Lists of interest

This section contains all the lists with information of interest for the user.

Activation System Error bits

The System Error variable is indicated by bit number 7. This bit checks whether the system is running properly. If one of certain malfunctions occur, the System Error will be set as 0 and the FTS will be activated. Otherwise, if everything is OK, it will remain as 1.

The System Error is triggered and set as 0 if one of the following unwanted events happens:

• CIO low has a frequency lower than 10 Hz. This error is indicated with a 0 in bit 400.
• CIO high has a frequency lower than 990 Hz. This error is indicated with a 0 in bit 402.
• GNC is 'dead'. This event is indicated with a 0 in bit 401.
• GNC Realtime Error because a GNC Step has been missed. This event is indicated with a 0 in bit 404.

• System power up BIT error. The initial value of this bit depends on the values of the bits listed below and represents their state at power-up. This error is indicated with a 0 in bit 12 if any of the following errors happens:

  • RAM allocation is in error state due to trying to use more memory than available. This error is indicated with a 0 in bit 8.
  • PDI files have a wrong configuration. This is indicated by a 0 in bit 9.
  • Main Power supply A is in error state. This error is indicated with a 0 in bit 117 if any of the following errors happens:
    • Input supply voltage is not between 6.5 and 36 V. This voltage is measured by RVar 400.
    • Voltage received by Veronte through 5V port is not between 4.75 and 5.25 V. This voltage is measured by RVar 402.
    • Voltage received by Veronte through 3.6V port is not between 3.42 and 3.78V. This voltage is measured by RVar 404.

• File system manager is in error state. This event is indicated with a 0 in bit 6.

• Core 1 has a memory overflow allocated for local variables. This error is indicated with a 0 in bit 16.
• Core 2 has a memory overflow allocated for local variables. This error is indicated with a 0 in bit 17.
• Any user bit configured as safety bit is 0. User bits are 1200 to 1499.

Status Message variables

The variables contained in the Veronte Autopilot 1x status message are the following.

Extended Status Message variables

Information about the Veronte Autopilot 1x extended status message is contained in the following set of bit variables.

List of Addresses

Every Embention device communicate with other devices/tools using its address through VCP.

The following list contains all these addresses:

Lists of Variables

This section shows all the variables employed by Veronte Autopilot 1x. All of them can be read and sent through telemetry.

These variables are classified into two main groups:

• System variables: Non-writable by the user.
• User variables: Writable by the user, marked in the tables below as 📝.

BIT Variables

Real Variables (RVar) - 32 Bits

Integer Variables (UVar) - 16 Bits

Features Variables - 64 Bits

ID	Name	Form	Units	Description
0	Approach Initial Point	[lon, lat, height]	[rad, rad, m]	Landing Guidance Variable. Point 0 in Landing capture.
1	Approach Loiter Start	[lon, lat, height]	[rad, rad, m]	Landing Guidance Variable. Point 1 in Landing capture.
2	Approach Loiter Center	[lon, lat, height]	[rad, rad, m]	Landing Guidance Variable. Point 2 in Landing capture.
3	Approach Loiter Finish	[lon, lat, height]	[rad, rad, m]	Landing Guidance Variable. Point 3 in Landing capture.
4	Approach Headturn Start	[lon, lat, height]	[rad, rad, m]	Landing Guidance Variable. Point 4 in Landing capture.
5	Approach Headturn Center	[lon, lat, height]	[rad, rad, m]	Landing Guidance Variable. Point 5 in Landing capture.
6	Approach Headturn Finish	[lon, lat, height]	[rad, rad, m]	Landing Guidance Variable. Point 6 in Landing capture.
7	Approach Touch Point	[lon, lat, height]	[rad, rad, m]	Landing Guidance Variable. Point 7 in Landing capture.
8	Approach Runway End	[lon, lat, height]	[rad, rad, m]	Landing Guidance Variable. Point 8 in Landing capture.

Note

For further information regarding Landing guidance, please refer to Landing - Guidance blocks of Block Programs section of the 1x PDI Builder user manual.

ID	Name	Form	Units	Description
1025	Climb First Loiter Point	[lon, lat, height]	[rad, rad, m]	Climbing Guidance Variable. Point 1025 in Climbing capture.
1026	Climb Loiter Center	[lon, lat, height]	[rad, rad, m]	Climbing Guidance Variable. Point 1026 in Climbing capture.
1027	Climb Start Loiter	[lon, lat, height]	[rad, rad, m]	Climbing Guidance Variable. Point 1027 in Climbing capture.
1028	Climb Finish Headturn	[lon, lat, height]	[rad, rad, m]	Climbing Guidance Variable. Point 1028 in Climbing capture.
1029	Climb Headturn Center	[lon, lat, height]	[rad, rad, m]	Climbing Guidance Variable. Point 1029 in Climbing capture.
1030	Climb Start Headturn	[lon, lat, height]	[rad, rad, m]	Climbing Guidance Variable. Point 1030 in Climbing capture.
1031	Climb Initial Point	[lon, lat, height]	[rad, rad, m]	Climbing Guidance Variable. Point 1031 in Climbing capture.

Note

For further information regarding Climbing guidance, please refer to Climb - Guidance blocks of Block Programs section of the 1x PDI Builder user manual.

ID	Name	Form	Units	Description
2048	Taxi Initial Point	[lon, lat, height]	[rad, rad, m]	Taxi Guidance Variable. Point 2048 in Taxi capture.
2049	Taxi Runway First Point	[lon, lat, height]	[rad, rad, m]	Taxi Guidance Variable. Point 2049 in Taxi capture.
2050	Taxi Runway Final Point	[lon, lat, height]	[rad, rad, m]	Taxi Guidance Variable. Point 2050 in Taxi capture.

Note

For further information regarding Taxi guidance, please refer to Taxi - Guidance blocks of Block Programs section of the 1x PDI Builder user manual.

ID	Name	Form	Units	Description
4096	Vtol 00	[lon, lat, height]	[rad, rad, m]	VTOL Initial point. Point 4096 in VTOL route capture.
4097	Vtol 01	[lon, lat, height]	[rad, rad, m]	VTOL Translate Start. Point 4097 in VTOL route capture.
4098	Vtol 02	[lon, lat, height]	[rad, rad, m]	VTOL Translate End. Point 4098 in VTOL route capture.
4099	Vtol 03	[lon, lat, height]	[rad, rad, m]	VTOL End point. Point 4099 in VTOL route capture.

Note

For further information regarding VTOL guidance, please refer to VTOL - Guidance blocks of Block Programs section of the 1x PDI Builder user manual.

ID	Name	Form	Units	Description
3072 - 3075	Smooth 00 - 03	[lon, lat, height]	[rad, rad, m]	Smooth Feature Variable.
5120 - 5124	Detour 00 - 04	[lon, lat, height]	[rad, rad, m]	Detour Feature Variables.
6144	Runway Loiter	[lon, lat, height]	[rad, rad, m]	Runway Guidance Variable.
6145	Runway Touch Point	[lon, lat, height]	[rad, rad, m]	Runway Guidance Variable.
6146	Runway End Position	[lon, lat, height]	[rad, rad, m]	Runway Guidance Variable.
7168 - 7169	Gimbal Pointing 00 - 01	[lon, lat, height]	[rad, rad, m]	Gimbal Pointing.
8192	UAV position	[lon, lat, height]	[rad, rad, m]	UAV position.
8193	Current phase	[lon, lat, height]	[rad, rad, m]	Current phase.
8194	Desired position	[lon, lat, height]	[rad, rad, m]	Desired position.
8195	Invalid ID attempted	[lon, lat, height]	[rad, rad, m]	Auxiliar feature - Not valid for users.
8196	Track position	[lon, lat, height]	[rad, rad, m]	Closer point in route to the current desired position.
8197	Operator position	[lon, lat, height]	[rad, rad, m]	Operator position.
8198	Start waypoint in current route	[lon, lat, height]	[rad, rad, m]	Start waypoint in current route.
8199	End waypoint in current route	[lon, lat, height]	[rad, rad, m]	End waypoint in current route.
9216 - 9235	Phase 00 - 19	[lon, lat, height]	[rad, rad, m]	Phase.
10240 - 10247	Inflight Reference 00 - 07	[lon, lat, height]	[rad, rad, m]	Absolute or relative reference position useful during mission.
11264 - 11327	Obstacle Sensor 00 - 63	[lon, lat, height]	[rad, rad, m]	Obstacle Sensor.
12288	Rendezvous 00	[lon, lat, height]	[rad, rad, m]	Start point. For further information, please refer to Rendezvous - Guidance blocks of Block Programs section of the 1x PDI Builder user manual.
12289	Rendezvous 01	[lon, lat, height]	[rad, rad, m]	Rendezvous relative point. For further information, please refer to Rendezvous - Guidance blocks of Block Programs section of the 1x PDI Builder user manual.
12290	Rendezvous 02	[lon, lat, height]	[rad, rad, m]	Docking relative point. For further information, please refer to Rendezvous - Guidance blocks of Block Programs section of the 1x PDI Builder user manual.
13312 - 13327	Moving Obstacles 00 - 15	[lon, lat, height]	[rad, rad, m]	Moving Obstacle.
14336 - 14353	Fixed runway features 00 - 17	[lon, lat, height]	[rad, rad, m]	1x PDI Builder allows the configuration of up to 6 runways. Each runway has 3 main points, Initial point, End point, and Loiter Center, which are repeated every three IDs. E.g. Initial point for Runway 0 is 14336, for Runway 1 is 14339, for Runway 2 is 14342, etc.
15360 - 15371	Fixed spot features 00 - 11	[lon, lat, height]	[rad, rad, m]	1x PDI Builder allows the configuration of up to 6 spots. Each spot has 2 main points, Spot coordinates and Loiter Center, which are repeated every two IDs. E.g. Spot coordinates for Spot 0 is 15360, for Spot 1 is 15362, for Spot 2 is 15364, etc.
28672 - 28703	Moving Objects 00 - 31	[lon, lat, height]	[rad, rad, m]	Moving Objects.

Navigation Variables

The following variables of the Autopilot 1x take part in the navigation performance.

• Bit Variables

  ID	Name
  101	No valid SRTM at UAV position
  114	No valid Geoid at UAV position

• Real variables:

  ID	Name
  0	IAS (Indicated Airspeed)
  1	TAS (True Airspeed)
  2	GS (Ground Speed)
  3	Heading
  4	Flight Path Angle
  5	Bank
  6	Yaw
  7	Pitch
  8	Roll

• Integer variables:

  ID	Name
  25	SRTM source at UAV's position

• Feature variables:

  ID	Name
  8192	UAV position

List of PDI Errors

The following table explains the list of possible errors from Veronte applications.

Note

The decimal value of the PDI Error Source (UVar 50) represents the PDI error ID listed in the following table.

Code	Nº	Explanation
pdi_ok	0	No errors detected
pdi_gpio	1	GPIOs function configuration
pdi_odt_pool_sz	2	Incorrect pool size in on-demand telemetry
pdi_telemetry_alloc	3	Could not allocate new telemetry vector
pdi_channelmgr	10	Channel manager configuration
pdi_sara	15	SARA sim type oor
pdi_vblk_sensrtm	16	Block for SRTM sensor
pdi_arcx	23	Arcade axis set of options
pdi_msg8_consumer_hi	24	Custom message consumer cannot be used in HI unless it is an external sensor
pdi_modes	27	Stick configuration modes
pdi_blkekfstp	41	Static pressure to EKF adapter block
pdi_gnss_blocks	45	GNSS constellations configuration (more than allowed)
pdi_cansuite_gpio	47	CAN suite gpio
pdi_vrng	48	Range sensors
pdi_fmset	50	Custom message set
pdi_pwm	54	PWM configuration
pdi_sniffer	63	Sniffer wires configuration
pdi_sniffer_read_only	64	Read-only variable selected in sniffer
pdi_fmsgc_read_only	65	Read-only variable selected in serial message consumer
pdi_canmsgc_read_only	66	Read-only variable selected in CAN message consumer
pdi_vref_read_only	67	Read-only vref variable
pdi_obstacle	68	Incorrect type of obstacle
pdi_obsense	69	Obstacle sensing mode or type oor
pdi_marks	71	Incorrect type of mark
pdi_fmsg_p	74	Custom message producers msg id oor
pdi_fmsg_c	75	Custom message consumers process parser oor
pdi_fmsgcan_c	76	CAN custom msg consumer msg id oor
pdi_telem	77	Telemetry configuration
pdi_sci	81	SCI config error
pdi_events	82	Invalid event
pdi_actions	83	Actmgr - List of actions
pdi_evact	84	Actmgr - List of related events and actions
pdi_cmd_not_allowed	85	Commands not allowed
pdi_wrapper	86	Wrapper range configuration incorrect
pdi_xpc_can_in	87	XPC for CAN messages input filters size ok
pdi_xpc_can_out	88	XPC for CAN messages output filters size ok
pdi_xpc_can_ser	89	XPC for CAN messages serialtocan size ok
pdi_xpc_can_gpio	90	XPC for CAN messages virtual gpios size ok
pdi_xpc_can_map	91	XPC for CAN messages and check their priority and connections
pdi_xpc_u8_map	92	XPC for u8 messages and check their priority and connections
pdi_internest	93	Internest version in range
pdi_internest1	94	Internest max_range_vbase in range
pdi_internest2	95	Internest max_range_vexplore in range
pdi_ecap	101	Capture
pdi_cappulse	116	ECAP pulse consumers
pdi_i2cdevs	117	I2C external devices
pdi_lossy_resize	120	Lossy resize error
pdi_rvector_resize	121	Rvector resize error
pdi_asciiparser	122	ASCII parser invalid configuration
pdi_telemetry_exceeded	123	Telemetry size exceeded
pdi_hi_3210_rx_tout	154	HI-3210 rx cannot be configured
pdi_hi_3210_tx_tout	155	HI-3210 tx cannot be configured
pdi_cmd_rdvzset	176	Rendezvous command base_yaw oor
pdi_cmd_taxiget	183	Taxi guidance block error. Could be invalid runway or invalid initial point
pdi_cmd_gtrack1	188	Invalid detour command
pdi_cmd_gtrack2	189	Invalid guidance block configuration
pdi_cmd_speed	192	Cruise speed command
pdi_cmd_gtrack	193	Invalid detour command
pdi_cmd_gtrkset	194	Track request command
pdi_cmd_stksrcr	208	Get stick raw channels from selected source
pdi_cmd_vtolset	212	VTOL request command
pdi_ini_nok	213	Cannot change to a phase different from INI with System BIT not OK and out of PDI mode
pdi_cmd_nav	215	Navigation command
pdi_cmd_gpio	218	GPIO command
pdi_cmd_phase	222	Commanded phase is out of range
pdi_cmd_gimbal	225	Gimbal commands
pdi_cmd_var	235	Variable set command
pdi_reset	239	Reset CPU IRX
pdi_acc2filt	257	Bosch IMU BMI088 (IMU2) Accelerometer filter
pdi_imu3_filter	258	ADIS16505 IMU filter not in range [0,6]
pdi_imu3_filter_bw	259	ADIS16505 IMU filter not compatible with Bandwidth limit
pdi_cansuite_in	288	CAN suite producer for Veronte
pdi_cansuite_out	289	CAN suite consumer for Veronte
pdi_cfg_can	290	CAN cfg
pdi_resize_can_cex	291	CEX CAN cfg
pdi_resize_can_commex	292	COMMEX CAN cfg
pdi_jeti_and_lift	293	Trying to configure jeti and lift (not enough memory)
pdi_srtm_calib	500	Tried to calibrate SRTM without valid SRTM data for current point
pdi_jid	501	Invalid feature
pdi_canid	502	Invalid CAN id
pdi_cfgid_mode0	503	Invalid Cfgid PDI (number of PDIs does not match)
pdi_cfgid_mode1	504	Invalid Cfgid PDI mode
pdi_cmd_mgr	505	Expected command size does not match
pdi_cmd_mgr1	506	Expected command size does not match
pdi_cancfg	507	Invalid CAN configuration
pdi_decimator	508	Invalid decimator
pdi_sci_cfg	509	Invalid SCI configuration
pdi_field1	510	Maximum ID of real variable exceeded
pdi_field2	511	Maximum ID of user variable exceeded
pdi_field3	512	Maximum ID of bit variable exceeded
pdi_field4	513	Maximum number of decimals for real variable exceeded
pdi_field5	514	Overflow for real variable detected
pdi_field6	515	Incorrect CRC field
pdi_field7	516	Field matcher number of bits outside range
pdi_field8	517	Field maximum skippable bits exceeded
pdi_field9	518	Maximum ID of real variable saved as string exceeded
pdi_field10	519	Field type out of range
pdi_flogic	520	Invalid event composition (Flogic)
pdi_flogic1	521	Invalid event composition (Flogic)
pdi_flogic2	522	Invalid event composition type
pdi_fref	523	Invalid type of position reference
pdi_irxtable	524	Invalid 3Dtable mode or vector is non-decreasing
pdi_limit	525	Invalid limit event type
pdi_lsm6ds3_cfg	526	Accelerometer/Gyroscope settings outside range
pdi_pdi_ver	527	Incompatible PDI version, try migrating offline and uploading a complete migrated configuration
pdi_rvarsensor	528	Id for Rvar out of range for Rvarsensor
pdi_stickrawtrans0	529	K value in stick outside range [-100, 100] or 0
pdi_stickrawtrans1	530	Maximum value read from stick for Configured range exceeded [4095]
pdi_stickrawtrans2	531	Maximum value read from stick for Raw stick trim exceeded [4095]
pdi_stickrawtrans3	532	Invalid transformation type for stick
pdi_stickcfg3	536	Invalid destination of stick device data
pdi_tllhcompressed	537	Longitude/Latitude outside range [-π,π]/[-0.5π,0.5π]
pdi_tunpatchset0	538	Patch selected as first has not been enabled
pdi_tunpatchset1	539	Patch selected as next has not been enabled
pdi_tunpatchset2	540	Patchtype point has not been enabled
pdi_tunpatchset3	541	Patchtype line has not been enabled
pdi_tunpatchset4	542	Patchtype orthodrome has not been enabled
pdi_tunpatchset5	543	Patchtype arc has not been enabled
pdi_tunpatchset6	544	Patchtype ellipse has not been enabled
pdi_tunpatchset8	546	No patchtype has been enabled
pdi_Ubxcfgnav5	547	Dynmodel out of range or incorrect UTC time
pdi_Ubxcfgnavx5	548	Maximum acceptable AssistNow Autonomous orbit error outside range [5, 1000]
pdi_Ubxcfgport	549	Port (for Ubx?) is neither SPI nor SCI
pdi_Ubxcfgrate	550	Invalid Ublox configuration rate
pdi_Ubxcfgsbas	551	Maximum number of SBAS prioritized tracking channels exceeded [3]
pdi_atunarray0	552	Invalid Tunarray index
pdi_atunarray1	553	Invalid Tunarray size
pdi_Ubxcfgtmode3	554	Error in receiver mode, neither enabled nor disabled
pdi_Uclk	555	Invalid chrono event
pdi_Uvarsensor	556	Id for Uvar out of range for Uvarsensor, or desired frequency too low ( <1Hz)
pdi_Uclkmgr	557	Maximum number of event user chronos exceeded
pdi_varinit0	558	Maximum array size exceeded on initial values for user variables
pdi_varinit1	559	Initialized variable is unwritable
pdi_vref0	560	Maximum ID of Rvar variable exceeded in Vref
pdi_vref1	561	Maximum ID of Uvar variable exceeded in Vref
pdi_vref2	562	Maximum ID of Bvar variable exceeded in Vref
pdi_vref3	563	Invalid type of variable in Vref
pdi_xclkcfg0	564	Period time non-positive in event
pdi_xclkcfg1	565	Invalid period mode
pdi_xclkcfg2	566	Chrono position direction not correctly normalized
pdi_xclkcfg3	567	Invalid type of chrono
pdi_blk_batch	570	Maximum allowed block nesting depth exceeded [6] or incorrect number of inputs/outputs for block Patch
pdi_blk_ifelse	571	Error in the connections for block if/else
pdi_blk_switch	572	Error in the connections for block switch
pdi_blk_switch0	573	Invalid switch/ifelse/phase block configuration
pdi_blkmgr	574	Invalid block manager configuration
pdi_pinmux	576	Invalid switch/ifelse/phase block output configuration
pdi_blk_switchmap	577	Invalid mapping to cases in switch/phase block
pdi_accellimit	579	Envelope’s falling or rising edge is out of accepted limits
pdi_circle	583	Circle radius is less than or equal to 0
pdi_height	584	Height type is neither relative nor absolute
pdi_heightabs	585	Invalid absolute height type
pdi_rwy	586	Invalid runway preferred type
pdi_driver	588	Problem in Driver block configuration
pdi_mwk	592	Gyroscope measurement error
pdi_opinctrl	593	Invalid PID controller input type
pdi_pid	594	Invalid PID integral configuration (tau must be ≥ 0)
pdi_prediction	595	Error in the Model Prediction Control algorithm. Prediction Horizon out of range or zero diagonal matrix R
pdi_sysid	596	Error ID for given pdi check
pdi_tsched	597	Error ID for given pdi check
pdi_dwma	598	Error ID for given pdi check
pdi_iir	599	Error ID for given pdi check
pdi_butterworth	600	Error ID for given pdi check
pdi_usre2	601	Error incorrect user sensor variance
pdi_ubxcfgtp5	603	Ublox time pulse configuration
pdi_cfgmgr_load_secure	604	Error loading secure mode
pdi_cfgmgr_finit	605	Error PDI files
pdi_cfgmgr_timeout	606	Error, timeout while loading PDIs
pdi_invalidrotmat	607	Invalid rotation matrix (cannot be inverted)
pdi_apsel	608	Number of autopilots for redundancy less than 3
pdi_vblk_apsel	609	Invalid block AP selection configuration channel exceeds maximum number
pdi_vblk_arcade_bounce	610	Error in the connections for block Arcade Bounce
pdi_vblk_arcade_extend	611	Error in the connections for block Arcade Extend
pdi_vblk_btor	612	Error in the connections for bool to real block
pdi_vblk_bound	613	Error in the connections for block Bound
pdi_rldcfg0	614	Invalid dynamic pressure EKF entrance configuration
pdi_smoothvar	615	Smoother error
pdi_ubx_tout0	616	Could not receive ACKs from UBlox
pdi_ubx_tout1	617	Could not receive polling from Ublox
pdi_ubx_nack	618	A Ublox configuration message was rejected by a Ublox device (GNSS)
pdi_guid_pid	619	Invalid type of guidance controller
pdi_cmd_leg	620	Guidance uses an invalid runway or site
pdi_mixarray	622	Error in mixarray construction (possibly there is not enough RAM memory to store all the blocks)
pdi_xrtable	623	Invalid number of entries for XrTable
pdi_blk_varset	624	Block trying to write in an invalid variable, possibly the selected variable is not user writable
pdi_tuntrait	625	Error trying to resize an array out of its maximum size
pdi_asuite	626	Selected dynamic pressure sensor is not valid in this hardware version
pdi_xpcmap	627	Invalid producer/consumer in I/O connections
pdi_blk_arraysplit	628	Invalid block: array of less than 2 elements cannot be split
pdi_blk_array	629	Bundle block error, it must have more than one input and the input sizes must be one
pdi_vblk_varget	630	Invalid ID for block Read Real
pdi_vblk_vec_ops	631	Error in either Vector: Add, Subtract, Cross product, Matrix rotation or Matrix product
pdi_autotune	633	Invalid maximum duration of autotuning process or invalid number of stages for FFT
pdi_vblk_azeld1	634	Error in the connections for block azeld → xyz
pdi_vblk_azeld	635	Error in the connections for block xyz → azeld
pdi_vblk_dot	636	Error in the connections for block Dot Product
pdi_vblk_enctrl	637	Error in the connections for block Energy Control or invalid conversion factor from speed difference to desired acceleration
pdi_vblk_bnxb1	638	Error in the connections for block(s) AND/OR
pdi_vblk_r1xr1	639	Error in the connections for block x or invalid subfunction for the block
pdi_vblk_r2xr1	640	Error in the connections for block x+y or invalid subfunction for the block
pdi_vblk_rnxr1	641	Error in the connections for block(s) Multiply/Add Elements/Norm or invalid subfunction for the block(s)
pdi_vblk_iir	642	Error in the connections for block IIR Filter or invalid parameters for the transfer function
pdi_vblk_kmultvec	643	Error in the connections for block Scale
pdi_vblk_manual	644	Error in the connections for block Manual or invalid stick control channel
pdi_vblk_minmax	645	Error in the connections for block(s) Min/Max
pdi_vblk_mix	646	Error in the connections for block MIX or invalid mix control channel
pdi_vblk_movern	647	Error in the connections for block MIX Move
pdi_vblk_not	648	Error in the connections for block NOT
pdi_vblk_phase	649	Default case does not exist for block Phase Switch
pdi_vblk_tsched	651	Error in the connections for block T-Sched PID
pdi_vblk_pid	652	Invalid configuration or connection of a PID block
pdi_vblk_poly	653	Error in the connections for block Polynomial
pdi_vblk_posset	654	Error in the connections for block Write Feature or Fid is not user writable
pdi_vblk_predictive	655	Error in the connections for block Predictive Control or number of elements for numerator/denominator unmatched to the expected input size
pdi_vblk_ramp	656	Error in the connections for block Ramp or rise time/settling time less than (or equal to) 0
pdi_vblk_matvec	657	Error in the connections for block Linear Transformation or matrix size unmatched to the expected input size
pdi_vblk_rtable3d	658	Error in the connections for block 3D Table Interpolation
pdi_vblk_rtob	659	Error in the connections for block Real to Bool
pdi_vblk_rtou	660	Error in the connections for block Real to Integer
pdi_vblk_runwrap	661	Error in the connections for block [-π,π] Unwrap
pdi_vblk_utor	662	Error in the connections for block Integer to Real
pdi_vblk_relthis	663	Error in the connections for block Relative Vector
pdi_cancfg1	664	Number of mailboxes dedicated to rx exceeds maximum [32] or the filter applied to mailbox subset exceeds maximum filter id
pdi_stickvar_cfg	665	Decimate time is higher than the minimum period or number of stick virtual inputs exceeds maximum configured for block Virtual stick
pdi_vblk_gimbal	666	Error in the connections for block Gimbal
pdi_vblk_hysteresis	667	Error in the connections for block Hysteresis
pdi_vblk_arctrim	668	Error in the connections for block Arc Trim or control vector unmatched to expected size
pdi_blockprog	669	Incomplete set of LSB bits or with bit holes for execution mask or slot is not within the mask
pdi_vblk_n2b	670	Error in the connections for block NED to Body/Body to NED
pdi_vblk_pwm	671	Error in the connections for block PWM or PWM id exceeds maximum
pdi_vblk_stick	672	Error in stick block, connections, dimensions of matrices or stick sources could be wrong
pdi_vblk_u2s	673	Error in actuator block, connections or dimensions of matrices could be wrong
pdi_vblk_interp	674	Error in vector interpolation block, connections or sizes could be wrong, also the points in the table must be sorted in increasing order of x
pdi_vblk_ratelim	678	Error in the connections for block Rate limiter
pdi_vblk_clock	679	Unable to reset the clock timer in block Clock
pdi_vblk_mult_varget	680	Unable to initialize output vector or invalid variable id in block Read Multiple Reals
pdi_vblk_mult_varset	681	Error in the connections for block Write Multiple Bits/Write Multiple Reals or input vector different from input variables or variable not user writable
pdi_vblk_pid_static	682	Unable to subscribe autotune in block PID
pdi_vblk_quatctrl	683	Set of configurable variables cannot be 0 or outside their range in block Quaternion Control
pdi_vblk_senstp	685	Error in pressure sensor block, could be that the selected pressure sensor in invalid in the current hardware or that the configured variance is negative or zero
pdi_vblk_sengnss	686	Error for block GNSS sensor
pdi_vblk_ekfpos	687	Error for block EKF position
pdi_vblk_ekfvel	688	Error for block EKF Velocity
pdi_vblk_ekfmis	689	Error for block EKF Misalignment
pdi_vblk_drnmis	690	Error for block EKF GNSS compass
pdi_vblk_senrel	691	Error for block Relative position (Sensors)
pdi_vblk_ekfdem	692	Error for block EKF Terrain Height
pdi_vblk_senmag	693	Error in magnetometer sensor block, the selected might be invalid in your current hardware or the configured variance is negative or zero
pdi_mdg_gain	694	Error for block Madgwick Gain Computer
pdi_vblk_senalt	696	Error for block Altimeter
pdi_vblk_ekfalt	697	Error for block EKF Altitude
pdi_vblk_ekfvdn	698	Error for block EKF Velocity Down
pdi_vblk_nav	699	Error for block Navigation
pdi_e2acc	700	Error for variance increment due to high acceleration
pdi_vblk_ekfsplit	701	Error for block EKF Split
pdi_vblk_fft	703	Error ID for block FFT
pdi_vblk_ecu	705	Error ID for block ECU control
pdi_vblk_fuzzy	706	Error ID for block Fuzzy Logic Controller
pdi_vblk_guidance	707	Input of guidance block could not be connected
pdi_vblk_sysid	709	Error ID for block System Identification
pdi_cex_pwm	710	Error ID for CEX pwm arbitration, src ID greater than pulses array
pdi_cex_esc_tm	711	Error ID for CEX ESC period
pdi_cex_mcu_tm	712	Error ID for CEX MCU period
pdi_vblk_climb	713	Incorrect climb block operation
pdi_vblk_leg	714	Incorrect leg block operation
pdi_flyto	715	Incorrect fly to command (non-existing patch)
pdi_vblk_approach	716	Incorrect approach block operation
pdi_vblk_yawing	717	Incorrect yawing block configuration
pdi_vblk_siggen	718	Incorrect signal generation configuration
pdi_vblk_pnav	719	Incorrect PNAV guidance configuration
pdi_vblk_genex	720	Incorrect GENEX guidance configuration
pdi_vblk_modpnav	721	Incorrect ModPNAV guidance configuration
pdi_blk_lib	722	Incorrect library
pdi_vblk_ewma	723	Incorrect EWMA block configuration
pdi_uarray_resize	724	Incorrect uarray resize
pdi_oprvar	725	Incorrect operation/setup rvar configuration
pdi_block_const	726	Error in block const
pdi_block_posget	727	Error in block posget
pdi_block_pnavbase	728	Error in block pnav base
pdi_block_arcade0	729	Error in block arcade
pdi_unescape	730	Error in escape itport
pdi_initial_alignment	731	The internal AHRS or EKF navigation estimation algorithm could not compute an initial orientation. Try commanding an initial yaw or adding an automation to do so
pdi_fft_block_disable	732	The FFT block is temporarily disabled in this version
pdi_vblk_acclim	733	Error in block acceleration limiter
pdi_ewma_avgvar	734	Error in EWMA average/variance time constants
pdi_sensor_fusion	735	Time constants for sensor fusion algorithm are incorrect
pdi_oprng	736	Error in operation range configuration
pdi_oprng_check	737	Error in operation range check
pdi_vgeoref	738	Error in vgeoref configuration
pdi_notch_filter	739	Incorrect notch filter parameters
pdi_notch_frequency	740	Incorrect notch filter frequency
pdi_geoid_version	741	Incorrect geoid version in SD
pdi_vblk_integrator	742	Error in the connections for block Integrator
pdi_vblk_derivative	743	Error in the connections for block Derivative
pdi_wrapper_ref	744	Incorrect envelope range (minimum must be less or equal than maximum)
pdi_sensor_fusion_sel	745	Selected gyroscopes or accelerometers are invalid in this hardware or the default sensor is not active
pdi_volume_id	746	Incorrect volume identifier
pdi_fload_missing	747	Missing file from file system
pdi_event_log	770	Maximum number of fields reached
pdi_onboard_log	771	Maximum number of fields reached
pdi_fast_log	772	Maximum number of fields reached
pdi_arbitration	10000	Error ID for Arbitration cfg
pdi_arbitration_can	10001	Error ID for Arbitration_can cfg
pdi_arbitration_can1	10002	Error ID for Arbitration_can cfg
pdi_arb_cfg0	10003	Error ID for Arb cfg preferred ap oor
pdi_arb_cfg1	10004	Error ID for Arb cfg method oor (out of range)
pdi_arb_cfg2	10005	Error ID for Arb cfg tmin oor
pdi_arb_cfg3	10006	Error ID for Arb cfg hysteresis oor
pdi_ap_nvars	10007	Error ID for Autopilot nvars oor
pdi_apcfg_nvars	10008	Error ID for Autopilot cfg nvars oor
pdi_jetibox	10009	Error ID for sci identifier of Jetibox cfg oor
pdi_jetibox_fmsgcmd	10010	Error ID for jetibox fmsg cmd oor
pdi_arb_init_time	10011	Error ID for Arbiter Power Init Time less than 0
pdi_arb_varcfg	10013	Incorrect arbiter variable configuration
pdi_hs_base_can_id	15000	High speed telemetry invalid Base CAN Id
pdi_hs_tm_nvars	15001	High speed telemetry number of variables too big
pdi_vmc_motor	20000	Motor cfg is not valid
pdi_vmc_control_mode	20001	Control mode is invalid
pdi_vmc_encoder_nbits	20002	Number of bits for encoder is invalid
pdi_mc_vmotor	20003	Virtual motor cfg invalid
pdi_mc_smo	20004	Slide Mode Observer cfg invalid
pdi_mc_control	20005	Control cfg invalid
pdi_mc_fault_detection	20006	Fault detection cfg invalid
pdi_mangle_rate	20007	Invalid filter time constant
pdi_low_pll	20008	Invalid cut-off frequency
pdi_ex_ussa76_cmd	20009	Invalid period to send external USSA76 calibration command
pdi_cfgmr_length	31999	Unexpected size of PDI or command
pdi_cfg_file	32000	Error on PDI or command (subtract 32000 to know the Id)
pdi_check_test	0xFFFF	Error ID for given PDI check.

List of File System Errors

Integer variable File system status (UVar 96) represents several DFS2 FS-related error states, as each of its 16 bits indicates a specific error condition.

Below is a list of potential error conditions associated with each bit:

ID	Error description
0	Index sector is not correct (1 if not correct - 0 if correct)
1	Error initializing SD (1 if not correct - 0 if correct)
2	Nun& partition bigger than allowed (1 if bigger - 0 if not)
3	No more descriptor available (1 if not available - 0 if available)
4	The descriptor of a file was not correct (CRC failed) (1 if fail - 0 if not)
5	The new descriptor couldn't be created (1 if not created - 0 if created)
6	Error updating the file size (1 if error updating - 0 if no error)
7	Error formatting because of system description size (1 if error formatting - 0 if not)
8	Error formatting driver not initialized (1 if error formatting - 0 if not)
9	Error formatting maximum partition number overpassed (1 if error formatting - 0 if not)
10	Error formatting not able to write index sector (1 if error formatting - 0 if not)
11	Error formatting partition not enabled (1 if error formatting - 0 if not)
12	Error writing the index for the log controller (1 if error formatting - 0 if not)
13	File was destroyed but was not closed or had pending requests (1 if not closed or pending requests - 0 if closed or had no pending requests)
14	Unable to read a sector (1 if unable - 0 if able)

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