IMU accelerometer data Time since system startup accelerometer sensor instance number time since system startup this sample was taken acceleration along X axis acceleration along Y axis acceleration along Z axis Automatic Dependent Serveillance - Broadcast detected vehicle information Time since system startup Transponder address Vehicle latitude Vehicle longitude Vehicle altitude Vehicle heading Vehicle horizontal velocity Vehicle vertical velocity Transponder squawk code Aeron PLX GNSS status and accuracy (GPS_PARA + EXTD_GNSS) Time since system startup Time of week GPS week Satellites in view GPS fix type as reported to AP_GPS Jamming detection level (1=none,2=warn,3=critical) Spoofing detection level (1=none,2=warn,3=critical) Horizontal position accuracy Vertical position accuracy Horizontal velocity accuracy Horizontal dilution of precision Vertical dilution of precision Aeron PLX fused navigation solution (NAV_PARA1) Time since system startup Unix epoch seconds at sample time Latitude Longitude Height above WGS84 ellipsoid Velocity north Velocity east Velocity down Course over ground Roll angle Pitch angle Yaw angle PLX INS filter-source status word PLX hardware status word Aeron PLX raw sensor data (SENS_PARA) Time since system startup Sensor temperature Gyro X Gyro Y Gyro Z Accel X Accel Y Accel Z Mag X Mag Y Mag Z Barometric pressure Barometer temperature Barometric altitude Backup AHRS data Time since system startup Estimated roll Estimated pitch Estimated yaw Estimated altitude Estimated latitude Estimated longitude Estimated attitude quaternion component 1 Estimated attitude quaternion component 2 Estimated attitude quaternion component 3 Estimated attitude quaternion component 4 Contents of 'position report' AIS message, see: https://gpsd.gitlab.io/gpsd/AIVDM.html#_types_1_2_and_3_position_report_class_a Time since system startup Message Type Repeat Indicator MMSI Navigation Status Rate of Turn (ROT) Speed Over Ground (SOG) Position Accuracy Longitude Latitude Course Over Ground (COG) True Heading (HDG) Time Stamp Maneuver Indicator RAIM flag Radio status Contents of 'Base Station Report' AIS message, see: https://gpsd.gitlab.io/gpsd/AIVDM.html#_type_4_base_station_report Time since system startup Repeat Indicator MMSI Year (UTC) Month (UTC) Day (UTC) Hour (UTC) Minute (UTC) Second (UTC) Fix quality Longitude Latitude Type of EPFD RAIM flag Radio status Contents of 'static and voyage related data' AIS message, see: https://gpsd.gitlab.io/gpsd/AIVDM.html#_type_5_static_and_voyage_related_data Time since system startup Repeat Indicator MMSI AIS Version IMO Number Call Sign Vessel Name Ship Type Dimension to Bow Dimension to Stern Dimension to Port Dimension to Starboard Position Fix Type Draught Destination DTE Raw AIS AVDIM messages contents, see: https://gpsd.gitlab.io/gpsd/AIVDM.html#_aivdmaivdo_sentence_layer Time since system startup count of fragments in the currently accumulating message fragment number of this sentence sequential message ID for multi-sentence messages data payload Attitude control attitude Timestamp of the current Attitude loop vehicle desired roll achieved vehicle roll vehicle desired pitch achieved vehicle pitch vehicle desired yaw achieved vehicle yaw attitude delta time Angle of attack and Side Slip Angle values Time since system startup Angle of Attack calculated from airspeed, wind vector,velocity vector Side Slip Angle calculated from airspeed, wind vector,velocity vector helicopter AutoRotation Head Speed (ARHS) controller information Time since system startup Normalised target head speed Normalised measured head speed Head speed controller error P-term for head speed controller response FF-term for head speed controller response Arming status changes Time since system startup true if vehicle is now armed arming bitmask at time of arming 2 4 8 16 32 64 128 256 512 1024 2048 4096 8192 16384 32768 65536 131072 262144 524288 1048576 2097152 true if arm/disarm was forced method used for arming 0 1 2 3 4 5 only disarm uses this... 6 only disarm uses this... 7 only disarm uses this... 8 only disarm uses this... 9 only disarm uses this... 10 only disarm uses this... 11 only disarm uses this... 12 only disarm uses this... 13 only disarm uses this... 14 only disarm uses this... 15 only disarm uses this... 16 only disarm uses this... 17 only disarm uses this... 18 only disarm uses this... 19 only disarm uses this... 20 only disarm uses this... 21 only disarm uses this... 22 only disarm uses this... 23 only disarm uses this... 24 only disarm uses this... 25 only disarm uses this... 26 only disarm uses this... 27 only disarm uses this... 28 only disarm uses this... 29 only disarm uses this... 30 only disarm uses this... 31 only disarm uses this... 32 only disarm uses this... 33 only disarm uses this... 34 35 36 37 38 100 Helicopter AutoROTation (AROT) information Time since system startup Landed Reason state flags 1 true if below 1 m/s 2 true if collective below land col min 4 passes inertial nav is_still() check Helicopter AutoRotation Speed Controller (ARSC) information Time since system startup Desired forward velocity Target forward velocity Measured forward velocity Velocity to acceleration P-term component Velocity to acceleration I-term component Velocity to acceleration D-term component Velocity to acceleration feed forward component Accel limit flag Forward acceleration target Lateral acceleration target Airspeed sensor data Time since system startup Airspeed sensor instance number Current airspeed Pressure difference between static and dynamic port Temperature used for calculation Raw pressure less offset Offset from parameter True if sensor is being used True if sensor is healthy Probability sensor is healthy innovation test ratio Primary instance number. If equal to I then this sensor is primary sensor AirSim simulation data Time since system startup Simulation's timestamp Simulation's roll Simulation's pitch Simulation's yaw Simulated gyroscope, X-axis Simulated gyroscope, Y-axis Simulated gyroscope, Z-axis More AirSim simulation data Time since system startup simulation's acceleration, X-axis simulation's acceleration, Y-axis simulation's acceleration, Z-axis simulation's velocity, X-axis simulation's velocity, Y-axis simulation's velocity, Z-axis simulation's position, X-axis simulation's position, Y-axis simulation's position, Z-axis simulation's gps altitude simulation's earth-frame speed-down AutoTune data packet Time since system startup current angle current angular rate Heli AutoTune data packet Time since system startup current motor command current target angular rate current angular rate current target angle current angle Heli AutoTune Time since system startup which axis is currently being tuned step in autotune process target dwell frequency measured gain of dwell measured phase of dwell new rate gain FF term new rate gain P term new rate gain D term new angle P term new max accel term Scale factors for attitude controller Time since system startup Angle P scale X Angle P scale Y Angle P scale Z PD scale X PD scale Y PD scale Z I scale X I scale Y I scale Z Heli AutoTune Sweep packet Time since system startup current frequency for motor input to rate current response gain for motor input to rate current response phase for motor input to rate current frequency for target rate to rate current response gain for target rate to rate current response phase for target rate to rate Canonical vehicle attitude Time since system startup vehicle desired roll achieved vehicle roll vehicle desired pitch achieved vehicle pitch vehicle desired yaw achieved vehicle yaw active EKF type Copter/QuadPlane AutoTune Time since system startup which axis is currently being tuned step in autotune process target angle or rate, depending on tuning step measured minimum target angle or rate measured maximum target angle or rate new rate gain P term new rate gain D term new angle P term maximum measured twitching acceleration Auxiliary function invocation information Time since system startup ID of triggered function 0 aux switch disabled 2 flip 3 change to simple mode 4 change to RTL flight mode 5 save current position as level 7 save mission waypoint or RTL if in auto mode 9 trigger camera servo or relay 10 allow enabling or disabling rangefinder in flight which helps avoid surface tracking when you are far above the ground 11 allow enabling or disabling fence in flight 12 UNUSED 13 change to simple mode in middle, super simple at top 14 low = disabled, middle = leveled, high = leveled and limited 15 enable/disable the crop sprayer 16 change to auto flight mode 17 auto tune 18 change to LAND flight mode 19 Operate cargo grippers low=off, middle=neutral, high=on 21 Parachute enable/disable 22 Parachute release 23 Parachute disable, enable, release with 3 position switch 24 Reset auto mission to start from first command 25 enable/disable the roll and pitch rate feed forward 26 enable/disable the roll, pitch and yaw accel limiting 27 Retract Mount1 28 Relay pin on/off (only supports first relay) 29 Landing gear controller 30 Play lost vehicle sound 31 Emergency Stop Switch 32 Motor On/Off switch 33 Brake flight mode 34 Relay2 pin on/off 35 Relay3 pin on/off 36 Relay4 pin on/off 37 change to THROW flight mode 38 enable AP_Avoidance library 39 enable precision loiter 40 enable object avoidance using proximity sensors (ie. horizontal lidar) 41 UNUSED 42 change to SmartRTL flight mode 43 enable inverted flight 44 winch enable/disable 45 winch control 46 enable RC Override 47 user function #1 48 user function #2 49 user function #3 50 learn cruise throttle (Rover) 51 manual mode 52 acro mode 53 steering mode 54 hold mode 55 guided mode 56 loiter mode 57 follow mode 58 clear waypoints 59 simple mode 60 zigzag mode 61 zigzag save waypoint 62 learn compass offsets 63 rover sailboat tack 64 reverse throttle input 65 disable GPS for testing 66 Relay5 pin on/off 67 Relay6 pin on/off 68 stabilize mode 69 poshold mode 70 althold mode 71 flowhold mode 72 circle mode 73 drift mode 74 Sailboat motoring 3pos 75 Surface tracking upwards or downwards 76 Standby mode 77 takeoff 78 control RunCam device 79 control RunCam OSD 80 align visual odometry camera's attitude to AHRS 81 disarm vehicle 82 disable, enable and force Q assist 83 zigzag auto switch 84 enable / disable airmode for copter 85 generator control 86 disable terrain following in CRUISE/FBWB modes 87 select CROW mode for diff spoilers;high disables,mid forces progressive 88 three-position switch to set soaring mode 89 force flare, throttle forced idle, pitch to LAND_PITCH_DEG, tilts up 90 change EKF data source set between primary, secondary and tertiary 91 calibrate airspeed ratio 92 Fly-By-Wire-A 93 used in separate branch MISSION_RELATIVE 94 VTX power level 95 enables FBWA taildragger takeoff mode. Once this feature is enabled it will stay enabled until the aircraft goes above TKOFF_TDRAG_SPD1 airspeed, changes mode, or the pitch goes above the initial pitch when this is engaged or goes below 0 pitch. When enabled the elevator will be forced to TKOFF_TDRAG_ELEV. This option allows for easier takeoffs on taildraggers in FBWA mode, and also makes it easier to test auto-takeoff steering handling in FBWA. 96 trigger re-reading of mode switch 97 flag for windvane direction offset input, used with windvane type 2 98 mode training 99 AUTO RTL via DO_LAND_START 100 disable first IMU (for IMU failure testing) 101 disable second IMU (for IMU failure testing) 102 Momentary switch to cycle camera modes 103 trigger lane switch attempt 104 trigger yaw reset attempt 105 disable GPS yaw for testing 106 equivalent to AIRSPEED_USE 0 107 fixed wing auto tune 108 QRTL mode 109 use Custom Controller 110 disable third IMU (for IMU failure testing) 111 allows for manually running starter 112 change AHRS_EKF_TYPE 113 Retract Mount2 150 CRUISE mode 151 Turtle mode - flip over after crash 152 reset simple mode reference heading to current 153 arm or disarm vehicle 154 arm or disarm vehicle enabling airmode 155 trim to current servo and RC 156 clear torqeedo error 157 Force long FS action to FBWA for landing out of range 158 optical flow calibration 159 enable or disable land detection for GPS based manual modes preventing land detection and maintainting set_throttle_mix_max 160 enable/disable weathervaning 161 initialize turbine start sequence 162 FFT notch tuning function 163 Mount earth frame yaw lock forced on all axes, for all mounts 164 Pauses logging if under logging rate control 165 ARM on high, MOTOR_ESTOP on low 166 start recording on high, stop recording on low 167 camera zoom high = zoom in, middle = hold, low = zoom out 168 camera manual focus. high = long shot, middle = stop focus, low = close shot 169 camera auto focus 170 QuadPlane QStabilize mode 171 Calibrate compasses (disarmed only) 172 Battery MPPT Power enable. high = ON, mid = auto (controlled by mppt/batt driver), low = OFF. This effects all MPPTs. 173 Abort Glide-slope or VTOL landing during payload place or do_land type mission items 174 camera image tracking 175 camera lens selection 176 force enabled VTOL forward throttle method 177 mount LRF enable/disable 178 e.g. pause movement towards waypoint 179 AP_ICEngine start stop 180 auto tune tuning switch to test or revert gains 181 quicktune 3 position switch 182 in-flight AHRS autotrim 183 Fixed Wing AUTOLAND Mode 184 system ID as an aux switch 185 mount lock modes for roll and pitch axes, for all mounts that support it 186 Lock mount target to current ROI seen and switch mount to GPS Targeting mode 187 trigger full EKF bootstrap reset 201 roll input 202 pitch input 203 throttle pilot input 204 yaw pilot input 207 mainsail input 208 flap input 209 VTOL manual forward throttle 210 manual airbrake control 211 walking robot height input 212 mount1 roll input 213 mount1 pitch input 214 mount1 yaw input 215 mount2 roll input 216 mount3 pitch input 217 mount4 yaw input 218 allows for throttle on slider 219 use a transmitter knob or slider for in-flight tuning 220 use another transmitter knob or slider for in-flight tuning 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 emergency scripting disablement 317 switch position when function triggered 0 indicates auxiliary switch is in the low position (pwm <1200) 1 indicates auxiliary switch is in the middle position (pwm >1200, <1800) 2 indicates auxiliary switch is in the high position (pwm >1800) source of auxiliary function invocation 0 Source index is RC channel index 1 Source index is RC channel index 2 Source index is button index 3 Source index is MAVLink channel number 4 Source index is mission item index 5 Source index is not used (always 0) index within source. 0 indexed. Invalid for scripting. true if function was successful Barometer dynamic data Time since system startup barometer sensor instance number calculated dynamic pressure in the bodyframe X-axis calculated dynamic pressure in the bodyframe Y-axis calculated dynamic pressure in the bodyframe Z-axis Gathered Barometer data Time since system startup barometer sensor instance number calculated altitude altitude AMSL measured atmospheric pressure measured atmospheric temperature derived climb rate from primary barometer time last sample was taken raw adjustment of barometer altitude, zeroed on calibration, possibly set by GCS temperature on ground, specified by parameter or measured while on ground true if barometer is considered healthy compensated atmospheric pressure Gathered battery data Time since system startup battery instance number measured voltage estimated resting voltage measured current consumed Ah, current * time consumed Wh, energy this battery has expended measured temperature estimated battery resistance remaining percentage health state of health percentage. 0 if unknown Battery cell voltage information Time since system startup battery instance number battery voltage first cell voltage second cell voltage third cell voltage fourth cell voltage fifth cell voltage sixth cell voltage seventh cell voltage eighth cell voltage ninth cell voltage tenth cell voltage eleventh cell voltage twelfth cell voltage Battery cell voltage information Time since system startup battery instance number thirteenth cell voltage fourteenth cell voltage Beacon information Time since system startup True if beacon sensor is healthy Number of beacons being used Distance to first beacon Distance to second beacon Distance to third beacon Distance to fourth beacon Calculated beacon position, x-axis Calculated beacon position, y-axis Calculated beacon position, z-axis CANFD Frame Time since system startup bus number frame identifier data length code data 0 data 1 data 2 data 3 data 4 data 5 data 6 data 7 Camera shutter information Time since system startup Instance number Image number milliseconds since start of GPS week weeks since 5 Jan 1980 current latitude current longitude current altitude current altitude relative to home altitude as reported by GPS current vehicle roll current vehicle pitch current vehicle yaw Info from GetNodeInfo request Time since system startup Driver index Node ID Hardware ID, part 1 Hardware ID, part 2 Name string major revision id minor revision id AP_Periph git hash CAN Frame Time since system startup bus number frame identifier data length code byte 0 byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7 DroneCAN heartbeat status Time since system startup Driver index Node ID Time since node startup 0:Ok, 1:Warning, 2:Error, 3:Critical 0:Operational, 1:Initialization, 2:Maintenance, 3:Software update, 7:Offline Expected to be 0 vendor specific code. In AP_Periph this is available memory in bytes. CAN Bus Statistics Time since system startup driver index transmit success count transmit request count transmit reject count transmit overflow count transmit timeout count transmit abort count receive count receive overflow count receive error count bus offset error count ESC successful send count Servo successful send count ESC/Servo failed-to-send count Custom Controller data Time since system startup controller type 0 1 2 true if controller is active Uploaded mission command information Time since system startup Total number of mission commands This command's offset in mission Command type Parameter 1 Parameter 2 Parameter 3 Parameter 4 Command latitude Command longitude Command altitude Frame used for position Custom Controller data Time since system startup controller type 0 1 2 true if the controller is switched on by the pilot true if the controller is actually running. Act can be true while Run is false, for example during an RC failsafe or in a flight mode the backend refuses to run in. Generic DroneCAN circuit status Time since system startup driver index circuit id Voltage Current error flags Servo feedback data Time since system startup Servo number this data relates to Current servo position Force being applied Current servo movement speed Amount of rated power being applied commanded servo position Voltage Current motor temperature PCB temperature error flags Control Tuning information Time since system startup throttle input angle boost throttle output calculated hover throttle desired altitude achieved altitude barometric altitude desired rangefinder altitude achieved rangefinder altitude terrain altitude desired climb rate climb rate Generic 16-bit-signed-integer storage Time since system startup Data type identifier Value Generic 32-bit-signed-integer storage Time since system startup Data type identifier Value DCM Estimator Data Time since system startup estimated roll estimated pitch estimated yaw lowest estimated gyro drift error difference between measured yaw and DCM yaw estimate wind velocity, to-the-North component wind velocity, to-the-East component wind velocity, Up-to-Down component synthetic (equivalent) airspeed Generic float storage Time since system startup Data type identifier Value DataFlash-Over-MAVLink statistics Time since system startup Current block number Number of times we rejected a write to the backend Number of blocks sent from the retry queue Number of resends of unacknowledged data made Average number of blocks on the free list Minimum number of blocks on the free list Maximum number of blocks on the free list Average number of blocks on the pending list Minimum number of blocks on the pending list Maximum number of blocks on the pending list Average number of blocks on the sent list Minimum number of blocks on the sent list Maximum number of blocks on the sent list Onboard logging statistics Time since system startup Number of times we rejected a write to the backend Current block number Current write offset Minimum free space in write buffer in last time period Maximum free space in write buffer in last time period Average free space in write buffer in last time period Deepstall Landing data Time since system startup Deepstall landing stage Target heading Landing point latitude Landing point longitude Landing point altitude Crosstrack error Expected travel distance vehicle will travel from this point L1 controller crosstrack integrator value wind estimate loiter angle flown Deepstall steering PID desired value Deepstall steering PID Proportional response component Deepstall steering PID Integral response component Deepstall steering PID Derivative response component Generic 16-bit-unsigned-integer storage Time since system startup Data type identifier Value Generic 32-bit-unsigned-integer storage Time since system startup Data type identifier Value External AHRS data Time since system startup euler roll euler pitch euler yaw velocity north velocity east velocity down latitude longitude altitude AMSL nav status flags External AHRS variances Time since system startup velocity variance position variance height variance magnetic variance, X magnetic variance, Y magnetic variance, Z true airspeed variance EFI per-cylinder information Time since system startup Cylinder this data belongs to Ignition timing Injection time Cylinder head temperature Exhaust gas temperature Estimated lambda coefficient (dimensionless ratio) Cylinder2 head temperature Cylinder2 Exhaust gas temperature Index of the publishing ECU Status received from ESCs via Extended DShot telemetry v2 microseconds since system startup ESC instance number current stress level (commutation effort), scaled to [0..255] maximum stress level (commutation effort) since arming, scaled to [0..15] status bits 1 true if the message contains up-to-date stress data 2 true if the message contains up-to-date status data 4 true if the last status had the "alert" bit (e.g. demag) 8 true if the last status had the "warning" bit (e.g. desync) 16 true if the last status had the "error" bit (e.g. stall) Electronic Fuel Injection system data Time since system startup Reported engine load Reported engine RPM Spark Dwell Time Atmospheric pressure Intake manifold pressure Intake manifold temperature Engine Coolant Temperature Oil Pressure Oil temperature Fuel Pressure Fuel Consumption Rate Consumed fuel volume Throttle Position Index of the publishing ECU Electronic Fuel Injection system data - redux Time since system startup True if EFI is healthy Engine state General error Crankshaft sensor status Temperature status Fuel pressure status Oil pressure status Detonation status Misfire status Debris status Spark plug usage Index of the publishing ECU Electronic Fuel Injection data - Hirth specific Status information Time since system startup Error Excess Temperature Bitfield 1 true if CHT1 is too low 2 true if CHT1 is too high 4 true if CHT1 Enrichment is active 8 true if CHT2 is too low 16 true if CHT2 is too high 32 true if CHT2 Enrichment is active 64 true if EGT1 is too low 128 true if EGT1 is too high 256 true if EGT1 Enrichment is active 512 true if EGT2 is too low 1024 true if EGT2 is too high 2048 true if EGT2 Enrichment is active Sensor Status Bitfield 2 true if engine temperature sensor is OK 4 true if air temperature sensor is OK 8 true if intake air pressure sensor is OK 16 true if throttle sensor is OK CRC failure count ACK failure count Uptime between 2 messages Throttle output as received by the engine Modified throttle_to_hirth output sent to the engine Specifically coded error messages Time since system startup Subsystem in which the error occurred 1 2 3 4 not used 5 6 7 not used 8 9 10 11 12 13 14 not used 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 Subsystem-specific error code Feedback received from ESCs microseconds since system startup ESC instance number reported motor rotation rate reported motor rotation rate without slew adjustment Perceived input voltage for the ESC Perceived current through the ESC ESC temperature in centi-degrees C current consumed total mAh measured motor temperature in centi-degrees C error rate ESC extended telemetry data Time since system startup starts from 0 input duty cycle in percent output duty cycle in percent manufacturer-specific status flags Power percentage Specifically coded event messages Time since system startup Event identifier 10 11 15 17 18 19 21 22 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 41 42 43 44 45 46 47 49 50 51 52 53 54 55 56 57 58 Heli only 59 Heli only 60 61 62 63 64 65 66 67 71 72 73 74 75 76 77 78 79 80 81 82 83 85 86 87 90 163 164 165 166 167 compass offsets learned by the EKF were saved on disarm Filter Center Message - per motor microseconds since system startup instance total number of active harmonic notches First harmonic centre frequency for motor 1 First harmonic centre frequency for motor 2 First harmonic centre frequency for motor 3 First harmonic centre frequency for motor 4 First harmonic centre frequency for motor 5 First harmonic centre frequency for motor 6 Second harmonic centre frequency for motor 1 Second harmonic centre frequency for motor 2 Second harmonic centre frequency for motor 3 Second harmonic centre frequency for motor 4 Second harmonic centre frequency for motor 5 Second harmonic centre frequency for motor 6 Filter Center Message microseconds since system startup instance notch centre frequency 2nd harmonic frequency Fence status - development diagnostic message Time since system startup bitmask of enabled fences bitmask of automatically enabled fences bitmask of configured-in-parameters fences bitmask of enabled fences bitmask of currently disabled fences current vehicle altitude https://ardupilot.org/copter/docs/flowhold-mode.html FlowHold mode messages Time since system startup Filtered flow rate, X-Axis Filtered flow rate, Y-Axis Target lean angle, X-Axis Target lean angle, Y-Axis Flow sensor quality. If this value falls below FHLD_QUAL_MIN parameter, FlowHold will act just like AltHold. Integral part of PI controller, X-Axis Integral part of PI controller, Y-Axis Height estimation using optical flow sensor Time since system startup Delta flow rate, X-Axis Delta flow rate, Y-Axis Integrated delta velocity rate, X-Axis Integrated delta velocity rate, Y-Axis Estimated Height Delta Height Height offset Height estimate from inertial navigation library Last used INS height in optical flow sensor height estimation calculations Time between optical flow sensor updates. This should be less than 500ms for performing the height estimation calculations File data File name Offset into the file of this block Length of this data block File data of this block https://ardupilot.org/dev/docs/code-overview-adding-a-new-log-message.html Message defining the format of messages in this file unique-to-this-log identifier for message being defined the number of bytes taken up by this message (including all headers) name of the message being defined character string defining the C-storage-type of the fields in this message the labels of the message being defined Message defining units and multipliers used for fields of other messages Time since system startup numeric reference to associated FMT message each character refers to a UNIT message. The unit at an offset corresponds to the field at the same offset in FMT.Format each character refers to a MULT message. The multiplier at an offset corresponds to the field at the same offset in FMT.Format currently loaded Geo Fence points Time since system startup total number of stored items index in current sequence point type point latitude point longitude vertex cound in polygon if applicable radius of circle if applicable Follow library diagnostic data Time since system startup (microseconds) Target latitude (degrees * 1E7) Target longitude (degrees * 1E7) Target absolute altitude (centimeters) Target velocity, North (m/s) Target velocity, East (m/s) Target velocity, Down (m/s) Vehicle estimated latitude (degrees * 1E7) Vehicle estimated longitude (degrees * 1E7) Vehicle estimated altitude (centimeters) Vehicle estimated altitude Frame Filter Tuning Message - per motor microseconds since system startup instance number of active harmonic notches desired harmonic notch centre frequency for motor 1 desired harmonic notch centre frequency for motor 2 desired harmonic notch centre frequency for motor 3 desired harmonic notch centre frequency for motor 4 desired harmonic notch centre frequency for motor 5 desired harmonic notch centre frequency for motor 6 desired harmonic notch centre frequency for motor 7 desired harmonic notch centre frequency for motor 8 desired harmonic notch centre frequency for motor 9 desired harmonic notch centre frequency for motor 10 desired harmonic notch centre frequency for motor 11 desired harmonic notch centre frequency for motor 12 FFT Filter Tuning microseconds since system startup peak noise frequency as an energy-weighted average of roll and pitch peak frequencies bandwidth of weighted peak frequency where edges are determined by FFT_ATT_REF signal-to-noise ratio on the roll axis signal-to-noise ratio on the pitch axis signal-to-noise ratio on the yaw axis harmonic fit on roll of the highest noise peak to the second highest noise peak harmonic fit on pitch of the highest noise peak to the second highest noise peak harmonic fit on yaw of the highest noise peak to the second highest noise peak FFT health, X-axis FFT health, Y-axis FFT health, Z-axis FFT cycle time FFT Noise Frequency Peak microseconds since system startup peak id where 0 is the centre peak, 1 is the lower shoulder and 2 is the upper shoulder noise frequency of the peak on roll noise frequency of the peak on pitch noise frequency of the peak on yaw bandwidth of the peak frequency on roll where edges are determined by FFT_ATT_REF bandwidth of the peak frequency on pitch where edges are determined by FFT_ATT_REF bandwidth of the peak frequency on yaw where edges are determined by FFT_ATT_REF signal-to-noise ratio on the roll axis signal-to-noise ratio on the pitch axis signal-to-noise ratio on the yaw axis power spectral density bin energy of the peak on roll power spectral density bin energy of the peak on roll power spectral density bin energy of the peak on roll Additional FFT Noise Frequency Peak microseconds since system startup update axis Peak 1 frequency Peak 2 frequency Peak 3 Frequency Peak 1 noise bandwidth Peak 2 noise bandwidth Peak 3 noise bandwidth Peak 1 Maximum energy Peak 2 Maximum energy Peak 3 Maximum energy Filter Tuning Message microseconds since system startup instance desired harmonic notch centre frequency Simulated Glider Angles and coefficients Time since system startup alpha angle beta angle lift coefficent roll coffecient yaw coefficient Solo Gimbal measurements Time since system startup sum of time across measurements in this packet delta-angle sum, x-axis delta-angle sum, y-axis delta-angle sum, z-axis delta-velocity sum, x-axis delta-velocity sum, y-axis delta-velocity sum, z-axis joint angle, x joint angle, y joint angle, z Solo Gimbal estimation and demands Time since system startup Solo Gimbal EKF status bits Solo Gimbal EKF estimate of gimbal angle, x-axis Solo Gimbal EKF estimate of gimbal angle, y-axis Solo Gimbal EKF estimate of gimbal angle, y-axis Angular velocity demand around x-axis Angular velocity demand around y-axis Angular velocity demand around z-axis Angular position target around x-axis Angular position target around y-axis Angular position target around z-axis GPS accuracy information Time since system startup GPS instance number vertical dilution of precision horizontal position accuracy vertical position accuracy speed accuracy yaw accuracy true if vertical velocity is available time since system startup this sample was taken system time delta between the last two reported positions altitude above WGS-84 ellipsoid; INT32_MIN (-2147483648) if unknown RTCM fragments used RTCM fragments discarded Information received from GNSS systems attached to the autopilot Time since system startup GPS instance number GPS Fix type; 2D fix, 3D fix etc. 0 No GPS connected/detected 1 Receiving valid GPS messages but no lock 2 Receiving valid messages and 2D lock 3 Receiving valid messages and 3D lock 4 Receiving valid messages and 3D lock with differential improvements 5 Receiving valid messages and 3D RTK Float 6 Receiving valid messages and 3D RTK Fixed 7 Receiving valid messages and static fixed, typically used for base stations 8 Receiving valid messages and improved with PPP milliseconds since start of GPS Week weeks since 5 Jan 1980 number of satellites visible horizontal dilution of precision latitude longitude altitude ground speed ground course vertical speed vehicle yaw boolean value indicating whether this GPS is in use GPS Yaw Time since system startup instance reported heading,deg antenna separation,m vertical antenna separation,m minimum tolerable vertical antenna separation,m maximum tolerable vertical antenna separation,m 1 if have yaw Raw uBlox data Time since system startup receiver TimeOfWeek measurement GPS week number of space vehicles seen space vehicle number of first vehicle carrier phase measurement pseudorange measurement Doppler measurement measurement quality index carrier-to-noise density ratio loss of lock indicator Raw uBlox data - header Time since system startup receiver TimeOfWeek measurement GPS week GPS leap seconds number of space-vehicle measurements to follow receiver tracking status bitfield Raw uBlox data - space-vehicle data Time since system startup Pseudorange measurement Carrier phase measurement Doppler measurement GNSS identifier Satellite identifier GLONASS frequency slot carrier phase locktime counter carrier-to-noise density ratio estimated pseudorange measurement standard deviation estimated carrier phase measurement standard deviation estimated Doppler measurement standard deviation tracking status bitfield GSOF70 LLH with MSL Altitude Time since system startup [µs] Latitude [deg] Longitude [deg] Altitude above mean sea level [m] Geoid model used (null-terminated string) GSOF49 Full INS Navigation Solution 1 Time since system startup [us] GPS week number since Jan 1980 GPS time of week [ms] IMU alignment status (enum) GNSS status (enum) Latitude [degrees] Longitude [degrees] Altitude in ITRF 2020 [meters] Velocity North [m/s] Velocity East [m/s] Velocity Down [m/s] 3D Speed [m/s] GSOF49 Full INS Navigation Solution 2 Time since system startup [us] Roll [degrees] Pitch [degrees] Heading [degrees] Track angle [degrees] Angular rate X [deg/s] Angular rate Y [deg/s] Angular rate Z [m/s] Acceleration X [m/s^2] Acceleration Y [m/s^2] Acceleration Z [m/s^2] GSOF1 GPS Position Time Metadata GPS Time since system startup [us] GPS Time of week [ms] GPS week number Number of satellites Positioning flags byte 1 Positioning flags byte 2 Initialization count GSOF50 INS Solution RMS Values 1 Time since system startup [us] GPS time of week [ms] North Position uncertainty RMS [m] East Position uncertainty RMS [m] Down Position uncertainty RMS [m] North Velocity uncertainty RMS [m/s] East Velocity uncertainty RMS [m/s] Down Velocity uncertainty RMS [m/s] Roll RMS uncertainty [deg] Pitch RMS uncertainty[deg] Yaw RMS uncertainty[deg] Guided mode attitude target information Time since system startup Type of guided mode Target attitude, Roll Target attitude, Pitch Target attitude, Yaw Roll rate Pitch rate Yaw rate Thrust Climb rate Guided mode position target information Time since system startup Type of guided mode Target position, X-Axis Target position, Y-Axis Target position, Z-Axis Target position, Z-Axis is alt above terrain Target velocity, X-Axis Target velocity, Y-Axis Target velocity, Z-Axis Target acceleration, X-Axis Target acceleration, Y-Axis Target acceleration, Z-Axis IMU gyroscope data Time since system startup gyroscope sensor instance number time since system startup this sample was taken measured rotation rate about X axis measured rotation rate about Y axis measured rotation rate about Z axis IMU Heater data Time since system startup Current IMU temperature Target IMU temperature Proportional portion of response Integral portion of response Controller output to heating element Helicopter related messages Time since system startup Instance, 0=Main, 1=Tail Desired rotor speed Estimated rotor speed Governor Output Throttle output throttle ramp up Hygrometer data Time since system startup sensor ID percentage humidity temperature in degrees C ICM20789 diagnostics Time since system startup raw temperature from sensor raw pressure from sensor pressure temperature https://ardupilot.org/copter/docs/common-ie24-fuelcell.html Intelligent Energy Fuel Cell generator (legacy protocol) Time since system startup Fuel remaining stack power module power draw output power error codes 1 Minor internal error is to be ignored 10 11 20 21 30 31 32 33 40 https://ardupilot.org/copter/docs/common-ie24-fuelcell.html Intelligent Energy Fuel Cell generator Time since system startup Fuel remaining Inlet pressure battery voltage output power stack power module power draw fault number battery power draw generator state 0 1 2 3 4 error code 1 Minor internal error is to be ignored 10 11 20 21 30 31 32 33 40 sub-error code InertialLabs AHRS data1 Time since system startup GPS INS time (round) Gyro X Gyro Y Gyro z Accelerometer X Accelerometer Y Accelerometer Z InertialLabs AHRS data2 Time since system startup GPS INS time (round) Magnetometer X Magnetometer Y Magnetometer Z InertialLabs AHRS data3 Time since system startup GPS INS time (round) Static pressure Differential pressure Temperature Baro altitude true airspeed Wind velocity north Wind velocity east Wind velocity down Air Data Unit status InertialLabs AHRS data4 Time since system startup GNSS Position timestamp GPS Week Number of satellites Indicator of new update of GPS data GNSS Latitude GNSS Longitude GNSS Altitude GNSS Track over ground GNSS Horizontal speed GNSS Vertical speed InertialLabs AHRS data5 Time since system startup GNSS Position timestamp fix type GNSS spoofing status GNSS jamming status GNSS Info1 GNSS Info2 GNSS Angles position type InertialLabs AHRS data6 Time since system startup GNSS Position timestamp GNSS Heading timestamp GNSS Heading GNSS Pitch GNSS GDOP GNSS PDOP GNSS HDOP GNSS VDOP GNSS TDOP InertialLabs AHRS data7 Time since system startup GPS INS time (round) euler roll euler pitch euler yaw velocity north velocity east velocity down latitude longitude altitude MSL USW1 USW2 Supply voltage InertialLabs AHRS data8 Time since system startup GPS INS time (round) position variance north position variance east position variance down velocity variance north velocity variance east velocity variance down Inertial Measurement Unit data Time since system startup IMU sensor instance number measured rotation rate about X axis measured rotation rate about Y axis measured rotation rate about Z axis acceleration along X axis acceleration along Y axis acceleration along Z axis gyroscope error count accelerometer error count IMU temperature gyroscope health accelerometer health gyroscope measurement rate accelerometer measurement rate IOMCU diagnostic information Time since system startup Status Read error count (zeroed on successful read) Free memory IOMCU uptime Number of packets received by IOMCU Protocol failures on MCU side Reported number of failures on IOMCU side Number of delayed packets received by MCU IMU Register unexpected value change Time since system startup bus ID device register bank device register unexpected value InertialSensor Batch Logging Data Time since system startup batch sequence number sample sequence number x-axis sample value y-axis sample value z-axis sample value InertialSensor Batch Logging Header Time since system startup batch sequence number indicates if this is accel or gyro data IMU sensor instance multiplier to be applied to samples in this batch samples in this batch timestamp of first sample rate at which samples have been collected Log data received from JSON simulator Time since system startup (us) Simulation's timestamp (s) Simulation's roll (rad) Simulation's pitch (rad) Simulation's yaw (rad) Simulated gyroscope, X-axis (rad/sec) Simulated gyroscope, Y-axis (rad/sec) Simulated gyroscope, Z-axis (rad/sec) Log data received from JSON simulator Time since system startup (us) simulation's velocity, North-axis (m/s) simulation's velocity, East-axis (m/s) simulation's velocity, Down-axis (m/s) simulation's acceleration, X-axis (m/s^2) simulation's acceleration, Y-axis (m/s^2) simulation's acceleration, Z-axis (m/s^2) simulation's acceleration, North (m/s^2) simulation's acceleration, East (m/s^2) simulation's acceleration, Down (m/s^2) Slope Landing data Time since system startup progress through landing sequence Landing flags Slope-specific landing flags Slope to landing point Initial slope to landing point Rangefinder correction Height for flare timing. Land Detector State Time since system startup boolean state flags 1 2 4 8 16 32 64 128 256 512 1024 2048 landing_detector pass count Landing gear information Time since system startup Current landing gear state -1 0 1 2 3 Weight on wheels state -1 0 1 Gathered Loweheiser EFI/Governor telemetry Time since system startup target system ID target component ID command efi index desired engine state (0:EFI off 1:EFI on) desired governor state (0:Governor off 1:Governor on) manual throttle value desired electric start Gathered Loweheiser EFI/Governor telemetry Time since system startup EFI/Gov sensor instance number battery voltage battery current generator current throttle input EFI battery voltage generator RPM EFI pulse-width fuel flow fuel consumed EFI pressure EFI manifold air temperature cylinder head temperature throttle position sensor Information received from compasses Time since system startup magnetometer sensor instance number magnetic field strength in body frame magnetic field strength in body frame magnetic field strength in body frame magnetic field offset in body frame magnetic field offset in body frame magnetic field offset in body frame motor interference magnetic field offset in body frame motor interference magnetic field offset in body frame motor interference magnetic field offset in body frame true if the compass is considered healthy time measurement was taken Magnetometer high resolution data Time since system startup CAN node sensor ID on node CAN bus X axis field y axis field z axis field GCS MAVLink link statistics Time since system startup mavlink channel number transmitted packet count received packet count perceived number of packets we never received compact representation of some state of the channel 1 2 4 8 16 stream slowdown is the number of ms being added to each message to fit within bandwidth times buffer was full when a message was going to be sent time MAV_GCS_SYSID heartbeat (or manual control) last seen MAVLink command we have just executed Time since system startup target system for command target component for command source system for command source component for command command frame mavlink command enum value first parameter from mavlink packet second parameter from mavlink packet third parameter from mavlink packet fourth parameter from mavlink packet X coordinate from mavlink packet Y coordinate from mavlink packet Z coordinate from mavlink packet command result being returned from autopilot true if this command arrived via a COMMAND_LONG rather than COMMAND_INT MCU voltage and temprature monitering Time since system startup Temperature Voltage Voltage min Voltage max Executed mission command information; emitted when we start to run an item Time since system startup Total number of mission commands This command's offset in mission Command type Parameter 1 Parameter 2 Parameter 3 Parameter 4 Command latitude Command longitude Command altitude Frame used for position MMC3416 compass data Time since system startup new measurement X axis new measurement Y axis new measurement Z axis new offset X axis new offset Y axis new offset Z axis Mount's desired and actual roll, pitch and yaw angles Time since system startup Instance number Mount mode Desired roll Actual roll Desired pitch Actual pitch Desired yaw in body frame Actual yaw in body frame Desired yaw in earth frame Actual yaw in earth frame Rangefinder distance vehicle control mode information Time since system startup vehicle-specific mode number alias for Mode reason for entering this mode; enumeration value 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 general failsafes, prefer specific failsafes over this as much as possible 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 Main loop performance monitoring message. Time since system startup Loop delay so far Current task Internal error mask Count of internal error occurances Internal Error line MAVLink message currently being processed MAVLink command currently being processed If semaphore taken, line of semaphore take call count of SPI transactions count of i2c transactions Motor mixer information Time since system startup Maximum motor compensation gain Ratio between detected battery voltage and maximum battery voltage Throttle limit set due to battery current limitations Maximum average throttle that can be used to maintain attitude control, derived from throttle mix params Throttle output bit 0 motor failed, bit 1 motors balanced, should be 2 in normal flight Textual messages Time since system startup identifier for chunks making up a message chunk sequence number within message identified by ID message text Message mapping from single character to numeric multiplier Time since system startup character referenced by FMTU numeric multiplier EKF2 beacon sensor diagnostics Time since system startup EKF2 core this data is for Beacon sensor ID Beacon range Beacon range innovation sqrt of beacon range innovation variance Beacon range innovation consistency test ratio Beacon north position Beacon east position Beacon down position High estimate of vertical position offset of beacons rel to EKF origin Low estimate of vertical position offset of beacons rel to EKF origin always zero always zero always zero EKF2 estimator outputs Time since system startup EKF2 core this data is for Estimated roll Estimated pitch Estimated yaw Estimated velocity (North component) Estimated velocity (East component) Estimated velocity (Down component) Filtered derivative of vertical position (down) Estimated distance from origin (North component) Estimated distance from origin (East component) Estimated distance from origin (Down component) Estimated gyro bias, X axis Estimated gyro bias, Y axis Estimated gyro bias, Z axis Height of origin above WGS-84 EKF2 estimator secondary outputs Time since system startup EKF2 core this data is for Estimated accelerometer Z bias Gyro Scale Factor (X-axis) Gyro Scale Factor (Y-axis) Gyro Scale Factor (Z-axis) Estimated wind velocity (moving-to-North component) Estimated wind velocity (moving-to-East component) Magnetic field strength (North component) Magnetic field strength (East component) Magnetic field strength (Down component) Magnetic field strength (body X-axis) Magnetic field strength (body Y-axis) Magnetic field strength (body Z-axis) Magnetometer used for data EKF2 innovations Time since system startup EKF2 core this data is for Innovation in velocity (North component) Innovation in velocity (East component) Innovation in velocity (Down component) Innovation in position (North component) Innovation in position (East component) Innovation in position (Down component) Innovation in magnetic field strength (X-axis component) Innovation in magnetic field strength (Y-axis component) Innovation in magnetic field strength (Z-axis component) Innovation in vehicle yaw Innovation in true-airspeed Accumulated relative error of this core with respect to active primary core A consolidated error score where higher numbers are less healthy EKF2 variances SV, SP, SH and SM are probably best described as 'Squared Innovation Test Ratios' where values <1 tells us the measurement was accepted and >1 tells us it was rejected. They represent the square of the (innovation / maximum allowed innovation) where the innovation is the difference between predicted and measured value and the maximum allowed innovation is determined from the uncertainty of the measurement, uncertainty of the prediction and scaled using the number of standard deviations set by the innovation gate parameter for that measurement, eg EK2_MAG_I_GATE, EK2_HGT_I_GATE, etc Time since system startup EKF2 core this data is for Square root of the velocity variance Square root of the position variance Square root of the height variance Magnetic field variance tilt error convergence metric Filtered error in roll/pitch estimate Most recent position reset (North component) Most recent position reset (East component) Filter fault status 1 0 - quaternion attitude estimate is NaN 2 1 - velocity estimate is NaN 4 2 - X magnetometer measurement is bad 8 3 - Y magnetometer measurement is bad 16 4 - Z magnetometer measurement is bad 32 5 - airspeed measurement is bad 64 6 - synthetic sideslip measurement is bad 128 7 - filter states have not been initialised Filter timeout status bitmask (0:position measurement, 1:velocity measurement, 2:height measurement, 3:magnetometer measurement, 4:airspeed measurement) Filter solution status 1 attitude estimate valid 2 horizontal velocity estimate valid 4 vertical velocity estimate valid 8 relative horizontal position estimate valid 16 absolute horizontal position estimate valid 32 vertical position estimate valid 64 terrain height estimate valid 128 in constant position mode 256 expected good relative horizontal position estimate - used before takeoff 512 expected good absolute horizontal position estimate - used before takeoff 1024 optical flow takeoff has been detected 2048 compensating for baro errors during takeoff 4096 compensating for baro errors during touchdown 8192 using GPS position 16384 GPS glitching is affecting navigation accuracy 32768 can use GPS for navigation 65536 has ever been healthy 131072 rejecting airspeed data 262144 dead reckoning (e.g. no position or velocity source) Filter GPS status Primary core index EKF2 Sensor innovations (primary core) and general dumping ground Time since system startup EKF2 core this data is for Normalised flow variance Optical flow LOS rate vector innovations from the main nav filter (X-axis) Optical flow LOS rate vector innovations from the main nav filter (Y-axis) Optical flow LOS rate innovation from terrain offset estimator Height above ground level Estimated vertical position of the terrain relative to the nav filter zero datum Range finder innovations Measured range Filter ground offset state error Magnitude of angular error Magnitude of velocity error Magnitude of position error EKF2 quaternion defining the rotation from NED to XYZ (autopilot) axes Time since system startup EKF2 core this data is for Quaternion a term Quaternion b term Quaternion c term Quaternion d term EKF2 timing information Time since system startup EKF core this message instance applies to count of samples used to create this message smallest IMU sample interval largest IMU sample interval low-passed achieved average time step rate for the EKF (minimum) low-passed achieved average time step rate for the EKF (maximum) accumulated measurement time interval for the delta angle (minimum) accumulated measurement time interval for the delta angle (maximum) accumulated measurement time interval for the delta velocity (minimum) accumulated measurement time interval for the delta velocity (maximum) EKF Yaw Estimator States Time since system startup EKF core this data is for GSF yaw estimate (deg) GSF yaw estimate 1-Sigma uncertainty (deg) Yaw estimate from individual EKF filter 0 (deg) Yaw estimate from individual EKF filter 1 (deg) Yaw estimate from individual EKF filter 2 (deg) Yaw estimate from individual EKF filter 3 (deg) Yaw estimate from individual EKF filter 4 (deg) Weighting applied to yaw estimate from individual EKF filter 0 Weighting applied to yaw estimate from individual EKF filter 1 Weighting applied to yaw estimate from individual EKF filter 2 Weighting applied to yaw estimate from individual EKF filter 3 Weighting applied to yaw estimate from individual EKF filter 4 EKF Yaw Estimator Innovations Time since system startup EKF core this data is for North velocity innovation from individual EKF filter 0 (m/s) North velocity innovation from individual EKF filter 1 (m/s) North velocity innovation from individual EKF filter 2 (m/s) North velocity innovation from individual EKF filter 3 (m/s) North velocity innovation from individual EKF filter 4 (m/s) East velocity innovation from individual EKF filter 0 (m/s) East velocity innovation from individual EKF filter 1 (m/s) East velocity innovation from individual EKF filter 2 (m/s) East velocity innovation from individual EKF filter 3 (m/s) East velocity innovation from individual EKF filter 4 (m/s) Named Value Float messages; messages sent to GCS via NAMED_VALUE_FLOAT Time since system startup Name of float Value of float Named Value Int messages; messages sent to GCS via NAMED_VALUE_INT Time since system startup Name of int Value of int Named Value String messages; messages sent to GCS via NAMED_VALUE_STRING Time since system startup Name of string Value of string Object avoidance (Bendy Ruler) diagnostics Time since system startup Type of BendyRuler currently active True if Bendy Ruler avoidance is being used Best yaw chosen to avoid obstacle Current vehicle yaw Desired pitch chosen to avoid obstacle True if BendyRuler resisted changing bearing and continued in last calculated bearing Margin from path to obstacle on best yaw chosen Destination latitude Destination longitude Desired alt above EKF Origin Intermediate location chosen for avoidance Intermediate location chosen for avoidance Intermediate alt chosen for avoidance above EKF origin Object avoidance (Dijkstra) diagnostics Time since system startup Dijkstra avoidance library state Dijkstra library error condition Destination point in calculated path to destination Number of points in path to destination Destination latitude Destination longitude Object Avoidance chosen destination point latitude Object Avoidance chosen destination point longitude Object avoidance path planning visgraph points Time since system startup Visgraph version, increments each time the visgraph is re-generated point number in visgraph Latitude longitude Optical flow sensor data Time since system startup Estimated sensor data quality Sensor flow rate, X-axis Sensor flow rate,Y-axis derived rotational velocity, X-axis derived rotational velocity, Y-axis Optical Flow Calibration sample Time since system startup Axis (X=0 Y=1) Sample number Flow rate Body rate Los pred Vehicle navigation origin or other notable position Time since system startup Position type 0 1 Position latitude Position longitude Position altitude parameter value Time since system startup parameter name parameter value default parameter value for this board and config Proportional/Integral/Derivative gain values for vertical acceleration Time since system startup desired value achieved value error between target and achieved proportional part of PID integral part of PID derivative part of PID controller feed-forward portion of response controller derivative feed-forward portion of response scaler applied to D gain to reduce limit cycling slew rate used in slew limiter bitmask of PID state flags 1 true if the output is saturated, I term anti windup is active 2 true if the PD sum limit is active 4 true if the controller was reset 8 true if the I term has been set externally including reseting to 0 Proportional/Integral/Derivative gain values for East/West velocity Time since system startup desired value achieved value error between target and achieved proportional part of PID integral part of PID derivative part of PID controller feed-forward portion of response controller derivative feed-forward portion of response scaler applied to D gain to reduce limit cycling slew rate used in slew limiter bitmask of PID state flags 1 true if the output is saturated, I term anti windup is active 2 true if the PD sum limit is active 4 true if the controller was reset 8 true if the I term has been set externally including reseting to 0 Proportional/Integral/Derivative gain values for North/South velocity Time since system startup desired value achieved value error between target and achieved proportional part of PID integral part of PID derivative part of PID controller feed-forward portion of response controller derivative feed-forward portion of response scaler applied to D gain to reduce limit cycling slew rate used in slew limiter bitmask of PID state flags 1 true if the output is saturated, I term anti windup is active 2 true if the PD sum limit is active 4 true if the controller was reset 8 true if the I term has been set externally including reseting to 0 Proportional/Integral/Derivative gain values for Pitch rate Time since system startup desired value achieved value error between target and achieved proportional part of PID integral part of PID derivative part of PID controller feed-forward portion of response controller derivative feed-forward portion of response scaler applied to D gain to reduce limit cycling slew rate used in slew limiter bitmask of PID state flags 1 true if the output is saturated, I term anti windup is active 2 true if the PD sum limit is active 4 true if the controller was reset 8 true if the I term has been set externally including reseting to 0 Proportional/Integral/Derivative gain values for Roll rate Time since system startup desired value achieved value error between target and achieved proportional part of PID integral part of PID derivative part of PID controller feed-forward portion of response controller derivative feed-forward portion of response scaler applied to D gain to reduce limit cycling slew rate used in slew limiter bitmask of PID state flags 1 true if the output is saturated, I term anti windup is active 2 true if the PD sum limit is active 4 true if the controller was reset 8 true if the I term has been set externally including reseting to 0 Proportional/Integral/Derivative gain values for ground steering yaw rate Time since system startup desired value achieved value error between target and achieved proportional part of PID integral part of PID derivative part of PID controller feed-forward portion of response controller derivative feed-forward portion of response scaler applied to D gain to reduce limit cycling slew rate used in slew limiter bitmask of PID state flags 1 true if the output is saturated, I term anti windup is active 2 true if the PD sum limit is active 4 true if the controller was reset 8 true if the I term has been set externally including reseting to 0 Proportional/Integral/Derivative gain values for wheel rate Time since system startup desired value achieved value error between target and achieved proportional part of PID integral part of PID derivative part of PID controller feed-forward portion of response controller derivative feed-forward portion of response scaler applied to D gain to reduce limit cycling slew rate used in slew limiter bitmask of PID state flags 1 true if the output is saturated, I term anti windup is active 2 true if the PD sum limit is active 4 true if the controller was reset 8 true if the I term has been set externally including reseting to 0 Proportional/Integral/Derivative gain values for Yaw rate Time since system startup desired value achieved value error between target and achieved proportional part of PID integral part of PID derivative part of PID controller feed-forward portion of response controller derivative feed-forward portion of response scaler applied to D gain to reduce limit cycling slew rate used in slew limiter bitmask of PID state flags 1 true if the output is saturated, I term anti windup is active 2 true if the PD sum limit is active 4 true if the controller was reset 8 true if the I term has been set externally including reseting to 0 Precision Landing messages Time since system startup True if Precision Landing is healthy True if landing target is detected Target position relative to vehicle, X-Axis (0 if target not found) Target position relative to vehicle, Y-Axis (0 if target not found) Target velocity relative to vehicle, X-Axis (0 if target not found) Target velocity relative to vehicle, Y-Axis (0 if target not found) Target's relative to origin position as 3-D Vector, X-Axis Target's relative to origin position as 3-D Vector, Y-Axis Target's relative to origin position as 3-D Vector, Z-Axis Time when target was last detected EKF's outlier count Type of estimator used autopilot system performance and general data dumping ground Time since system startup Main loop rate Number of long loops detected Number of measurement loops for this message Maximum loop time Free memory available System processor load Internal error line number; last line number on which a internal error was detected Internal error mask; which internal errors have been detected 1 2 4 8 16 32 64 128 256 512 1024 2048 4096 8192 16384 32768 65536 131072 262144 524288 1048576 2097152 4194304 8388608 16777216 33554432 67108864 134217728 268435456 536870912 1073741824 Internal error count; how many internal errors have been detected Number of SPI transactions processed Number of i2c transactions processed Number of i2c interrupts serviced number of microseconds being added to each loop to address scheduler overruns RTC time, time since Unix epoch Canonical vehicle position Time since system startup Canonical vehicle latitude Canonical vehicle longitude Canonical vehicle altitude Canonical vehicle altitude relative to home Canonical vehicle altitude relative to navigation origin System power information Time since system startup Flight board voltage Servo rail voltage System power flags 1 main brick power supply valid 2 main servo power supply valid for FMU 4 USB power is connected 8 peripheral supply is in over-current state 16 hi-power peripheral supply is in over-current state 32 Power status has changed since boot Accumulated System power flags; all flags which have ever been set 1 main brick power supply valid 2 main servo power supply valid for FMU 4 USB power is connected 8 peripheral supply is in over-current state 16 hi-power peripheral supply is in over-current state 32 Power status has changed since boot Hardware Safety Switch status Plane Parameter Tuning data Time since system startup Parameter set being tuned Parameter being tuned Current parameter value Center value (startpoint of current modifications) of parameter being tuned Proximity Filtered sensor data Time since system startup 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. True if proximity sensor is healthy Nearest object in sector surrounding 0-degrees Nearest object in sector surrounding 45-degrees Nearest object in sector surrounding 90-degrees Nearest object in sector surrounding 135-degrees Nearest object in sector surrounding 180-degrees Nearest object in sector surrounding 225-degrees Nearest object in sector surrounding 270-degrees Nearest object in sector surrounding 315-degrees Nearest object in upwards direction Angle to closest object Distance to closest object Proximity Raw sensor data Time since system startup 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. Nearest object in sector surrounding 0-degrees Nearest object in sector surrounding 45-degrees Nearest object in sector surrounding 90-degrees Nearest object in sector surrounding 135-degrees Nearest object in sector surrounding 180-degrees Nearest object in sector surrounding 225-degrees Nearest object in sector surrounding 270-degrees Nearest object in sector surrounding 315-degrees Position Control Down Time since system startup Desired position relative to EKF origin + Offsets Target position relative to EKF origin Position relative to EKF origin Desired velocity Down Target velocity Down Velocity Down Desired acceleration Down Target acceleration Down Acceleration Down Position Control East Time since system startup Desired position relative to EKF origin + Offsets Target position relative to EKF origin Position relative to EKF origin Desired velocity East Target velocity East Velocity East Desired acceleration East Target acceleration East Acceleration East Position Control North Time since system startup Desired position relative to EKF origin Target position relative to EKF origin Position relative to EKF origin Desired velocity North Target velocity North Velocity North Desired acceleration North Target acceleration North Acceleration North Position Control Offsets Down Time since system startup Target position offset Down Position offset Down Target velocity offset Down Velocity offset Down Target acceleration offset Down Acceleration offset Down Position Control Offsets East Time since system startup Target position offset East Position offset East Target velocity offset East Velocity offset East Target acceleration offset East Acceleration offset East Position Control Offsets North Time since system startup Target position offset North Position offset North Target velocity offset North Velocity offset North Target acceleration offset North Acceleration offset North Position Control Offsets Terrain (Down) Time since system startup Target position offset Terrain Position offset Terrain Target velocity offset Terrain Velocity offset Terrain Target acceleration offset Terrain Acceleration offset Terrain https://ardupilot.org/copter/docs/tuning.html#in-flight-tuning Parameter Tuning information Time since system startup Parameter being tuned Normalized value used inside tuning() function Tuning minimum limit Tuning maximum limit normalaised control input (normalised -1 to 1 value) Quicktune Time since system startup number of parameter being tuned slew rate test gain for current axis and PID element name of parameter being being tuned Telemetry radio statistics Time since system startup RSSI RSSI reported from remote radio number of bytes in radio ready to be sent local noise floor local noise floor reported from remote radio damaged packet count fixed damaged packet count Rally point information Time since system startup total number of rally points onboard this rally point's sequence number latitude of rally point longitude of rally point altitude of rally point altitude frame flags Replay Airspeed Sensor Header airspeed instance number number of airspeed instances Replay Airspeed Sensor Instance data measured airspeed timestamp of measured airspeed indicator of airspeed sensor health true if airspeed is configured to be used airspeed instance number Desired and achieved vehicle attitude rates. Not logged in Fixed Wing Plane modes. Time since system startup vehicle desired roll rate achieved vehicle roll rate normalized output for Roll vehicle desired pitch rate vehicle pitch rate normalized output for Pitch vehicle desired yaw rate achieved vehicle yaw rate normalized output for Yaw desired vehicle vertical acceleration achieved vehicle vertical acceleration percentage of vertical thrust output current being used vertical thrust output slew rate Replay Data Beacon Header beacon system estimated vehicle position, North beacon system estimated vehicle position, East beacon system estimated vehicle position, Down beacon system estimated vehicle position accuracy origin latitude origin longitude origin altitude vehicle_position_ned_returncode,get_origin_returncode,enabled number of beacons Replay Data Beacon Instance last update from this beacon instance beacon distance from origin, X-axis beacon distance from origin, Y-axis beacon distance from origin, Z-axis distance to beacon beacon data health beacon instance number Replay body odometry data data quality measure delta-position-X delta-position-Y delta-position-Z delta-angle-X delta-angle-Y delta-angle-Z delta-time data timestamp pos-offset-X pos-offset-Y pos-offset-Z delay in body odometry data Replay Data Barometer Header primary barometer instance number number of barometer sensors Replay Data Barometer Instance timestamp of barometer data barometer altitude estimate barometer sensor health indication barometer instance number Raw RC data Time since system startup data arrival timestamp Protocol currently being decoded Number of valid bytes in message first quartet of bytes second quartet of bytes third quartet of bytes fourth quartet of bytes fifth quartet of bytes sixth quartet of bytes seventh quartet of bytes eight quartet of bytes ninth quartet of bytes tenth quartet of bytes (More) RC input channels to vehicle Time since system startup channel 15 input channel 16 input bitmask of RC channels being overridden by mavlink input bitmask of RC state flags 1 true if the system is receiving good RC values 2 true if the system is current in RC failsafe 4 true if the RC Protocol library is indicating the RC receiver is indicating failsafe via its protocol RC input channels to vehicle Time since system startup channel 1 input channel 2 input channel 3 input channel 4 input channel 5 input channel 6 input channel 7 input channel 8 input channel 9 input channel 10 input channel 11 input channel 12 input channel 13 input channel 14 input Servo channel output values 15 to 18 Time since system startup channel 15 output channel 16 output channel 17 output channel 18 output Servo channel output values 19 to 32 Time since system startup channel 19 output channel 20 output channel 21 output channel 22 output channel 23 output channel 24 output channel 25 output channel 26 output channel 27 output channel 28 output channel 29 output channel 30 output channel 31 output channel 32 output Servo channel output values 1 to 14 Time since system startup channel 1 output channel 2 output channel 3 output channel 4 output channel 5 output channel 6 output channel 7 output channel 8 output channel 9 output channel 10 output channel 11 output channel 12 output channel 13 output channel 14 output Relay state Time since system startup relay instance number current state Replay external position data external position estimate, X-axis external position estimate, Y-axis external position estimate, Z-axis external attitude quaternion external attitude quaternion external attitude quaternion external attitude quaternion external position error estimate external attitude error estimate timestamp on external error estimate timestamp of last external reset delay on external data Replay Event (EKF2) external event injected into EKF 0 1 9 10 11 12 13 14 15 Replay Event (EKF3) external event injected into EKF 0 1 9 10 11 12 13 14 15 Replay external velocity data external velocity estimate, X-axis external velocity estimate, Y-axis external velocity estimate, Z-axis error in velocity estimate timestamp of velocity estimate delay in external velocity data Replay Euler Yaw event externally supplied yaw angle error in externally supplied yaw angle timestamp associated with yaw angle and yaw angle error number that needs documenting RealFlight mode messages Time since system startup delta time between this frame and the previous frame frames-per-second implied by the current delta time Rangefinder sensor information Time since system startup rangefinder instance number this data is from Reported distance from sensor Sensor state 0 1 2 3 4 5 Sensor orientation 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 same as ROTATION_ROLL_180_YAW_270 27 same as ROTATION_ROLL_180_YAW_90 28 29 30 31 32 33 34 35 36 37 38 this is actually, roll 90, pitch 68.8, yaw 293.3 39 40 41 42 43 44 100 101 102 103 Signal quality. -1 means invalid, 0 is no signal, 100 is perfect signal Temperature of the fluid (air or water) the rangefinder measures through, not the sensor internal temperature Replay FRame data - Finished frame accumulated method calls made during frame 1 2 4 8 16 32 true if we are not keeping up with IMU loop rate Replay FRame Header Time since system startup Time flying Replay FRame - aNother frame header home latitude home latitude home altitude AMSL EAS to TAS factor available memory AHRS trim X AHRS trim Y AHRS trim Z AHRS Vehicle Class configured EKF type 0 1 bitmask of boolean state 1 2 4 8 16 32 64 128 Replay Data GPS Header number of GPS sensors instance number of primary sensor Replay Data GPS Instance, infrequently changing data antenna body-frame offset, X-axis antenna body-frame offset, Y-axis antenna body-frame offset, Z-axis GPS time lag various GPS flags 1 2 4 8 16 32 GPS fix status number of satellites GPS is using GPS sensor instance number Replay Data GPS Instance - rapidly changing data GPS data timestamp GPS velocity, North GPS velocity, East GPS velocity, Down speed accuracy GPS yaw GPS yaw accuracy timestamp of GPS yaw estimate latitude longitude altitude horizontal accuracy vertical accuracy HDOP GPS sensor instance number Replay Data GPS Instance - moving baseline yaw antenna offset (low-rate, only logged when changed) moving baseline antenna offset used to calculate GPS yaw, X-axis moving baseline antenna offset used to calculate GPS yaw, Y-axis moving baseline antenna offset used to calculate GPS yaw, Z-axis GPS sensor instance number Richenpower generator telemetry Time since system startup total generator runtime time until generator requires maintenance bitmask of error received from generator current generator RPM output voltage output current generator mode; idle/run/charge/balance Replay Inertial Sensor header INS loop rate primary gyro index primary accel index INS loop-delta-t accel count gyro count Replay Inertial Sensor instance data x-axis delta-velocity y-axis delta-velocity z-axis delta-velocity x-axis delta-angle y-axis delta-angle z-axis delta-angle delta-velocity-delta-time delta-angle-delta-time use-accel, use-gyro, delta-vel-valid, delta-accel-valid IMU instance Replay Inertial Sensor instance metadata (low-rate, only logged when changed) gyro bias limit (rad/s) for the EKF gyro bias state clamp initial gyro bias 1-sigma uncertainty (deg/s) IMU instance Replay Data Magnetometer Header vehicle declination true if the compass library is marking itself as available number of compass instances true if compass autodeclination is enabled number of enabled compass instances true if compass learning of offsets is enabled true if compasses are consistent index of first usable compass Replay Data Magnetometer Instance last update time for magnetometer data mag sensor offset, X-axis mag sensor offset, Y-axis mag sensor offset, Z-axis field strength, X-axis field strength, Y-axis field strength, Z-axis true if compass is being used for yaw sensor health compass has scale factor magnetometer instance number Replay optical flow data raw flow rate, X-axis raw flow rate, Y-axis gyro rate, X-axis gyro rate, Y-axis measurement timestamp gyro rate, X-axis body-frame offset, Y-axis body-frame offset, Z-axis sensor height override flow quality measurement Data from RPM sensors Time since system startup Instance Sensor's rpm measurement Signal quality Sensor Health (Bool) Replay Data Rangefinder Header rangefinder ground clearance for downward-facing rangefinders rangefinder maximum distance for downward-facing rangefinders number of rangefinder instances Replay Data Rangefinder Instance rangefinder body-frame offset, X-axis rangefinder body-frame offset, Y-axis rangefinder body-frame offset, Z-axis Measured rangefinder distance orientation status rangefinder instance number Replay Set Lat Lng event latitude longitude position accuracy, 1-StD timestamp of latitude/longitude Replay Set Origin event (EKF2) origin latitude origin longitude origin altitude Replay Set Origin event (EKF3) origin latitude origin longitude origin altitude Received Signal Strength Indicator for RC receiver Time since system startup RSSI RX Link Quality RTC (Unix time) information Time since system startup current unix epoch time*1000000 (ie. microseconds since Jan 1 1970) source of RTC data 0 1 2 3 GPS atmospheric perturbation data Time since system startup mavlink channel number this data was received on ID field from RTCM packet RTCM packet length calculated crc32 for the packet Attitude controller time deltas Time since system startup current time delta current time delta average Max time delta since last log output Min time delta since last log output Replay Terrain SRTM Altitude altitude above origin in meters Replay Data Visual Odometry data offset, x-axis offset, y-axis offset, z-axis data delay sensor health sensor enabled Replay set-default-airspeed event (EKF2) default airspeed uncertainty in default airspeed Replay set-default-airspeed event (EKF3) default airspeed uncertainty in default airspeed Replay wheel odometry data delta-angle delta-time data timestamp sensor body-frame offset, x-axis sensor body-frame offset, y-axis sensor body-frame offset, z-axis wheel radius Simple Avoidance messages Time since system startup True if Simple Avoidance is active Desired velocity, X-Axis (Velocity before Avoidance) Desired velocity, Y-Axis (Velocity before Avoidance) Desired velocity, Z-Axis (Velocity before Avoidance) Modified velocity, X-Axis (Velocity after Avoidance) Modified velocity, Y-Axis (Velocity after Avoidance) Modified velocity, Z-Axis (Velocity after Avoidance) True if vehicle is backing away Simulated Blimp Sin-Angles Time since system startup sin(x angle) sin(y angle) sin(z angle) Simulated Blimp Angles Time since system startup x angle y angle z angle Simulated Blimp Angles Time since system startup x earth-frame angle y earth-frame angle z earth-frame angle Simulated Blimp Body-Frame accelerations Time since system startup x-axis acceleration y-axis acceleration z-axis acceleration Swift Health Data Time since system startup Number of packet CRC errors on serial connection Timestamp of last raw data injection to GPS Current number of integer ambiguity hypotheses Swift Time Data Time since system startup GPS week number Milliseconds through GPS week residual of milliseconds rounding in ns GPIO pin levels time quality Scripting runtime stats Time since system startup script name run time total memory usage of all scripts run memory usage Simulated Glider Drop control outputs Time since system startup aileron output elevator output rudder output Debug message for SCurve internal error Time since system startup duration of the raised cosine jerk profile maximum value of the raised cosine jerk profile initial velocity magnitude maximum constant acceleration maximum constant velocity Length of the path maximum value of the raised cosine jerk profile segment duration segment duration segment duration segment duration Simulated Blimp Fin Angles Time since system startup fin 0 angle fin 1 angle fin 2 angle fin 3 angle Simulated Blimp Servo Angles Time since system startup fin 0 servo angle fin 1 servo angle fin 2 servo angle fin 3 servo angle Simulated Blimp Fin Forces Time since system startup Fin 0 normal force Fin 1 normal force Fin 2 normal force Fin 3 normal force Simulated Blimp Fin Thrust Time since system startup Fin 0 tangential thrust Fin 1 tangential thrust Fin 2 tangential thrust Fin 3 tangential thrust Simulated Blimp Fin Velocities Time since system startup fin 0 velocity fin 1 velocity fin 2 velocity fin 3 velocity System ID data Time since system startup Time reference for waveform Current waveform sample Instantaneous waveform frequency Delta angle, X-Axis Delta angle, Y-Axis Delta angle, Z-Axis Delta velocity, X-Axis Delta velocity, Y-Axis Delta velocity, Z-Axis System ID settings Time since system startup The axis which is being excited Magnitude of the chirp waveform Frequency at the start of chirp Frequency at the end of chirp Time to reach maximum amplitude of chirp Time at constant frequency before chirp starts Time taken to complete chirp waveform Time to reach zero amplitude after chirp finishes SITL simulator state Time since system startup Simulated roll Simulated pitch Simulated yaw Simulated altitude Simulated latitude Simulated longitude Attitude quaternion component 1 Attitude quaternion component 2 Attitude quaternion component 3 Attitude quaternion component 4 Additional simulator state Time since system startup North position from home East position from home Down position from home Velocity north Velocity east Velocity down Airspeed Achieved simulation speedup value Number of times simulation paused for serial0 output Simulation data Time since system startup Velocity - North component Velocity - East component Velocity - Down component Acceleration - North component Acceleration - East component Acceleration - Down component Position - North component Position - East component Position - Down component More Simulated Glider Dropped Calculations Time since system startup altitude in feet equivalent airspeed in knots true airspeed in knots air density lift drag lift/drag ratio elevator output aileron output rudder output Angle of Attack Side Slip Angle air pressire z-axis body-frame acceleration Simulated Glider Dropped Calculations Time since system startup altitude in feet altitude in metres equivalent airspeed true airspeed air density lift drag lift/drag ratio elevator output angle of attack X-axis force Y-axis force Z-axis force air pressure Slung payload Time since system startup 1 if payload is landed, 0 otherwise Tension ratio, 1 if line is taut, 0 if slack Line length Payload position as offset from vehicle in North direction Payload position as offset from vehicle in East direction Payload position as offset from vehicle in Down direction Payload velocity in North direction Payload velocity in East direction Payload velocity in Down direction Payload acceleration in North direction Payload acceleration in East direction Payload acceleration in Down direction Force on vehicle in North direction Force on vehicle in East direction Force on vehicle in Down direction Log data received from JSON simulator 1 Time since system startup (us) Slave instance magic JSON protocol key Slave instance's desired frame rate Slave instance's current frame count 1 if the servo outputs are being used from this instance Log data received from JSON simulator 2 Time since system startup Slave instance channel 1 output channel 2 output channel 3 output channel 4 output channel 5 output channel 6 output channel 7 output channel 8 output channel 9 output channel 10 output channel 11 output channel 12 output channel 13 output channel 14 output Simulated Blimp Mass and COG Time since system startup mass gravity centre-of-gravity, z-axis Smoothed sensor data fed to EKF to avoid inconsistencies Time since system startup Angular Velocity (around x-axis) Angular Velocity (around y-axis) Angular Velocity (around z-axis) Velocity (along x-axis) Velocity (along y-axis) Velocity (along z-axis) Roll Pitch Yaw DCM Roll DCM Pitch DCM Yaw Simulated Volz servo information Time since system startup Volz servo ID Current Simulated Position Desired Simulated Position simulated servo voltage simulated servo current simulated PCB Temperature simulated motor Temperature Spool state logging Time since system startup Motors spool state Desired motors spool state Simulated Blimp Rotational forces Time since system startup zero zero zero Transformed Simulated Blimp Rotational forces Time since system startup x-axis wobble rotational force y-axis wobble rotational force z-axis wobble rotational force Simulated Blimp Torques Time since system startup torque around x axis torque around y axis torque around z axis SmartRTL statistics Time since system startup true if SmartRTL could be used right now number of points currently in use maximum number of points that could be used most recent internal action taken by SRTL library 0 1 2 3 4 5 6 7 9 10 11 point associated with most recent action (North component) point associated with most recent action (East component) point associated with most recent action (Down component) Simulated Blimp Servo Inputs Time since system startup fin 0 servo angle input fin 1 servo angle input fin 2 servo angle input fin 3 servo angle input Stack information Time since system startup thread ID thread priority total stack free stack thread name Surface distance measurement Time since system startup Instance Surface distance status 1 true if rangefinder has been set to enable by vehicle 2 true if rangefinder is considered unhealthy 4 true if the last healthy rangefinder reading is no longer valid 8 true if a measurement glitch detected Raw Distance Filtered Distance Terrain Offset Helicopter swashplate logging Time since system startup Swashplate instance Blade pitch angle contribution from collective Total blade pitch angle contribution from cyclic Blade pitch angle contribution from pitch cyclic Blade pitch angle contribution from roll cyclic Temperature Calibration Information Time since system startup temperature calibration instance number sensor type (0==accel, 1==gyro) current temperature x-axis sample sum y-axis sample sum z-axis sample sum sample count Temperature Sensor Data Time since system startup temperature sensor instance temperature Terrain database information Time since system startup Terrain database status 0 not enabled 1 no terrain data for current location 2 terrain data available Current vehicle latitude Current vehicle longitude terrain Tile spacing current Terrain height Vehicle height above terrain Number of tile requests outstanding Number of tiles in memory terrain reference offset for arming altitude Tether state Time since system startup Tether length Force on vehicle in North direction Force on vehicle in East direction Force on vehicle in Down direction https://ardupilot.org/copter/docs/throw-mode.html Throw Mode messages Time since system startup Current stage of the Throw Mode Magnitude of the velocity vector Vertical Velocity Magnitude of the vector of the current acceleration Vertical earth frame accelerometer value True if a throw has been detected since entering this mode True if the vehicle is upright True if the vehicle is within 0.5 m of the demanded height True if the vehicle is within 0.5 m of the demanded horizontal position Maximum thrust limitation based on battery voltage in Toy Mode Time since system startup Filtered battery voltage Thrust multiplier between 0 and 1 to limit the output thrust based on battery voltage Motor 1 pwm output Motor 2 pwm output Motor 3 pwm output Motor 4 pwm output Camera shutter information Time since system startup Instance number Image number milliseconds since start of GPS week weeks since 5 Jan 1980 current latitude current longitude current altitude current altitude relative to home altitude as reported by GPS current vehicle roll current vehicle pitch current vehicle yaw Torqeedo Motor Param Time since system startup instance Motor RPM Motor power Motor voltage Motor current ESC Temp Motor Temp Torqeedo Motor Status Time since system startup instance Motor status flags Motor error flags Torqeedo Status Time since system startup instance Health Desired Motor Speed (-1000 to 1000) Motor Speed (-1000 to 1000) Success Count Error Count Torqeedo System Setup Time since system startup instance Flags Motor type Motor software version Battery capacity Battery charge percentage Battery type Master software version Torqeedo System State Time since system startup instance Flags bitmask Master error code Motor voltage Motor current Motor power Motor RPM Motor Temp (higher of pcb or stator) Battery charge percentage Battery voltage Battery current Time synchronisation response information Time since system startup system ID this data is for round trip time for this system UART stats Time since system startup instance transmitted data rate bytes per second received data rate bytes per second, this is all incoming data, it may not all be processed by the driver using this port. Data rate of dropped received bytes, ideally should be 0. This is the difference between the received data rate and the processed data rate. uBlox-specific GPS information (part 1) Time since system startup GPS instance number noise level as measured by GPS jamming indicator; higher is more likely jammed antenna power indicator; 2 is don't know automatic gain control monitor bitmask for messages which haven't been seen uBlox-specific GPS information (part 2) Time since system startup GPS instance number imbalance of I part of complex signal magnitude of I part of complex signal imbalance of Q part of complex signal magnitude of Q part of complex signal uBlox specific UBX-TIM-TM2 logging, see uBlox interface description Time since system startup GPS instance number Channel (i.e. EXTINT) upon which the pulse was measured Bitmask Rising edge counter Week number of last rising edge Tow of rising edge Millisecond fraction of tow of rising edge in nanoseconds Week number of last falling edge Tow of falling edge Millisecond fraction of tow of falling edge in nanoseconds Accuracy estimate Message mapping from single character to SI unit Time since system startup character referenced by FMTU Unit - SI where available Ardupilot version Time since system startup Board type 3 7 10 12 13 99 Board subtype -1 1000 1001 1002 1003 1005 1006 1009 1010 1012 1013 1014 1016 1018 1020 1022 1023 1024 1025 1026 1027 1028 1029 1030 1031 Major version number Minor version number Patch number Firmware type Github commit Firmware version string Board ID Build vehicle type 1 2 3 4 5 6 7 8 9 10 11 12 13 Filter version IOMCU MCU ID IOMCU CPU ID Processed (acceleration) vibration information Time since system startup Vibration instance number Filtered accelerometer vibration, x-axis Filtered accelerometer vibration, y-axis Filtered accelerometer vibration, z-axis Number of clipping events on this accelerometer Visual Odometry System time Time period this data covers Angular change for body-frame roll axis Angular change for body-frame pitch axis Angular change for body-frame z axis Position change for body-frame X axis (Forward-Back) Position change for body-frame Y axis (Right-Left) Position change for body-frame Z axis (Down-Up) Confidence Vision Position System time Remote system time Corrected system time Position X-axis (North-South) Position Y-axis (East-West) Position Z-axis (Down-Up) Roll lean angle Pitch lean angle Yaw angle Position estimate error Attitude estimate error Position reset counter Ignored Quality Vision Velocity System time Remote system time Corrected system time Velocity X-axis (North-South) Velocity Y-axis (East-West) Velocity Z-axis (Down-Up) Velocity estimate error Velocity reset counter Ignored Quality VectorNav Attitude data Time since system startup Attitude quaternion 1 Attitude quaternion 2 Attitude quaternion 3 Attitude quaternion 4 Yaw Pitch Roll Yaw unceratainty Pitch uncertainty Roll uncertainty VectorNav IMU data Time since system startup Temprature Pressure Magnetic feild X-axis Magnetic feild Y-axis Magnetic feild Z-axis Acceleration X-axis Acceleration Y-axis Acceleration Z-axis Rotation rate X-axis Rotation rate Y-axis Rotation rate Z-axis VectorNav INS Kalman Filter data Time since system startup VectorNav INS health status Latitude Longitude Altitude Velocity Northing Velocity Easting Velocity Downing Filter estimated position uncertainty Filter estimated Velocity uncertainty Log message for video stabilisation software such as Gyroflow Time since system startup measured rotation rate about X axis measured rotation rate about Y axis measured rotation rate about Z axis acceleration along X axis acceleration along Y axis acceleration along Z axis Estimated attitude quaternion component 1 Estimated attitude quaternion component 2 Estimated attitude quaternion component 3 Estimated attitude quaternion component 4 Watchdog diagnostics Time since system startup current task number internal error mast internal error count line internal error was raised on mavlink message being acted on mavlink command being acted on line semaphore was taken on fault_line fault_type fault address fault thread priority ICS regiuster long return address Thread name Wheel encoder measurements Time since system startup First wheel distance travelled Quality measurement of Dist0 Second wheel distance travelled Quality measurement of Dist1 Winch Time since system startup Healthy Reached end of thread Motor is moving Clutch is disengaged (motor can move freely) 0 is Relaxed, 1 is Position Control, 2 is Rate Control Desired Length Estimated Length Desired Rate Tension on line Voltage to Motor Motor temperature Windvane readings Time since system startup raw apparent wind direction direct from sensor, in body-frame Apparent wind direction, in body-frame True wind direction raw wind speed direct from sensor Apparent wind Speed True wind speed EKF3 beacon sensor diagnostics Time since system startup EKF3 core this data is for Beacon sensor ID Beacon range Beacon range innovation sqrt of beacon range innovation variance Beacon range innovation consistency test ratio Beacon north position Beacon east position Beacon down position High estimate of vertical position offset of beacons rel to EKF origin Low estimate of vertical position offset of beacons rel to EKF origin North position of receiver rel to EKF origin East position of receiver rel to EKF origin Down position of receiver rel to EKF origin EKF3 estimator outputs Time since system startup EKF3 core this data is for Estimated roll Estimated pitch Estimated yaw Estimated velocity (North component) Estimated velocity (East component) Estimated velocity (Down component) Filtered derivative of vertical position (down) Estimated distance from origin (North component) Estimated distance from origin (East component) Estimated distance from origin (Down component) Estimated gyro bias, X axis Estimated gyro bias, Y axis Estimated gyro bias, Z axis Height of origin above WGS-84 EKF3 estimator secondary outputs Time since system startup EKF3 core this data is for Estimated accelerometer X bias Estimated accelerometer Y bias Estimated accelerometer Z bias Estimated wind velocity (moving-to-North component) Estimated wind velocity (moving-to-East component) Magnetic field strength (North component) Magnetic field strength (East component) Magnetic field strength (Down component) Magnetic field strength (body X-axis) Magnetic field strength (body Y-axis) Magnetic field strength (body Z-axis) Innovation in vehicle drag acceleration (X-axis component) Innovation in vehicle drag acceleration (Y-axis component) Innovation in vehicle sideslip EKF3 innovations Time since system startup EKF3 core this data is for Innovation in velocity (North component) Innovation in velocity (East component) Innovation in velocity (Down component) Innovation in position (North component) Innovation in position (East component) Innovation in position (Down component) Innovation in magnetic field strength (X-axis component) Innovation in magnetic field strength (Y-axis component) Innovation in magnetic field strength (Z-axis component) Innovation in vehicle yaw Innovation in true-airspeed Accumulated relative error of this core with respect to active primary core A consolidated error score where higher numbers are less healthy EKF3 variances. SV, SP, SH and SM are probably best described as 'Squared Innovation Test Ratios' where values <1 tells us the measurement was accepted and >1 tells us it was rejected. They represent the square of the (innovation / maximum allowed innovation) where the innovation is the difference between predicted and measured value and the maximum allowed innovation is determined from the uncertainty of the measurement, uncertainty of the prediction and scaled using the number of standard deviations set by the innovation gate parameter for that measurement, eg EK3_MAG_I_GATE, EK3_HGT_I_GATE, etc Time since system startup EKF3 core this data is for Square root of the velocity variance Square root of the position variance Square root of the height variance Magnetic field variance Square root of the total airspeed variance Filtered error in roll/pitch estimate Most recent position reset (North component) Most recent position reset (East component) Filter fault status 1 0 - quaternion attitude estimate is NaN 2 1 - velocity estimate is NaN 4 2 - X magnetometer measurement is bad 8 3 - Y magnetometer measurement is bad 16 4 - Z magnetometer measurement is bad 32 5 - airspeed measurement is bad 64 6 - synthetic sideslip measurement is bad 128 7 - filter states have not been initialised Filter timeout status bitmask (0:position measurement, 1:velocity measurement, 2:height measurement, 3:magnetometer measurement, 4:airspeed measurement, 5:drag measurement) Filter solution status 1 attitude estimate valid 2 horizontal velocity estimate valid 4 vertical velocity estimate valid 8 relative horizontal position estimate valid 16 absolute horizontal position estimate valid 32 vertical position estimate valid 64 terrain height estimate valid 128 in constant position mode 256 expected good relative horizontal position estimate - used before takeoff 512 expected good absolute horizontal position estimate - used before takeoff 1024 optical flow takeoff has been detected 2048 compensating for baro errors during takeoff 4096 compensating for baro errors during touchdown 8192 using GPS position 16384 GPS glitching is affecting navigation accuracy 32768 can use GPS for navigation 65536 has ever been healthy 131072 rejecting airspeed data 262144 dead reckoning (e.g. no position or velocity source) Filter GPS status Primary core index EKF3 Sensor innovations (primary core) and general dumping ground Time since system startup EKF3 core this data is for Normalised flow variance Optical flow LOS rate vector innovations from the main nav filter (X-axis) Optical flow LOS rate vector innovations from the main nav filter (Y-axis) Optical flow LOS rate innovation from terrain offset estimator Height above ground level Estimated vertical position of the terrain relative to the nav filter zero datum Range finder innovations Measured range Filter ground offset state error Magnitude of angular error Magnitude of velocity error Magnitude of position error Barometer offset subtracted from raw baro measurement when fusing baro height EKF3 AGL Kalman Filter state (optionally used in Optical Flow scaling) Time since system startup EKF3 core this data is for AGL height estimate AGL velocity estimate Std-dev of AGL height estimate Std-dev of AGL velocity estimate 1 when rangefinder has been fused within the last 5s EKF3 Body Frame Odometry errors Time since system startup EKF3 core this data is for Innovation in velocity (X-axis) Innovation in velocity (Y-axis) Innovation in velocity (Z-axis) Variance in velocity (X-axis) Variance in velocity (Y-axis) Variance in velocity (Z-axis) EKF3 diagnostic data for on-ground-and-not-moving check Time since system startup EKF core this message instance applies to True of on ground and not moving Gyroscope length ratio Accelerometer length ratio Gyroscope rate of change ratio Accelerometer rate of change ratio EKF3 sensor selection Time since system startup EKF3 core this data is for compass selection index barometer selection index GPS selection index airspeed selection index Source Set (primary=0/secondary=1/tertiary=2) GPS good to align Waiting for GPS checks to pass Magnetometer fusion (0=not fusing/1=fuse yaw/2=fuse mag/3=fuse mag with yaw anchored) EKF3 quaternion defining the rotation from NED to XYZ (autopilot) axes Time since system startup EKF3 core this data is for Quaternion a term Quaternion b term Quaternion c term Quaternion d term EKF3 timing information Time since system startup EKF core this message instance applies to count of samples used to create this message smallest IMU sample interval largest IMU sample interval low-passed achieved average time step rate for the EKF (minimum) low-passed achieved average time step rate for the EKF (maximum) accumulated measurement time interval for the delta angle (minimum) accumulated measurement time interval for the delta angle (maximum) accumulated measurement time interval for the delta velocity (minimum) accumulated measurement time interval for the delta velocity (maximum) EKF3 Yaw Estimator States Time since system startup EKF3 core this data is for Tilt Error Variance from symbolic equations (rad^2) Tilt Error Variance from difference method (rad^2) EKF3 State variances (primary core) Time since system startup EKF3 core this data is for Variance for state 0 (attitude quaternion) Variance for state 1 (attitude quaternion) Variance for state 2 (attitude quaternion) Variance for state 3 (attitude quaternion) Variance for state 4 (velocity-north) Variance for state 5 (velocity-east) Variance for state 6 (velocity-down) Variance for state 7 (position-north) Variance for state 8 (position-east) Variance for state 9 (position-down) Variance for state 10 (delta-angle-bias-x) Variance for state 11 (delta-angle-bias-y) more EKF3 State Variances (primary core) Time since system startup EKF3 core this data is for Variance for state 12 (delta-angle-bias-z) Variance for state 13 (delta-velocity-bias-x) Variance for state 14 (delta-velocity-bias-y) Variance for state 15 (delta-velocity-bias-z) Variance for state 16 (Earth-frame mag-field-bias-x) Variance for state 17 (Earth-frame mag-field-bias-y) Variance for state 18 (Earth-frame mag-field-bias-z) Variance for state 19 (body-frame mag-field-bias-x) Variance for state 20 (body-frame mag-field-bias-y) Variance for state 21 (body-frame mag-field-bias-z) Variance for state 22 (wind-north) Variance for state 23 (wind-east) EKF Yaw Estimator States Time since system startup EKF core this data is for GSF yaw estimate (deg) GSF yaw estimate 1-Sigma uncertainty (deg) Yaw estimate from individual EKF filter 0 (deg) Yaw estimate from individual EKF filter 1 (deg) Yaw estimate from individual EKF filter 2 (deg) Yaw estimate from individual EKF filter 3 (deg) Yaw estimate from individual EKF filter 4 (deg) Weighting applied to yaw estimate from individual EKF filter 0 Weighting applied to yaw estimate from individual EKF filter 1 Weighting applied to yaw estimate from individual EKF filter 2 Weighting applied to yaw estimate from individual EKF filter 3 Weighting applied to yaw estimate from individual EKF filter 4 EKF Yaw Estimator Innovations Time since system startup EKF core this data is for North velocity innovation from individual EKF filter 0 (m/s) North velocity innovation from individual EKF filter 1 (m/s) North velocity innovation from individual EKF filter 2 (m/s) North velocity innovation from individual EKF filter 3 (m/s) North velocity innovation from individual EKF filter 4 (m/s) East velocity innovation from individual EKF filter 0 (m/s) East velocity innovation from individual EKF filter 1 (m/s) East velocity innovation from individual EKF filter 2 (m/s) East velocity innovation from individual EKF filter 3 (m/s) East velocity innovation from individual EKF filter 4 (m/s)