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. Othwerwise, 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.

  • 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.

  • 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 are wrong configuration. This is indicated with a 0 in bit 9.

  • 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

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

ID

Name

5

Power error

6

File System Error

8

Memory allocation

9

PDI Error

12

System Power up BIT Error

14

FTS-1 Feedback (>=V4.5)

15

FTS-2 Feedback (>=V4.5)

16

Stack C1 usage FAIL

17

Stack C2 usage FAIL

49

CPU temperature above 398.15K

50

Sensors Error

51

Sensor-Main IMU

52

Sensor-Secondary IMU

53

Sensor-Internal Magnetometer (LIS3MDL)

54

Sensor-External magnetometer (HMR2300)

55

Sensor-External Magnetometer (LIS3MDL)

56

Sensor-Static pressure (HSC)

57

Sensor-Static pressure (MS56)

58

Sensor-Dynamic pressure (HSC)

59

Sensor-External I2C devices

60-64

Sensor-External I2C device 0-4

73

CAN-A ERROR

74

CAN-B ERROR

82

Sensor-External Magnetometer (HSCDTD008A)

83

IMU 2 BMI088

84

Sensor-Static pressure 2 (DPS310)

85

Sensor-Internal Magnetometer (MMC5883MA)

86

Sensor-External Magnetometer (MMC5883MA)

87

GNSS1 Module Error

88

GNSS2 Module Error

89

Sensor-External Magnetometer (RM3100)

90

IMU3 ADIS16505-3 (MCBSP)

91

Sensor-Internal Magnetometer (RM3100)

92

Magnetometer reserved

110

Stick Not Detected

117

Main Power Error

118

SUC Power Error

400

C1 Low Frequency

401

GNC fail

402

Acquisition step missed

403

CIO Hi Overload warning

List of Addresses

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

The following list contains all these addresses:

Address

Recognized as

Description

0

Dummy for pdi builders

Dummy for pdi builder

1

Cloud

Veronte Cloud address

2

Vlink

Address used by Veronte Link app to communicate with Veronte units

2-3

App + Address

Veronte applications addresses. App 2 is the one used by default by Veronte applications, although App 3 is also available

255-511

App dynamic + Address

Dynamic addresses for Veronte applications

998

Broadcast

To all devices on a network

999

Address unknown

This address can be used for a device that does not have a valid address configured

1000-1777

1x v4.0 + Address

Specific address of an Autopilot 1x with hardware version 4.0

1778-3999

1x v4.5 + Address

Specific address of an Autopilot 1x with hardware version 4.5

4000-17999

1x v4.8 + Address

Specific address of an Autopilot 1x with hardware version 4.8

18000-19899

1x BCS + Address

Specific address of a BCS unit

19900-19999

1x v4.7. For internal use only + Address

Specific address of an Autopilot 1x with hardware version 4.7

20000-21999

Smart Can Isolator + Address

Specific address of a Smart Can Isolator unit

30000-31999

MC01 + Address

Specific address of a MC01 unit

32000-34999

MC24 motor controller + Address

Specific address of a MC24 unit

35000-39999

MC110 motor controller + Address

Specific address of a MC110 unit

40000-41999

CEX + Address

Specific address of a CEX with hardware version 1.2

42000-43999

MEX + Address

Specific address of a MEX unit

44000-49999

CEX2 + Address

Specific address of a CEX with hardware version 2.0

50000-51089

Arbiter v1.0 + Address

Specific address of an Arbiter with hardware version 1.0

51090-51999

Arbiter v1.2 + Address

Specific address of an Arbiter with hardware version 1.2

52000-59999

Arbiter v1.8 + Address

Specific address of an Arbiter with hardware version 1.8

60000-65535

Reserved + Address

Reserved addresses

65536-69631

Virtual v4.0 + Address

Specific address of a Virtual Autopilot 1x with hardware version 4.0

69632-73727

Virtual v4.5 + Address

Specific address of a Virtual Autopilot 1x with hardware version 4.5

73728-77823

Virtual v4.8 + Address

Specific address of a Virtual Autopilot 1x with hardware version 4.8

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 clasified in two main groups:

  • System variables: Non-writable by the user.

  • User variables: Writable by the user, marked in the tables below as write.

Important

Variables labeled as “Deprecated” are no longer used by the system.

In order to avoid system incompatibilities, deprecated variables are only written by the autopilot when migrating a configuration from a previous version in which the variable was not obsolete. When a configuration is built from scratch, these variables must be defined by the user to be used. Thus, users are responsible for their correct assignment.

BIT Variables

Warning

Bit Variables displayed on Veronte Ops labels will be shown as Red/Green depending on its state. Red stands for 0 and Green for 1, changing the name displayed accordingly to the BIT value.

ID

Name

Description

0

Always Fail

This signal is always fail - 0 for fail, 1 for OK

1

Always OK

This signal is CIO always OK - 0 for fail, 1 for OK

2

License Check Pending

License state - 0 for license check pending, 1 for license checked

3

System Not Ready to Start

System is ready to start operating - 0 for not ready, 1 for ready

4

No Writing Telemetry

Telemetry is properly sending/receiving - 0 for no, 1 for yes

5

Power Error

Power supply state - It ill be 0 if any of the following conditions happens:

  • Bit 117 is zero (power for Veronte has a failure)

  • Bit 118 is zero (power for SuC has a failure)

6

File System Error

System file manager - Dependent on File system status (UVar 96)

  • 0 for error: if File system status > 0

  • 1 for running OK: if File system status \(==\) 0

7

System Error

This bit checks whether the system is running properly. 0 for system error, 1 for system OK.

8

Memory allocation

RAM allocation - 0 for trying to use more than available memory, 1 for running

9

PDI Error

PDI files - Dependent on PDI Error Source (UVar 50)

  • 0 for wrong PDI configuration: if PDI Error Source > 0

  • 1 for running OK: if PDI Error Source \(==\) 0

10

CIO Low or C2 Error

CIO low or C2 failed. Bits 400 and 401 are recommended instead - 0 for CIO low or C2 failed, 1 for CIO high and C2 OK

Warning

Deprecated variable

11

4X CAN failed

For more information, check BIT Variables - 4x Software Manual

12

System Power up BIT Error

Power up - 0 for error, 1 for OK

13

Reset and Write Disabled

Reset and non-operation PDI writes are allowed - 0 for disabled, 1 for enabled

14

FTS-1 Feedback (>=V4.5)

Flight Termination System 1, microcontroller state for hardware version 4.7 or higher - 0 for error, 1 for running OK

15

FTS-2 Feedback (>=V4.5)

Flight Termination System 2, microcontroller state for hardware version 4.7 or higher - 0 for error, 1 for running OK

16

Stack C1 usage FAIL

0 for stack overflow of core 1, 1 for OK

17

Stack C2 usage FAIL

0 for stack overflow of core 2, 1 for OK

18

PDI disabled

PDI Mode - 0 for disabled, 1 for enabled

write

20-46

4xV Bit variables

For more information, check BIT Variables - 4x Software Manual

47

4xV Watchdog Error

Note

For version 4.7 or higher

For more information, check BIT Variables - 4x Software Manual

49

CPU temperature above 398.15K

CPU temperature warning - 0 for CPU temperature above 398.15K (125ºC), 1 for CPU temperature below 398.15K (125ºC)

50

Sensors Error

Sensors state - 0 for error, 1 for running OK

Selected sensors are not working or, if external sensors have been selected, they are not connected

51

Sensor-Main IMU

0 for disabled, 1 for enabled

52

Sensor-Secondary IMU

0 for disabled, 1 for enabled

53

Sensor-Internal Magnetometer (LIS3MDL)

Internal LIS3MDL magnetometer - 0 for disabled, 1 for enabled

54

Sensor-External Magnetometer (HMR2300)

External HMR2300 magnetometer - 0 for disabled, 1 for enabled

55

Sensor-External Magnetometer (LIS3MDL)

External LIS3MDL magnetometer - 0 for disabled, 1 for enabled

56

Sensor-Static pressure (HSC)

HSC Static Pressure Sensor - 0 for disabled, 1 for enabled

57

Sensor-Static pressure (MS56)

MS56 Static Pressure Sensor - 0 for disabled, 1 for enabled

58

Sensor-Dynamic pressure (HSC)

HSC Dynamic Pressure Sensor - 0 for disabled, 1 for enabled

59

Sensor-External I2C devices

0 for disabled, 1 for enabled

60-64

Sensor-External I2C device 0-4

External communication I2C from device 0 to 4

65

SCI-A Transmitting (LTE/EXT. UART)

Serial Communication Interface - LTE/EXT. UART transmission

66

SCI-A Receiving (LTE/EXT. UART)

Serial Communication Interface - LTE/EXT. UART reception

0 for not receiving, 1 for receiving

67

SCI-B Transmitting (LOS)

Serial Communication Interface - LOS transmission

68

SCI-B Receiving (LOS)

Serial Communication Interface - LOS reception

0 for not receiving, 1 for receiving

69

SCI-C Transmitting (RS485)

Serial Communication Interface - RS485 transmission

70

SCI-C Receiving (RS485)

Serial Communication Interface - RS485 reception

0 for not receiving, 1 for receiving

71

SCI-D Transmitting (RS232)

Serial Communication Interface - RS232 transmission

72

SCI-D Receiving (RS232)

Serial Communication Interface - RS232 reception

0 for not receiving, 1 for receiving

73

CAN-A ERROR

CAN A state - 0 for error, 1 for OK

74

CAN-B ERROR

CAN B state - 0 for error, 1 for OK

75

CAN-A Warning

CAN A state - 0 for warning, 1 for OK

76

CAN-B Warning

CAN B state - 0 for warning, 1 for OK

77

Vectornav GPS not fixed

0 for not fixed, 1 for fix

78

Vectornav IMU error

0 for error, 1 for OK

79

Vectornav Mag/Press error

0 for error, 1 for OK

80

Vectornav GPS error

0 for error, 1 for OK

81

Vectornav Navigation Error

Navigation state - 0 for error, 1 for OK

82

Sensor-External Magnetometer (HSCDTD008A)

External HSCDTD008A magnetometer - 0 for error, 1 for OK

83

IMU 2 BMI088

0 for error, 1 for OK

84

Sensor-Static pressure 2 (DPS310)

0 for error, 1 for OK

85

Sensor-Internal Magnetometer (MMC5883MA)

Internal MMC5883MA magnetometer - 0 for error, 1 for OK

86

Sensor-External Magnetometer (MMC5883MA)

External MMC5883MA magnetometer - 0 for error, 1 for OK

87

GNSS1 Module Error

GPS module 1 state - 0 for error, 1 for OK

88

GNSS2 Module Error

GPS module 2 state - 0 for error, 1 for OK

89

Sensor-External Magnetometer (RM3100)

External RM3100 magnetometer - 0 for error, 1 for OK

90

IMU3 ADIS16505-3 (MCBSP)

0 for error, 1 for OK

91

Sensor-Internal Magnetometer (RM3100)

Internal RM3100 magnetometer - 0 for error, 1 for OK

92

Magnetometer reserved

0 for error, 1 for OK

93

SCI Expander (v4.7+)

SCI Expander for hardware version 4.7 or higher - 0 for error, 1 for OK

Status of the universal asynchronous two-channel receiver and transmitter (UART/SCI)

96

SCI-A Error (LTE/EXT. UART)

SCI A (LTE/EXT. UART) state - 0 for error in this port (invalid format or configuration), 1 for OK

97

SCI-B Error (LOS)

SCI B (LOS) state - 0 for error in this port (invalid format or configuration), 1 for OK

98

SCI-C Error (RS485)

SCI C (RS485) state - 0 for error in this port (invalid format or configuration), 1 for OK

99

SCI-D Error (RS232)

SCI D (RS232) state - 0 for error in this port (invalid format or configuration), 1 for OK

100

Position not fixed

GNSS data reception - 0 for not receiving, 1 for receiving (Position fixed)

101

No valid SRTM at UAV position

0 for not valid, 1 for valid

102-103

CAN A-B Receiving

CAN A to B communication - 0 for not receiving, 1 for receiving

104-105

Stick PPM 0-1 not detected

Stick PPM 0 to 1 - 0 for not detecting, 1 for detecting

106

Magnetic field out of bounds (Deprecated)

0 for magnetic field out of bounds, 1 for OK

Warning

Deprecated variable

107

INS navigation OFF

0 for INS navigation OFF, 1 for INS navigation ON

108-109

Stick PPM 2-3 not detected

Stick PPM 2 to 3 - 0 for not detecting, 1 for detecting

write 110

Stick Not Detected

Stick detection - 0 for not detected, 1 for detected

111-112

CAN A-B Transmitting

CAN signals A to B - 0 for not transmitting, 1 for transmitting

113

Iridium Ready

Iridium ready state – 0 for not ready, 1 for ready

114

No valid Geoid at UAV position

0 for not no valid geoid at UAV position, 1 for valid geoid at UAV position

115

EKF: Condition Number Error

Extended Kalman Filter state – 0 for error, 1 for running

116

Radar Altimeter CAN-RX Error

Radar Altimeter State – 0 for error, 1 for running

117

Main Power Error

Main power supply A. It will be 0 (indicating error state) 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

118

SUC Power Error

Power supply for system on microchip. It ill be 0 (indicating error state) if any of the following errors happens:

  • Voltage received by Veronte through 3.3V port is out of range. This voltage is measured by RVar 401

  • Voltage received by Veronte SUC is out of range. This voltage is measured by RVar 403

119

Not hovering guidance

Hovering guidance state - for hovering guidance disabled, 1 for enabled

120-123

Pulse 0-3 not detected

Pulse 0 to 3 detection - 0 for pulse not detected, 1 for detected

write

124-129

4xV Bit variables

For more information, check BIT Variables - 4x Software Manual

130

EFK Navigation Error

Extended Kalman Filter navigation state - 0 for error, 1 for running

131

No magnetic field data

Bit to indicate if there is magnetic field in the SD - 0 for No Magnetic fiel data, 1 for Magnetic field data OK

132

Route not finished

0 for Route not finished, 1 for Route finished OK

150

External VCP Navigation Error

External VCP state - 0 for error, 1 for OK

write 160

External Var Navigation Error

External Navigation state – 0 for error, 1 for running

170

Selected Accelerometer Error

Selected accelerometer – 0 for error, 1 if at least one of the selected accelerometers is OK

171

Selected Gyroscope Error

Selected gyroscope – 0 for error, 1 if at least one of the selected gyroscopes is OK

172

Bias Accelerometer Satured

0 for bias satured, 1 for OK

173

Bias Gyroscope Satured

0 for bias satured, 1 for OK

write 180

External attitude

Kind of attitude calculation – 0 for external, 1 for internal

182

FTS Activation (>=V4.5)

Flight Termination System activation, for version 4.5 or higher - 0 for not activated, 1 for activated

183

4X Selected

Current 1x Autopilot is the one selected by the arbiter - 0 when this AP is not the selected AP, 1 when this AP is the selected one

188

BIT for static pressure sensors Error

0 for static pressure sensors error, 1 for OK

189

BIT for magnetometer sensors Error

0 for magnetometer sensors error, 1 for OK

190

Internest ultrasound position status Error

0 for internest ultrasound position error, 1 for OK

191

Internest ultrasound angle status Error

0 for internest ultrasound angle error, 1 for OK

200

GNSS1 Navigation Down

0 for GNSS navigation OFF, 1 for GNSS navigation ON

201

DGNSS1 Input Off

0 for GNSS compass or RTK not activated, 1 for one of them activated

202

DGNSS1 Navigation Off

0 for GNSS compass or RTK not activated, 1 for one of them activated

203

GNSS1 Survey In Off

GNSS compass survey or RTK OFF, 1 for one of them ON

204

No DGNSS1 Float Solution

0 for no DGNSS1 float solution nor RTK, 1 for DGNSS1 float solution or RTK

205

No DGNSS1 Fixed Solution

0 for no DGNSS1 fixed solution nor RTK, 1 for DGNSS1 fixed solution or RTK

206

DGNSS1 Relative Position Invalid

0 for invalid navigation position, 1 for valid navigation position

207

DGNSS1 not Moving baseline mode

0 for not moving baseline mode, 1 for moving baseline mode

210

DMA peripheral for SPIA A Error

DMA peripheral for SPIA A - 0 for error, 1 for OK

211

DMA peripheral for MCBSP A Error

DMA peripheral for MCBSP A - 0 for error, 1 for OK

write

230-293

4xV Bit variables

For more information, check

BIT Variables - 4x Software Manual

300

GNSS2 Navigation Down

0 for GNSS navigation OFF, 1 for GNSS navigation ON

301

DGNSS2 Input Off

0 for GNSS compass or RTK not activated, 1 for one of them activated

302

DGNSS2 Navigation Off

0 for GNSS compass or RTK not activated, 1 for one of them activated

303

GNSS2 Survey In Off

GNSS compass survey or RTK OFF, 1 for one of them ON

304

No DGNSS2 Float Solution

0 for no DGNSS1 float solution nor RTK, 1 for DGNSS1 float solution or RTK

305

No DGNSS2 Fixed Solution

0 for no DGNSS1 fixed solution nor RTK, 1 for DGNSS1 fixed solution or RTK

306

DGNSS2 Relative Position Invalid

0 for invalid navigation position, 1 for valid navigation position

307

DGNSS2 not Moving baseline mode

0 for not moving baseline mode, 1 for moving baseline mode

308

SCI-E Transmitting (LTE)

SCI-E Transmitting (LTE)

309

SCI-E Receiving (LTE)

SCI-E Receiving (LTE)

310

SCI-F Transmitting (LTE Aux.)

SCI-F Transmitting (LTE Aux.)

311

SCI-F Receiving (LTE Aux.)

SCI-F Receiving (LTE Aux.)

312

SCI E Error (LTE)

SCI-E (LTE) - 0 for error, 1 for OK

313

SCI F Error (LTE Aux.)

SCI-F (LTE Aux.) - 0 for error, 1 for OK

329

3.3V Power Source

0 for error, 1 for OK

330

Jetibox COMM Error

Jetibox is communicating properly - 0 for error, 1 for OK

370-371

Smart Can Isolator A-B Domain Error

0 for error, 1 for OK

400

C1 Low Frequency

C1 Low Frequency - Dependent on CIO Running Frequency (RVar 2057) (C1 low frequency)

  • 0 for error \(\rightarrow\) CIO Running Frequency < 10 Hz

  • 1 for OK \(\rightarrow\) CIO Running Frequency > 10 Hz

401

GNC fail

0 for error (‘dead’), 1 for ok (‘alive’) - Dependent on Counter for C2 system (UVar 20)

402

Acquisition step missed

  • 0 for Acquisition step missed \(\rightarrow\) C1 hi frequency fluctuation is higher than permitted (1%).

  • 1 for Acquisition Task OK \(\rightarrow\) C1 hi frequency fluctuation is under set limits (1%).

403

CIO Hi Overload warning

C1 hi Overload - Dependent on Acquisition Task Maximum CPU Ratio (RVar 2051)

  • 0 for Acquisition Task overload \(\rightarrow\) Acquisition Task Maximum CPU Ratio \(>\) 90%

  • 1 for Acquisition Task usage OK \(\rightarrow\) Acquisition Task Maximum CPU Ratio \(\leq\) 90%

Note

Non-recoverable variable

404

GNC Realtime Error

  • 0 if C2 frequency < configured frequency (tolerance of 6 microseconds)

  • 1 if C2 frequency = configured frequency (tolerance of 6 microseconds)

405

Reserved

0 for error, 1 for OK

480

MC01 Stepper direction output

0 for error, 1 for OK

481

MC01 Brushless driver fault

0 for error, 1 for OK

482

MC Hall Sensor error

0 for error, 1 for OK

483

MC Sin/Cos Sensor error

0 for error, 1 for OK

484

MC general health error

0 for health error, 1 for status OK

485

MC Current sensing error

0 for error, 1 for OK

486

MC Phase U Current Calibration Error

ADC phase U not calibrated - 0 for not calibrated, 1 for calibration OK

487

MC Phase V Current Calibration Error

ADC phase V not calibrated - 0 for not calibrated, 1 for calibration OK

488

MC Phase W Current Calibration Error

ADC phase W not calibrated - 0 for not calibrated, 1 for calibration OK

489

MC Maximum Temperature Error

Maximum power module temperature exceeded - 0 for error (exceeded), 1 for OK

490

MC Phase Error

Power module driver phase error reported - 0 for error, 1 for OK

491

MC General Driver Error

Power module driver error reported - 0 for error, 1 for OK

492

MC Over-current AC

Current AC side limit exceeded - 0 for error (exceeded), 1 for OK

493

MC Over-voltage advertisement

Over-voltage DC side limit advertisement exceeded - 0 for error (exceeded), 1 for OK

494

MC Over-voltage caution

Over-voltage DC side limit caution exceeded - 0 for error (exceeded), 1 for OK

495

MC Under-voltage latching

Critical under-voltage DC side limit violation - 0 for error, 1 for OK

496

MC Under-voltage non latching

Non critical under-voltage DC side limit violation - 0 for error, 1 for OK

497

MC RMS imbalance

Current AC side imbalance - 0 for error, 1 for OK

498

MC Open DC fault

Open-circuite DC side fault - 0 for error, 1 for OK

499

MC Over-current DC

Current DC side limit exceeded - 0 for error (exceeded), 1 for OK

write 500

Ground effect compensation variance disabled

0 for disabled, 1 for enabled

write 501

Ground effect compensation measurement disabled

0 for disabled, 1 for enabled

502

No SRTM data

Bit to indicate if there is SRTM in the SD - 0 for No SRTM data, 1 for SRTM data OK

503

No geoid data

Bit to indicate if there is Geoid data in the SD - 0 for No geoid data, 1 for Geoid data OK

600

Wind Estimation Off

0 for disabled, 1 for enabled

write

700-731

Servo 0-31 Satured

0 for satured, 1 for OK

write

800-815

PWM 0-15 GPIO Off

PWM GPIO 0-15 communication State - 0 for Off, 1 for On

write

816-819

EQEP_A-I (GPIO 17-20) Off

Input/Output State - 0 for Off, 1 for On

820-822

RSSI LED 0-2 off

Received Signal Strength Indicator led state - 0 for Off, 1 for On

write 823

GPIO 5 (GPIO28) Off

GPIO 5 Status (Low/High) - 0 for Off, 1 for On

write 824

GPIO 6 (GPIO61) Off

GPIO 6 Status (Low/High) - 0 for Off, 1 for On

write 825

GPIO 7 (GPIO60) Off

GPIO 7 Status (Low/High) - 0 for Off, 1 for On

write 826

GPIO 8 (GPIO59) Off

GPIO 8 Status (Low/High) - 0 for Off, 1 for On

write 827

GPIO 9 (GPIO17) Off

GPIO 9 Status (Low/High) - 0 for Off, 1 for On

write 828

GPIO 10 (GPIO58) Off

GPIO 10 Status (Low/High) - 0 for Off, 1 for On

write 829

GPIO 11 (GPIO16) Off

GPIO 11 Status (Low/High) - 0 for Off, 1 for On

write 830

GPIO 12 (GPIO53) Off

GPIO 12 Status (Low/High) - 0 for Off, 1 for On

write 831

GPIO 13 (GPIO20) Off

GPIO 13 Status (Low/High) - 0 for Off, 1 for On

write 832

GPIO 14 (GPI023) Off

GPIO 14 Status (Low/High) - 0 for Off, 1 for On

write 833

GPIO 15 (GPI051) Off

GPIO 15 Status (Low/High) - 0 for Off, 1 for On

write 834

GPIO 16 (GPI052) Off

GPIO 16 Status (Low/High) - 0 for Off, 1 for On

write 835

GPIO 17 (GPI049) Off

GPIO 17 Status (Low/High) - 0 for Off, 1 for On

write 836

GPIO 18 (GPI008) Off

GPIO 18 Status (Low/High) - 0 for Off, 1 for On

write 837

GPIO 19 (GPI011) Off

GPIO 19 Status (Low/High) - 0 for Off, 1 for On

write 838

GPIO 20 (GPI010) Off

GPIO 20 Status (Low/High) - 0 for Off, 1 for On

write 839

GPIO 21 (GPIO09) Off

GPIO 21 Status (Low/High) - 0 for Off, 1 for On

write

900-931

Virtual GPIO 00-31 off

Virtual GPIO 00-31 Status (Low/High) - 0 for Off, 1 for On

write

1000-1009

Simulation BIT 00-09 Error

0 for error, 1 for OK

1010-1113

Custom msg 0-103 Rx Error

Custom message timeout - 0 for error, 1 for OK

write

1120-1121

Entrance EKF GNSS1-2 OFF

GNSS 1-2 information considered in EKF Navigation - 0 for entrance EKF GNSS OFF, 1 for ON

EKF GNSS OFF may be because Position not fixed \(\rightarrow\) EKF deactivated \(\rightarrow\) INSS activated

write 1122

Entrance EKF GNSS3 EXT OFF

External GNSS information considered in EKF Navigation - 0 for entrance EKF GNSS EXT OFF, 1 for ON

write 1123

Entrance EKF Internest OFF

Internest information considered in EKF Navigation - 0 for entrance EKF internest OFF, 1 for ON

write 1124

Entrance EKF GPSCOMPASS OFF

GNSS Compass information considered in EKF Navigation - 0 for entrance EKF GPSCOMPASS OFF, 1 for ON

write 1125

Entrance EKF Magnetometer OFF

Magnetometer information considered in EKF Navigation - 0 for entrance EKF magnetometer OFF, 1 for ON

write 1126

Entrance EKF Static press OFF

Static Pressure sensor information considered in EKF Navigation - 0 for entrance EKF static pressure OFF, 1 for ON

write 1127

Entrance EKF Altimeter press OFF

Altimeter information considered in EKF Navigation - 0 for entrance EKF altimeter OFF, 1 for ON

write 1128

Entrance EKF Radar-altimeter press OFF

Radar Altimeter information considered in EKF Navigation - 0 for entrance EKF radar-altimeter OFF, 1 for ON

write 1129

Entrance EKF DEM OFF

DEM information considered in EKF Navigation - 0 for entrance EKF DEM OFF, 1 for ON

write 1174

External IMU 0 accelerometer error

External IMU 0 accelerometer - 0 for error, 1 for OK

write 1175

External IMU 0 gyroscope error

External IMU 0 gyroscope - 0 for error, 1 for OK

write 1176

External IMU 1 accelerometer error

External IMU 1 accelerometer - 0 for error, 1 for OK

write 1177

External IMU 1 gyroscope error

External IMU 1 gyroscope - 0 for error, 1 for OK

write 1178

External magnetometer 0 error

External magnetometer 0 - 0 for error, 1 for OK

write 1179

External magnetometer 1 error

External magnetometer 1 - 0 for error, 1 for OK

write

1180-1181

Sniffer msg 0-1 Rx Error

Sniffer receiver message 0-1 - 0 for error, 1 for OK

write

1200-1499

User BIT 00-299 error

User bit 0 to 299 - 0 for error, 1 for OK

2200

BIT Dummy Error

Bit for configurable checks - 0 for error, 1 for OK

Real Variables (RVar) - 32 Bits

ID

Name

Units/Values

Description

0

IAS (Indicated Airspeed)

m/s

Pitot-static measurement speed

1

TAS (True Airspeed)

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

rad

Direction in which the vehicle velocity vector is pointing

4

Flight Path Angle

rad

Angle between velocity vector and local horizontal line

5

Bank

rad

Angle around the Longitudinal Euler axis

6

Yaw

rad

Angle around the Vertical Euler axis

7

Pitch

rad

Angle around the Transverse Euler axis

8

Roll

rad

Angle around the Longitudinal Euler axis

9

Route-Guidance Tangential deviation

m

Tangencial distance to the desired position (guidance)

10

Route-Guidance Horizontal deviation

m

Horizontal distance to the desired position (guidance)

11

Route-Guidance Perpendicular deviation

m

Perpendicular distance to the desired position (guidance)

12

p (Angular Velocity - X Body Axis)

rad/s

Angular velocity around longitudinal axis

13

q (Angular Velocity - Y Body Axis)

rad/s

Angular velocity around lateral axis

14

r (Angular Velocity - Z Body Axis)

rad/s

Angular velocity around vertical axis

15

Forward Acceleration – X Body Axis

m/s²

Acceleration in the X-axis

16

Right Acceleration – Y Body Axis

m/s²

Acceleration in the Y-axis

17

Bottom Acceleration – Z Body Axis

m/s²

Acceleration in the Z-axis

18

RPM

rad/s (RDS)

Revolutions per minute configurable for external sensor

19

Front Ground Velocity

m/s

GV vector X component

20

Lateral 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/s²

Absolute acceleration for tangential direction

26

Estimated air density

kg/m³

Estimated air density at current altitude

28

Co-Waw

rad

Acrobatic Yaw with Body Z’ axis pointing to X

29

Co-Pitch

rad

Acrobatic Pitch with Body X’ axis pointing to -Z

30

Co-Roll

rad

Acrobatic Roll with Y’ keeping same as Y

31

Angular Acceleration - X Body Axis

rad/s²

Acceleration around the longitudinal axis

32

Angular Acceleration - Y Body Axis

rad/s²

Acceleration around the lateral axis

33

Angular Acceleration - Z Body Axis

rad/s²

Acceleration around the vertical axis

34

Body to NED Quaternion qs

customType

First component of body to NED orientation quaternion

35

Body to NED Quaternion qi

customType

Second component of body to NED orientation quaternion

36

Body to NED Quaternion qj

customType

Third component of body to NED orientation quaternion

37

Body to NED Quaternion qk

customType

Fourth component of body to NED orientation quaternion

40

RSSI

percentage

Received Signal Strength Indicator

Warning

Deprecated variable

42

SCI-A Rx Rate (LTE/EXT. UART)

bytes/s

Reception rate (in bytes per seconds) of 4G (hwv <4.7) or external UART (hwv >=4.7) communications

43

SCI-A Tx Rate (LTE/EXT. UART)

bytes/s

Transmision rate (in bytes per seconds) of 4G (hwv <4.7) or external UART (hwv >=4.7) communications

44

SCI-B Rx Rate (LOS)

bytes/s

Radio link reception byte rate

45

SCI-B Tx Rate (LOS)

bytes/s

Radio link transmission byte rate

46

SCI-C Rx Rate (RS485)

bytes/s

RS485 communication reception byte rate

47

SCI-C Tx Rate (RS485)

bytes/s

RS485 communication transmission byte rate

48

SCI-D Rx Rate (RS232)

bytes/s

RS232 communication reception byte rate

49

SCI-D Tx Rate (RS232)

bytes/s

RS232 communication transmission byte rate

50

CAN-A Tx Rate

pkts/s

CAN-A transmission packet rate

51

CAN-B Tx Rate

pkts/s

CAN-B transmission packet rate

52

CAN-A Tx skip Rate

pkts/s

CAN-A messages delayed because no mailbox is available for sending

53

CAN-B Tx skip Rate

pkts/s

CAN-B messages delayed because no mailbox is available for sending

56

Yaw Rate

rad/s

Rate of change of the yaw angle

57

Pitch Rate

rad/s

Rate of change of the pitch angle

58

Roll Rate

rad/s

Rate of change of the roll angle

59-64

COM 0-5 Parse Error Rate

messages

Each COM discard packages with these frequencies. Messages might be discarded because the calculated and the received CRC are different

65

GNSS Absolute Time Of Week Milliseconds as Unit32

customType

Time of the week expressed with milliseconds

66

GNSS Hours in the Current Day

customType

Elapsed hours in the current day

67

GNSS Minutes in the Current Hour

customType

Elapsed minutes in the current hour

68

GNSS Seconds in the Current Minute

customType

Elapsed seconds in the current minute

80

Estimated gyro bias x

rad/s

Gyro bias estimated during IMU calibration

81

Estimated gyro bias y

rad/s

Gyro bias estimated during IMU calibration

82

Estimated gyro bias z

rad/s

Gyro bias estimated during IMU calibration

83

Estimated accelerometer bias x

m/s²

Accelerometer bias estimated during IMU calibration

84

Estimated accelerometer bias y

m/s²

Accelerometer bias estimated during IMU calibration

85

Estimated accelerometer bias z

m/s²

Accelerometer bias estimated during IMU calibration

90

SCI-E Rx Rate (LTE)

bytes/s

Reception rate (in bytes per seconds) of the first channel (port0) of the SCI expander (hwv >=4.7)

91

SCI-E Tx Rate (LTE)

bytes/s

Transmision rate (in bytes per seconds) of the first channel (port0) of the SCI expander (hwv>=4.7)

92

SCI-F Rx Rate (LTE Aux.)

bytes/s

Reception rate (in bytes per seconds) of the second channel (port1) of the SCI expander (hwv >=4.7)

93

SCI-F Tx Rate (LTE Aux.)

bytes/s

Transmission rate (in bytes per seconds) of the second channel (port1) of the SCI expander (hwv >=4.7)

write 100

Desired IAS (Indicated Airspeed)

m/s

Commanded IAS from guidance

write 101

Desired TAS (True Airspeed)

m/s

Commanded TAS from guidance

write 102

Desired GS (Ground Speed)

m/s

Commanded GS from guidance

write 103

Desired Heading

rad

Commanded Heading from guidance

write 104

Desired Flight Path Angle

rad

Commanded Flight Path Angle from guidance

write 105

Desired Bank

rad

Commanded Bank from guidance

write 106

Desired Yaw

rad

Commanded Yaw from guidance

write 107

Desired Pitch

rad

Commanded Pitch from guidance

write 108

Desired Roll

rad

Commanded Roll from guidance

write 112

Desired p (Angular Velocity - X Body Axis)

rad/s

Commanded angular velocity around longitudinal axis

write 113

Desired q (Angular Velocity - Y Body Axis)

rad/s

Commanded angular velocity around lateral axis

write 114

Desired r (Angular Velocity - Z Body Axis)

rad/s

Commanded angular velocity around vertical axis

write 115

Desired Foward Acceleration – X Body Axis

m/s²

Commanded Forward Acceleration from guidance

write 116

Desired Right Acceleration – Y Body Axis

m/s²

Commanded Right Acceleration from guidance

write 117

Desired Bottom Acceleration – Z Body Axis

m/s²

Commanded Bottom Acceleration from guidance

write 118

Desired RPM

rad/s

Commanded RPM from guidance

write 119

Desired Front Ground Velocity

m/s

Commanded Front GV from guidance

write 120

Desired Lateral Ground Velocity

m/s

Commanded Lateral GV from guidance

write 121

Desired Velocity

m/s

Commanded Velocity from guidance

write 122

Desired Forward Load Factor – X Body Axis

customType

Commanded Forward Load Factor from guidance

write 123

Desired Right Load Factor – Y Body Axis

customType

Commanded Right Load Factor from guidance

write 124

Desired Bottom Load Factor – Z Body Axis

customType

Commanded Bottom Load Facto from guidance

write 125

Desired Tangential Acceleration

m/s²

Commanded Tangential Acceleration from guidance

write 126

Energy Rate Error

customType

Rate of change of the Total System Energy

write 127

Energy Distribution Error

customType

Distribution of system energy between kinetical and geopotential energy

write 128

Desired Co-Yaw

rad

Commanded co-yaw from guidance

write 129

Desired Co-Pitch

rad

Commanded co-pitch from guidance

write 130

Desired Co-Roll

rad

Commanded co-roll from guidance

write 140

Climbing Initial Heading

rad

Heading in climbing phase (start of the route)

write 141

Approach Initial Heading

rad

Heading in approach phase (end of the route)

write 142

Headwind Direction

rad

Wind direction estimation

write 143

Tailwind Direction

rad

Angle of the vector that would correspond to the opposite of the Headwind vector

write 144

Runway Direction

rad

Runway angle

write 145

Elevation of current route

rad

Elevation of tangent to current route at its closest point to desired position

write 146

Azimuth of current route

rad

Azimuth of tangent to current route at its closest point to desired position

write 147

Distance to closest obstacle

m

Signed distance to closest obstacle (negative means inside)

write 148

Distance of obstacle repulsion

m

Distance at which the obstacles have an effect in the guidance

write 200

Desired North Ground Velocity

m/s

Commanded North (NED Coordinates system) GV from guidance

write 201

Desired East Ground Velocity

m/s

Commanded East (NED Coordinates system) GV from guidance

write 202

Desired Down Ground Velocity

m/s

Commanded Down (NED Coordinates system) GV from guidance

write 203

Desired 2D MSL (Heigh Above Mean Sea Level)

m

Commanded MSL from guidance in 2D height mode

write 204

Desired 2D AGL (Above Ground Level) – Height

m

Commanded AGL from guidance in 2D height mode

write 205

Desired 2D WGS84 Elevation (Height Over The Ellipsoid)

m

Commanded WGS84 Elevation from guidance in 2D height mode

write 206

Desired Longitude

rad

Commanded Longitude from guidance

write 207

Desired Latitude

rad

Commanded Latitude from guidance

write 208

Desired WGS84 Elevation (Height Over The Ellipsoid)

m

Commanded WGS84 Elevation from guidance

write 209

Desired MSL (Height Above Mean Sea Level) – Altitude

m

Commanded MSL Altitude from guidance

write 210

Desired AGL (Above Ground Level) – Height

m

Commanded AGL Altitude from guidance

write 250

Guidance North Position Error

m

Difference from Desired and actual north position

write 251

Guidance East Position Error

m

Difference from Desired and actual east position

write 252

Guidance Sown Position Error

m

Difference from Desired and actual down position

write 253

Guidance PID North Desired Velocity

m/s

Difference from Desired and actual PID north velocity

write 254

Guidance PID East Desired Velocity

m/s

Difference from Desired and actual PID east velocity

write 255

Guidance PID Down Desired Velocity

m/s

Difference from Desired and actual PID down velocity

write 256

Desired Velocity X Body Axis

m/s

Commanded velocity in X-axis from guidance

write 257

Desired Velocity Y Body Axis

m/s

Commanded velocity in Y-axis from guidance

write 258

Desired Velocity Z Body Axis

m/s

Commanded velocity in Z-axis from guidance

write 259

External Yaw

rad

Yaw from external navigation source

write 260

External Pitch

rad

Pitch from external navigation source

write 261

External Roll

rad

Roll from external navigation source

write 262

External Roll Rate

rad/s

Roll rate from external navigation source

write 263

External Pitch Rate

rad/s

Pitch rate from external navigation source

write 264

External Yaw Rate

rad/s

Yaw rate from external navigation source

write 265

External Velocity North

m/s

Velocity North from external navigation source

write 266

External Velocity East

m/s

Velocity East from external navigation source

write 267

External Velocity Down

m/s

Velocity Down from external navigation source

write 268

External Acceleration x Body Axis

m/s²

Acceleration x body axis from external navigation source

write 269

External Acceleration y Body Axis

m/s²

Acceleration y body axis from external navigation source

write 270

External Acceleration z Body Axis

m/s²

Acceleration z body axis from external navigation source

write 271

External GNSS Time of Week

s

GNSS Time of week from external navigation source

300

Relative Timestamp

s

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

Pa

Physical measurement from Pitot (dynamic preassure)

write 304

Static Pressure (Deprecated)

Pa

Physical measurement from Pitot (static preassure)

Warning

Deprecated variable

305

Internal Temperature

K

Physical measurement from internal sensors

306

External Temperature

K

Physical measurement from Veronte sensors

307

Accelerometer – X Body Axis

m/s²

Accelerometer measurement for X axis

308

Accelerometer – Y Body Axis

m/s²

Accelerometer measurement for Y axis

309

Accelerometer – Z Body Axis

m/s²

Accelerometer measurement for Z axis

310

Gyroscope – X Body Axis

rad/s

Gyroscope measurement for X axis

311

Gyroscope – Y Body Axis

rad/s

Gyroscope measurement for Y axis

312

Gyroscope – Z Body Axis

rad/s

Gyroscope measurement for Z axis

write 313

Magnetometer – X Body Axis

T

Magnetometer measurement for X axis

Warning

Deprecated variable

write 314

Magnetometer – Y Body Axis

T

Magnetometer measurement for Y axis

Warning

Deprecated variable

write 315

Magnetometer – Z Body Axis

T

Magnetometer measurement for Z axis

Warning

Deprecated variable

322

Internal LIS3MDL Magnetometer Raw X in SI

T

Internal LIS3MDL Magnetometer raw measurement for X axis

323

Internal LIS3MDL Magnetometer Raw Y in SI

T

Internal LIS3MDL Magnetometer raw measurement for Y axis

324

Internal LIS3MDL Magnetometer Raw Z in SI

T

Internal LIS3MDL Magnetometer raw measurement for Z axis

325

Internal LIS3MDL Magnetometer Temperature

K

Internal LIS3MDL Magnetometer temperature

326

External LIS3MDL magnetometer raw X in SI

T

External LIS3MDL Magnetometer raw measurement for X axis

327

External LIS3MDL magnetometer raw Y in SI

T

External LIS3MDL Magnetometer raw measurement for Y axis

328

External LIS3MDL magnetometer raw Z in SI

T

External LIS3MDL Magnetometer raw measurement for Z axis

329

External LIS3MDL magnetometer temperature

K

External LIS3MDL Magnetometer temperature

330

IMU 0 Raw Accelerometer X Measurement

m/s²

Main IMU raw accelerometer x measurement

331

IMU 0 Raw Accelerometer Y Measurement

m/s²

Main IMU raw accelerometer y measurement

332

IMU 0 Raw Accelerometer Z Measurement

m/s²

Main IMU raw accelerometer z measurement

333

IMU 0 Raw Gyroscope X Measurement

rad/s

Main IMU raw gyroscope x measurement

334

IMU 0 Raw Gyroscope Y Measurement

rad/s

Main IMU raw gyroscope y measurement

335

IMU 0 Raw Gyroscope Z Measurement

rad/s

Main IMU raw gyroscope z measurement

336

IMU 0 temperature measurement

K

Main IMU temperature measurement

337

IMU 1 Raw Accelerometer X Measurement

m/s²

Secondary IMU raw accelerometer x measurement

338

IMU 1 Raw Accelerometer Y Measurement

m/s²

Secondary IMU raw accelerometer y measurement

339

IMU 1 Raw Accelerometer Z Measurement

m/s²

Secondary IMU raw accelerometer z measurement

340

IMU 1 Raw Gyroscope X Measurement

rad/s

Secondary IMU raw gyroscope x measurement

341

IMU 1 Raw Gyroscope Y Measurement

rad/s

Secondary IMU raw gyroscope y measurement

342

IMU 1 Raw Gyroscope Z Measurement

rad/s

Secondary IMU raw gyroscope z measurement

343

IMU 1 temperature Measurement

K

Secondary IMU temperature measurement

344

Static Pressure Sensor (MS56) Raw Measurement

Pa

Static pressure sensor MS56 raw measurement

345

Static Pressure Sensor (MS56) Temperature

K

Static pressure sensor MS56 temperature

346

Dynamic Pressure Sensor Raw Measurement

Pa

Dynamic pressure sensor raw measurement

347

Dynamic Pressure Sensor Temperature

K

Dynamic pressure sensor temperature

348

Static Pressure Sensor (HSC) Raw Measurement

Pa

Static pressure sensor 0 raw measurement

349

Static Pressure Sensor (HSC) Temperature

K

Static pressure sensor 0 temperature

350

Vectornav Message Frequency

Hz

External navigation source VectorNav sends messages with this frequency

351

Vectornav Raw Acc X Measurement

m/s²

Raw accelerometer X measurement from external navigation source VectorNav

352

Vectornav Raw Acc Y Measurement

m/s²

Raw accelerometer Y measurement from external navigation source VectorNav

353

Vectornav Raw Acc Z Measurement

m/s²

Raw accelerometer Z measurement from external navigation source VectorNav

354

Vectornav Raw Gyr X Measurement

rad/s

Raw gyroscope X measurement from external navigation source VectorNav

355

Vectornav Raw Gyr Y Measurement

rad/s

Raw gyroscope Y measurement from external navigation source VectorNav

356

Vectornav Raw Gyr Z Measurement

rad/s

Raw gyroscope Z measurement from external navigation source VectorNav

357

External HSCDTD008A Magnetometer Raw X in SI

T

External HSCDTD008A Magnetometer raw measurement for X axis

358

External HSCDTD008A Magnetometer Raw Y in SI

T

External HSCDTD008A Magnetometer raw measurement for Y axis

359

External HSCDTD008A Magnetometer Raw Z in SI

T

External HSCDTD008A Magnetometer raw measurement for Z axis

360

External HSCDTD008A Magnetometer Temperature

K

External HSCDTD008A Magnetometer temperature

361

IMU 2 Raw Accelerometer X Measurement

m/s²

BMI088 IMU raw accelerometer x measurement

362

IMU 2 Raw Accelerometer Y Measurement

m/s²

BMI088 IMU raw accelerometer y measurement

363

IMU 2 Raw Accelerometer Z Measurement

m/s²

BMI088 IMU raw accelerometer z measurement

364

IMU 2 Raw Gyroscope X Measurement

rad/s

BMI088 IMU raw gyroscope x measurement

365

IMU 2 Raw Gyroscope Y Measurement

rad/s

BMI088 IMU raw gyroscope y measurement

366

IMU 2 Raw Gyroscope Z Measurement

rad/s

BMI088 IMU raw gyroscope z measurement

367

IMU 2 Temperature Measurement

K

BMI088 IMU temperature measurement

368

Static Pressure Sensor (DPS310) Raw Measurement

Pa

Static pressure sensor DPS310 raw measurement

369

Static Pressure Sensor (DPS310) Temperature

K

Static pressure sensor DPS310 temperature

370

Internal Magnetometer MMC5883MA Raw Measure X Converted to SI

T

Internal MMC5883MA Magnetometer raw measurement for X axis converted to SI

371

Internal Magnetometer MMC5883MA Raw Measure Y Converted to SI

T

Internal MMC5883MA Magnetometer raw measurement for Y axis converted to SI

372

Internal Magnetometer MMC5883MA Raw Measure Z Converted to SI

T

Internal MMC5883MA Magnetometer raw measurement for Z axis converted to SI

373

Internal Magnetometer MMC5883MA Temperature

K

Internal MMC5883MA Magnetometer temperature

374

External Magnetometer MMC5883MA Raw measure X Converted to SI

T

External MMC5883MA Magnetometer raw measurement for X axis converted to SI

375

External Magnetometer MMC5883MA Raw measure Y Converted to SI

T

External MMC5883MA Magnetometer raw measurement for Y axis converted to SI

376

External Magnetometer MMC5883MA Raw measure Z Converted to SI

T

External MMC5883MA Magnetometer raw measurement for Z axis converted to SI

377

External Magnetometer MMC5883MA Temperature

K

External MMC5883MA Magnetometer temperature

378

External Magnetometer RM3100 Raw Measure X Converted to SI

T

External RM3100 Magnetometer raw measurement for X axis converted to SI

379

External Magnetometer RM3100 Raw Measure Y Converted to SI

T

External RM3100 Magnetometer raw measurement for Y axis converted to SI

380

External Magnetometer RM3100 Raw Measure Z Converted to SI

T

External RM3100 Magnetometer raw measurement for Z axis converted to SI

382

External Magnetometer HMR2300 Raw Measure X Converted to SI

T

External HMR2300 Magnetometer raw measurement for X axis converted to SI

383

External Magnetometer HMR2300 Raw Measure Y Converted to SI

T

External HMR2300 Magnetometer raw measurement for Y axis converted to SI

384

External Magnetometer HMR2300 Raw Measure Z Converted to SI

T

External HMR2300 Magnetometer raw measurement for Z axis converted to SI

385

External Magnetometer HMR2300 Temperature

K

External HMR2300 Magnetometer temperature

386

IMU 3 Raw Accelerometer X Measurement

m/s²

ADIS16505-3 IMU raw accelerometer x measurement

387

IMU 3 Raw Accelerometer Y Measurement

m/s²

ADIS16505-3 IMU raw accelerometer y measurement

388

IMU 3 Raw Accelerometer Z Measurement

m/s²

ADIS16505-3 IMU raw accelerometer z measurement

389

IMU 3 Raw Gyroscope X Measurement

rad/s

ADIS16505-3 IMU raw gyroscope x measurement

390

IMU 3 Raw Gyroscope Y Measurement

rad/s

ADIS16505-3 IMU raw gyroscope y measurement

391

IMU 3 Raw Gyroscope Z Measurement

rad/s

ADIS16505-3 IMU raw gyroscope z measurement

392

IMU 3 Temperature Measurement

K

ADIS16505-3 IMU temperature measurement

393

Internal Magnetometer RM3100 Raw Measure X Converted to SI

T

Internal RM3100 Magnetometer raw measurement for X axis converted to SI

394

Internal Magnetometer RM3100 Raw Measure Y Converted to SI

T

Internal RM3100 Magnetometer raw measurement for Y axis converted to SI

395

Internal Magnetometer RM3100 Raw Measure Z Converted to SI

T

Internal RM3100 Magnetometer raw measurement for Z axis converted to SI

400

Power Input

V

Voltage received by Veronte

401

Power Comicro 3.3V

V

Voltage received by Veronte through 3.3V port

402

Power 5V

V

Voltage received by Veronte through 5V port

403

SUC Power Input

V

Voltage received by Veronte SUC

404

Power 3.6V

V

Voltage received by Veronte through 3.6V port

405

CPU Temperature

K

Internal computer temperature

406

External IMU 0 raw accelerometer x measurement

m/s²

Saves the measurements of this external sensor in raw form, as received from the custom messages

407

External IMU 0 raw accelerometer y measurement

m/s²

Saves the measurements of this external sensor in raw form, as received from the custom messages

408

External IMU 0 raw accelerometer z measurement

m/s²

Saves the measurements of this external sensor in raw form, as received from the custom messages

409

External IMU 0 raw gyroscope x measurement

m/s²

Saves the measurements of this external sensor in raw form, as received from the custom messages

410

External IMU 0 raw gyroscope y measurement

m/s²

Saves the measurements of this external sensor in raw form, as received from the custom messages

411

External IMU 0 raw gyroscope z measurement

m/s²

Saves the measurements of this external sensor in raw form, as received from the custom messages

412

External IMU 0 temperature measurement

K

Saves the temperatures of this external sensor in raw form, as received from custom messages

413

External IMU 1 raw accelerometer x measurement

m/s²

Saves the measurements of this external sensor in raw form, as received from the custom messages

414

External IMU 1 raw accelerometer y measurement

m/s²

Saves the measurements of this external sensor in raw form, as received from the custom messages

415

External IMU 1 raw accelerometer z measurement

m/s²

Saves the measurements of this external sensor in raw form, as received from the custom messages

416

External IMU 1 raw gyroscope x measurement

m/s²

Saves the measurements of this external sensor in raw form, as received from the custom messages

417

External IMU 1 raw gyroscope y measurement

m/s²

Saves the measurements of this external sensor in raw form, as received from the custom messages

418

External IMU 1 raw gyroscope z measurement

m/s²

Saves the measurements of this external sensor in raw form, as received from the custom messages

419

External IMU 1 temperature measurement

K

Saves the temperatures of this external sensor in raw form, as received from custom messages

420

External magnetometer 0 raw measurement X

m/s²

Saves the measurements of this external sensor in raw form, as received from the custom messages

421

External magnetometer 0 raw measurement Y

m/s²

Saves the measurements of this external sensor in raw form, as received from the custom messages

422

External magnetometer 0 raw measurement Z

m/s²

Saves the measurements of this external sensor in raw form, as received from the custom messages

423

External magnetometer 0 temperature

K

Saves the temperatures of this external sensor in raw form, as received from custom messages

424

External magnetometer 1 raw measurement X

m/s²

Saves the measurements of this external sensor in raw form, as received from the custom messages

425

External magnetometer 1 raw measurement Y

m/s²

Saves the measurements of this external sensor in raw form, as received from the custom messages

426

External magnetometer 1 raw measurement Z

m/s²

Saves the measurements of this external sensor in raw form, as received from the custom messages

427

External magnetometer 1 temperature

K

Saves the temperatures of this external sensor in raw form, as received from custom messages

500

Longitude

rad

East-West geographic coordinate

501

Latitude

rad

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) – Height

m

Height Above Ground Level – Dependent on external sensors or own models with considerable error

505

North Ground Velocity

m/s

Ground Velocity component in the North direction (NED Coordinates system)

506

East Ground Velocity

m/s

Ground Velocity component in the East direction (NED Coordinates system)

507

Down Ground Velocity

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 – AoA

rad

Angle between reference body line and flow direction vector

510

Sideslip

rad

Angle between the flow direction vector and the longitudinal axis of the vehicle

511

GNSS1 MSL

m

Mean sea level (MSL) measurement provided by GPS 1

512

GNSS1 AGL

m

Above ground level (AGLevel) measurement provided by GPS 1

513

GNSS2 MSL

m

Mean sea level (MSL) measurement provided by GPS 2

514

GNSS2 AGL

m

Above ground level (AGLevel) measurement provided by GPS 2

write 551

Sagetech MXS - Longitude decimal part

degree

Sagetech variable, used by block to parse variables for GPS Navigation Data Message

Warning

Variable for internal use

write 552

Sagetech MXS - Longitude fractional part

degree

Sagetech variable, used by block to parse variables for GPS Navigation Data Message

Warning

Variable for internal use

write 553

Sagetech MXS - Latitude decimal part

degree

Sagetech variable, used by block to parse variables for GPS Navigation Data Message

Warning

Variable for internal use

write 554

Sagetech MXS - Latitude fractional part

degree

Sagetech variable, used by block to parse variables for GPS Navigation Data Message

Warning

Variable for internal use

write 555

Sagetech MXS - Ground speed

m/s

Sagetech variable, used by block to parse variables for GPS Navigation Data Message

Warning

Variable for internal use

write 556

Sagetech MXS - Ground track

degree

Sagetech variable, used by block to parse variables for GPS Navigation Data Message

Warning

Variable for internal use

write 560

ADS-B Out / Squawk

-

ADS-B Squawk code, 4 digits that allow the operator to inform about its status

600-603

Temperature 0-3

K

Variables to be configured with external temperature sensors

Warning

Deprecated variables

610

North Position EKF Variance

North position Extended Kalman Filter variance

611

East Position EKF Variance

East position Extended Kalman Filter variance

612

Down Position EKF Variance

Position variance component in the resultant axis from North-East

613

North Velocity EKF Variance

m²/s²

North velocity Extended Kalman Filter variance

614

East velocity EKF Variance

m²/s²

East velocity Extended Kalman Filter variance

615

Down Velocity EKF Variance

m²/s²

Velocity variance component in the resultant axis from North-East

write 650

Gimbal Command Yaw

customType

Yaw sent to the gimbal

write 651

Gimbal command Pitch

customType

Pitch sent to the gimbal

write 652

Gimbal Stick Yaw

customType

Yaw received from the joystick controlling the gimbal

write 653

Gimbal Stick Pitch

customType

Pitch received from the joystick controlling the gimbal

write 654

Gimbal Pitch Correction 0

customType

Correction calculated by the gimbal for the pitch control 0

write 655

Gimbal Pitch Correction 1

customType

Correction calculated by the gimbal for the pitch control 1

write 656

Gimbal Old Joint 0

customType

Auxiliar variable 0 for Gimbal control configuration

write 657

Gimbal Old Joint 1

customType

Auxiliar variable 1 for Gimbal control configuration

write 658

Cos (Gimbal Yaw)

customType

Auxiliar variable 0 for Gimbal control configuration

write 659

Sin (Gimbal Yaw)

customType

Auxiliar variable 1 for Gimbal control configuration

write 660

Gimbal Yaw Radian

customType

Auxiliar variable for Gimbal control configuration

write 661

Veronte Gimbal Yaw Output

customType

Yaw value the gimbal is sending as output

write 662

Veronte Gimbal Pitch Output

customType

Pitch value the gimbal is sending as output

write 663

Gimbal Phi(z)

customType

Auxiliar variable phi for Gimbal control configuration

write 664

Gimbal Theta(y)

customType

Auxiliar variable theta for Gimbal control configuration

write 665

Gimbal Psi(x)

customType

Auxiliar variable psi for Gimbal control configuration

write 666

Veronte Gimbal Roll Output (Degrees)

customType

Roll value the gimbal is sending as output

700-705

RPM 0-5

rad/s

Angular speed associated to pulse captured 0-5

750

Selected Controller Time step

s

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 0-15

customType

Pulse Width Modulation signal 0 to 15

write

900-915

Stick Input r0 - r15

customType

Raw stick measurement from r0 to r15

write

950-981

Stick Input s0 - s31

customType

Warning

Deprecated variables

write

1000-1031

Stick Input y0 - y31

customType

Servo position commanded from stick y0 to y31

write

1050-1069

Control Output u0-u19 Before Servo Saturation

customType

Commanded control output before saturation correction

write

1100-1104

Lidar 0-4 Distance

m

Variable configurable for Lidar distances 0 to 4

write

1105-1109

External Range Sensor 0-4 Measure

m

Variable configurable for external range sensors

write 1200

Route-Guidance Distance

m

Shortest distance to desired path (perpendicular distance)

write 1201

Radar AGL (Above Ground Level) – Height

m

Radar altimeter measure

write 1202

Radar Speed Down

m/s

Radar speed

write 1203

External Rotation for Follow Route

rad

Relative vector rotation when using Follow Route

1204

Time to Impact with Obstacles

s

Time calculated with Distance to Obstacle and travel speed

1300-1309

Timer 0-9

s

Configurable timers for automations

1320-1321

ADC 3.3V Input 0-1

V

CEX ADC 3.3 V inputs 0 and 1

1322-1323

ADC 5.0V Input 0-1

V

CEX ADC 5.0 V inputs 0 and 1

1324-1325

ADC 12.0V Input 0-1

V

CEX ADC 12.0 V inputs 0 and 1

1326-1327

ADC 36.0V Input 0-1

V

CEX ADC 36.0 V inputs 0 and 1

1328-1329

ADC vIn 0-1

V

CEX External power supplies 0 and 1

1330

PCB Temperature

K

CEX PCB Temperature (from ADC input)

1331

ADC HW Version

V

Hardware version of CEX ADC

write

1350-1369

4xV Real variables

-

For more information, check Real Variables - 4x Software Manual

1400

Velocity - X Body Axis

m/s

Velocity on X-axis

1401

Velocity - Y Body Axis

m/s

Velocity on Y-axis

1402

Velocity - Z Body Axis

m/s

Velocity on Z-axis

1403

Estimated Dynamic Pressure

Pa

Dynamic pressure sensor raw measurement

1404

Barometric Pressure at Sea Level (QNH)

Pa

Introduced value for QNH

1450-1453

Captured Pulse 0-3

customType

Input values from pulses

1484

External IMU 0 accelerometer reception frequency

Hz

Reception frequencies of measurements from External IMU 0 accelerometer

1485

External IMU 0 gyroscope reception frequency

Hz

Reception frequencies of measurements from External IMU 0 gyroscope

1486

External IMU 1 accelerometer reception frequency

Hz

Reception frequencies of measurements from External IMU 1 accelerometer

1487

External IMU 1 gyroscope reception frequency

Hz

Reception frequencies of measurements from External IMU 1 gyroscope

1488-1489

External magnetometer 0-1 reception frequency

Hz

Reception frequencies of measurements from External magnetometer 0-1

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

rad

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

rad

Raw measurements for internest angle standard deviation

1497

Internest Position Update Frequency

Hz

Frequency to update internest position

1500

GNSS1 Absolute Time of Week

s

Data from GNSS1 module: Time of week

1501

GNSS1 ECEF Position X

m

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

1502

GNSS1 ECEF Position Y

m

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

1503

GNSS1 ECEF Position Z

m

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

1504

GNSS1 Longitude

rad

Data from GNSS1 module: Longitude

1505

GNSS1 Latitude

rad

Data from GNSS1 module: Latitude

1506

GNSS1 Height Above Ellipsoid (WGS84)

m

Data from GNSS1 module: Height Above Ellipsoid (WGS84)

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

rad

Data from GNSS1 module: RTK Base longitude

1518

GNSS1 Related Base Latitude

rad

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

rad

Data from GNSS1 module: RTK Base-Rover vector azimuth (Spherical coordinates system)

1521

GNSS1 Related Base to Rover Elevation

rad

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)

1528

GNSS1 Position Frequency

Hz

Data from GNSS1 module: Position frequency

1529

GNSS1 Jamming Indicator

%

Jaming indicator from U-Blox device 1 for GNSS

1600

GNSS2 Absolute Time of Week

s

Data from GNSS2 module: Time of week

1601

GNSS2 ECEF Position X

m

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

1602

GNSS2 ECEF Position Y

m

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

1603

GNSS2 ECEF Position Z

m

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

1604

GNSS2 Longitude

rad

Data from GNSS2 module: Longitude

1605

GNSS2 Latitude

rad

Data from GNSS2 module: Latitude

1606

GNSS2 Height Above Ellipsoid (WGS84)

m

Data from GNSS2 module: Height Above Ellipsoid (WGS84)

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

rad

Data from GNSS2 module: RTK Base longitude

1618

GNSS2 Related Base Latitude

rad

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

rad

Data from GNSS2 module: RTK Base-Rover vector azimuth (Spherical COordinates system)

1621

GNSS2 Related Base to Rover Elevation

rad

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)

1628

GNSS2 Position Frequency

H

Data from GNSS2 module: Position frequency

1629

GNSS2 Jamming Indicator

%

Jaming indicator from U-Blox device 2 for GNSS

write

1700-1731

Actuator Output s0 - s31

customType

Configurable variable from actuator outputs to be transformed by the system

write 1800

Distance to Object of Interest 0

m

Spherical coordinate to object of interest 0: distance

write 1801

Azimuth to Object of Interest 0

rad

Spherical coordinate to object of interest 0: azimuth

write 1802

Elevation to Object of Interest 0

rad

Spherical coordinate to object of interest 0: elevation

write 1803

Distance to Object of Interest 1

m

Spherical coordinate to object of interest 1: distance

write 1804

Azimuth to Object of Interest 1

rad

Spherical coordinate to object of interest 1: azimuth

write 1805

Elevation to Object of Interest 1

rad

Spherical coordinate to object of interest 1: elevation

write 1806

Distance to Object of Interest 2

m

Spherical coordinate to object of interest 2: distance

write 1807

Azimuth to Object of Interest 2

rad

Spherical coordinate to object of interest 2: azimuth

write 1808

Elevation to Object of Interest 2

rad

Spherical coordinate to object of interest 2: elevation

write 1809

Distance to Object of Interest 3

m

Spherical coordinate to object of interest 3: distance

write 1810

Azimuth to Object of Interest 3

rad

Spherical coordinate to object of interest 3: azimuth

write 1811

Elevation to Object of Interest 3

rad

Spherical coordinate to object of interest 3: elevation

write 1812

Distance to Object of Interest 4

m

Spherical coordinate to object of interest 4: distance

write 1813

Azimuth to Object of Interest 4

rad

Spherical coordinate to object of interest 4: azimuth

write 1814

Elevation to Object of Interest 4

rad

Spherical coordinate to object of interest 4: elevation

write 1815

Distance to Object of Interest 5

m

Spherical coordinate to object of interest 5: distance

write 1816

Azimuth to Object of Interest 5

rad

Spherical coordinate to object of interest 5: azimuth

write 1817

Elevation to Object of Interest 5

rad

Spherical coordinate to object of interest 5: elevation

write 1818

Distance to Object of Interest 6

m

Spherical coordinate to object of interest 6: distance

write 1819

Azimuth to Object of Interest 6

rad

Spherical coordinate to object of interest 6: azimuth

write 1820

Elevation to Object of Interest 6

rad

Spherical coordinate to object of interest 6: elevation

write 1821

Distance to Object of Interest 7

m

Spherical coordinate to object of interest 7: distance

write 1822

Azimuth to Object of Interest 7

rad

Spherical coordinate to object of interest 7: azimuth

write 1823

Elevation to Object of Interest 7

rad

Spherical coordinate to object of interest 7: elevation

write 1824

Distance to Object of Interest 8

m

Spherical coordinate to object of interest 8: distance

write 1825

Azimuth to Object of Interest 8

rad

Spherical coordinate to object of interest 8: azimuth

write 1826

Elevation to Object of Interest 8

rad

Spherical coordinate to object of interest 8: elevation

write 1827

Distance to Object of Interest 9

m

Spherical coordinate to object of interest 9: distance

write 1828

Azimuth to Object of Interest 9

rad

Spherical coordinate to object of interest 9: azimuth

write 1829

Elevation to Object of Interest 9

rad

Spherical coordinate to object of interest 9: elevation

write 1830

Distance to Object of Interest 10

m

Spherical coordinate to object of interest 10: distance

write 1831

Azimuth to Object of Interest 10

rad

Spherical coordinate to object of interest 10: azimuth

write 1832

Elevation to Object of Interest 10

rad

Spherical coordinate to object of interest 10: elevation

write 1833

Distance to Object of Interest 11

m

Spherical coordinate to object of interest 11: distance

write 1834

Azimuth to Object of Interest 11

rad

Spherical coordinate to object of interest 11: azimuth

write 1835

Elevation to Object of Interest 11

rad

Spherical coordinate to object of interest 11: elevation

write 1836

Distance to Object of Interest 12

m

Spherical coordinate to object of interest 12: distance

write 1837

Azimuth to Object of Interest 12

rad

Spherical coordinate to object of interest 12: azimuth

write 1838

Elevation to Object of Interest 12

rad

Spherical coordinate to object of interest 12: elevation

write 1839

Distance to Object of Interest 13

m

Spherical coordinate to object of interest 13: distance

write 1840

Azimuth to Object of Interest 13

rad

Spherical coordinate to object of interest 13: azimuth

write 1841

Elevation to Object of Interest 13

rad

Spherical coordinate to object of interest 13: elevation

write 1842

Distance to Object of Interest 14

m

Spherical coordinate to object of interest 14: distance

write 1843

Azimuth to Object of Interest 14

rad

Spherical coordinate to object of interest 14: azimuth

write 1844

Elevation to Object of Interest 14

rad

Spherical coordinate to object of interest 14: elevation

write 1845

Distance to Object of Interest 15

m

Spherical coordinate to object of interest 15: distance

write 1846

Azimuth to Object of Interest 15

rad

Spherical coordinate to object of interest 15: azimuth

write 1847

Elevation to Object of Interest 15

rad

Spherical coordinate to object of interest 15: elevation

write 1848

Distance to Object of Interest 16

m

Spherical coordinate to object of interest 16: distance

write 1849

Azimuth to Object of Interest 16

rad

Spherical coordinate to object of interest 16: azimuth

write 1850

Elevation to Object of Interest 16

rad

Spherical coordinate to object of interest 16: elevation

write 1851

Distance to Object of Interest 17

m

Spherical coordinate to object of interest 17: distance

write 1852

Azimuth to Object of Interest 17

rad

Spherical coordinate to object of interest 17: azimuth

write 1853

Elevation to Object of Interest 17

rad

Spherical coordinate to object of interest 17: elevation

write 1854

Distance to Object of Interest 18

m

Spherical coordinate to object of interest 18: distance

write 1855

Azimuth to Object of Interest 18

rad

Spherical coordinate to object of interest 18: azimuth

write 1856

Elevation to Object of Interest 18

rad

Spherical coordinate to object of interest 18: elevation

write 1857

Distance to Object of Interest 19

m

Spherical coordinate to object of interest 19: distance

write 1858

Azimuth to Object of Interest 19

rad

Spherical coordinate to object of interest 19: azimuth

write 1859

Elevation to Object of Interest 19

rad

Spherical coordinate to object of interest 19: elevation

write 1860

Distance to Object of Interest 20

m

Spherical coordinate to object of interest 20: distance

write 1861

Azimuth to Object of Interest 20

rad

Spherical coordinate to object of interest 20: azimuth

write 1862

Elevation to Object of Interest 20

rad

Spherical coordinate to object of interest 20: elevation

write 1863

Distance to Object of Interest 21

m

Spherical coordinate to object of interest 21: distance

write 1864

Azimuth to Object of Interest 21

rad

Spherical coordinate to object of interest 21: azimuth

write 1865

Elevation to Object of Interest 21

rad

Spherical coordinate to object of interest 21: elevation

write 1866

Distance to Object of Interest 22

m

Spherical coordinate to object of interest 22: distance

write 1867

Azimuth to Object of Interest 22

ra

Spherical coordinate to object of interest 22: azimuth

write 1868

Elevation to Object of Interest 22

rad

Spherical coordinate to object of interest 22: elevation

write 1869

Distance to Object of Interest 23

m

Spherical coordinate to object of interest 23: distance

write 1870

Azimuth to Object of Interest 23

rad

Spherical coordinate to object of interest 23: azimuth

write 1871

Elevation to Object of Interest 23

rad

Spherical coordinate to object of interest 23: elevation

write 1872

Distance to Object of Interest 24

m

Spherical coordinate to object of interest 24: distance

write 1873

Azimuth to Object of Interest 24

rad

Spherical coordinate to object of interest 24: azimuth

write 1874

Elevation to Object of Interest 24

rad

Spherical coordinate to object of interest 24: elevation

write 1875

Distance to Object of Interest 25

m

Spherical coordinate to object of interest 25: distance

write 1876

Azimuth to Object of Interest 25

rad

Spherical coordinate to object of interest 25: azimuth

write 1877

Elevation to Object of Interest 25

rad

Spherical coordinate to object of interest 25: elevation

write 1878

Distance to Object of Interest 26

m

Spherical coordinate to object of interest 26: distance

write 1879

Azimuth to Object of Interest 26

rad

Spherical coordinate to object of interest 26: azimuth

write 1880

Elevation to Object of Interest 26

rad

Spherical coordinate to object of interest 26: elevation

write 1881

Distance to Object of Interest 27

m

Spherical coordinate to object of interest 27: distance

write 1882

Azimuth to Object of Interest 27

rad

Spherical coordinate to object of interest 27: azimuth

write 1883

Elevation to Object of Interest 27

rad

Spherical coordinate to object of interest 27: elevation

write 1884

Distance to Object of Interest 28

m

Spherical coordinate to object of interest 28: distance

write 1885

Azimuth to Object of Interest 28

rad

Spherical coordinate to object of interest 28: azimuth

write 1886

Elevation to Object of Interest 28

rad

Spherical coordinate to object of interest 28: elevation

write 1887

Distance to Object of Interest 29

m

Spherical coordinate to object of interest 29: distance

write 1888

Azimuth to Object of Interest 29

rad

Spherical coordinate to object of interest 29: azimuth

write 1889

Elevation to Object of Interest 29

rad

Spherical coordinate to object of interest 29: elevation

write 1890

Distance to Object of Interest 30

m

Spherical coordinate to object of interest 30: distance

write 1891

Azimuth to Object of Interest 30

rad

Spherical coordinate to object of interest 30: azimuth

write 1892

Elevation to Object of Interest 30

rad

Spherical coordinate to object of interest 30: elevation

write 1893

Distance to Object of Interest 31

m

Spherical coordinate to object of interest 31: distance

write 1894

Azimuth to Object of Interest 31

rad

Spherical coordinate to object of interest 31: azimuth

write 1895

Elevation to Object of Interest 31

rad

Spherical coordinate to object of interest 31: elevation

2000

RX Packet Error Rate (on board)

decimal

Value rating RX packets and expected RX packets, given as % error

2001

TX Packet Error Rate (on board)

decimal

Value rating 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

RX packages per second received and computed 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

TX packages per second received and computed through communications

write 2019

Stick RX Rate

Hz

Number of stick messages received per second

2020

Position Fix Time

s

Time spend with GNSS without losing fix

2040-2042

Tunnel Producer Receive Frequency 0-2

Hz

Tunnel producer 0-2 receives data at this frequency

2043-2045

Tunnel Consumer Send Frequency 0-2

Hz

Tunnel consumer 0-2 receives data at this frequency

2046

Max Duration of Step in CIO

s

Longest time duration from a step in CIO

2047

Acquisition Task Timestep

s

Average period to execute the acquisition thread

2048

Acquisition Task Maximum Timestep

s

Maximum period to execute the acquisition thread

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 CPU 1 time spent in the acquisition thread

2051

Acquisition Task Maximum CPU Ratio

percentage

Maximum % of CPU time spent in the acquisition thread

2052

Acquisition Task Average Time

s

Average time for acquisition thread

2053

Acquisition Task Maximum Time

s

Maximum time for acquisition thread

2054

CIO Max Time

s

Maximum time of CIO thread

2055

CIO Average Time

s

Average aMaximum time of CIO thread

2056

Cross-Core Message Queue Usage

%

Percentage of communication employed between both microprocessors

2057

CIO Running Frequency

Hz

C1 low running frequency (Veronte Autopilot 1x and MC)

Note

Only for MC

2058

CIO Min Running Frequency

Hz

Minimum assured frequency of low priority task

Note

Only for MC

2094

GNC Task Average CPU Ratio

percentage

Average % of CPU time of GNC task

2095

GNC Task Maximum CPU Ratio

percentage

Maximum % of CPU time of GNC task

2096

GNC Task Average Time

s

Average time spent on GNC task

2097

GNC Task Maximum Time

s

Maximum time spent on GNC task

2098

GNC Task Maximum Timestep

s

Maximum execution period for GNC task

2099

Max Duration of Step in GNC

s

Maximum duration of one step in GNC

2100

Gyroscope Based on Accelerometer – X Body Axis

rad/s

Gyroscope measurements obtained from accelerometer X-axis data

2101

Gyroscope Based on Accelerometer – Y Body Axis

rad/s

Gyroscope measurements obtained from accelerometer Y-axis data

2102

Gyroscope Based on Accelerometer – Z Body Axis

rad/s

Gyroscope measurements obtained from accelerometer Z-axis data

2103

Acceleration North

m/s²

Acceleration in the North direction (NED Coordinates System)

2104

Acceleration East

m/s²

Acceleration in the East direction (NED Coordinates System)

2105

Acceleration Down

m/s²

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 length covered

2201

Curve Length

m

Total distance from current mission length

2202

Curve Length Pending

m

Total distance from current mission length not covered yet

2203

Curve Parameter Covered

customType

Total length covered from current mission according to parameter selected

2204

Curve Parameter Range

customType

Total length from current mission according to parameter selected

2205

Curve Parameter Pending

customType

Total length from current mission to be covered according to parameter selected yet

2206

Curve horizontal curvature

customType

Horizontal curvature of the current curve

2250-2259

Reserved 0-9

customType

System reserved variables

write

2300-2302

Joint 0-2 of Gimbal 0

rad

Variables for Gimbal 0 configuration – Angles sent to gimbal as Yaw (0), Pitch (1) and Roll (2)

write

2303-2305

Joint 0-2 of Gimbal 1

rad

Variables for Gimbal 1 configuration – Angles sent to gimbal as Yaw (0), Pitch (1) and Roll (2)

write 2330

Control Loop Period

s

MC control loop period

write 2331

Control Loop Maximum Period

s

MC maximum control loop period

write 2332

Control Loop Duration

s

MC control loop average execution time

write 2333

MC Control Loop Maximum Duration

s

MC control loop maximum average execution time

write 2334

Control Loop CPU Usage Ratio

%

MC CPU usage ratio

write 2335

MC Control Loop Maximum CPU Usage Ratio

%

MC maximum CPU usage ratio

write

2336-2338

MC U-V-W Phase Current

A

MC U-V-W phase current

write 2339

MC Electrical Angle

rad

MC electrical angle

write 2340

MC01 Mechanical Angle

rad

MC01 mechanical angle

write 2341

MC Mechanical Angular Speed

rad/s

MC mechanical angular speed

write 2342

MC01 Desired Mechanical Angle

rad

MC01 desired mechanical angle

write 2343

MC01 Position Controller Output

rad/s

MC01 position PDI output

write 2344

MC Desired Mechanical Angular Speed

rad/s

MC desired mechanical angular speed

write 2345

MC Desired Mechanical Angular Speed After Speed Limiter

rad/s

MC desired mechanical angular speed after speed limiter

write 2346

MC Speed Controller Output

A

MC speed controller output

write

2347-2348

MC Alpha-Beta Current

A

MC alpha and beta current after Clarke transformation

write

2349-2350

MC Actual Direct Current

A

MC actual direct current

write

2351

MC Desired Direct Current

A

MC desired direct current

write

2352

MC Desired Quadrature Current

A

MC desired quadrature current

write

2353

MC Direct Voltage From Controller Output

V

MC direct voltage from controller output

write

2354

MC Quadrature Voltage From Controller Output

V

MC quadrature voltage from controller output

write

2355-2356

MC Alpha - Beta Voltage From Current Controller Output

V

MC Alpha - Beta voltage from current controller output

write

2357-2358

MC01 Desired Clarke Alpha-Beta current

customType

MC01 desired Clarke currents

write

2359-2361

MC01 U-V-W Phase Space Vector Generator Output

customType

MC01 phase time constants

write

2362-2364

MC01 U-V-W Phase PWM Duty Cycle

percentage

MC01 U-V-W Phase PWM duty cycle

write 2365

MC01 Encoder Raw Angle

rad

MC01 encoder raw measured angle

write 2366

MC01 Stepper Output Frequency

Hz

MC01 stepper output frequency

write 2367

MC Mechanical Angle Error

rad

MC mechanical angle error

write

2368-2370

MC U-V-W Phase BEMF

V

MC U-V-W phase electromechanical force

write 2371

MC Input Current DC side

A

MC input current DC side

write 2372

MC Input Normalized Command Speed

customType

MC input normalized command speed

write

2373-2374

MC ADC in 0-1

V

System reserved variables

write 2375

MC Logic Board Temperature

K

MC logic board temperature

write 2376

MC Power Module Temperature

K

MC IGBT filtered temperature

write 2377

MC Motor Temperature

K

MC Motor temperature

write 2378

MC Input Voltage DC side

V

MC DC bus voltage

write

2379-2380

MC U-V Phase Hall current sensor

customType

System reserved variables

2381

MC Virtual and estimator angle difference

rad

MC Angle offset value from estimated and commanded angle to close control loop

2382

MC Low speed estimator angle

rad

MC Low speed observer estimated angle

2383

MC High speed estimator angle

rad

MC High speed observer estimated angle

2384

MC Low speed estimator speed

rad/s

MC Low speed observer estimated mechanical speed

2385

MC High speed estimator speed

rad/s

MC High speed observer estimated mechanical speed

write

2400-2419

Control Output u0-19

customType

Control output 0 to 19 after servo saturation

write

2500-2519

Stick Input u0-u19

customType

Intermediate values from stick used for arcade mode

write

2600-2619

Stick Input d0-d19

customType

Intermediate values from stick used for arcade mode - delta values

2700-2739

Operation Guidance 00-39

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

2812

Wind Azimuth Angle

degree

Wind estimated azimuth

2813

Wind Velocity in North-East plane

m/s

Horizontal wind velocity

2830-2893

Setup real 00-63

customType

Setup variable 00-63

write

2900

MSL Right from Actual QNH and Pressure Measurement

m

Mean Sea Level obtained from Actual QNH and current Pressure Measurement

write

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

s

Time-lapse considered since entering the current phase

2903

GNC Timestep

s

Task execution period from GNC

2904

Total Flight Time

s

Time-lapse since the vehicle finished Standby

Warning

Deprecated variable

2905

Total Flight Distance

m

Distance covered by the vehicle in all mission length

Warning

Deprecated variable

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 in Phase 0-19

s

Time-lapse spent by the vehicle in phase 0 to 19

write

3000-3031

Simulation Variable 0-31

customType

Variables used for Simulation data

write

3100-3399

User Variable 00-299 (Real - 32 Bits)

customType

Free variables for the user to use

4100

Zero

customType

Constant value 0

4101

Rvar Disabled

customType

Disabled variable

Integer Variables (UVar) - 16 Bits

ID

Name

Description

0

Actuator Mode

Index pointing to the flight mode in use

1

Phase Identifier

Index pointing to the active phase

2

Internal ADC 0

Internal ADC pin

Warning

Variable for internal use

3-7

ADC 0-4

Direct reading of ADC pins

8-18

Internal ADC 1-11

Internal ADC pins

Warning

Variable for internal use

write

19

Current envelope (deprecated)

Index pointing to the used envelope

Warning

Deprecated variable

20

Counter for C2 system

C2 counter to monitor if Core 2 is alive

21

Total memory for blocks allocation (low part)

Total words available for blocks (low part).

It is stored in two parts because the size can be a number up to 32 bits but the uvars are stored in variables of 16, so to get the true size the user would have to put together both the low and the high part

Note

1 word = 2 bytes

22

Total memory for blocks allocation (high part)

Total words available for blocks (high part).

It is stored in two parts because the size can be a number up to 32 bits but the uvars are stored in variables of 16, so to get the true size the user would have to put together both the low and the high part

Note

1 word = 2 bytes

23

Memory used for blocks allocation (low part)

Words used for blocks in allocator (low part).

It is stored in two parts because the size can be a number up to 32 bits but the uvars are stored in variables of 16, so to get the true size the user would have to put together both the low and the high part

Note

1 word = 2 bytes

24

Memory used for blocks allocation (high part)

Words used for blocks in allocator (high part).

It is stored in two parts because the size can be a number up to 32 bits but the uvars are stored in variables of 16, so to get the true size the user would have to put together both the low and the high part

Note

1 word = 2 bytes

25

SRTM source at UAV’s position

Index for the SRTM source type:

  • 0: Processing

  • 1: Invalid

  • 2: 90-meter resolution in equator

  • 3: 30-meter resolution in equator

50

PDI error source

Index for PDI error source identification

For further information, consult the List of PDI errors

51

Operation error source

Index for operation error source identification

53

4XV Veronte ID

ID of this AP in a redundant (0-3) to compare with the selected CAP

For more information, check Integer Variables - 4x Software Manual

54

4XV Veronte CAP

Current Autopilot 1x selected

For more information, check Integer Variables - 4x Software Manual

write

55-75

4xV Integer variables

For more information, check Integer Variables - 4x Software Manual

80

Detour calculation identifier

Counter of number of times a route change has been calculated

81

Approach calculation identifier

Counter of number of times Approach guidance has been calculated

82

Climb calculation identifier

Counter of number of times Climb guidance has been calculated

83

Cruise calculation identifier

Counter of number of times Cruise guidance has been calculated

84

Rendezvous calculation identifier

Counter of number of times Rendezvous guidance has been calculated

85

Taxi calculation identifier

Counter of number of times Taxi guidance has been calculated

86

VTOL calculation identifier

Counter of number of times VTOL guidance has been calculated

90

Version Major

Major software version

91

Version Minor

Minor software version

92

Version Revision

Revision software version

95

UAV address

UAV address

96

File system status

State error for DFS2 FS

For further information, consult the List of File system errors

97

Number of registered partitions on DFS2 File System

Number of registered partitions on DFS2 File System

100

GNSS1 Number of Satellites Used in Solution

Number of satellites used in solution

101-102

GNSS1 rejected-accepted RTCM 1005

Number of RTCM rejected by wrong CRC - correctly received by Ublox 1005

103-104

GNSS1 rejected-accepted RTCM 1077

Number of RTCM rejected by wrong CRC - correctly received by Ublox 1077

105-106

GNSS1 rejected-accepted RTCM 1087

Number of RTCM rejected by wrong CRC - correctly received by Ublox 1087

107-108

GNSS1 rejected-accepted RTCM 1127

Number of RTCM rejected by wrong CRC - correctly received by Ublox 1127

109-110

GNSS1 rejected-accepted RTCM 1230

Number of RTCM rejected by wrong CRC - correctly received by Ublox 1230

111-112

GNSS1 rejected-accepted RTCM 4072

Number of RTCM rejected by wrong CRC - correctly received by Ublox 4072

113

GNSS1 rejected RTCM unknown type

Number of RTCM unknown rejected by wrong CRC

114

GNSS1 week

GNSS1 week

115

GNSS1 Jamming Status

Output from GPS 1 jamming/interference monitor

  • 0 = unknown or feature disabled

  • 1 = ok \(\Rightarrow\) no significant jamming

  • 2 = warning \(\Rightarrow\) interference visible but fix Ok

  • 3 = critical \(\Rightarrow\) interference visible and no fix

150

GNSS2 Number of Satellites Used in Solution

Number of Satellites Used in Solution

151-152

GNSS2 rejected-accepted RTCM 1005

Number of RTCM rejected by wrong CRC - correctly received by Ublox 1005

153-154

GNSS2 rejected-accepted RTCM 1077

Number of RTCM rejected by wrong CRC - correctly received by Ublox 1077

155-156

GNSS2 rejected-accepted RTCM 1087

Number of RTCM rejected by wrong CRC - correctly received by Ublox 1087

157-158

GNSS2 rejected-accepted RTCM 1127

Number of RTCM rejected by wrong CRC - correctly received by Ublox 1127

159-160

GNSS2 rejected-accepted RTCM 1230

Number of RTCM rejected by wrong CRC - correctly received by Ublox 1230

161-162

GNSS2 rejected-accepted RTCM 4072

Number of RTCM rejected by wrong CRC - correctly received by Ublox 4072

163

GNSS2 rejected RTCM unknown type

Number of RTCM unknown rejected by wrong CRC

164

GNSS2 week

GNSS2 week

165

GNSS2 Jamming Status

Output from GPS 2 jamming/interference monitor

  • 0 = unknown or feature disabled

  • 1 = ok \(\Rightarrow\) no significant jamming

  • 2 = warning \(\Rightarrow\) interference visible but fix Ok

  • 3 = critical \(\Rightarrow\) interference visible and no fix

200

Radar Altimeter State

Index for the radar altimeter state

201

Current Section

ID of current patch being executed by the autopilot

202

Last Achieved Section

ID of last patch completed by the autopilot

203

Track Stage

Index of type of tracked route

  • 0: No route

  • 1: Route from mission

  • 2: Commanded route

204

Current patchset ID

Index showing the patchset

  • 0: Approach

  • 1: Climb

  • 2: Route

  • 3: Taxi

  • 4: VTOL

  • 5: Rendezvous

  • 6: Detour

205

Amount of laps done

Number of laps completed on the route

310-311

Iridium sent-received

Number of packets succesfully sent/received

398

VectorNav Mode

Index showing external source VectorNav mode

399

Identifier of max duration step in acquisition

Identifier of maximum duration step in CIO

Warning

Variable for internal use

400

Internest raw status

Internest raw status

401

Navigation source

Index pointing to the primary navigation source

  • 1: Internal navigation

  • 2: Simulated navigation (IRX source)

  • 3: External navigation using VCP

  • 4: External navigation using dedicated variables

  • 5: External navigation from Vectornav VN-300

402

Raw position source identifier

GPS identifier selected as main

write

403

(Deprecated) Selected static pressure sensor

Static pressure sensor selection

Warning

Deprecated variable

404

Selected dynamic pressure sensor

Dynamic pressure sensor selection

405

Selected primary accelerometer (deprecated)

Primary accelerometer selection

Warning

Deprecated variable

406

Selected primary gyroscope (deprecated)

Primary gyroscope selection

Warning

Deprecated variable

write

409

(Deprecated) Selected magnetometer

Magnetometer selection

Warning

Deprecated variable

410

Selected stick priority table

Stick priority table selection

425

Identifier of max duration step in GNC

Step with maximum duration

426

Group of user bits selected for CBIT

Index pointing to the selected list of safety bits.

This is the group of user bits selected to be computed with system CBIT

449

Configured system errors that had triggered

Bitarray containing the errors that can trigger the System Error

450

CAN-A Tx errors

CAN A communication errors in transmission

451

CAN-A Rx errors

CAN A communication errors in reception

452

CAN-B Tx errors

CAN B communication errors in transmission

453

CAN-B Rx errors

CAN B communication errors in reception

454-459

CAN to Serial 0-5 frames dropped

Lost messages during CAN to Serial transformations

460-461

First-Last file Periodic log

First-Last file of the periodic log

462-463

First-Last file Event log

First-Last file of the event log

464-465

First-Last file Fast log

First-Last file of the fast log

480-485

COM0-5 packet discarded

Discared packets at COM 0 to 5

490

Number of moving obstacles detected

Number of moving obstacles detected

491-492

Veronte static cfg CRC(no Operation) of files (Higher-Lower 16 bits)

Veronte static cfg CRC (no Op.) of files

493-494

Veronte static cfg CRC(no Operation) of memory (Higher-Lower 16 bits)

Veronte static cfg CRC (no Op.) of memory

495-496

Global configuration state (crc) of files-memory (Higher-Lower 16 bits)

Global configuration state (crc) of files and memory

497

Config manager status (flash / sd / maintenance mode)

Configuration manager status

498-499

Global configuration state (crc) of files-memory

Global configuration state (crc) of files and memory

write

550-557

Reserved 0-7

System reserved variables for Gimbal

600-615

PPM channel 0-15 output

CEX PPM channel outputs

620

Jetibox max successfully parsed message

Note

CEX variable

710

ADS-B OUT - Squawk Code

ADS-B Squawk code, 4 digits that allow the operator to inform about its status

This variable is closely related to the management of communications between transponders and Veronte Autopilot 1x.

Warning

  • Deprecated variable

  • If the user modifies this variable, it is not guaranteed that the transponder will continue to function correctly

711

ADS-B OUT - ICAO

ADS-B ICAO, 4 ASCII characters assigned by aircraft authority as an identifier

This variable is closely related to the management of communications between transponders and Veronte Autopilot 1x.

Warning

  • Deprecated variable

  • If the user modifies this variable, it is not guaranteed that the transponder will continue to function correctly

712

ADS-B OUT - Ident

Index indicating whether the identification is enabled or disabled. This is the identification of the UAV at the request of ATC

This variable is closely related to the management of communications between transponders and Veronte Autopilot 1x.

Warning

  • Deprecated variable

  • If the user modifies this variable, it is not guaranteed that the transponder will continue to function correctly

713

ADS-B OUT - Mode

Index of ADS-B mode: IN, OUT or BOTH

This variable is closely related to the management of communications between transponders and Veronte Autopilot 1x.

Warning

  • Deprecated variable

  • If the user modifies this variable, it is not guaranteed that the transponder will continue to function correctly

714-721

ADS-B OUT - Call sign 0-7

ADS-B Call sign, 9 ASCII characters used by operator to be identified during communication

These variables are closely related to the management of communications between transponders and Veronte Autopilot 1x.

Warning

  • Deprecated variable

  • If the user modifies this variable, it is not guaranteed that the transponder will continue to function correctly

730

(Deprecated) Ping1090 - Sequence number

Warning

Deprecated variable

741

(Deprecated) Sagetech MXS - Hemisphere data status

Sagetech variable, used by block to parse variables for GPS Navigation Data Message

Warning

  • Variable for internal use (custom message for transponder)

  • If the user modifies this variable, it is not guaranteed that the transponder will continue to function correctly

742

(Deprecated) Sagetech MXS - Ground track

Sagetech variable, used by block to parse variables for GPS Navigation Data Message

Warning

  • Variable for internal use (custom message for transponder)

  • If the user modifies this variable, it is not guaranteed that the transponder will continue to function correctly

743

(Deprecated) Sagetech MXS - Air speed

Sagetech variable, used by block to parse variables for GPS Navigation Data Message

Warning

  • Variable for internal use (custom message for transponder)

  • If the user modifies this variable, it is not guaranteed that the transponder will continue to function correctly

750

ADS-B Out / ICAO High

ADS-B ICAO, 4 ASCII characters assigned by aircraft authority as an identifier

This variable is closely related to the management of communications between transponders and Veronte Autopilot 1x.

Warning

  • Variable for internal use (custom message for transponder)

  • If the user modifies this variable, it is not guaranteed that the transponder will continue to function correctly

751

ADS-B Out / ICAO Low

ADS-B ICAO, 4 ASCII characters assigned by aircraft authority as an identifier

This variable is closely related to the management of communications between transponders and Veronte Autopilot 1x.

Warning

  • Variable for internal use (custom message for transponder)

  • If the user modifies this variable, it is not guaranteed that the transponder will continue to function correctly

752

ADS-B Out / Emitter Type

Type/category of ADS-B emitter

This variable is closely related to the management of communications between transponders and Veronte Autopilot 1x.

Warning

  • Variable for internal use (custom message for transponder)

  • If the user modifies this variable, it is not guaranteed that the transponder will continue to function correctly

753-760

ADS-B Out / Call Sign 0-7

ADS-B Call sign, 9 ASCII characters used by operator to be identified during communication

This variable is closely related to the management of communications between transponders and Veronte Autopilot 1x.

Warning

  • Variable for internal use (custom message for transponder)

  • If the user modifies this variable, it is not guaranteed that the transponder will continue to function correctly

761

ADS-B Out / Type

Model of ADS-B transponder

This variable is closely related to the management of communications between transponders and Veronte Autopilot 1x.

Warning

  • Variable for internal use (custom message for transponder)

  • If the user modifies this variable, it is not guaranteed that the transponder will continue to function correctly

762

ADS-B Out / Control

Index of ADS-B control: OFF, ADS-B IN, ADS-B OUT or BOTH (ADS-B IN and OUT)

This variable is closely related to the management of communications between transponders and Veronte Autopilot 1x.

Warning

  • Variable for internal use (custom message for transponder)

  • If the user modifies this variable, it is not guaranteed that the transponder will continue to function correctly

763

ADS-B Out / Squawk

ADS-B Squawk code, 4 digits that allow the operator to inform about its status

This variable is closely related to the management of communications between transponders and Veronte Autopilot 1x.

Warning

  • Variable for internal use (custom message for transponder)

  • If the user modifies this variable, it is not guaranteed that the transponder will continue to function correctly

764

ADS-B Out / Ident

Index indicating whether the identification is enabled or disabled. This is the identification of the UAV at the request of ATC

This variable is closely related to the management of communications between transponders and Veronte Autopilot 1x.

Warning

  • Variable for internal use (custom message for transponder)

  • If the user modifies this variable, it is not guaranteed that the transponder will continue to function correctly

765

ADS-B Out / Custom

Variable for internal use for ADS-B Out

This variable is closely related to the management of communications between transponders and Veronte Autopilot 1x.

Warning

  • Variable for internal use (custom message for transponder)

  • If the user modifies this variable, it is not guaranteed that the transponder will continue to function correctly

800

MC Fault Id

Index of the MC error

Warning

Deprecated variable

801

MC Input Control Mode

Index of the MC control input mode:

  • 1: PPM

  • 2: CAN

  • 3: both modes active (CAN priority)

802

MC Actual Control Machine State

State of motor controller:

  • 0: Motor stop and driver disabled

  • 1: Calibration of ADC reading

  • 2: Initial alignment procedure

  • 3: Open loop procedure

  • 4: Speed mode

write

900-909

Simulation variable 00-09

Variables used for simulation data

write

1000-1299

User Variable 00-299 (Unsigned Integer - 16 bits)

Free variables for user

2000

Uvar Disabled

Disabled variable

2001

Zero

Variable with constant 0 value

Features Variables - 64 Bits

../_images/approach_route_variables.jpg

Landing route - Features variables

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.

../_images/climb_route_variables.jpg

Climbing route - Features variables

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.

../_images/taxi_route_variables.jpg

Taxi route - Features variables

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.

../_images/vtol_route_variables.png

VTOL route - Features variables

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

Value used when invalid ID is tried

[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 Point 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

Rendezvouz 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

Rendezvouz 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

Rendezvouz 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. the 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. the 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.

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

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 rage

pdi_internest1

94

Internest max_range_vbase in rage

pdi_internest2

95

Internest max_range_vexplore in rage

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_gpio1

219

GPIO command

pdi_cmd_gpio2

220

GPIO command

pdi_cmd_gpio3

221

GPIO command

pdi_cmd_phase

222

Commanded phase is out of range

pdi_cmd_gimbal1

224

Gimbal commands

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, there are some PDI files in Veronte from a different 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 [-pi,pi]/[-0.5pi,0.5pi]

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 \(\geq\) 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 [-pi,pi] 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 posguet

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.

../_images/file_system_status.drawio.svg

File system status

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)