Type | ID | Name | Units/Values | Description |
---|---|---|---|---|

32 VAR | 0 | IAS (Indicated Air Speed) | m/s | Pitot-static measurement speed |

1 | TAS (True Air Speed) | m/s | Speed relative to the airmass in which the vehicle is moving (IAS measurement corrected with Standard Atmosphere data) | |

2 | GS (Ground Speed) | m/s | Horizontal speed, relative to the ground | |

3 | Heading | radian | Direction in which the vehicle velocity vector is pointing | |

4 | Flight Path Angle | radian | Angle between velocity vector and local horizontal line | |

5 | Bank | radian | Velocity vector lateral component | |

6 | Yaw | radian | Angle around the Vertical axis of the vehicle | |

7 | Pitch | radian | Angle around the Transverse axis of the vehicle | |

8 | Roll | radian | Angle around the Longitudinal axis of the vehicle | |

9 | Along-Track Error | m | Fix error along the flight track | |

10 | Cross-Track Error | m | Fix error across the flight track | |

11 | Vertical-Track Error | m | Fix error in the vertical flight track | |

12 | Roll Rate | rad/s (RDS) | Rate of change of the Roll angle | |

13 | Pitch Rate | rad/s (RDS) | Rate of change of the Pitch angle | |

14 | Yaw Rate | rad/s (RDS) | Rate of change of the Yaw angle | |

15 | Forward Acceleration – X Body Axis | m/sÂ² | Acceleration in the X-axis | |

16 | Right Acceleration – Y Body Axis | m/sÂ² | Acceleration in the Y-axis | |

17 | Bottom Acceleration – Z Body Axis | m/sÂ² | Acceleration in the Z-axis | |

18 | RPM | rad/s (RDS) | Revolutions per minute configurable for external sensor | |

19 | Front GV (Ground Velocity) | m/s | GV vector X component | |

20 | Lateral GV (Ground Velocity) | m/s | GV vector Y component | |

21 | Velocity | m/s | Velocity vector module | |

22 | Forward Load Factor – X Body Axis | customType | G-force in X body axis | |

23 | Right Load Factor – Y Body Axis | customType | G-force in Y body axis | |

24 | Bottom Load Factor – Z Body Axis | customType | G-force in Z body axis | |

25 | Tangential Acceleration | m/sÂ² | Absolute acceleration for tangential direction | |

26 | Energy Rate | customType | Variation from system total energy (kinetic & potential) | |

27 | Energy Distribution | customType | Division of energy used between kinetic and potential | |

28 | co-yaw | radian | Acrobatic Yaw with Body Z’ axis pointing to X | |

29 | co-pitch | radian | Acrobatic Pitch with Body X’ axis pointing to -Z | |

30 | co-roll | radian | Acrobatic Roll with Y’ keeping same as Y | |

31 | Roll acceleration | radian/sÂ² | Acceleration around the longitudinal axis | |

32 | Pitch acceleration | radian/sÂ² | Acceleration around the transverse axis | |

33 | Yaw Acceleration | radian/sÂ² | Acceleration around the vertical axis | |

40 | RSSI | decimal | Received Signal Strength Indicator | |

100 | Desired IAS (Indicated Air Speed) | m/s | Commanded IAS from guidance | |

101 | Desired TAS (True Air Speed) | m/s | Commanded TAS from guidance | |

102 | Desired GS (Ground Speed) | m/s | Commanded GS from guidance | |

103 | Desired Heading | radian | Commanded Heading from guidance | |

104 | Desired Flight Path Angle | radian | Commanded Flight Path Angle from guidance | |

105 | Desired Bank | radian | Commanded Bank from guidance | |

106 | Desired Yaw | radian | Commanded Yaw from guidance | |

107 | Desired Pitch | radian | Commanded Pitch from guidance | |

108 | Desired Roll | radian | Commanded Roll from guidance | |

109 | Desired Along-Track Error | m | Commanded Along-Track error from guidance | |

110 | Desired Cross-Track Error | m | Commanded Cross-Track error from guidance | |

111 | Desired Vertical-Track Error | m | Commanded Vertical-Track error from guidance | |

112 | Desired Roll Rate | rad/s (RDS) | Commanded Roll rate from guidance | |

113 | Desired Pitch Rate | rad/s (RDS) | Commanded Pitch rate from guidance | |

114 | Desired Yaw Rate | rad/s (RDS) | Commanded Yaw rate from guidance | |

115 | Desired Foward Acceleration – X Body Axis | m/sÂ² | Commanded Forward Acceleration from guidance | |

116 | Desired Right Acceleration – Y Body Axis | m/sÂ² | Commanded Right Acceleration from guidance | |

117 | Desired Bottom Acceleration – Z Body Axis | m/sÂ² | Commanded Bottom Acceleration from guidance | |

118 | Desired RPM | rad/s (RDS) | Commanded RPM from guidance | |

119 | Desired Front GV (Ground Velocity) | m/s | Commanded Front GV from guidance | |

120 | Desired Lateral GV (Ground Velocity) | m/s | Commanded Lateral GV from guidance | |

121 | Desired Velocity | m/s | Commanded Velocity from guidance | |

122 | Desired Forward Load Factor – X Body Axis | customType | Commanded Forward Load Factor from guidance | |

123 | Desired Right Load Factor – Y Body Axis | customType | Commanded Right Load Factor from guidance | |

124 | Desired Bottom Load Factor – Z Body Axis | customType | Commanded Bottom Load Facto from guidance | |

125 | Desired Tangential Acceleration | m/sÂ² | Commanded Tangential Acceleration from guidance | |

126 | Desired Energy Rate | customType | Commanded Energy Rate from guidance | |

127 | Desired Energy Distribution | customType | Commanded Energy Distribution from guidance | |

128 | Desired co-yaw | radian | Commanded co-yaw from guidance | |

129 | Desired co-pitch | radian | Commanded co-pitch from guidance | |

130 | Desired co-roll | radian | Commanded co-roll from guidance | |

200 | Desired North GV (Ground Velocity) | m/s | Commanded North (NED Coordinates system) GV from guidance | |

201 | Desired East GV (Ground Velocity) | m/s | Commanded East (NED Coordinates system) GV from guidance | |

202 | Desired Down GV (Ground Velocity) | m/s | Commanded Down (NED Coordinates system) GV from guidance | |

203 | Desired 2D MSL (Heigh Above Mean Sea Level) | m | Commanded MSL from guidance in 2D height mode | |

204 | Desired 2D AGL (Above Ground Level) – Height | m | Commanded AGL from guidance in 2D height mode | |

205 | Desired 2D WGS84 Elevation (Height Over The Ellipsoid) | m | Commanded WGS84 Elevation from guidance in 2D height mode | |

206 | Desired Longitude | radian | Commanded Longitude from guidance | |

207 | Desired Latitude | radian | Commanded Latitude from guidance | |

208 | Desired WGS84 Elevation (Height Over The Ellipsoid) | m | Commanded WGS84 Elevation from guidance | |

209 | Desired MSL (Height Above Mean Sea Level) – Altitude | m | Commanded MSL Altitude from guidance | |

210 | Desired AGL (Above Ground Level) – Height | m | Commanded AGL Altitude from guidance | |

250 | Guidance north position error | m | Difference from Desired and actual north position | |

251 | Guidance east position error | m | Difference from Desired and actual east position | |

252 | Guidance down position error | m | Difference from Desired and actual down position | |

253 | Guidance PID north desired velocity | m/s | Difference from Desired and actual PID north velocity | |

254 | Guidance PID east desired velocity | m/s | Difference from Desired and actual PID east velocity | |

255 | Guidance PID down desired velocity | m/s | Difference from Desired and actual PID down velocity | |

256 | Desired velocity X body axis | m/s | Commanded velocity in X-axis from guidance | |

257 | Desired velocity Y body axis | m/s | Commanded velocity in Y-axis from guidance | |

258 | Desired velocity Z body axis | m/s | Commanded velocity in Z-axis from guidance | |

259 | External yaw | radian | Yaw from external navigation source | |

260 | External pitch | radian | Pitch from external navigation source | |

261 | External roll | radian | Roll from external navigation source | |

262 | External Roll Rate | rad/s | Roll rate from external navigation source | |

263 | External Pitch Rate | rad/s | Pitch rate from external navigation source | |

264 | External Yaw Rate | rad/s | Yaw rate from external navigation source | |

265 | External Velocity North | m/s | Velocity North from external navigation source | |

266 | External Velocity East | m/s | Velocity East from external navigation source | |

267 | External Velocity Down | m/s | Velocity Down from external navigation source | |

268 | External acceleration x body axis | m/sÂ² | Acceleration x body axis from external navigation source | |

269 | External acceleration y body axis | m/sÂ² | Acceleration y body axis from external navigation source | |

270 | External acceleration z body axis | m/sÂ² | Acceleration z body axis from external navigation source | |

271 | External GPS Time of Week | s | GNSS Time of week from external navigation source | |

300 | Time since Hardware Start-Up | sec | Time spent since power-on of the system | |

301 | Used Memory Space | Byte | SD used memory space | |

302 | Free Memory Space | Byte | SD free memory space | |

303 | Dynamic Pressure | pascal | Physical measurement from Pitot | |

304 | Static Pressure | pascal | Physical measurement from Pitot | |

305 | Internal Temperature | kelvin (K) | Physical measurement from internal sensors | |

306 | External Temperature | kelvin (K) | Physical measurement from Veronte sensors | |

307 | Accelerometer – X Body Axis | m/sÂ² | Accelerometer measurement for X axis | |

308 | Accelerometer – Y Body Axis | m/sÂ² | Accelerometer measurement for Y axis | |

309 | Accelerometer – Z Body Axis | m/sÂ² | Accelerometer measurement for Z axis | |

310 | Gyroscope – X Body Axis | rad/s (RDS) | Gyroscope measurement for X axis | |

311 | Gyroscope – Y Body Axis | rad/s (RDS) | Gyroscope measurement for Y axis | |

312 | Gyroscope – Z Body Axis | rad/s (RDS) | Gyroscope measurement for Z axis | |

313 | Magnetometer – X Body Axis | tesla | Magnetometer measurement for X axis | |

314 | Magnetometer – Y Body Axis | tesla | Magnetometer measurement for Y axis | |

315 | Magnetometer – Z Body Axis | tesla | Magnetometer measurement for Z axis | |

322 | Internal magnetometer raw X in SI | tesla | Magnetometer raw measurement for X axis | |

323 | Internal magnetometer raw Y in SI | tesla | Magnetometer raw measurement for Y axis | |

324 | Internal magnetometer raw Z in SI | tesla | Magnetometer raw measurement for Z axis | |

325 | Internal magnetometer temperature | kelvin (K) | Magnetometer temperature | |

326 | External LIS3MDL magnetometer raw X in SI | tesla | LIS3MDL external Magnetometer raw measurement for X axis | |

327 | External LIS3MDL magnetometer raw Y in SI | tesla | LIS3MDL external Magnetometer raw measurement for Y axis | |

328 | External LIS3MDL magnetometer raw Z in SI | tesla | LIS3MDL external Magnetometer raw measurement for Z axis | |

329 | External LIS3MDL magnetometer temperature | kelvin (K) | LIS3MDL external Magnetometer temperature | |

330 | IMU 0 raw accelerometer x measurement | m/sÂ² | IMU 0 raw accelerometer x measurement | |

331 | IMU 0 raw accelerometer y measurement | m/sÂ² | IMU 0 raw accelerometer y measurement | |

332 | IMU 0 raw accelerometer z measurement | m/sÂ² | IMU 0 raw accelerometer z measurement | |

333 | IMU 0 raw gyroscope x measurement | rad/s (RDS) | IMU 0 raw gyroscope x measurement | |

334 | IMU 0 raw gyroscope y measurement | rad/s (RDS) | IMU 0 raw gyroscope y measurement | |

335 | IMU 0 raw gyroscope z measurement | rad/s (RDS) | IMU 0 raw gyroscope z measurement | |

336 | IMU 0 temperature measurement | kelvin (K) | IMU 0 temperature measurement | |

337 | IMU 1 raw accelerometer x measurement | m/sÂ² | IMU 1 raw accelerometer x measurement | |

338 | IMU 1 raw accelerometer y measurement | m/sÂ² | IMU 1 raw accelerometer y measurement | |

339 | IMU 1 raw accelerometer z measurement | m/sÂ² | IMU 1 raw accelerometer z measurement | |

340 | IMU 1 raw gyroscope x measurement | rad/s (RDS) | IMU 1 raw gyroscope x measurement | |

341 | IMU 1 raw gyroscope y measurement | rad/s (RDS) | IMU 1 raw gyroscope y measurement | |

342 | IMU 1 raw gyroscope z measurement | rad/s (RDS) | IMU 1 raw gyroscope z measurement | |

343 | IMU 1 temperature measurement | kelvin (K) | IMU 1 temperature measurement | |

344 | Static pressure sensor (MS56) raw measurement | pascal | Static pressure sensor 1 raw measurement | |

345 | Static pressure sensor (MS56) temperature | kelvin (K) | Static pressure sensor 1 temperature | |

346 | Dynamic pressure sensor raw measurement | pascal | Dynamic pressure sensor raw measurement | |

347 | Dynamic pressure sensor temperature | kelvin (K) | Dynamic pressure sensor temperature | |

348 | Static pressure sensor (HSC) raw measurement | pascal | Static pressure sensor 0 raw measurement | |

349 | Static pressure sensor (HSC) temperature | kelvin (K) | Static pressure sensor 0 temperature | |

350 | Vectornav Message Frequency | Hz | Frequency at which external navigation source VectorNav sends messages | |

351 | Vectornav Raw Acc x measurement | m/sÂ² | Raw accelerometer X measurement from external navigation source VectorNav | |

352 | Vectornav Raw Acc y measurement | m/sÂ² | Raw accelerometer Y measurement from external navigation source VectorNav | |

353 | Vectornav Raw Acc z measurement | m/sÂ² | Raw accelerometer Z measurement from external navigation source VectorNav | |

354 | Vectornav Raw Gyr x measurement | m/sÂ² | Raw gyroscope X measurement from external navigation source VectorNav | |

355 | Vectornav Raw Gyr y measurement | m/sÂ² | Raw gyroscope Y measurement from external navigation source VectorNav | |

356 | Vectornav Raw Gyr z measurement | m/sÂ² | Raw gyroscope Z measurement from external navigation source VectorNav | |

400 | Power Input | volts | Power received by Veronte | |

401 | Power Comicro 3.3V | volts | Power received by Veronte through 3.3V port | |

402 | Power 5V | volts | Power received by Veronte through 5V port | |

403 | Power Comicro Regulator | volts | Power received by Veronte Comicro Regulator | |

404 | Power 3.6V | volts | Power received by Veronte through 3.6V port | |

405 | CPU Temperature | kelvin (K) | Internal computer temperature | |

500 | Longitude | radian | East-West geographic coordinate | |

501 | Latitude | radian | North-South geographic coordinate | |

502 | WGS84 Elevation (Height Over the Ellipsoid) | m | Elevation over WGS84 reference frame | |

503 | MSL (Height Above Mean Sea Level) – Altitude | m | Altitude over the Mean Sea Level | |

504 | AGL (Above Ground Level) â€“ Height | m | Height Above Ground Level – Dependent on external sensors or own models with considerable error | |

505 | Ground Velocity North | m/s | Ground Velocity component in the North direction (NED Coordinates system) | |

506 | Ground Velocity East | m/s | Ground Velocity component in the East direction (NED Coordinates system) | |

507 | Ground Velocity Down | m/s | Ground Velocity component in the resultant axis from North-East (NED Coordinates system) | |

508 | Sensor IAS (Indicated Air Speed) | m/s | Pitot-static measurement speed | |

509 | Angle of Attack â€“ AoA | radian | Angle between reference body line and flow direction vector | |

510 | Sideslip | radian | Angle between the flow direction vector and the longitudinal axis of the vehicle | |

600-603 | Temperature 1-4 | kelvin (K) | Variables to be configured with external Temperature sensors | |

650 | Gimbal command yaw | customType | Yaw sent to the gimbal | |

651 | Gimbal command pitch | customType | Pitch sent to the gimbal | |

652 | Gimbal stick yaw | customType | Yaw received from the joystick controlling the gimbal | |

653 | Gimbal stick pitch | customType | Pitch received from the joystick controlling the gimbal | |

654 | Gimbal pitch correction 1 | customType | Correction calculated by the gimbal for the pitch control | |

655 | Gimbal pitch correction 2 | customType | Correction calculated by the gimbal for the pitch control | |

656 | Gimbal old joint 1 | customType | Auxiliar variable for Gimbal control configuration | |

657 | Gimbal old joint 2 | customType | Auxiliar variable for Gimbal control configuration | |

658 | Cos (gimbal yaw) | customType | Auxiliar variable for Gimbal control configuration | |

659 | Sin (gimbal yaw) | customType | Auxiliar variable for Gimbal control configuration | |

660 | Gimbal yaw radian/td> | customType | Auxiliar variable for Gimbal control configuration | |

661 | Gimbal yaw output | customType | Yaw value the gimbal is outputting | |

662 | Gimbal pitch output | customType | Pitch value the gimbal is outputting | |

700-705 | RPM 1-6 | rad/s (RDS) | RPM associated to pulse captured 1-6 | |

750 | Selected controller time step | sec | PID selected time step | |

751 | Selected controller derivative filtered error | customType | PID selected derivative filtered error | |

752 | Selected controller proportional action | customType | PID selected proportional action | |

753 | Selected controller derivative action | customType | PID selected derivative action | |

754 | Selected controller integral input | customType | PID selected integral input | |

755 | Selected controller integral action | customType | PID selected integral action | |

756 | Selected controller anti-windup input | customType | PID selected anti-windup input | |

757 | Selected controller derivative error | customType | PID selected derivative error | |

800-815 | PWM 1-16 | customType | Pulse Width Modulation signal | |

900-915 | Stick Input r1 – r16 | customType | Raw stick measurement | |

1000-1031 | Stick Input y1 – y32 | customType | Servo position commanded from stick | |

1100-1104 | Lidar 1-5 Distances | m | Variable configurable for Lidar distances | |

1105-1109 | External range sensor 1-5 measurements | m | Variable configurable for external range sensors | |

1200 | Cross-track Distance | customType | Shortest distance to desired path (perpendicular distance) | |

1201 | Radar AGL (Above Ground Level) â€“ Height | m | User Variable | |

1202 | Radar Speed Down | m/s | User Variable | |

1203 | External Rotation for Follow Route | radian | Relative vector rotation when using Follow Route | |

1204 | Time to Impact with Obstacles | sec | Time calculated with Distance to Obstacle and travel speed | |

1300-1309 | Clock 1-10 | sec | Configurable timers for automations – Clock 1 correspond to Timer 1, etc | |

1400 | Velocity – X Body Axis | m/s | Velocity vector X component | |

1401 | Velocity – Y Body Axis | m/s | Velocity vector Y component | |

1402 | Velocity – Z Body Axis | m/s | Velocity vector Z component | |

1403 | Estimated Dynamic Pressure | pascal | Dynamic pressure sensor raw measurement | |

1404 | Barometric Pressure at Sea Level (QNH) | pascal | Introduced value for QNH | |

1450-1453 | Captured pulse 1-4 | customType | Input values from pulses | |

1490 | Internest raw x distance | m | Raw measurements for X-axis internest distance | |

1491 | Internest raw y distance | m | Raw measurements for Y-axis internest distance | |

1492 | Internest raw z distance | m | Raw measurements for Z-axis internest distance | |

1493 | Internest raw angle | radian | Raw measurements for internest angle | |

1494 | Internest raw xy standard deviation | m | Raw measurements for XY axis internest standard deviation | |

1495 | Internest raw z standard deviation | m | Raw measurements for Z-axis internest standard deviation | |

1496 | Internest raw angle standard deviation | radian | Raw measurements for internest angle standard deviation | |

1497 | Internest position update frequency | Hz | Frequency at which Interest updates its position | |

1500 | GNSS1 Time of Week | s | Data from GNSS1 module: Time of the week | |

1501 | GNSS1 ECEF Position X | m | Data from GNSS1 module: ECEF (Earth-Centered Earth-Fixed coordinate system) position X | |

1502 | GNSS1 ECEF Position Y | m | Data from GNSS1 module: ECEF (Earth-Centered Earth-Fixed coordinate system) position Y | |

1503 | GNSS1 ECEF Position Z | m | Data from GNSS1 module: ECEF (Earth-Centered Earth-Fixed coordinate system) position Z | |

1504 | GNSS1 Longitude | radian | Data from GNSS1 module: Longitude | |

1505 | GNSS1 Latitude | radian | Data from GNSS1 module: Latitude | |

1506 | GNSS1 Height Above Ellipsoid (WGS84) | m | Data from GNSS1 module: Height Above Ellipsoid (WGS84) | |

1507 | GNSS1 Mean Sea Level (MSL) | m | Data from GNSS1 module: MSL | |

1508 | GNSS1 Above Ground Level (AGL) | m | Data from GNSS1 module: AGL | |

1509 | GNSS1 PDOP (Dilution of Precision of Position) | customType | Data from GNSS1 module: PDOP – Relation between user position error and satellite position error | |

1510 | GNSS1 Accuracy | m | Data from GNSS1 module: Accuracy | |

1511 | GNSS1 Horizontal Accuracy Estimate | m | Data from GNSS1 module: Horizontal accuracy | |

1512 | GNSS1 Vertical Accuracy Estimate | m | Data from GNSS1 module: Vertical accuracy | |

1513 | GNSS1 Velocity North | m/s | Data from GNSS1 module: Velocity in North direction (NED Coordinates system) | |

1514 | GNSS1 Velocity East | m/s | Data from GNSS1 module: Velocity in East direction (NED Coordinates system) | |

1515 | GNSS1 Velocity Down | m/s | Data from GNSS1 module: Velocity in Down direction (NED Coordinates system) | |

1516 | GNSS1 Speed Accuracy Estimate | m/s | Data from GNSS1 module: Speed accuracy | |

1517 | GNSS1 Related Base Longitude | radian | Data from GNSS1 module: RTK Base longitude | |

1518 | GNSS1 Related Base Latitude | radian | Data from GNSS1 module: RTK Base latitude | |

1519 | GNSS1 Related Base WGS84 Altitude | m | Data from GNSS1 module: RTK Base WGS84 Altitude | |

1520 | GNSS1 Related Base to Rover Azimuth | radian | Data from GNSS1 module: RTK Base-Rover vector azimuth (Spherical COordinates system) | |

1521 | GNSS1 Related Base to Rover Elevation | radian | Data from GNSS1 module: RTK Base-Rover vector elevation (Spherical COordinates system) | |

1522 | GNSS1 Related Base to Rover Distance | m | Data from GNSS1 module: RTK Base-Rover vector distance (Spherical COordinates system) | |

1523 | GNSS1 Related Base to Rover Accuracy | m | Data from GNSS1 module: RTK Base-Rover vector accuracy | |

1524 | GNSS1 Survey in Accuracy | m | Data from GNSS1 module: RTK Base accuracy when base knows it is fixed in a particular position/td> | |

1525 | GNSS1 Related Base to Rover North | m | Data from GNSS1 module: RTK Base-Rover vector North (NED Coordinate system) | |

1526 | GNSS1 Related Base to Rover East | m | Data from GNSS1 module: RTK Base-Rover vector East (NED Coordinate system) | |

1527 | GNSS1 Related Base to Rover Down | m | Data from GNSS1 module: RTK Base-Rover vector Down (NED Coordinate system) | |

1600 | GNSS2 Time of Week | s | Data from GNSS2 module: Time of the week | |

1601 | GNSS2 ECEF Position X | m | Data from GNSS2 module: ECEF (Earth-Centered Earth-Fixed coordinate system) position X | |

1602 | GNSS2 ECEF Position Y | m | Data from GNSS2 module: ECEF (Earth-Centered Earth-Fixed coordinate system) position Y | |

1603 | GNSS2 ECEF Position Z | m | Data from GNSS2 module: ECEF (Earth-Centered Earth-Fixed coordinate system) position Z | |

1604 | GNSS2 Longitude | radian | Data from GNSS2 module: Longitude | |

1605 | GNSS2 Latitude | radian | Data from GNSS2 module: Latitude | |

1606 | GNSS2 Height Above Ellipsoid (WGS84) | m | Data from GNSS2 module: Height Above Ellipsoid (WGS84) | |

1607 | GNSS2 Mean Sea Level (MSL) | m | Data from GNSS2 module: MSL | |

1608 | GNSS2 Above Ground Level (AGL) | m | Data from GNSS2 module: AGL | |

1609 | GNSS2 PDOP (Dilution of Precision of Position) | customType | Data from GNSS2 module: PDOP – Relation between user position error and satellite position error | |

1610 | GNSS2 Accuracy | m | Data from GNSS2 module: Accuracy | |

1611 | GNSS2 Horizontal Accuracy Estimate | m | Data from GNSS2 module: Horizontal accuracy | |

1612 | GNSS2 Vertical Accuracy Estimate | m | Data from GNSS2 module: Vertical accuracy | |

1613 | GNSS2 Velocity North | m/s | Data from GNSS2 module: Velocity in North direction (NED Coordinates system) | |

1614 | GNSS2 Velocity East | m/s | Data from GNSS2 module: Velocity in East direction (NED Coordinates system) | |

1615 | GNSS2 Velocity Down | m/s | Data from GNSS2 module: Velocity in Down direction (NED Coordinates system) | |

1616 | GNSS2 Speed Accuracy Estimate | m/s | Data from GNSS2 module: Speed accuracy | |

1617 | GNSS2 Related Base Longitude | radian | Data from GNSS2 module: RTK Base longitude | |

1618 | GNSS2 Related Base Latitude | radian | Data from GNSS2 module: RTK Base latitude | |

1619 | GNSS2 Related Base WGS84 Altitude | m | Data from GNSS2 module: RTK Base WGS84 Altitude | |

1620 | GNSS2 Related Base to Rover Azimuth | radian | Data from GNSS2 module: RTK Base-Rover vector azimuth (Spherical COordinates system) | |

1621 | GNSS2 Related Base to Rover Elevation | radian | Data from GNSS2 module: RTK Base-Rover vector elevation (Spherical COordinates system) | |

1622 | GNSS2 Related Base to Rover Distance | m | Data from GNSS2 module: RTK Base-Rover vector distance (Spherical COordinates system) | |

1623 | GNSS2 Related Base to Rover Accuracy | m | Data from GNSS2 module: RTK Base-Rover vector accuracy | |

1624 | GNSS2 Survey in Accuracy | m | Data from GNSS2 module: RTK Base accuracy when base knows it is fixed in a particular position/td> | |

1625 | GNSS2 Related Base to Rover North | m | Data from GNSS2 module: RTK Base-Rover vector North (NED Coordinate system) | |

1626 | GNSS2 Related Base to Rover East | m | Data from GNSS2 module: RTK Base-Rover vector East (NED Coordinate system) | |

1627 | GNSS2 Related Base to Rover Down | m | Data from GNSS2 module: RTK Base-Rover vector Down (NED Coordinate system) | |

1700-1731 | Actuator Output s1 – s32 | customType | Configurable variable from actuator outputs to be transformed by the system | |

1800-1895 | Distance, azimuth and elevation to Object of Interest 1-32 | m, radian and m (respectively) | Spherical coordinates to Object of interest | |

2000 | RX Packet Error Rate (on board) | decimal | Value relating RX packets and expected RX packets, given as % error | |

2001 | TX Packet Error Rate (on board) | decimal | Value relating TX packets and expected TX packets, given as % error | |

2002 | Computed RX pkt/s used for RX PER | messages | Packages per second received to the UAV configured in communication statistics | |

2003 | Remote RX pkt/s used for TX PER | messages | Same as Computed RX pkt/s, received through communications | |

2004 | Computed TX pkt/s used for TX PER | messages | Packages per second transmitted to the UAV configured in communication statistics | |

2005 | Remote TX pkt/s used for RX PER | messages | Same as Computed TX pkt/s, received through communications | |

2019 | Stick RX rate | Hz | Stick messages received per second | |

2020 | Position fix Time | sec | Time spend with GNSS not losing fix | |

2040 | Tunnel producer receive frequency 1 | Hz | Frequency at which the Tunnel producer receives data | |

2041 | Tunnel producer receive frequency 2 | Hz | Frequency at which the Tunnel producer receives data | |

2042 | Tunnel producer receive frequency 3 | Hz | Frequency at which the Tunnel producer receives data | |

2043 | Tunnel consumer send frequency 1 | Hz | Frequency at which the Tunnel consumer sends data | |

2044 | Tunnel consumer send frequency 2 | Hz | Frequency at which the Tunnel consumer sends data | |

2045 | Tunnel consumer send frequency 3 | Hz | Frequency at which the Tunnel consumer sends data | |

2046 | Max duration of step in acquisition | sec | Longest time duration from a step in CIO | |

2047 | Acquisition task timestep | sec | Average period for executing the acquisition task | |

2048 | Acquisition task maximum timestep | sec | Maximum period for executing the acquisition task | |

2049 | Cross core message queue CPU ratio | percentage | % of time of CPU that CIO waits for inter-core communications queue to be emptied | |

2050 | Acquisition task average CPU ratio | percentage | Average % of time of CPU from the acquisition task | |

2051 | Acquisition task maximum CPU ratio | percentage | Maximum % of time of CPU from the acquisition task | |

2052 | Acquisition task average time | sec | Average time acquisition task has used | |

2053 | Acquisition task maximum time | sec | Maximum time acquisition task has used | |

2054 | CIO Max time | sec | Maximum time in acquisition from Core Input/Output | |

2055 | CIO average time | sec | Average time in acquisition from Core Input/Output | |

2094 | GNC task average CPU ratio | percentage | Average % of time of CPU from GNC task | |

2095 | GNC task maximum CPU ratio | percentage | Maximum % of time of CPU from GNC task | |

2096 | GNC task average time | sec | Average time spent on GNC task | |

2097 | GNC task maximum time | sec | Maximum time spent on GNC task | |

2098 | GNC task maximum timestep | sec | Maximum execution period for GNC task | |

2099 | Max duration of step in GNC | sec | Maximum duration of one step in GNC | |

2100 | Gyroscope Based on Accelerometer – X Body Axis | rad/s (RDS) | Gyroscope measurements obtained from accelerometer X-axis data | |

2101 | Gyroscope Based on Accelerometer – Y Body Axis | rad/s (RDS) | Gyroscope measurements obtained from accelerometer Y-axis data | |

2102 | Gyroscope Based on Accelerometer – Z Body Axis | rad/s (RDS) | Gyroscope measurements obtained from accelerometer Z-axis data | |

2103 | Acceleration North | m/sÂ² | Acceleration in the North direction (NED Coordinates System) | |

2104 | Acceleration East | m/sÂ² | Acceleration in the East direction (NED Coordinates System) | |

2105 | Acceleration Down | m/sÂ² | Acceleration in the Down direction (NED Coordinates System) | |

2112 | Estimated Dem | m | Altitude given by the estimated Digital Elevation Model | |

2200 | Curve Length Covered | m | Total distance from current mission leg covered | |

2201 | Curve Length | m | Total distance from current mission leg | |

2202 | Curve Length Pending | m | Total distance from current mission leg to be covered yet | |

2203 | Curve Parameter Covered | customType | Total amount from current mission leg covered according to parameter selected | |

2204 | Curve Parameter Range | customType | Total distance from current mission leg according to parameter selected | |

2205 | Curve Parameter Pending | customType | Total distance from current mission leg to be covered according to parameter selected yet | |

2250-2259 | Reserved 1-10 | customType | System reserved variables | |

2300-2302 | Joint 1-3 of Gimbal 1 | radian | Variables for Gimbal 1 configuration – Angles sent to gimbal as Yaw (1), Pitch (2) and Roll (3) | |

2303-2305 | Joint 1-3 of Gimbal 2 | radian | Variables for Gimbal 2 configuration – Angles sent to gimbal as Yaw (1), Pitch (2) and Roll (3) | |

2400-2419 | Control Output u1 – u20 | customType | PID Output values that are transformed into Actuators Output through SU matrix | |

2500-2519 | Stick Input u1-u20 | customType | Intermediate values from stick used for arcade mode | |

2600-2619 | Stick Input d1-d20 | customType | Intermediate values from stick used for arcade mode – delta values | |

2700-2712 | Operation Guidance 1-13 | customType | Configurable values used in different guidances – Position or values or vectors | |

2800 | Wind Velocity North | m/s | Wind velocity vector pointing North direction (NED Coordinate system) | |

2801 | Wind Velocity East | m/s | Wind velocity vector pointing East direction (NED Coordinate system) | |

2802 | Wind Velocity Down | m/s | Wind velocity vector pointing Down direction (NED Coordinate system) | |

2803 | Wind Velocity North Estimation Covariance | m/s | Wind velocity vector pointing North direction (NED Coordinate system) estimation covariance | |

2804 | Cross North-East Wind Velocity Estimation Covariance | m/s | Wind velocity vector pointing cross North-East direction (NED Coordinate system) estimation covariance | |

2805 | Wind Velocity Estimation Uncertainty (Element 2-0) | m/s | 2-0 element from covariance matrix in wind estimation | |

2806 | Wind Velocity Estimation Uncertainty (Element 0-1) | m/s | 0-1 element from covariance matrix in wind estimation | |

2807 | Wind Velocity Estimation Uncertainty (Element 1-1) | m/s | 1-1 element from covariance matrix in wind estimation | |

2808 | Wind Velocity Estimation Uncertainty (Element 2-1) | m/s | 2-1 element from covariance matrix in wind estimation | |

2809 | Wind Velocity Estimation Uncertainty (Element 0-2) | m/s | 0-2 element from covariance matrix in wind estimation | |

2810 | Wind Velocity Estimation Uncertainty (Element 1-2) | m/s | 1-2 element from covariance matrix in wind estimation | |

2811 | Wind Velocity Estimation Uncertainty (Element 2-2) | m/s | 2-2 element from covariance matrix in wind estimation | |

2900 | MSL Right from Actual QNH and Pressure Measurement | m | Mean Sea Level obtained from Actual QNH and current Pressure Measurement | |

2901 | MSL for ISA and Pressure Measurement | m | Mean Sea Level calculated for ISO International Standard Atmosphere and Pressure Measurement | |

2902 | Time Since Entering Current Phase | sec | Time-lapse considered since entering the current phase | |

2903 | GNC Timestep | sec | Task execution period from GNC | |

2904 | Total Flight Time | s | Time-lapse since the vehicle exited Standby | |

2905 | Total Flight Distance | m | Distance covered by the vehicle in all mission length | |

2906 | Reception Frequency of Simulated Navigation Data | Hz | Frequency at which the system receives Simulation Navigation Data | |

2907 | Reception Frequency of External Navigation Data | Hz | Frequency at which the system receives External Navigation Data | |

2908-2927 | Time Spent Within Phase 1-20 | sec | Time-lapse spent by the vehicle in any phase | |

3000-3031 | Simulation Variable 1-32 | customType | Variables used for Simulation data | |

4100 | Zero | customType | Constant value 0 | |

4101 | Rvar disabled | customType | Disabled variable | |

BIT | 0-2 | Initialisation values | – | Bit for fail, ok and license – 0 for error, 1 for running |

3 | System Readiness | – | System is ready to start operating – 0 for not ready, 1 for ready | |

4 | Writing telemetry | – | Telemetry is properly sending/receiving – 0 for no, 1 for yes | |

5 | Readiness to flight | – | System is ready to start operation/flight – 0 for no, 1 for yes | |

6 | File System state | – | System file manager is working – 0 for error, 1 for running | |

7 | System state | – | System is working – 0 for error, 1 for running | |

8 | Memory Allocation | – | Memory allocation is working – 0 for error, 1 for running | |

9 | PDI State | – | PDI files are working – 0 for error, 1 for running | |

10 | 4X Arbiter state | – | Arbiter is working for 4xVeronte – 0 for error, 1 for running | |

50 | Sensors state | – | Error/Running | |

51 | Main IMU | – | 0 for not enable, 1 for enable | |

52 | Secondary IMU | – | 0 for not enable, 1 for enable | |

53 | Magnetometer | – | Internal magnetometer – 0 for not enable, 1 for enable | |

54 | External magnetometer (Hmr2300) | – | HMR2300 External magnetometer – 0 for not enable, 1 for enable | |

55 | External Magnetometer (LIS3MDL) | – | LIS3MDL External magnetometer – 0 for not enable, 1 for enable | |

56 | Static pressure sensor (HSC) | – | HSC Static Pressure Sensor – 0 for not enable, 1 for enable | |

57 | Static pressure sensor (MS56) | – | MS56 Static Pressure Sensor – 0 for not enable, 1 for enable | |

58 | Dynamic pressure sensor (HSC) | – | HSC Dynamic Pressure Sensor – 0 for not enable, 1 for enable | |

59 | External I2C devices | – | 0 for not enable, 1 for enable | |

60-64 | External I2C | – | External communication I2C – 0 for not enable, 1 for enable | |

65-72 | SCI A-D | – | Serial Communication Interface – 0 for transmission, 1 for reception | |

73-76 | CAN A-B | – | CAN Bus communication – 0 for error, 1 for running | |

77 | Vectornav States for GPS Fix, IMU, Mag/Press, GPS Error, Navigation-Vectornav state | – | 0 for error, 1 for running | |

100 | Position Fix | – | GNSS data reception – 0 for not receiving, 1 for receiving | |

101 | Georeferenced Area | – | 0 for being outside a Georeferenced area, 1 for being inside | |

102-103 | CAN A-B | – | CAN A or B communication – 0 for not receiving, 1 for receiving | |

104-105 | Stick PPM 1-2 detection | – | Stick PPM (1 or 2) – 0 for not detecting, 1 for detecting | |

106-108 | SCI A-C State | – | Defines the state of the Serial Communication Interface bus – 0 for error, 1 for running | |

109 | MCBSP | – | Defines the state of the Multichannel Buffered Serial Port – 0 for error, 1 for running | |

110 | Stick state | – | Show if the stick is being detected – 0 for error, 1 for running | |

111-112 | CAN A-B | – | CAN A or B communication – 0 for not Transmitting, 1 for transmitting | |

113 | Iridium Readiness | – | Iridium ready state – 0 for not ready, 1 for ready | |

114-115 | EKF | – | Extended Kalman Filter working – 0 for error, 1 for running | |

116 | Radar Altimeter CAN-RX | – | Radar Altimeter State – 0 for error, 1 for running | |

117-118 | Power A-B State | – | Power A-B State – 0 for error, 1 for running | |

130 | EFK Navigation State | – | Extended Kalman Filter Navigation State – 0 for error, 1 for running | |

150 | External VCP State | – | External VCP State – 0 for error, 1 for running | |

160 | External var Navigation Error | – | External Navigation State – 0 for error, 1 for running | |

180 | Attitude | – | Kind of attitude calculation – 0 for external, 1 for internal | |

181 | Reserved State | – | System Bit | |

190 | Internest ultrasound position status | – | 0 for error, 1 for running | |

191 | Internest ultrasound angle status | – | 0 for error, 1 for running | |

200-206 | (D)GNSS1 | – | (Differential) GNSS1 Navigation, Input, Survey In, Float and Fixed Solution and Relative Position – 0 for Off, 1 for On | |

300-306 | (D)GNSS2 | – | (Differential) GNSS2 Navigation, Input, Survey In, Float and Fixed Solution and Relative Position – 0 for Off, 1 for On | |

400, 403-405 | Reserved | – | System Bit | |

401 | GNC progress | – | GNC Step Missed (0) and GNC Task ok (1) | |

402 | Acquisition progress | – | Acquisition Step Missed (0) and Acquisition Task ok (1) | |

500 | Ground effect compensation | – | Ground effect compensation effect – 0 for disabled, 1 for enabled | |

700-731 | Servo 1-32 state | – | Servos state – 0 for saturated, 1 for Ok | |

800-815 | PWM GPIO State | – | PWM GPIO communication Sate – 0 for Off, 1 for On | |

816-819 | IO 1-4 State | – | Input/Output State – 0 for Off, 1 for On | |

820-822 | RSSI LED 1-3 State | – | Received Signal Strength Indicator led state – 0 for Off, 1 for On | |

1000-1009 | Simulation BIT 1-10 State | – | Variables used for Simulation data – 0 for error, 1 for running | |

1200-1299 | User BIT 1-100 | – | Free bits for the user to use – 0 for error, 1 for running | |

2200 | BIT Dummy | – | Bit for configurable checks – 0 for error, 1 for running | |

16 VAR | 0 | Control Mode | – | Index pointing to the Control mode in use |

1 | Mission Phase ID | – | Phase Identifier | |

2 -18 | ADC Channel 1-17 | – | Internal ADC 1, 7-8 ADC 1-5 | |

19 | Current envelope | – | Index pointing to the envelope in use | |

20 | Counter for C2 system BIT | – | Index for number of cycles from Core 2 | |

80 | Detour calculation identifier | – | Index for a route change | |

100-101 | GNSS1-2 Satellites Number Information | – | Number of Satellites Used in Solution | |

200 | Radar Altimeter State | – | Index for the radar altimeter state | |

201 | Current Section | – | Index showing section | |

202 | Last Achieved Section | – | Index showing sections achieved | |

203 | Track Stage | – | Index showed when a route change happens | |

204 | Current patchset ID | – | Index showing the patchset | |

303-305 | HMR2300 Magnetometer Raw Measurement | – | X, Y & Z | |

310-311 | Iridium | – | Sent & Received | |

398 | VectorNav Mode | – | Index showing external source VectorNav mode | |

399 | Identifier of max duration step in acquisition | – | Index | |

400 | Internest raw status | – | Index | |

401 | Navigation source | – | Index pointing to the primary navigation source | |

402 | Raw position source identifier | – | Index | |

403-410 | Sensor selection | – | Static & Dynamic Pressure, Primary accelerometer & gyroscope, magnetometer and stick priority table | |

425 | Step in GNC max duration | – | Identifier for the step with maximum duration | |

450-453 | CAN errors | – | Tx & Rx | |

490 | Number of moving objects detected | – | Index | |

497-499 | Configuration | – | Config manager status, global configuration state of files & memory | |

500 | Transponder sequence number | – | Value of the transponder sequence number | |

501 | System Reserved | – | System variables not configurable | |

550-553 | Command 1-4 gimbal | – | Index | |

900-909 | Simulation variables | – | Variables used for Simulation data | |

1000-1099 | User Variables | – | Free variables for the user to use | |

2000 | Uvar State | – | Index | |

2001 | Zero | – | Uvar with constant 0 value |