | mGauss | motor interference magnetic field offset in body frame |
| MOZ | mGauss | motor interference magnetic field offset in body frame |
| Health | true if the compass is considered healthy | |
| S | μs | time measurement was taken |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Node | instance | CAN node |
| Sensor | sensor ID on node | |
| Bus | CAN bus | |
| Mx | X axis field | |
| My | y axis field | |
| Mz | z axis field |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| chan | instance | mavlink channel number |
| txp | transmitted packet count | |
| rxp | received packet count | |
| rxdp | perceived number of packets we never received | |
| flags | bitmask | compact representation of some state of the channel |
| ss | ms | 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 | |
| mgs | ms | time MAV_GCS_SYSID heartbeat (or manual control) last seen |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | 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 |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| MTemp | degC | Temperature |
| MVolt | V | Voltage |
| MVmin | V | Voltage min |
| MVmax | V | Voltage max |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | 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 | deglatitude | Command latitude |
| Lng | deglongitude | Command longitude |
| Alt | m | Command altitude |
| Frame | Frame used for position |
| FieldName | Units/Type | Description |
|---|---|---|
| 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 |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| I | instance | Instance number |
| DRoll | deg | Desired roll |
| Roll | deg | Actual roll |
| DPitch | deg | Desired pitch |
| Pitch | deg | Actual pitch |
| DYawB | deg | Desired yaw in body frame |
| YawB | deg | Actual yaw in body frame |
| DYawE | deg | Desired yaw in earth frame |
| YawE | deg | Actual yaw in earth frame |
| Dist | m | Rangefinder distance |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Mode | vehicle-specific mode number | |
| ModeNum | alias for Mode | |
| Rsn | enum | reason for entering this mode; enumeration value |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | 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 |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | 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 | |
| ThrOut | Throttle output | |
| FailFlags | bit 0 motor failed, bit 1 motors balanced, should be 2 in normal flight |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Message | char[64] | message text |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Id | character referenced by FMTU | |
| Mult | numeric multiplier |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| C | instance | EKF2 core this data is for |
| ID | Beacon sensor ID | |
| rng | m | Beacon range |
| innov | Beacon range innovation | |
| SIV | sqrt of beacon range innovation variance | |
| TR | Beacon range innovation consistency test ratio | |
| BPN | m | Beacon north position |
| BPE | m | Beacon east position |
| BPD | m | Beacon down position |
| OFH | m | High estimate of vertical position offset of beacons rel to EKF origin |
| OFL | m | Low estimate of vertical position offset of beacons rel to EKF origin |
| OFN | m | always zero |
| OFE | m | always zero |
| OFD | m | always zero |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| C | instance | EKF2 core this data is for |
| Roll | deg | Estimated roll |
| Pitch | deg | Estimated pitch |
| Yaw | degheading | Estimated yaw |
| VN | m/s | Estimated velocity (North component) |
| VE | m/s | Estimated velocity (East component) |
| VD | m/s | Estimated velocity (Down component) |
| dPD | m/s | Filtered derivative of vertical position (down) |
| PN | m | Estimated distance from origin (North component) |
| PE | m | Estimated distance from origin (East component) |
| PD | m | Estimated distance from origin (Down component) |
| GX | deg/s | Estimated gyro bias, X axis |
| GY | deg/s | Estimated gyro bias, Y axis |
| GZ | deg/s | Estimated gyro bias, Z axis |
| OH | m | Height of origin above WGS-84 |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| C | instance | 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 | m/s | Estimated wind velocity (moving-to-North component) |
| VWE | m/s | Estimated wind velocity (moving-to-East component) |
| MN | mGauss | Magnetic field strength (North component) |
| ME | mGauss | Magnetic field strength (East component) |
| MD | mGauss | Magnetic field strength (Down component) |
| MX | mGauss | Magnetic field strength (body X-axis) |
| MY | mGauss | Magnetic field strength (body Y-axis) |
| MZ | mGauss | Magnetic field strength (body Z-axis) |
| MI | Magnetometer used for data |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| C | instance | EKF2 core this data is for |
| IVN | m/s | Innovation in velocity (North component) |
| IVE | m/s | Innovation in velocity (East component) |
| IVD | m/s | Innovation in velocity (Down component) |
| IPN | m | Innovation in position (North component) |
| IPE | m | Innovation in position (East component) |
| IPD | m | Innovation in position (Down component) |
| IMX | mGauss | Innovation in magnetic field strength (X-axis component) |
| IMY | mGauss | Innovation in magnetic field strength (Y-axis component) |
| IMZ | mGauss | Innovation in magnetic field strength (Z-axis component) |
| IYAW | deg | Innovation in vehicle yaw |
| IVT | UNKNOWN | 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 |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| C | instance | 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 | m | Most recent position reset (North component) |
| OFE | m | 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 | bitmask | Filter solution status |
| GPS | Filter GPS status | |
| PI | Primary core index |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| C | instance | 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 | m | Height above ground level |
| offset | UNKNOWN | Estimated vertical position of the terrain relative to the nav filter zero datum |
| RI | UNKNOWN | Range finder innovations |
| rng | UNKNOWN | Measured range |
| Herr | m | Filter ground offset state error |
| eAng | rad | Magnitude of angular error |
| eVel | m/s | Magnitude of velocity error |
| ePos | m | Magnitude of position error |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| C | instance | EKF2 core this data is for |
| Q1 | Quaternion a term | |
| Q2 | Quaternion b term | |
| Q3 | Quaternion c term | |
| Q4 | Quaternion d term |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| C | instance | EKF core this message instance applies to |
| Cnt | s | count of samples used to create this message |
| IMUMin | s | smallest IMU sample interval |
| IMUMax | s | largest IMU sample interval |
| EKFMin | s | low-passed achieved average time step rate for the EKF (minimum) |
| EKFMax | s | low-passed achieved average time step rate for the EKF (maximum) |
| AngMin | s | accumulated measurement time interval for the delta angle (minimum) |
| AngMax | s | accumulated measurement time interval for the delta angle (maximum) |
| VMin | s | accumulated measurement time interval for the delta velocity (minimum) |
| VMax | s | accumulated measurement time interval for the delta velocity (maximum) |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| C | instance | EKF core this data is for |
| YC | degheading | GSF yaw estimate (deg) |
| YCS | deg | GSF yaw estimate 1-Sigma uncertainty (deg) |
| Y0 | degheading | Yaw estimate from individual EKF filter 0 (deg) |
| Y1 | degheading | Yaw estimate from individual EKF filter 1 (deg) |
| Y2 | degheading | Yaw estimate from individual EKF filter 2 (deg) |
| Y3 | degheading | Yaw estimate from individual EKF filter 3 (deg) |
| Y4 | degheading | 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 |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| C | instance | EKF core this data is for |
| IVN0 | m/s | North velocity innovation from individual EKF filter 0 (m/s) |
| IVN1 | m/s | North velocity innovation from individual EKF filter 1 (m/s) |
| IVN2 | m/s | North velocity innovation from individual EKF filter 2 (m/s) |
| IVN3 | m/s | North velocity innovation from individual EKF filter 3 (m/s) |
| IVN4 | m/s | North velocity innovation from individual EKF filter 4 (m/s) |
| IVE0 | m/s | East velocity innovation from individual EKF filter 0 (m/s) |
| IVE1 | m/s | East velocity innovation from individual EKF filter 1 (m/s) |
| IVE2 | m/s | East velocity innovation from individual EKF filter 2 (m/s) |
| IVE3 | m/s | East velocity innovation from individual EKF filter 3 (m/s) |
| IVE4 | m/s | East velocity innovation from individual EKF filter 4 (m/s) |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Name | instance | Name of float |
| Value | Value of float |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Type | Type of BendyRuler currently active | |
| Act | True if Bendy Ruler avoidance is being used | |
| DYaw | deg | Best yaw chosen to avoid obstacle |
| Yaw | deg | Current vehicle yaw |
| DP | deg | Desired pitch chosen to avoid obstacle |
| RChg | True if BendyRuler resisted changing bearing and continued in last calculated bearing | |
| Mar | m | Margin from path to obstacle on best yaw chosen |
| DLt | deglatitude | Destination latitude |
| DLg | deglongitude | Destination longitude |
| DAlt | m | Desired alt above EKF Origin |
| OLt | deglatitude | Intermediate location chosen for avoidance |
| OLg | deglongitude | Intermediate location chosen for avoidance |
| OAlt | m | Intermediate alt chosen for avoidance above EKF origin |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | 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 | deglatitude | Destination latitude |
| DLng | deglongitude | Destination longitude |
| OALat | deglatitude | Object Avoidance chosen destination point latitude |
| OALng | deglongitude | Object Avoidance chosen destination point longitude |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| version | Visgraph version, increments each time the visgraph is re-generated | |
| point_num | point number in visgraph | |
| Lat | deglatitude | Latitude |
| Lon | deglongitude | longitude |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Qual | Estimated sensor data quality | |
| flowX | rad/s | Sensor flow rate, X-axis |
| flowY | rad/s | Sensor flow rate,Y-axis |
| bodyX | rad/s | derived rotational velocity, X-axis |
| bodyY | rad/s | derived rotational velocity, Y-axis |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Axis | instance | Axis (X=0 Y=1) |
| Num | Sample number | |
| FRate | rad/s | Flow rate |
| BRate | rad/s | Body rate |
| LPred | rad/s | Los pred |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Type | instance | Position type |
| Lat | deglatitude | Position latitude |
| Lng | deglongitude | Position longitude |
| Alt | m | Position altitude |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Name | char[16] | parameter name |
| Value | parameter value | |
| Default | default parameter value for this board and config |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | 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 | |
| DFF | controller derivative feed-forward portion of response | |
| Dmod | scaler applied to D gain to reduce limit cycling | |
| SRate | slew rate used in slew limiter | |
| Flags | bitmask | bitmask of PID state flags |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | 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 | |
| DFF | controller derivative feed-forward portion of response | |
| Dmod | scaler applied to D gain to reduce limit cycling | |
| SRate | slew rate used in slew limiter | |
| Flags | bitmask | bitmask of PID state flags |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | 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 | |
| DFF | controller derivative feed-forward portion of response | |
| Dmod | scaler applied to D gain to reduce limit cycling | |
| SRate | slew rate used in slew limiter | |
| Flags | bitmask | bitmask of PID state flags |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | 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 | |
| DFF | controller derivative feed-forward portion of response | |
| Dmod | scaler applied to D gain to reduce limit cycling | |
| SRate | slew rate used in slew limiter | |
| Flags | bitmask | bitmask of PID state flags |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | 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 | |
| DFF | controller derivative feed-forward portion of response | |
| Dmod | scaler applied to D gain to reduce limit cycling | |
| SRate | slew rate used in slew limiter | |
| Flags | bitmask | bitmask of PID state flags |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | 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 | |
| DFF | controller derivative feed-forward portion of response | |
| Dmod | scaler applied to D gain to reduce limit cycling | |
| SRate | slew rate used in slew limiter | |
| Flags | bitmask | bitmask of PID state flags |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | 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 | |
| DFF | controller derivative feed-forward portion of response | |
| Dmod | scaler applied to D gain to reduce limit cycling | |
| SRate | slew rate used in slew limiter | |
| Flags | bitmask | bitmask of PID state flags |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Heal | True if Precision Landing is healthy | |
| TAcq | True if landing target is detected | |
| pX | cm | Target position relative to vehicle, X-Axis (0 if target not found) |
| pY | cm | Target position relative to vehicle, Y-Axis (0 if target not found) |
| vX | cm/s | Target velocity relative to vehicle, X-Axis (0 if target not found) |
| vY | cm/s | Target velocity relative to vehicle, Y-Axis (0 if target not found) |
| mX | cm | Target's relative to origin position as 3-D Vector, X-Axis |
| mY | cm | Target's relative to origin position as 3-D Vector, Y-Axis |
| mZ | cm | Target's relative to origin position as 3-D Vector, Z-Axis |
| LastMeasMS | ms | Time when target was last detected |
| EKFOutl | EKF's outlier count | |
| Est | Type of estimator used |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| LR | Hz | Main loop rate |
| NLon | Number of long loops detected | |
| NL | Number of measurement loops for this message | |
| MaxT | Maximum loop time | |
| Mem | B | Free memory available |
| Load | d% | System processor load |
| InE | bitmask | Internal error mask; which internal errors have been detected |
| ErrL | Internal error line number; last line number on which a internal error was detected | |
| ErC | 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 | μs | number of microseconds being added to each loop to address scheduler overruns |
| R | μs | RTC time, time since Unix epoch |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Lat | deglatitude | Canonical vehicle latitude |
| Lng | deglongitude | Canonical vehicle longitude |
| Alt | m | Canonical vehicle altitude |
| RelHomeAlt | m | Canonical vehicle altitude relative to home |
| RelOriginAlt | m | Canonical vehicle altitude relative to navigation origin |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Vcc | V | Flight board voltage |
| VServo | V | Servo rail voltage |
| Flags | bitmask | System power flags |
| AccFlags | bitmask | Accumulated System power flags; all flags which have ever been set |
| Safety | Hardware Safety Switch status |
| FieldName | Units/Type | Description |
|---|---|---|
| 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 |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Layer | instance | 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 | m | Nearest object in sector surrounding 0-degrees |
| D45 | m | Nearest object in sector surrounding 45-degrees |
| D90 | m | Nearest object in sector surrounding 90-degrees |
| D135 | m | Nearest object in sector surrounding 135-degrees |
| D180 | m | Nearest object in sector surrounding 180-degrees |
| D225 | m | Nearest object in sector surrounding 225-degrees |
| D270 | m | Nearest object in sector surrounding 270-degrees |
| D315 | m | Nearest object in sector surrounding 315-degrees |
| DUp | m | Nearest object in upwards direction |
| CAn | degheading | Angle to closest object |
| CDis | m | Distance to closest object |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Layer | instance | 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 | m | Nearest object in sector surrounding 0-degrees |
| D45 | m | Nearest object in sector surrounding 45-degrees |
| D90 | m | Nearest object in sector surrounding 90-degrees |
| D135 | m | Nearest object in sector surrounding 135-degrees |
| D180 | m | Nearest object in sector surrounding 180-degrees |
| D225 | m | Nearest object in sector surrounding 225-degrees |
| D270 | m | Nearest object in sector surrounding 270-degrees |
| D315 | m | Nearest object in sector surrounding 315-degrees |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| DPD | m | Desired position relative to EKF origin + Offsets |
| TPD | m | Target position relative to EKF origin |
| PD | m | Position relative to EKF origin |
| DVD | m/s | Desired velocity Down |
| TVD | m/s | Target velocity Down |
| VD | m/s | Velocity Down |
| DAD | m/s/s | Desired acceleration Down |
| TAD | m/s/s | Target acceleration Down |
| AD | m/s/s | Acceleration Down |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| DPE | m | Desired position relative to EKF origin + Offsets |
| TPE | m | Target position relative to EKF origin |
| PE | m | Position relative to EKF origin |
| DVE | m/s | Desired velocity East |
| TVE | m/s | Target velocity East |
| VE | m/s | Velocity East |
| DAE | m/s/s | Desired acceleration East |
| TAE | m/s/s | Target acceleration East |
| AE | m/s/s | Acceleration East |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| DPN | m | Desired position relative to EKF origin |
| TPN | m | Target position relative to EKF origin |
| PN | m | Position relative to EKF origin |
| DVN | m/s | Desired velocity North |
| TVN | m/s | Target velocity North |
| VN | m/s | Velocity North |
| DAN | m/s/s | Desired acceleration North |
| TAN | m/s/s | Target acceleration North |
| AN | m/s/s | Acceleration North |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| TPOD | m | Target position offset Down |
| POD | m | Position offset Down |
| TVOD | m/s | Target velocity offset Down |
| VOD | m/s | Velocity offset Down |
| TAOD | m/s/s | Target acceleration offset Down |
| AOD | m/s/s | Acceleration offset Down |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| TPOE | m | Target position offset East |
| POE | m | Position offset East |
| TVOE | m/s | Target velocity offset East |
| VOE | m/s | Velocity offset East |
| TAOE | m/s/s | Target acceleration offset East |
| AOE | m/s/s | Acceleration offset East |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| TPON | m | Target position offset North |
| PON | m | Position offset North |
| TVON | m/s | Target velocity offset North |
| VON | m/s | Velocity offset North |
| TAON | m/s/s | Target acceleration offset North |
| AON | m/s/s | Acceleration offset North |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| TPOT | m | Target position offset Terrain |
| POT | m | Position offset Terrain |
| TVOT | m/s | Target velocity offset Terrain |
| VOT | m/s | Velocity offset Terrain |
| TAOT | m/s/s | Target acceleration offset Terrain |
| AOT | m/s/s | Acceleration offset Terrain |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | s | Time since system startup |
| ParamNo | instance | number of parameter being tuned |
| SRate | slew rate | |
| Gain | test gain for current axis and PID element | |
| Param | char[16] | name of parameter being being tuned |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | 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 |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Tot | total number of rally points onboard | |
| Seq | this rally point's sequence number | |
| Lat | deglatitude | latitude of rally point |
| Lng | deglongitude | longitude of rally point |
| Alt | cm | altitude of rally point |
| Flags | altitude frame flags |
| FieldName | Units/Type | Description |
|---|---|---|
| Primary | airspeed instance number | |
| NumInst | number of airspeed instances |
| FieldName | Units/Type | Description |
|---|---|---|
| pd | measured airspeed | |
| UpdateMS | timestamp of measured airspeed | |
| H | indicator of airspeed sensor health | |
| Use | true if airspeed is configured to be used | |
| I | instance | airspeed instance number |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| RDes | deg/s | vehicle desired roll rate |
| R | deg/s | achieved vehicle roll rate |
| ROut | normalized output for Roll | |
| PDes | deg/s | vehicle desired pitch rate |
| P | deg/s | vehicle pitch rate |
| POut | normalized output for Pitch | |
| Y | deg/s | achieved vehicle yaw rate |
| YOut | deg/s | normalized output for Yaw |
| YDes | vehicle desired yaw rate | |
| ADes | cm/s/s | desired vehicle vertical acceleration |
| A | cm/s/s | achieved vehicle vertical acceleration |
| AOut | percentage of vertical thrust output current being used | |
| AOutSlew | vertical thrust output slew rate |
| FieldName | Units/Type | Description |
|---|---|---|
| PX | zero, unused | |
| PY | zero, unused | |
| PZ | zero, unused | |
| AE | zero, unused | |
| OLat | origin latitude | |
| OLng | origin longitude | |
| OAlt | origin altitude | |
| Flags | vehicle_position_ned_returncode,get_origin_returncode,enabled | |
| NumInst | number of beacons |
| FieldName | Units/Type | Description |
|---|---|---|
| LU | s | last update from this beacon instance |
| PX | m | beacon distance from origin, X-axis |
| PY | m | beacon distance from origin, Y-axis |
| PZ | m | beacon distance from origin, Z-axis |
| Dist | m | distance to beacon |
| H | beacon data health | |
| I | instance | beacon instance number |
| FieldName | Units/Type | Description |
|---|---|---|
| Q | data quality measure | |
| DPX | delta-position-X | |
| DPY | delta-position-Y | |
| DPZ | delta-position-Z | |
| DAX | delta-angle-X | |
| DAY | delta-angle-Y | |
| DAZ | delta-angle-Z | |
| DT | delta-time | |
| TS | data timestamp | |
| OX | zero, unused | |
| OY | zero, unused | |
| OZ | zero, unused | |
| D | zero, unused |
| FieldName | Units/Type | Description |
|---|---|---|
| Primary | primary barometer instance number | |
| NumInst | number of barometer sensors |
| FieldName | Units/Type | Description |
|---|---|---|
| LastUpdate | timestamp of barometer data | |
| Alt | barometer altitude estimate | |
| H | barometer sensor health indication | |
| I | instance | barometer instance number |
| FieldName | Units/Type | Description |
|---|---|---|
| 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 |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| C15 | us | channel 15 input |
| C16 | us | channel 16 input |
| OMask | bitmask of RC channels being overridden by mavlink input | |
| Flags | bitmask | bitmask of RC state flags |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| C1 | us | channel 1 input |
| C2 | us | channel 2 input |
| C3 | us | channel 3 input |
| C4 | us | channel 4 input |
| C5 | us | channel 5 input |
| C6 | us | channel 6 input |
| C7 | us | channel 7 input |
| C8 | us | channel 8 input |
| C9 | us | channel 9 input |
| C10 | us | channel 10 input |
| C11 | us | channel 11 input |
| C12 | us | channel 12 input |
| C13 | us | channel 13 input |
| C14 | us | channel 14 input |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| C15 | us | channel 15 output |
| C16 | us | channel 16 output |
| C17 | us | channel 17 output |
| C18 | us | channel 18 output |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| C19 | us | channel 19 output |
| C20 | us | channel 20 output |
| C21 | us | channel 21 output |
| C22 | us | channel 22 output |
| C23 | us | channel 23 output |
| C24 | us | channel 24 output |
| C25 | us | channel 25 output |
| C26 | us | channel 26 output |
| C27 | us | channel 27 output |
| C28 | us | channel 28 output |
| C29 | us | channel 29 output |
| C30 | us | channel 30 output |
| C31 | us | channel 31 output |
| C32 | us | channel 32 output |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| C1 | us | channel 1 output |
| C2 | us | channel 2 output |
| C3 | us | channel 3 output |
| C4 | us | channel 4 output |
| C5 | us | channel 5 output |
| C6 | us | channel 6 output |
| C7 | us | channel 7 output |
| C8 | us | channel 8 output |
| C9 | us | channel 9 output |
| C10 | us | channel 10 output |
| C11 | us | channel 11 output |
| C12 | us | channel 12 output |
| C13 | us | channel 13 output |
| C14 | us | channel 14 output |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Instance | instance | relay instance number |
| State | current state |
| FieldName | Units/Type | Description |
|---|---|---|
| PX | external position estimate, X-axis | |
| PY | external position estimate, Y-axis | |
| PZ | external position estimate, Z-axis | |
| Q1 | external attitude quaternion | |
| Q2 | external attitude quaternion | |
| Q3 | external attitude quaternion | |
| Q4 | external attitude quaternion | |
| PEr | external position error estimate | |
| AEr | external attitude error estimate | |
| TS | timestamp on external error estimate | |
| RT | timestamp of last external reset | |
| D | delay on external data |
| FieldName | Units/Type | Description |
|---|---|---|
| Event | enum | external event injected into EKF |
| FieldName | Units/Type | Description |
|---|---|---|
| Event | enum | external event injected into EKF |
| FieldName | Units/Type | Description |
|---|---|---|
| VX | external velocity estimate, X-axis | |
| VY | external velocity estimate, Y-axis | |
| VZ | external velocity estimate, Z-axis | |
| Er | error in velocity estimate | |
| TS | timestamp of velocity estimate | |
| D | delay in external velocity data |
| FieldName | Units/Type | Description |
|---|---|---|
| yawangle | UNKNOWN | externally supplied yaw angle |
| yawangleerr | UNKNOWN | error in externally supplied yaw angle |
| timestamp_ms | UNKNOWN | timestamp associated with yaw angle and yaw angle error |
| type | number that needs documenting |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Instance | instance | rangefinder instance number this data is from |
| Dist | m | Reported distance from sensor |
| Stat | enum | Sensor state |
| Orient | enum | Sensor orientation |
| Quality | % | Signal quality. -1 means invalid, 0 is no signal, 100 is perfect signal |
| FieldName | Units/Type | Description |
|---|---|---|
| FTypes | bitmask | accumulated method calls made during frame |
| Slow | true if we are not keeping up with IMU loop rate |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| TF | Time flying |
| FieldName | Units/Type | Description |
|---|---|---|
| HLat | 1e-7 deglatitude | home latitude |
| HLon | 1e-7 deglongitude | home latitude |
| HAlt | cm | home altitude AMSL |
| E2T | EAS to TAS factor | |
| AM | B | available memory |
| TX | deg | AHRS trim X |
| TY | deg | AHRS trim Y |
| TZ | deg | AHRS trim Z |
| VC | AHRS Vehicle Class | |
| EKT | enum | configured EKF type |
| Flags | bitmask | bitmask of boolean state |
| FieldName | Units/Type | Description |
|---|---|---|
| NumInst | number of GPS sensors | |
| Primary | instance number of primary sensor |
| FieldName | Units/Type | Description |
|---|---|---|
| OX | antenna body-frame offset, X-axis | |
| OY | antenna body-frame offset, Y-axis | |
| OZ | antenna body-frame offset, Z-axis | |
| Lg | GPS time lag | |
| Flags | bitmask | various GPS flags |
| Stat | GPS fix status | |
| NSats | number of satellites GPS is using | |
| I | instance | GPS sensor instance number |
| FieldName | Units/Type | Description |
|---|---|---|
| TS | GPS data timestamp | |
| VX | GPS velocity, North | |
| VY | GPS velocity, East | |
| VZ | GPS velocity, Down | |
| SA | speed accuracy | |
| Y | GPS yaw | |
| YA | GPS yaw accuracy | |
| YT | timestamp of GPS yaw estimate | |
| Lat | latitude | |
| Lon | longitude | |
| Alt | altitude | |
| HA | horizontal accuracy | |
| VA | vertical accuracy | |
| HD | HDOP | |
| I | instance | GPS sensor instance number |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| runTime | total generator runtime | |
| maintTime | time until generator requires maintenance | |
| errors | bitmask of error received from generator | |
| rpm | current generator RPM | |
| ovolt | output voltage | |
| ocurr | output current | |
| mode | generator mode; idle/run/charge/balance |
| FieldName | Units/Type | Description |
|---|---|---|
| LR | INS loop rate | |
| PG | primary gyro index | |
| PA | primary accel index | |
| LD | INS loop-delta-t | |
| AC | accel count | |
| GC | gyro count |
| FieldName | Units/Type | Description |
|---|---|---|
| DVX | x-axis delta-velocity | |
| DVY | y-axis delta-velocity | |
| DVZ | z-axis delta-velocity | |
| DAX | x-axis delta-angle | |
| DAY | y-axis delta-angle | |
| DAZ | z-axis delta-angle | |
| DVDT | delta-velocity-delta-time | |
| DADT | delta-angle-delta-time | |
| Flags | use-accel, use-gyro, delta-vel-valid, delta-accel-valid | |
| I | instance | IMU instance |
| FieldName | Units/Type | Description |
|---|---|---|
| Dec | vehicle declination | |
| Avail | true if the compass library is marking itself as available | |
| NumInst | number of compass instances | |
| AutoDec | true if compass autodeclination is enabled | |
| NumEna | number of enabled compass instances | |
| LOE | true if compass learning of offsets is enabled | |
| C | true if compasses are consistent | |
| FUsable | index of first usable compass |
| FieldName | Units/Type | Description |
|---|---|---|
| LU | last update time for magnetometer data | |
| OX | mag sensor offset, X-axis | |
| OY | mag sensor offset, Y-axis | |
| OZ | mag sensor offset, Z-axis | |
| FX | field strength, X-axis | |
| FY | field strength, Y-axis | |
| FZ | field strength, Z-axis | |
| UFY | true if compass is being used for yaw | |
| H | sensor health | |
| HSF | compass has scale factor | |
| I | instance | magnetometer instance number |
| FieldName | Units/Type | Description |
|---|---|---|
| FX | raw flow rate, X-axis | |
| FY | raw flow rate, Y-axis | |
| GX | gyro rate, X-axis | |
| GY | gyro rate, Y-axis | |
| Tms | measurement timestamp | |
| PX | gyro rate, X-axis | |
| PY | body-frame offset, Y-axis | |
| PZ | body-frame offset, Z-axis | |
| HgtOvr | sensor height override | |
| Qual | flow quality measurement |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| I | instance | Instance |
| RPM | rpm | Sensor's rpm measurement |
| Qual | Signal quality | |
| H | Sensor Health (Bool) |
| FieldName | Units/Type | Description |
|---|---|---|
| GCl | m | rangefinder ground clearance for downward-facing rangefinders |
| MaxD | m | rangefinder maximum distance for downward-facing rangefinders |
| NumSensors | number of rangefinder instances |
| FieldName | Units/Type | Description |
|---|---|---|
| PX | rangefinder body-frame offset, X-axis | |
| PY | rangefinder body-frame offset, Y-axis | |
| PZ | rangefinder body-frame offset, Z-axis | |
| Dist | m | Measured rangefinder distance |
| Orient | orientation | |
| Status | status | |
| I | instance | rangefinder instance number |
| FieldName | Units/Type | Description |
|---|---|---|
| Lat | 1e-7 deglatitude | latitude |
| Lng | 1e-7 deglongitude | longitude |
| PosAccSD | position accuracy, 1-StD | |
| TS | timestamp of latitude/longitude |
| FieldName | Units/Type | Description |
|---|---|---|
| Lat | 1e-7 deglatitude | origin latitude |
| Lon | 1e-7 deglongitude | origin longitude |
| Alt | cm | origin altitude |
| FieldName | Units/Type | Description |
|---|---|---|
| Lat | 1e-7 deglatitude | origin latitude |
| Lon | 1e-7 deglongitude | origin longitude |
| Alt | cm | origin altitude |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| RXRSSI | RSSI | |
| RXLQ | % | RX Link Quality |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| old_utc | μs | old time |
| new_utc | μs | new time |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Chan | instance | mavlink channel number this data was received on |
| RTCMId | ID field from RTCM packet | |
| Len | RTCM packet length | |
| CRC | calculated crc32 for the packet |
| FieldName | Units/Type | Description |
|---|---|---|
| OX | offset, x-axis | |
| OY | offset, y-axis | |
| OZ | offset, z-axis | |
| Del | data delay | |
| H | sensor health | |
| Ena | sensor enabled |
| FieldName | Units/Type | Description |
|---|---|---|
| Airspeed | m/s | default airspeed |
| uncertainty | m/s | uncertainty in default airspeed |
| FieldName | Units/Type | Description |
|---|---|---|
| Airspeed | m/s | default airspeed |
| Uncertainty | m/s | uncertainty in default airspeed |
| FieldName | Units/Type | Description |
|---|---|---|
| DA | delta-angle | |
| DT | delta-time | |
| TS | data timestamp | |
| PX | sensor body-frame offset, x-axis | |
| PY | sensor body-frame offset, y-axis | |
| PZ | sensor body-frame offset, z-axis | |
| R | wheel radius |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| State | True if Simple Avoidance is active | |
| DVelX | m/s | Desired velocity, X-Axis (Velocity before Avoidance) |
| DVelY | m/s | Desired velocity, Y-Axis (Velocity before Avoidance) |
| DVelZ | m/s | Desired velocity, Z-Axis (Velocity before Avoidance) |
| MVelX | m/s | Modified velocity, X-Axis (Velocity after Avoidance) |
| MVelY | m/s | Modified velocity, Y-Axis (Velocity after Avoidance) |
| MVelZ | m/s | Modified velocity, Z-Axis (Velocity after Avoidance) |
| Back | True if vehicle is backing away |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | Time since system startup | |
| afx | sin(x angle) | |
| afy | sin(y angle) | |
| afz | sin(z angle) |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | Time since system startup | |
| anx | x angle | |
| any | y angle | |
| anz | z angle |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | Time since system startup | |
| anx | x earth-frame angle | |
| any | y earth-frame angle | |
| anz | z earth-frame angle |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | Time since system startup | |
| ax | x-axis acceleration | |
| ay | y-axis acceleration | |
| az | z-axis acceleration |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | Time since system startup | |
| RAx | acceleration around X axis | |
| RAy | acceleration around Y axis | |
| RAz | acceleration around Z axis |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | 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 |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| GWk | UNKNOWN | GPS week number |
| GMS | UNKNOWN | Milliseconds through GPS week |
| ns_residual | UNKNOWN | residual of milliseconds rounding in ns |
| level | UNKNOWN | GPIO pin levels |
| quality | UNKNOWN | time quality |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Name | instance | script name |
| Runtime | μs | run time |
| Total_mem | B | total memory usage of all scripts |
| Run_mem | B | run memory usage |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | Time since system startup | |
| Ail | aileron output | |
| Elev | elevator output | |
| Rudd | rudder output |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | 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 |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | Time since system startup | |
| f0 | fin 0 angle | |
| f1 | fin 1 angle | |
| f2 | fin 2 angle | |
| f3 | fin 3 angle |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | Time since system startup | |
| f0 | fin 0 servo angle | |
| f1 | fin 1 servo angle | |
| f2 | fin 2 servo angle | |
| f3 | fin 3 servo angle |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | Time since system startup | |
| n0 | Fin 0 normal force | |
| n1 | Fin 1 normal force | |
| n2 | Fin 2 normal force | |
| n3 | Fin 3 normal force |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | Time since system startup | |
| f0 | Fin 0 tangential thrust | |
| f1 | Fin 1 tangential thrust | |
| f2 | Fin 2 tangential thrust | |
| f3 | Fin 3 tangential thrust |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | Time since system startup | |
| f0 | fin 0 velocity | |
| f1 | fin 1 velocity | |
| f2 | fin 2 velocity | |
| f3 | fin 3 velocity |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Roll | deg | Simulated roll |
| Pitch | deg | Simulated pitch |
| Yaw | degheading | Simulated yaw |
| Alt | m | Simulated altitude |
| Lat | deglatitude | Simulated latitude |
| Lng | deglongitude | Simulated longitude |
| Q1 | Attitude quaternion component 1 | |
| Q2 | Attitude quaternion component 2 | |
| Q3 | Attitude quaternion component 3 | |
| Q4 | Attitude quaternion component 4 |
| FieldName | Units/Type | Description |
|---|---|---|
| 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 | |
| ASpdU | Achieved simulation speedup value | |
| UFC | Number of times simulation paused for serial0 output |
| FieldName | Units/Type | Description |
|---|---|---|
| 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 |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | Time since system startup | |
| AltFt | altitude in feet | |
| KEAS | equivalent airspeed in knots | |
| KTAS | true airspeed in knots | |
| AD | air density | |
| Fl | lift | |
| Fd | drag | |
| LD | lift/drag ratio | |
| Elev | elevator output | |
| Ail | aileron output | |
| Rud | rudder output | |
| AoA | Angle of Attack | |
| SSA | Side Slip Angle | |
| q | air pressire | |
| Az | z-axis body-frame acceleration |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | Time since system startup | |
| AltFt | altitude in feet | |
| AltM | altitude in metres | |
| EAS | equivalent airspeed | |
| TAS | true airspeed | |
| AD | air density | |
| Fl | lift | |
| Fd | drag | |
| LD | lift/drag ratio | |
| Elev | elevator output | |
| AoA | angle of attack | |
| Fx | X-axis force | |
| Fy | Y-axis force | |
| Fz | Z-axis force | |
| q | air pressure |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Land | 1 if payload is landed, 0 otherwise | |
| Tens | 1e2 % | Tension ratio, 1 if line is taut, 0 if slack |
| Len | m | Line length |
| PN | m | Payload position as offset from vehicle in North direction |
| PE | m | Payload position as offset from vehicle in East direction |
| PD | m | Payload position as offset from vehicle in Down direction |
| VN | m/s | Payload velocity in North direction |
| VE | m/s | Payload velocity in East direction |
| VD | m/s | Payload velocity in Down direction |
| AN | m/s/s | Payload acceleration in North direction |
| AE | m/s/s | Payload acceleration in East direction |
| AD | m/s/s | Payload acceleration in Down direction |
| VFN | Force on vehicle in North direction | |
| VFE | Force on vehicle in East direction | |
| VFD | Force on vehicle in Down direction |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup (us) |
| Instance | 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 |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Instance | instance | Slave instance |
| C1 | us | channel 1 output |
| C2 | us | channel 2 output |
| C3 | us | channel 3 output |
| C4 | us | channel 4 output |
| C5 | us | channel 5 output |
| C6 | us | channel 6 output |
| C7 | us | channel 7 output |
| C8 | us | channel 8 output |
| C9 | us | channel 9 output |
| C10 | us | channel 10 output |
| C11 | us | channel 11 output |
| C12 | us | channel 12 output |
| C13 | us | channel 13 output |
| C14 | us | channel 14 output |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | Time since system startup | |
| m | mass | |
| g | gravity | |
| cz | centre-of-gravity, z-axis |
| FieldName | Units/Type | Description |
|---|---|---|
| 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 |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Id | instance | Volz servo ID |
| Pos | % | Current Simulated Position |
| DesPos | % | Desired Simulated Position |
| V | V | simulated servo voltage |
| A | A | simulated servo current |
| PCBT | degC | simulated PCB Temperature |
| MotT | degC | simulated motor Temperature |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | Time since system startup | |
| rtx | zero | |
| rty | zero | |
| rtz | zero |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | Time since system startup | |
| rtx | x-axis wobble rotational force | |
| rty | y-axis wobble rotational force | |
| rtz | z-axis wobble rotational force |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | Time since system startup | |
| rtx | torque around x axis | |
| rty | torque around y axis | |
| rtz | torque around z axis |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | 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 | enum | most recent internal action taken by SRTL library |
| N | m | point associated with most recent action (North component) |
| E | m | point associated with most recent action (East component) |
| D | m | point associated with most recent action (Down component) |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | Time since system startup | |
| f0 | fin 0 servo angle input | |
| f1 | fin 1 servo angle input | |
| f2 | fin 2 servo angle input | |
| f3 | fin 3 servo angle input |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Id | instance | thread ID |
| Pri | thread priority | |
| Total | total stack | |
| Free | free stack | |
| Name | char[16] | thread name |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| I | instance | Swashplate instance |
| Col | deg | Blade pitch angle contribution from collective |
| TCyc | deg | Total blade pitch angle contribution from cyclic |
| PCyc | deg | Blade pitch angle contribution from pitch cyclic |
| RCyc | deg | Blade pitch angle contribution from roll cyclic |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| I | instance | temperature calibration instance number |
| SType | sensor type (0==accel, 1==gyro) | |
| Temp | current temperature | |
| X | x-axis sample sum | |
| Y | y-axis sample sum | |
| Z | z-axis sample sum | |
| NSamp | sample count |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Instance | instance | temperature sensor instance |
| Temp | degC | temperature |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Status | enum | Terrain database status |
| Lat | deglatitude | Current vehicle latitude |
| Lng | deglongitude | Current vehicle longitude |
| Spacing | terrain Tile spacing | |
| TerrH | m | current Terrain height |
| CHeight | m | Vehicle height above terrain |
| Pending | Number of tile requests outstanding | |
| Loaded | Number of tiles in memory | |
| ROfs | m | terrain reference offset for arming altitude |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Len | Tether length | |
| VFN | Force on vehicle in North direction | |
| VFE | Force on vehicle in East direction | |
| VFD | Force on vehicle in Down direction |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| I | instance | Instance number |
| Img | Image number | |
| GPSTime | milliseconds since start of GPS week | |
| GPSWeek | weeks since 5 Jan 1980 | |
| Lat | deglatitude | current latitude |
| Lng | deglongitude | current longitude |
| Alt | m | current altitude |
| RelAlt | m | current altitude relative to home |
| GPSAlt | m | altitude as reported by GPS |
| R | deg | current vehicle roll |
| P | deg | current vehicle pitch |
| Y | deg | current vehicle yaw |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| I | instance | instance |
| RPM | rpm | Motor RPM |
| Pow | Watt | Motor power |
| Volt | V | Motor voltage |
| Cur | A | Motor current |
| ETemp | degC | ESC Temp |
| MTemp | degC | Motor Temp |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| I | instance | instance |
| State | Motor status flags | |
| Err | Motor error flags |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| I | instance | instance |
| Health | Health | |
| DesMotSpeed | Desired Motor Speed (-1000 to 1000) | |
| MotSpeed | Motor Speed (-1000 to 1000) | |
| SuccCnt | Success Count | |
| ErrCnt | Error Count |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| I | instance | instance |
| Flag | Flags | |
| MotType | Motor type | |
| MotVer | Motor software version | |
| BattCap | Ah | Battery capacity |
| BattPct | % | Battery charge percentage |
| BattType | Battery type | |
| SwVer | Master software version |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| I | instance | instance |
| F | Flags bitmask | |
| Err | Master error code | |
| MVolt | V | Motor voltage |
| MCur | A | Motor current |
| Pow | Watt | Motor power |
| RPM | rpm | Motor RPM |
| MTemp | degC | Motor Temp (higher of pcb or stator) |
| BPct | % | Battery charge percentage |
| BVolt | V | Battery voltage |
| BCur | A | Battery current |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| SysID | system ID this data is for | |
| RTT | μs | round trip time for this system |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| I | instance | instance |
| Tx | B/s | transmitted data rate bytes per second |
| Rx | B/s | received data rate bytes per second, this is all incoming data, it may not all be processed by the driver using this port. |
| RxDp | B/s | Data rate of dropped received bytes, ideally should be 0. This is the difference between the received data rate and the processed data rate. |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Instance | 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 |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Instance | 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 |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| I | instance | 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 | ms | Tow of rising edge |
| SubMsR | ns | Millisecond fraction of tow of rising edge in nanoseconds |
| wnF | Week number of last falling edge | |
| MsF | ms | Tow of falling edge |
| SubMsF | ns | Millisecond fraction of tow of falling edge in nanoseconds |
| accEst | ns | Accuracy estimate |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Id | character referenced by FMTU | |
| Label | char[64] | Unit - SI where available |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| BT | enum | Board type |
| BST | enum | Board subtype |
| Maj | Major version number | |
| Min | Minor version number | |
| Pat | Patch number | |
| FWT | Firmware type | |
| GH | Github commit | |
| FWS | char[64] | Firmware version string |
| APJ | Board ID | |
| BU | enum | Build vehicle type |
| FV | Filter version | |
| IMI | IOMCU MCU ID | |
| ICI | IOMCU CPU ID |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| IMU | instance | Vibration instance number |
| VibeX | m/s/s | Primary accelerometer filtered vibration, x-axis |
| VibeY | m/s/s | Primary accelerometer filtered vibration, y-axis |
| VibeZ | m/s/s | Primary accelerometer filtered vibration, z-axis |
| Clip | Number of clipping events on 1st accelerometer |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | System time |
| dt | μs | Time period this data covers |
| AngDX | rad | Angular change for body-frame roll axis |
| AngDY | rad | Angular change for body-frame pitch axis |
| AngDZ | rad | Angular change for body-frame z axis |
| PosDX | m | Position change for body-frame X axis (Forward-Back) |
| PosDY | m | Position change for body-frame Y axis (Right-Left) |
| PosDZ | m | Position change for body-frame Z axis (Down-Up) |
| conf | Confidence |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | System time |
| RTimeUS | μs | Remote system time |
| CTimeMS | ms | Corrected system time |
| PX | m | Position X-axis (North-South) |
| PY | m | Position Y-axis (East-West) |
| PZ | m | Position Z-axis (Down-Up) |
| R | deg | Roll lean angle |
| P | deg | Pitch lean angle |
| Y | degheading | Yaw angle |
| PErr | m | Position estimate error |
| AErr | deg | Attitude estimate error |
| Rst | Position reset counter | |
| Ign | Ignored | |
| Q | % | Quality |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | System time |
| RTimeUS | μs | Remote system time |
| CTimeMS | ms | Corrected system time |
| VX | m/s | Velocity X-axis (North-South) |
| VY | m/s | Velocity Y-axis (East-West) |
| VZ | m/s | Velocity Z-axis (Down-Up) |
| VErr | m/s | Velocity estimate error |
| Rst | Velocity reset counter | |
| Ign | Ignored | |
| Q | % | Quality |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Q1 | Attitude quaternion 1 | |
| Q2 | Attitude quaternion 2 | |
| Q3 | Attitude quaternion 3 | |
| Q4 | Attitude quaternion 4 | |
| Yaw | deg | Yaw |
| Pitch | deg | Pitch |
| Roll | deg | Roll |
| YU | deg | Yaw unceratainty |
| PU | deg | Pitch uncertainty |
| RU | deg | Roll uncertainty |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Temp | deg | Temprature |
| Pres | Pa | Pressure |
| MX | Gauss | Magnetic feild X-axis |
| MY | Gauss | Magnetic feild Y-axis |
| MZ | Gauss | Magnetic feild Z-axis |
| AX | m/s/s | Acceleration X-axis |
| AY | m/s/s | Acceleration Y-axis |
| AZ | m/s/s | Acceleration Z-axis |
| GX | rad/s | Rotation rate X-axis |
| GY | rad/s | Rotation rate Y-axis |
| GZ | rad/s | Rotation rate Z-axis |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| InsStatus | VectorNav INS health status | |
| Lat | deg | Latitude |
| Lon | deg | Longitude |
| Alt | m | Altitude |
| VelN | m/s | Velocity Northing |
| VelE | m/s | Velocity Easting |
| VelD | m/s | Velocity Downing |
| PosU | deg | Filter estimated position uncertainty |
| VelU | m/s | Filter estimated Velocity uncertainty |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| GyrX | rad/s | measured rotation rate about X axis |
| GyrY | rad/s | measured rotation rate about Y axis |
| GyrZ | rad/s | measured rotation rate about Z axis |
| AccX | m/s/s | acceleration along X axis |
| AccY | m/s/s | acceleration along Y axis |
| AccZ | m/s/s | 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 |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | 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 | char[4] | Thread name |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| Dist0 | m | First wheel distance travelled |
| Qual0 | Quality measurement of Dist0 | |
| Dist1 | m | Second wheel distance travelled |
| Qual1 | Quality measurement of Dist1 |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | 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 | m | Desired Length |
| Len | m | Estimated Length |
| DRate | m/s | Desired Rate |
| Tens | UNKNOWN | Tension on line |
| Vcc | V | Voltage to Motor |
| Temp | degC | Motor temperature |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| DrRaw | deg | raw apparent wind direction direct from sensor, in body-frame |
| DrApp | deg | Apparent wind direction, in body-frame |
| DrTru | degheading | True wind direction |
| SpdRaw | m/s | raw wind speed direct from sensor |
| SpdApp | m/s | Apparent wind Speed |
| SpdTru | m/s | True wind speed |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| C | instance | EKF3 core this data is for |
| ID | Beacon sensor ID | |
| rng | m | Beacon range |
| innov | Beacon range innovation | |
| SIV | sqrt of beacon range innovation variance | |
| TR | Beacon range innovation consistency test ratio | |
| BPN | m | Beacon north position |
| BPE | m | Beacon east position |
| BPD | m | Beacon down position |
| OFH | m | High estimate of vertical position offset of beacons rel to EKF origin |
| OFL | m | Low estimate of vertical position offset of beacons rel to EKF origin |
| OFN | m | North position of receiver rel to EKF origin |
| OFE | m | East position of receiver rel to EKF origin |
| OFD | m | Down position of receiver rel to EKF origin |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| C | instance | EKF3 core this data is for |
| Roll | deg | Estimated roll |
| Pitch | deg | Estimated pitch |
| Yaw | degheading | Estimated yaw |
| VN | m/s | Estimated velocity (North component) |
| VE | m/s | Estimated velocity (East component) |
| VD | m/s | Estimated velocity (Down component) |
| dPD | m/s | Filtered derivative of vertical position (down) |
| PN | m | Estimated distance from origin (North component) |
| PE | m | Estimated distance from origin (East component) |
| PD | m | Estimated distance from origin (Down component) |
| GX | deg/s | Estimated gyro bias, X axis |
| GY | deg/s | Estimated gyro bias, Y axis |
| GZ | deg/s | Estimated gyro bias, Z axis |
| OH | m | Height of origin above WGS-84 |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| C | instance | EKF3 core this data is for |
| AX | Estimated accelerometer X bias | |
| AY | Estimated accelerometer Y bias | |
| AZ | Estimated accelerometer Z bias | |
| VWN | m/s | Estimated wind velocity (moving-to-North component) |
| VWE | m/s | Estimated wind velocity (moving-to-East component) |
| MN | mGauss | Magnetic field strength (North component) |
| ME | mGauss | Magnetic field strength (East component) |
| MD | mGauss | Magnetic field strength (Down component) |
| MX | mGauss | Magnetic field strength (body X-axis) |
| MY | mGauss | Magnetic field strength (body Y-axis) |
| MZ | mGauss | Magnetic field strength (body Z-axis) |
| IDX | m/s/s | Innovation in vehicle drag acceleration (X-axis component) |
| IDY | m/s/s | Innovation in vehicle drag acceleration (Y-axis component) |
| IS | rad | Innovation in vehicle sideslip |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| C | instance | EKF3 core this data is for |
| IVN | m/s | Innovation in velocity (North component) |
| IVE | m/s | Innovation in velocity (East component) |
| IVD | m/s | Innovation in velocity (Down component) |
| IPN | m | Innovation in position (North component) |
| IPE | m | Innovation in position (East component) |
| IPD | m | Innovation in position (Down component) |
| IMX | mGauss | Innovation in magnetic field strength (X-axis component) |
| IMY | mGauss | Innovation in magnetic field strength (Y-axis component) |
| IMZ | mGauss | Innovation in magnetic field strength (Z-axis component) |
| IYAW | deg | Innovation in vehicle yaw |
| IVT | UNKNOWN | 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 |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| C | instance | 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 | m | Most recent position reset (North component) |
| OFE | m | 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 | bitmask | Filter solution status |
| GPS | Filter GPS status | |
| PI | Primary core index |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| C | instance | 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 | m | Height above ground level |
| offset | UNKNOWN | Estimated vertical position of the terrain relative to the nav filter zero datum |
| RI | UNKNOWN | Range finder innovations |
| rng | UNKNOWN | Measured range |
| Herr | m | Filter ground offset state error |
| eAng | rad | Magnitude of angular error |
| eVel | m/s | Magnitude of velocity error |
| ePos | m | Magnitude of position error |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| C | instance | 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) |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| C | instance | 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 |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| C | instance | 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) | |
| GPS_GTA | GPS good to align | |
| GPS_CHK_WAIT | Waiting for GPS checks to pass | |
| MAG_FUSION | Magnetometer fusion (0=not fusing/1=fuse yaw/2=fuse mag) |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| C | instance | EKF3 core this data is for |
| Q1 | UNKNOWN | Quaternion a term |
| Q2 | UNKNOWN | Quaternion b term |
| Q3 | UNKNOWN | Quaternion c term |
| Q4 | UNKNOWN | Quaternion d term |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| C | instance | EKF core this message instance applies to |
| Cnt | s | count of samples used to create this message |
| IMUMin | s | smallest IMU sample interval |
| IMUMax | s | largest IMU sample interval |
| EKFMin | s | low-passed achieved average time step rate for the EKF (minimum) |
| EKFMax | s | low-passed achieved average time step rate for the EKF (maximum) |
| AngMin | s | accumulated measurement time interval for the delta angle (minimum) |
| AngMax | s | accumulated measurement time interval for the delta angle (maximum) |
| VMin | s | accumulated measurement time interval for the delta velocity (minimum) |
| VMax | s | accumulated measurement time interval for the delta velocity (maximum) |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| C | instance | EKF3 core this data is for |
| TVS | rad | Tilt Error Variance from symbolic equations (rad^2) |
| TVD | rad | Tilt Error Variance from difference method (rad^2) |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| C | instance | EKF3 core this data is for |
| V00 | Variance for state 0 (attitude quaternion) | |
| V01 | Variance for state 1 (attitude quaternion) | |
| V02 | Variance for state 2 (attitude quaternion) | |
| V03 | Variance for state 3 (attitude quaternion) | |
| V04 | Variance for state 4 (velocity-north) | |
| V05 | Variance for state 5 (velocity-east) | |
| V06 | Variance for state 6 (velocity-down) | |
| V07 | Variance for state 7 (position-north) | |
| V08 | Variance for state 8 (position-east) | |
| V09 | Variance for state 9 (position-down) | |
| V10 | Variance for state 10 (delta-angle-bias-x) | |
| V11 | Variance for state 11 (delta-angle-bias-y) |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| C | instance | EKF3 core this data is for |
| V12 | Variance for state 12 (delta-angle-bias-z) | |
| V13 | Variance for state 13 (delta-velocity-bias-x) | |
| V14 | Variance for state 14 (delta-velocity-bias-y) | |
| V15 | Variance for state 15 (delta-velocity-bias-z) | |
| V16 | Variance for state 16 (Earth-frame mag-field-bias-x) | |
| V17 | Variance for state 17 (Earth-frame mag-field-bias-y) | |
| V18 | Variance for state 18 (Earth-frame mag-field-bias-z) | |
| V19 | Variance for state 19 (body-frame mag-field-bias-x) | |
| V20 | Variance for state 20 (body-frame mag-field-bias-y) | |
| V21 | Variance for state 21 (body-frame mag-field-bias-z) | |
| V22 | Variance for state 22 (wind-north) | |
| V23 | Variance for state 23 (wind-east) |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| C | instance | EKF core this data is for |
| YC | degheading | GSF yaw estimate (deg) |
| YCS | deg | GSF yaw estimate 1-Sigma uncertainty (deg) |
| Y0 | degheading | Yaw estimate from individual EKF filter 0 (deg) |
| Y1 | degheading | Yaw estimate from individual EKF filter 1 (deg) |
| Y2 | degheading | Yaw estimate from individual EKF filter 2 (deg) |
| Y3 | degheading | Yaw estimate from individual EKF filter 3 (deg) |
| Y4 | degheading | 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 |
| FieldName | Units/Type | Description |
|---|---|---|
| TimeUS | μs | Time since system startup |
| C | instance | EKF core this data is for |
| IVN0 | m/s | North velocity innovation from individual EKF filter 0 (m/s) |
| IVN1 | m/s | North velocity innovation from individual EKF filter 1 (m/s) |
| IVN2 | m/s | North velocity innovation from individual EKF filter 2 (m/s) |
| IVN3 | m/s | North velocity innovation from individual EKF filter 3 (m/s) |
| IVN4 | m/s | North velocity innovation from individual EKF filter 4 (m/s) |
| IVE0 | m/s | East velocity innovation from individual EKF filter 0 (m/s) |
| IVE1 | m/s | East velocity innovation from individual EKF filter 1 (m/s) |
| IVE2 | m/s | East velocity innovation from individual EKF filter 2 (m/s) |
| IVE3 | m/s | East velocity innovation from individual EKF filter 3 (m/s) |
| IVE4 | m/s | East velocity innovation from individual EKF filter 4 (m/s) |