Lists of variables¶
This section shows all the variables employed by Veronte Autopilot 1x. All of them can be read and sent through telemetry.
Warning
Bit Variables displayed on 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.
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.
BIT Variables¶
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: 
6 
File system error 
System file manager  0 for not working properly, 1 for running 
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  0 for wrong PDI configuration, 1 for running OK 
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 
12 
System power up bit error 
Power up  0 for error, 1 for OK 
13 
Reset and write disabled 
Reset and write  0 for disabled, 1 for enabled 
14 
FTS1 Feedback (>=V4.5) 
Flight Termination System 1, microcontroller state for hardware version 4.7 or higher  0 for error, 1 for running OK 
15 
FTS2 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 core 1 usage FAIL 
0 for memory overflow allocated for local variables of core 1, 1 for OK 
17 
Stack core 2 usage FAIL 
0 for memory overflow allocated for local variables of core 2, 1 for OK 
18 
PDI disabled 
PDI Mode  0 for disabled, 1 for enabled 
2047 
4xV Bit variables 
For more information, check 4x Software Manual > BIT 
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 
SensorMain IMU 
0 for disabled, 1 for enabled 
52 
SensorSecondary IMU 
0 for disabled, 1 for enabled 
53 
SensorMagnetometer 
Internal LIS3MDL magnetometer  0 for disabled, 1 for enabled 
54 
SensorExternal magnetometer (HMR2300) 
External HMR2300 magnetometer  0 for disabled, 1 for enabled 
55 
SensorExternal Magnetometer (LIS3MDL) 
External LIS3MDL magnetometer  0 for disabled, 1 for enabled 
56 
SensorStatic pressure (HSC) 
HSC Static Pressure Sensor  0 for disabled, 1 for enabled 
57 
SensorStatic pressure (MS56) 
MS56 Static Pressure Sensor  0 for disabled, 1 for enabled 
58 
SensorDynamic pressure (HSC) 
HSC Dynamic Pressure Sensor  0 for disabled, 1 for enabled 
59 
SensorExternal I2C devices 
0 for disabled, 1 for enabled 
6064 
SensorExternal I2C device 15 
External communication I2C from device 1 to 5 
65 
SCI A Transmitting (Sara) 
Serial Communication Interface  sara transmission 
66 
SCI A Receiving (Sara) 
Serial Communication Interface  sara reception 
67 
SCI B Transmitting (Radio) 
Serial Communication Interface  radio transmission 
68 
SCI B Receiving (Radio) 
Serial Communication Interface  radio reception 
69 
SCI C Transmitting (RS485) 
Serial Communication Interface  RS485 transmission 
70 
SCI C Receiving (RS485) 
Serial Communication Interface  RS485 reception 
71 
SCI D Transmitting (RS232) 
Serial Communication Interface  RS232 transmission 
72 
SCI D Receiving (RS232) 
Serial Communication Interface  RS232 reception 
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 Fix 
0 for error, 1 for OK 
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 
SensorExternal Magnetometer (HSCDTD008A) 
External HSCDTD008A magnetometer  0 for error, 1 for OK 
83 
Sensor 3rd IMU BMI088 
0 for error, 1 for OK 
84 
Sensorstatic pressure 2 (DPS310) 
0 for error, 1 for OK 
85 
Magnetometer 4 (MMC5883MA) 
Internal MMC5883MA magnetometer  0 for error, 1 for OK 
86 
Magnetometer 5 (External MMC5883MA) 
External MMC5883MA magnetometer  0 for error, 1 for OK 
87 
UBlox 1 
GPS module 1 state  0 for error, 1 for OK 
88 
UBlox 2 
GPS module 2 state  0 for error, 1 for OK 
89 
Magnetometer 6 (External RM3100) 
External RM3100 magnetometer  0 for error, 1 for OK 
90 
IMU3 ADIS165053 (MCBSP) 
0 for error, 1 for OK 
91 
Magnetometer 7 (Internal RM3100) 
Internal RM3100 magnetometer  0 for error, 1 for OK 
92 
Magnetometer reserved 
0 for error, 1 for OK 
9699 
SCI AD receiving error 
SCI A to D  0 for error, 1 for OK 
100 
Position not Fixed 
GNSS data reception  0 for not receiving, 1 for receiving (Psotition fixed) 
101 
No valid SRTM at UAV position 
0 for not valid, 1 for valid 
102103 
CAN AB receiving 
CAN A to B communication  0 for not receiving, 1 for receiving 
104105 
Stick PPM 12 not detected 
Stick PPM 1 to 2  0 for not detecting, 1 for detecting 
106 
Magnetic field out of bounds 
0 for magnetic field out of bounds, 1 for OK 
107 
INS navigation OFF 
0 for INS navigation OFF, 1 for INS navigation ON 
108109 
Stick PPM 34 not detected 
Stick PPM 3 to 4  0 for not detecting, 1 for detecting 
110 
Stick not detected 
Stick detection  0 for not detected, 1 for detected 
111112 
CAN AB 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 CANRX 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:

118 
SUC power error 
Power supply for system on microchip. It ill be 0 (indicating error state) if any of the following errors happens: 
119 
Not hovering guidance 
Hovering guidance state  for hovering guidance disabled, 1 for enabled 
120123 
Pulse 14 not detected 
Pulse 1 to 4 detection  0 for pulse not detected, 1 for detected 
124129 
4xV Bit variables 
For more information, check 4x Software Manual > BIT 
130 
EFK navigation state 
Extended Kalman Filter navigation state  0 for error, 1 for running 
150 
External VCP state 
External VCP state  0 for error, 1 for OK 
160 
External var Navigation Error 
External Navigation state – 0 for error, 1 for running 
180 
Attitude 
Kind of attitude calculation – 0 for external, 1 for internal 
182 
FTS Activation (>=V4.5) 
Flight Termination System activation, for version 4.5 or higher  0 for not activated, 1 for activated 
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 
230293 
4xV Bit variables 
For more information, check 4x Software Manual > BIT 
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 
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 
370371 
Smart Can Isolator AB Domain Error 
0 for error, 1 for OK 
400 
C1 Low Frequency 
0 for error (it has a frequency < 10 Hz), 1 for OK (it has a frequency > 10 Hz) 
401 
GNC fail 
0 for error (‘dead’), 1 for ok (‘alive’) 
402 
Acquisition Step Missed 
0 for Acquisition step missed (it has a frequency < 990 Hz), 1 for Acquisition Task OK (it has a frequency > 990 Hz) 
403 
CIO Hi Overload warning 
0 for Acquisition Task overload, 1 for CPU1 high Usage Ok (Acquisition Task OK) 
404 
GNC Realtime Error 
0 GNC Step Missed, 1 for GNC Task OK 
405 
Reserved 
0 for error, 1 for OK 
480 
VMC stepper direction output 
0 for error, 1 for OK 
481 
VMC brushless driver fault 
0 for error, 1 for OK 
482 
VMC Hall Sensor error 
0 for error, 1 for OK 
483 
VMC Sin/Cos Sensor error 
0 for error, 1 for OK 
484 
MC general health error 
0 for health error, 1 for status OK 
500 
Ground effect compensation variance disabled 
0 for disabled, 1 for enabled 
501 
Ground effect compensation measurement disabled 
0 for disabled, 1 for enabled 
502 
No SRTM data 
0 for No SRTM data, 1 for SRTM data OK 
600 
Wind Estimation Off 
0 for disabled, 1 for enabled 
700731 
Servo 132 Satured 
0 for satured, 1 for OK 
800815 
PWM 116 GPIO Off 
PWM GPIO 116 communication Sate  0 for Off, 1 for On 
816819 
EQEP_AI (GPIO 1720) Off 
Input/Output State  0 for Off, 1 for On 
820822 
RSSI LED 13 Off 
Received Signal Strength Indicator led state  0 for Off, 1 for On 
900931 
Virtual GPIO 132 Off 
0 for Off, 1 for On 
10001009 
Simulation BIT 110 Error 
0 for error, 1 for OK 
10101113 
Custom msg 1104 Rx Error 
Custom message timeout  0 for error, 1 for OK 
11201121 
Entrance EKF GNSS 12 Off 
GNSS 12 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 
1122 
Entrance EKF GNSS EXT Off 
External GNSS information considered in EKF Navigation  0 for entrance EKF GNSS EXT OFF, 1 for ON 
1123 
Entrance EKF internest Off 
Internest information considered in EKF Navigation  0 for entrance EKF internest OFF, 1 for ON 
1124 
Entrance EKF GPSCOMPASS Off 
GNSS Compass information considered in EKF Navigation  0 for entrance EKF GPSCOMPASS OFF, 1 for ON 
1125 
Entrance EKF Magnetometer Off 
Magnetometer information considered in EKF Navigation  0 for entrance EKF magnetometer OFF, 1 for ON 
1126 
Entrance EKF static press Off 
Static Pressure sensor information considered in EKF Navigation  0 for entrance EKF static pressure OFF, 1 for ON 
1127 
Entrance EKF altimeter press Off 
Altimeter information considered in EKF Navigation  0 for entrance EKF altimeter OFF, 1 for ON 
1128 
Entrance EKF radaraltimeter press Off 
Radar Altimeter information considered in EKF Navigation  0 for entrance EKF radaraltimeter OFF, 1 for ON 
1129 
Entrance EKF DEM press Off 
DEM information considered in EKF Navigation  0 for entrance EKF DEM OFF, 1 for ON 
11801181 
Sniffer msg 12 Rx Error 
Sniffer receiver message  0 for error, 1 for OK 
12001499 
User BIT 01300 error 
User bit 1 to 300  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 Air Speed) 
m/s 
Pitotstatic measurement speed 
1 
TAS (True Air Speed) 
m/s 
Speed relative to the airmass in which the vehicle is moving (IAS measurement corrected with Standard Atmosphere data) 
2 
GS (Ground Speed) 
m/s 
Horizontal speed, relative to the ground 
3 
Heading 
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 
Velocity vector lateral component 
6 
Yaw 
rad 
Angle around the Vertical axis of the vehicle 
7 
Pitch 
rad 
Angle around the Transverse axis of the vehicle 
8 
Roll 
rad 
Angle around the Longitudinal axis of the vehicle 
9 
Routeguidance tangential deviation 
m 
Tangencial distance to the desired position (guidance) 
10 
Routeguidance horizontal deviation 
m 
Horizontal distance to the desired position (guidance) 
11 
Routeguidance 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 Xaxis 
16 
Right Acceleration – Y Body Axis 
m/s² 
Acceleration in the Yaxis 
17 
Bottom Acceleration – Z Body Axis 
m/s² 
Acceleration in the Zaxis 
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 
Gforce in X body axis 
23 
Right Load Factor – Y Body Axis 
customType 
Gforce in Y body axis 
24 
Bottom Load Factor – Z Body Axis 
customType 
Gforce in Z body axis 
25 
Tangential Acceleration 
m/s² 
Absolute acceleration for tangential direction 
28 
Coyaw 
rad 
Acrobatic Yaw with Body Z’ axis pointing to X 
29 
Copitch 
rad 
Acrobatic Pitch with Body X’ axis pointing to Z 
30 
Coroll 
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 
SCIA Rx rate (4G) 
bytes/s 
4G link reception byte rate 
43 
SCIA Tx rate (4G) 
bytes/s 
4G link transmission byte rate 
44 
SCIB Rx rate (LOS) 
bytes/s 
Radio link reception byte rate 
45 
SCIB Tx rate (LOS) 
bytes/s 
Radio link transmission byte rate 
46 
SCIC Rx rate (RS485) 
bytes/s 
RS485 communication reception byte rate 
47 
SCIC Tx rate (RS485) 
bytes/s 
RS485 communication transmission byte rate 
48 
SCID Rx rate (RS232) 
bytes/s 
RS232 communication reception byte rate 
49 
SCID Tx rate (RS232) 
bytes/s 
RS232 communication transmission byte rate 
50 
CANA Tx rate 
pkts/s 
CANA transmission packet rate 
51 
CANB Tx rate 
pkts/s 
CANB transmission packet rate 
52 
CANA Tx skip rate 
pkts/s 
CANA messages delayed because no mailbox is available for sending 
53 
CANB Tx skip rate 
pkts/s 
CANB 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 
5964 
COM 16 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 
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 
100 
Desired IAS (Indicated Air Speed) 
m/s 
Commanded IAS from guidance 
101 
Desired TAS (True Air Speed) 
m/s 
Commanded TAS from guidance 
102 
Desired GS (Ground Speed) 
m/s 
Commanded GS from guidance 
103 
Desired Heading 
rad 
Commanded Heading from guidance 
104 
Desired Flight Path Angle 
rad 
Commanded Flight Path Angle from guidance 
105 
Desired Bank 
rad 
Commanded Bank from guidance 
106 
Desired Yaw 
rad 
Commanded Yaw from guidance 
107 
Desired Pitch 
rad 
Commanded Pitch from guidance 
108 
Desired Roll 
rad 
Commanded Roll from guidance 
112 
Desired p (Angular Velocity  X Body Axis) 
rad/s 
Commanded angular velocity around longitudinal axis 
113 
Desired q (Angular Velocity  Y Body Axis) 
rad/s 
Commanded angular velocity around lateral axis 
114 
Desired r (Angular Velocity  Z Body Axis) 
rad/s 
Commanded angular velocity around vertical axis 
115 
Desired Foward Acceleration – X Body Axis 
m/s² 
Commanded Forward Acceleration from guidance 
116 
Desired Right Acceleration – Y Body Axis 
m/s² 
Commanded Right Acceleration from guidance 
117 
Desired Bottom Acceleration – Z Body Axis 
m/s² 
Commanded Bottom Acceleration from guidance 
118 
Desired RPM 
rad/s 
Commanded RPM from guidance 
119 
Desired Front Ground Velocity 
m/s 
Commanded Front GV from guidance 
120 
Desired Lateral Ground Velocity 
m/s 
Commanded Lateral GV from guidance 
121 
Desired Velocity 
m/s 
Commanded Velocity from guidance 
122 
Desired Forward Load Factor – X Body Axis 
customType 
Commanded Forward Load Factor from guidance 
123 
Desired Right Load Factor – Y Body Axis 
customType 
Commanded Right Load Factor from guidance 
124 
Desired Bottom Load Factor – Z Body Axis 
customType 
Commanded Bottom Load Facto from guidance 
125 
Desired Tangential Acceleration 
m/s² 
Commanded Tangential Acceleration from guidance 
126 
Energy Rate Error 
customType 
Rate of change of the Total System Energy 
127 
Energy Distribution Error 
customType 
Distribution of system energy between kinetical and geopotential energy 
128 
Desired coyaw 
rad 
Commanded coyaw from guidance 
129 
Desired copitch 
rad 
Commanded copitch from guidance 
130 
Desired coroll 
rad 
Commanded coroll from guidance 
140 
Climbing Initial Heading 
rad 
Heading in climbing phase (start of the route) 
141 
Approach Initial Heading 
rad 
Heading in approach phase (end of the route) 
142 
Headwind Direction 
rad 
Wind direction estimation 
143 
Tailwind Direction 
rad 
Angle of the vector that would correspond to the opposite of the Headwind vector 
144 
Runway Direction 
rad 
Runway angle 
145 
Value used when invalid ID is tried 
rad 
Warning Deprecated variable 
146 
Track direction 
rad 
Angle of the vector tangent to the curve at the current point on the route where the aircraft is located 
200 
Desired North Ground Velocity 
m/s 
Commanded North (NED Coordinates system) GV from guidance 
201 
Desired East Ground Velocity 
m/s 
Commanded East (NED Coordinates system) GV from guidance 
202 
Desired Down Ground Velocity 
m/s 
Commanded Down (NED Coordinates system) GV from guidance 
203 
Desired 2D MSL (Heigh Above Mean Sea Level) 
m 
Commanded MSL from guidance in 2D height mode 
204 
Desired 2D AGL (Above Ground Level) – Height 
m 
Commanded AGL from guidance in 2D height mode 
205 
Desired 2D WGS84 Elevation (Height Over The Ellipsoid) 
m 
Commanded WGS84 Elevation from guidance in 2D height mode 
206 
Desired Longitude 
rad 
Commanded Longitude from guidance 
207 
Desired Latitude 
rad 
Commanded Latitude from guidance 
208 
Desired WGS84 Elevation (Height Over The Ellipsoid) 
m 
Commanded WGS84 Elevation from guidance 
209 
Desired MSL (Height Above Mean Sea Level) – Altitude 
m 
Commanded MSL Altitude from guidance 
210 
Desired AGL (Above Ground Level) – Height 
m 
Commanded AGL Altitude from guidance 
250 
Guidance north position error 
m 
Difference from Desired and actual north position 
251 
Guidance east position error 
m 
Difference from Desired and actual east position 
252 
Guidance down position error 
m 
Difference from Desired and actual down position 
253 
Guidance PID north desired velocity 
m/s 
Difference from Desired and actual PID north velocity 
254 
Guidance PID east desired velocity 
m/s 
Difference from Desired and actual PID east velocity 
255 
Guidance PID down desired velocity 
m/s 
Difference from Desired and actual PID down velocity 
256 
Desired velocity X body axis 
m/s 
Commanded velocity in Xaxis from guidance 
257 
Desired velocity Y body axis 
m/s 
Commanded velocity in Yaxis from guidance 
258 
Desired velocity Z body axis 
m/s 
Commanded velocity in Zaxis from guidance 
259 
External yaw 
rad 
Yaw from external navigation source 
260 
External pitch 
rad 
Pitch from external navigation source 
261 
External roll 
rad 
Roll from external navigation source 
262 
External Roll Rate 
rad/s 
Roll rate from external navigation source 
263 
External Pitch Rate 
rad/s 
Pitch rate from external navigation source 
264 
External Yaw Rate 
rad/s 
Yaw rate from external navigation source 
265 
External Velocity North 
m/s 
Velocity North from external navigation source 
266 
External Velocity East 
m/s 
Velocity East from external navigation source 
267 
External Velocity Down 
m/s 
Velocity Down from external navigation source 
268 
External acceleration x body axis 
m/s² 
Acceleration x body axis from external navigation source 
269 
External acceleration y body axis 
m/s² 
Acceleration y body axis from external navigation source 
270 
External acceleration z body axis 
m/s² 
Acceleration z body axis from external navigation source 
271 
External GPS Time of Week 
s 
GNSS Time of week from external navigation source 
300 
Time since Hardware StartUp 
s 
Time spent since poweron 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) 
304 
Static Pressure 
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 
313 
Magnetometer – X Body Axis 
T 
Magnetometer measurement for X axis Warning Deprecated variable 
314 
Magnetometer – Y Body Axis 
T 
Magnetometer measurement for Y axis Warning Deprecated variable 
315 
Magnetometer – Z Body Axis 
T 
Magnetometer measurement for Z axis Warning Deprecated variable 
322 
Internal magnetometer raw X in SI 
T 
Internal LIS3MDL Magnetometer raw measurement for X axis 
323 
Internal magnetometer raw Y in SI 
T 
Internal LIS3MDL Magnetometer raw measurement for Y axis 
324 
Internal magnetometer raw Z in SI 
T 
Internal LIS3MDL Magnetometer raw measurement for Z axis 
325 
Internal 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 1 raw accelerometer x measurement 
m/s² 
Main IMU raw accelerometer x measurement 
331 
IMU 1 raw accelerometer y measurement 
m/s² 
Main IMU raw accelerometer y measurement 
332 
IMU 1 raw accelerometer z measurement 
m/s² 
Main IMU raw accelerometer z measurement 
333 
IMU 1 raw gyroscope x measurement 
rad/s 
Main IMU raw gyroscope x measurement 
334 
IMU 1 raw gyroscope y measurement 
rad/s 
Main IMU raw gyroscope y measurement 
335 
IMU 1 raw gyroscope z measurement 
rad/s 
Main IMU raw gyroscope z measurement 
336 
IMU 1 temperature measurement 
K 
Main IMU temperature measurement 
337 
IMU 2 raw accelerometer x measurement 
m/s² 
Secondary IMU raw accelerometer x measurement 
338 
IMU 2 raw accelerometer y measurement 
m/s² 
Secondary IMU raw accelerometer y measurement 
339 
IMU 2 raw accelerometer z measurement 
m/s² 
Secondary IMU raw accelerometer z measurement 
340 
IMU 2 raw gyroscope x measurement 
rad/s 
Secondary IMU raw gyroscope x measurement 
341 
IMU 2 raw gyroscope y measurement 
rad/s 
Secondary IMU raw gyroscope y measurement 
342 
IMU 2 raw gyroscope z measurement 
rad/s 
Secondary IMU raw gyroscope z measurement 
343 
IMU 2 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 HSC magnetometer raw X in SI 
T 
External HSCDTD008A Magnetometer raw measurement for X axis 
358 
External HSC magnetometer raw Y in SI 
T 
External HSCDTD008A Magnetometer raw measurement for Y axis 
359 
External HSC magnetometer raw Z in SI 
T 
External HSCDTD008A Magnetometer raw measurement for Z axis 
360 
External HSC magnetometer temperature 
K 
External HSCDTD008A Magnetometer temperature 
361 
IMU 3 raw accelerometer x measurement 
m/s² 
BMI088 IMU raw accelerometer x measurement 
362 
IMU 3 raw accelerometer y measurement 
m/s² 
BMI088 IMU raw accelerometer y measurement 
363 
IMU 3 raw accelerometer z measurement 
m/s² 
BMI088 IMU raw accelerometer z measurement 
364 
IMU 3 raw gyroscope x measurement 
rad/s 
BMI088 IMU raw gyroscope x measurement 
365 
IMU 3 raw gyroscope y measurement 
rad/s 
BMI088 IMU raw gyroscope y measurement 
366 
IMU 3 raw gyroscope z measurement 
rad/s 
BMI088 IMU raw gyroscope z measurement 
367 
IMU 3 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 
Magnetometer 5 raw measure X converted to SI 
T 
Internal MMC5883MA Magnetometer raw measurement for X axis converted to SI 
371 
Magnetometer 5 raw measure Y converted to SI 
T 
Internal MMC5883MA Magnetometer raw measurement for Y axis converted to SI 
372 
Magnetometer 5 raw measure Z converted to SI 
T 
Internal MMC5883MA Magnetometer raw measurement for Z axis converted to SI 
373 
Magnetometer 5 temperature 
K 
Internal MMC5883MA Magnetometer temperature 
374 
Magnetometer 6 raw measure X converted to SI 
T 
External MMC5883MA Magnetometer raw measurement for X axis converted to SI 
375 
Magnetometer 6 raw measure Y converted to SI 
T 
External MMC5883MA Magnetometer raw measurement for Y axis converted to SI 
376 
Magnetometer 6 raw measure Z converted to SI 
T 
External MMC5883MA Magnetometer raw measurement for Z axis converted to SI 
377 
Magnetometer 6 temperature 
K 
External MMC5883MA Magnetometer temperature 
378 
Magnetometer 7 raw measure X converted to SI 
T 
External RM3100 Magnetometer raw measurement for X axis converted to SI 
379 
Magnetometer 7 raw measure Y converted to SI 
T 
External RM3100 Magnetometer raw measurement for Y axis converted to SI 
380 
Magnetometer 7 raw measure Z converted to SI 
T 
External RM3100 Magnetometer raw measurement for Z axis converted to SI 
381 
Magnetometer 7 temperature 
K 
External RM3100 Magnetometer temperature 
382 
External HMR2300 raw measure X converted to SI 
T 
External HMR2300 Magnetometer raw measurement for X axis converted to SI 
383 
External HMR2300 raw measure Y converted to SI 
T 
External HMR2300 Magnetometer raw measurement for Y axis converted to SI 
384 
External HMR2300 raw measure Z converted to SI 
T 
External HMR2300 Magnetometer raw measurement for Z axis converted to SI 
385 
External HMR2300 temperature 
K 
External HMR2300 Magnetometer temperature 
386 
IMU 4 raw accelerometer x measurement 
m/s² 
ADIS165053 IMU raw accelerometer x measurement 
387 
IMU 4 raw accelerometer y measurement 
m/s² 
ADIS165053 IMU raw accelerometer y measurement 
388 
IMU 4 raw accelerometer z measurement 
m/s² 
ADIS165053 IMU raw accelerometer z measurement 
389 
IMU 4 raw gyroscope x measurement 
rad/s 
ADIS165053 IMU raw gyroscope x measurement 
390 
IMU 4 raw gyroscope y measurement 
rad/s 
ADIS165053 IMU raw gyroscope y measurement 
391 
IMU 4 raw gyroscope z measurement 
rad/s 
ADIS165053 IMU raw gyroscope z measurement 
392 
IMU 4 temperature measurement 
K 
ADIS165053 IMU temperature measurement 
393 
Magnetometer 8 raw measure X converted to SI 
T 
Internal RM3100 Magnetometer raw measurement for X axis converted to SI 
394 
Magnetometer 8 raw measure Y converted to SI 
T 
Internal RM3100 Magnetometer raw measurement for Y axis converted to SI 
395 
Magnetometer 8 raw measure Z converted to SI 
T 
Internal RM3100 Magnetometer raw measurement for Z axis converted to SI 
396 
Magnetometer 8 temperature 
K 
Internal RM3100 Magnetometer temperature 
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 
500 
Longitude 
rad 
EastWest geographic coordinate 
501 
Latitude 
rad 
NorthSouth 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 NorthEast (NED Coordinates system) 
508 
Sensor IAS (Indicated Air Speed) 
m/s 
Pitotstatic 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 
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 
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 
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 
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 
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 
556 
Sagetech MXS  Ground track 
degree 
Sagetech variable, used by block to parse variables for GPS Navigation Data Message Warning Variable for internal use 
600603 
Temperature 14 
K 
Variables to be configured with external temperature sensors Warning DEPRECATED VARIABLES 
610 
North Position EKF Variance 
m² 
North position Extended Kalman Filter variance 
611 
East Position EKF Variance 
m² 
East position Extended Kalman Filter variance 
612 
Down Position EKF Variance 
m² 
Position variance component in the resultant axis from NorthEast 
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 NorthEast 
650 
Gimbal Command Yaw 
customType 
Yaw sent to the gimbal 
651 
Gimbal command Pitch 
customType 
Pitch sent to the gimbal 
652 
Gimbal Stick Yaw 
customType 
Yaw received from the joystick controlling the gimbal 
653 
Gimbal Stick Pitch 
customType 
Pitch received from the joystick controlling the gimbal 
654 
Gimbal Pitch Correction 1 
customType 
Correction calculated by the gimbal for the pitch control 1 
655 
Gimbal Pitch Correction 2 
customType 
Correction calculated by the gimbal for the pitch control 2 
656 
Gimbal Old Joint 1 
customType 
Auxiliar variable 1 for Gimbal control configuration 
657 
Gimbal Old Joint 2 
customType 
Auxiliar variable 2 for Gimbal control configuration 
658 
Cos (Gimbal Yaw) 
customType 
Auxiliar variable 1 for Gimbal control configuration 
659 
Sin (Gimbal Yaw) 
customType 
Auxiliar variable 2 for Gimbal control configuration 
660 
Gimbal Yaw Radian 
customType 
Auxiliar variable for Gimbal control configuration 
661 
Veronte Gimbal Yaw Output 
customType 
Yaw value the gimbal is sending as output 
662 
Veronte Gimbal Pitch Output 
customType 
Pitch value the gimbal is sending as output 
663 
Gimbal Phi(z) 
customType 
Auxiliar variable phi for Gimbal control configuration 
664 
Gimbal Theta(y) 
customType 
Auxiliar variable theta for Gimbal control configuration 
665 
Gimbal Psi(x) 
customType 
Auxiliar variable psi for Gimbal control configuration 
666 
Veronte Gimbal Roll Output (Degrees) 
customType 
Roll value the gimbal is sending as output 
700705 
RPM 16 
rad/s 
Angular speed associated to pulse captured 16 
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 Antiwindup Input 
customType 
PID selected antiwindup input 
757 
Selected Controller Derivative Error 
customType 
PID selected derivative error 
800815 
PWM 116 
customType 
Pulse Width Modulation signal 1 to 16 
900915 
Stick Input r1  r16 
customType 
Raw stick measurement from r1 to r16 
950981 
Stick Input s1  s32 
customType 
Warning DEPRECATED VARIABLES 
10001031 
Stick Input y1  y32 
customType 
Servo position commanded from stick y1 to y32 
10501069 
Control Output u120 Before Servo Saturation 
customType 
Commanded control output before saturation correction 
11001104 
Lidar 15 Distance 
m 
Variable configurable for Lidar distances 1 to 5 
11051109 
External Range Sensor 15 Measure 
m 
Variable configurable for external range sensors 
1200 
RouteGuidance Distance 
m 
Shortest distance to desired path (perpendicular distance) 
1201 
Radar AGL (Above Ground Level) – Height 
m 
Radar altimeter measure 
1202 
Radar Speed Down 
m/s 
Radar speed 
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 
13001309 
Clock 110 
s 
Configurable timers for automations – So clock 1 corresponds to timer 1 
13201321 
ADC 3.3V Input 12 
V 
CEX ADC 3.3 V inputs 1 and 2 
13221323 
ADC 5.0V Input 12 
V 
CEX ADC 5.0 V inputs 1 and 2 
13241325 
ADC 12.0V Input 12 
V 
CEX ADC 12.0 V inputs 1 and 2 
13261327 
ADC 36.0V Input 12 
V 
CEX ADC 36.0 V inputs 1 and 2 
13281329 
ADC vIn 12 
V 
CEX External power supplies 1 and 2 
1330 
PCB Temperature 
K 
CEX PCB Temperature (from ADC input) 
1331 
ADC HW Version 
V 
Hardware version of CEX ADC 
13501369 
4xV Real variables 
 
For more information, check 4x Software Manual > 32 VAR 
1400 
Velocity  X Body Axis 
m/s 
Velocity on Xaxis 
1401 
Velocity  Y Body Axis 
m/s 
Velocity on Yaxis 
1402 
Velocity  Z Body Axis 
m/s 
Velocity on Zaxis 
1403 
Estimated Dynamic Pressure 
Pa 
Dynamic pressure sensor raw measurement 
1404 
Barometric Pressure at Sea Level (QNH) 
Pa 
Introduced value for QNH 
14501453 
Captured Pulse 14 
customType 
Input values from pulses 
1490 
Internest Raw X Distance 
m 
Raw measurements for Xaxis internest distance 
1491 
Internest Raw Y Distance 
m 
Raw measurements for Yaxis internest distance 
1492 
Internest Raw Z Distance 
m 
Raw measurements for Zaxis 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 Zaxis 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 (EarthCentered EarthFixed coordinate system) X position 
1502 
GNSS1 ECEF Position Y 
m 
Data from GNSS1 module: ECEF (EarthCentered EarthFixed coordinate system) Y position 
1503 
GNSS1 ECEF Position Z 
m 
Data from GNSS1 module: ECEF (EarthCentered EarthFixed 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 BaseRover vector azimuth (Spherical coordinates system) 
1521 
GNSS1 Related Base to Rover Elevation 
rad 
Data from GNSS1 module: RTK BaseRover vector elevation (Spherical coordinates system) 
1522 
GNSS1 Related Base to Rover Distance 
m 
Data from GNSS1 module: RTK BaseRover vector distance (Spherical coordinates system) 
1523 
GNSS1 Related Base to Rover Accuracy 
m 
Data from GNSS1 module: RTK BaseRover 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 BaseRover vector North (NED Coordinate system) 
1526 
GNSS1 Related Base to Rover East 
m 
Data from GNSS1 module: RTK BaseRover vector East (NED Coordinate system) 
1527 
GNSS1 Related Base to Rover Down 
m 
Data from GNSS1 module: RTK BaseRover vector Down (NED Coordinate system) 
1528 
GNSS1 Position Frequency 
Hz 
Data from GNSS1 module: Position frequency 
1529 
GNSS1 Jamming Indicator 
% 
Jaming indicator from UBlox 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 (EarthCentered EarthFixed coordinate system) X position 
1602 
GNSS2 ECEF Position Y 
m 
Data from GNSS2 module: ECEF (EarthCentered EarthFixed coordinate system) Y position 
1603 
GNSS2 ECEF Position Z 
m 
Data from GNSS2 module: ECEF (EarthCentered EarthFixed 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 BaseRover vector azimuth (Spherical COordinates system) 
1621 
GNSS2 Related Base to Rover Elevation 
rad 
Data from GNSS2 module: RTK BaseRover vector elevation (Spherical COordinates system) 
1622 
GNSS2 Related Base to Rover Distance 
m 
Data from GNSS2 module: RTK BaseRover vector distance (Spherical COordinates system) 
1623 
GNSS2 Related Base to Rover Accuracy 
m 
Data from GNSS2 module: RTK BaseRover 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 BaseRover vector North (NED Coordinate system) 
1626 
GNSS2 Related Base to Rover East 
m 
Data from GNSS2 module: RTK BaseRover vector East (NED Coordinate system) 
1627 
GNSS2 Related Base to Rover Down 
m 
Data from GNSS2 module: RTK BaseRover vector Down (NED Coordinate system) 
1628 
GNSS2 Position Frequency 
H 
Data from GNSS2 module: Position frequency 
1629 
GNSS2 Jamming Indicator 
% 
Jaming indicator from UBlox device 2 for GNSS 
17001731 
Actuator Output s1  s32 
customType 
Configurable variable from actuator outputs to be transformed by the system 
1800 
Distance to Object of Interest 1 
m 
Spherical coordinate to object of interest 1: distance 
1801 
Azimuth to Object of Interest 1 
rad 
Spherical coordinate to object of interest 1: azimuth 
1802 
Elevation to Object of Interest 1 
rad 
Spherical coordinate to object of interest 1: elevation 
1803 
Distance to Object of Interest 2 
m 
Spherical coordinate to object of interest 2: distance 
1804 
Azimuth to Object of Interest 2 
rad 
Spherical coordinate to object of interest 2: azimuth 
1805 
Elevation to Object of Interest 2 
rad 
Spherical coordinate to object of interest 2: elevation 
1806 
Distance to Object of Interest 3 
m 
Spherical coordinate to object of interest 3: distance 
1807 
Azimuth to Object of Interest 3 
rad 
Spherical coordinate to object of interest 3: azimuth 
1808 
Elevation to Object of Interest 3 
rad 
Spherical coordinate to object of interest 3: elevation 
1809 
Distance to Object of Interest 4 
m 
Spherical coordinate to object of interest 4: distance 
1810 
Azimuth to Object of Interest 4 
rad 
Spherical coordinate to object of interest 4: azimuth 
1811 
Elevation to Object of Interest 4 
rad 
Spherical coordinate to object of interest 4: elevation 
1812 
Distance to Object of Interest 5 
m 
Spherical coordinate to object of interest 5: distance 
1813 
Azimuth to Object of Interest 5 
rad 
Spherical coordinate to object of interest 5: azimuth 
1814 
Elevation to Object of Interest 5 
rad 
Spherical coordinate to object of interest 5: elevation 
1815 
Distance to Object of Interest 6 
m 
Spherical coordinate to object of interest 6: distance 
1816 
Azimuth to Object of Interest 6 
rad 
Spherical coordinate to object of interest 6: azimuth 
1817 
Elevation to Object of Interest 6 
rad 
Spherical coordinate to object of interest 6: elevation 
1818 
Distance to Object of Interest 7 
m 
Spherical coordinate to object of interest 7: distance 
1819 
Azimuth to Object of Interest 7 
rad 
Spherical coordinate to object of interest 7: azimuth 
1820 
Elevation to Object of Interest 7 
rad 
Spherical coordinate to object of interest 7: elevation 
1821 
Distance to Object of Interest 8 
m 
Spherical coordinate to object of interest 8: distance 
1822 
Azimuth to Object of Interest 8 
rad 
Spherical coordinate to object of interest 8: azimuth 
1823 
Elevation to Object of Interest 8 
rad 
Spherical coordinate to object of interest 8: elevation 
1824 
Distance to Object of Interest 9 
m 
Spherical coordinate to object of interest 9: distance 
1825 
Azimuth to Object of Interest 9 
rad 
Spherical coordinate to object of interest 9: azimuth 
1826 
Elevation to Object of Interest 9 
rad 
Spherical coordinate to object of interest 9: elevation 
1827 
Distance to Object of Interest 10 
m 
Spherical coordinate to object of interest 10: distance 
1828 
Azimuth to Object of Interest 10 
rad 
Spherical coordinate to object of interest 10: azimuth 
1829 
Elevation to Object of Interest 10 
rad 
Spherical coordinate to object of interest 10: elevation 
1830 
Distance to Object of Interest 11 
m 
Spherical coordinate to object of interest 11: distance 
1831 
Azimuth to Object of Interest 11 
rad 
Spherical coordinate to object of interest 11: azimuth 
1832 
Elevation to Object of Interest 11 
rad 
Spherical coordinate to object of interest 11: elevation 
1833 
Distance to Object of Interest 12 
m 
Spherical coordinate to object of interest 12: distance 
1834 
Azimuth to Object of Interest 12 
rad 
Spherical coordinate to object of interest 12: azimuth 
1835 
Elevation to Object of Interest 12 
rad 
Spherical coordinate to object of interest 12: elevation 
1836 
Distance to Object of Interest 13 
m 
Spherical coordinate to object of interest 13: distance 
1837 
Azimuth to Object of Interest 13 
rad 
Spherical coordinate to object of interest 13: azimuth 
1838 
Elevation to Object of Interest 13 
rad 
Spherical coordinate to object of interest 13: elevation 
1839 
Distance to Object of Interest 14 
m 
Spherical coordinate to object of interest 14: distance 
1840 
Azimuth to Object of Interest 14 
rad 
Spherical coordinate to object of interest 14: azimuth 
1841 
Elevation to Object of Interest 14 
rad 
Spherical coordinate to object of interest 14: elevation 
1842 
Distance to Object of Interest 15 
m 
Spherical coordinate to object of interest 15: distance 
1843 
Azimuth to Object of Interest 15 
rad 
Spherical coordinate to object of interest 15: azimuth 
1844 
Elevation to Object of Interest 15 
rad 
Spherical coordinate to object of interest 15: elevation 
1845 
Distance to Object of Interest 16 
m 
Spherical coordinate to object of interest 16: distance 
1846 
Azimuth to Object of Interest 16 
rad 
Spherical coordinate to object of interest 16: azimuth 
1847 
Elevation to Object of Interest 16 
rad 
Spherical coordinate to object of interest 16: elevation 
1848 
Distance to Object of Interest 17 
m 
Spherical coordinate to object of interest 17: distance 
1849 
Azimuth to Object of Interest 17 
rad 
Spherical coordinate to object of interest 17: azimuth 
1850 
Elevation to Object of Interest 17 
rad 
Spherical coordinate to object of interest 17: elevation 
1851 
Distance to Object of Interest 18 
m 
Spherical coordinate to object of interest 18: distance 
1852 
Azimuth to Object of Interest 18 
rad 
Spherical coordinate to object of interest 18: azimuth 
1853 
Elevation to Object of Interest 18 
rad 
Spherical coordinate to object of interest 18: elevation 
1854 
Distance to Object of Interest 19 
m 
Spherical coordinate to object of interest 19: distance 
1855 
Azimuth to Object of Interest 19 
rad 
Spherical coordinate to object of interest 19: azimuth 
1856 
Elevation to Object of Interest 19 
rad 
Spherical coordinate to object of interest 19: elevation 
1857 
Distance to Object of Interest 20 
m 
Spherical coordinate to object of interest 20: distance 
1858 
Azimuth to Object of Interest 20 
rad 
Spherical coordinate to object of interest 20: azimuth 
1859 
Elevation to Object of Interest 20 
rad 
Spherical coordinate to object of interest 20: elevation 
1860 
Distance to Object of Interest 21 
m 
Spherical coordinate to object of interest 21: distance 
1861 
Azimuth to Object of Interest 21 
rad 
Spherical coordinate to object of interest 21: azimuth 
1862 
Elevation to Object of Interest 21 
rad 
Spherical coordinate to object of interest 21: elevation 
1863 
Distance to Object of Interest 22 
m 
Spherical coordinate to object of interest 22: distance 
1864 
Azimuth to Object of Interest 22 
rad 
Spherical coordinate to object of interest 22: azimuth 
1865 
Elevation to Object of Interest 22 
rad 
Spherical coordinate to object of interest 22: elevation 
1866 
Distance to Object of Interest 23 
m 
Spherical coordinate to object of interest 23: distance 
1867 
Azimuth to Object of Interest 23 
ra 
Spherical coordinate to object of interest 23: azimuth 
1868 
Elevation to Object of Interest 23 
rad 
Spherical coordinate to object of interest 23: elevation 
1869 
Distance to Object of Interest 24 
m 
Spherical coordinate to object of interest 24: distance 
1870 
Azimuth to Object of Interest 24 
rad 
Spherical coordinate to object of interest 24: azimuth 
1871 
Elevation to Object of Interest 24 
rad 
Spherical coordinate to object of interest 24: elevation 
1872 
Distance to Object of Interest 25 
m 
Spherical coordinate to object of interest 25: distance 
1873 
Azimuth to Object of Interest 25 
rad 
Spherical coordinate to object of interest 25: azimuth 
1874 
Elevation to Object of Interest 25 
rad 
Spherical coordinate to object of interest 25: elevation 
1875 
Distance to Object of Interest 26 
m 
Spherical coordinate to object of interest 26: distance 
1876 
Azimuth to Object of Interest 26 
rad 
Spherical coordinate to object of interest 26: azimuth 
1877 
Elevation to Object of Interest 26 
rad 
Spherical coordinate to object of interest 26: elevation 
1878 
Distance to Object of Interest 27 
m 
Spherical coordinate to object of interest 27: distance 
1879 
Azimuth to Object of Interest 27 
rad 
Spherical coordinate to object of interest 27: azimuth 
1880 
Elevation to Object of Interest 27 
rad 
Spherical coordinate to object of interest 27: elevation 
1881 
Distance to Object of Interest 28 
m 
Spherical coordinate to object of interest 28: distance 
1882 
Azimuth to Object of Interest 28 
rad 
Spherical coordinate to object of interest 28: azimuth 
1883 
Elevation to Object of Interest 28 
rad 
Spherical coordinate to object of interest 28: elevation 
1884 
Distance to Object of Interest 29 
m 
Spherical coordinate to object of interest 29: distance 
1885 
Azimuth to Object of Interest 29 
rad 
Spherical coordinate to object of interest 29: azimuth 
1886 
Elevation to Object of Interest 29 
rad 
Spherical coordinate to object of interest 29: elevation 
1887 
Distance to Object of Interest 30 
m 
Spherical coordinate to object of interest 30: distance 
1888 
Azimuth to Object of Interest 30 
rad 
Spherical coordinate to object of interest 30: azimuth 
1889 
Elevation to Object of Interest 30 
rad 
Spherical coordinate to object of interest 30: elevation 
1890 
Distance to Object of Interest 31 
m 
Spherical coordinate to object of interest 31: distance 
1891 
Azimuth to Object of Interest 31 
rad 
Spherical coordinate to object of interest 31: azimuth 
1892 
Elevation to Object of Interest 31 
rad 
Spherical coordinate to object of interest 31: elevation 
1893 
Distance to Object of Interest 32 
m 
Spherical coordinate to object of interest 32: distance 
1894 
Azimuth to Object of Interest 32 
rad 
Spherical coordinate to object of interest 32: azimuth 
1895 
Elevation to Object of Interest 32 
rad 
Spherical coordinate to object of interest 32: 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 
2019 
Stick RX Rate 
Hz 
Number of stick messages received per second 
2020 
Position Fix Time 
s 
Time spend with GNSS without losing fix 
20402042 
Tunnel Producer Receive Frequency 13 
Hz 
Tunnel producer 13 receives data at this frequency 
20432045 
Tunnel Consumer Send Frequency 13 
Hz 
Tunnel consumer 13 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 task 
2048 
Acquisition Task Maximum Timestep 
s 
Maximum period to execute the acquisition task 
2049 
Cross Core Message Queue CPU Ratio 
percentage 
% of time of CPU that CIO waits for intercore communications queue to be emptied 
2050 
Acquisition Task Average CPU Ratio 
percentage 
Average % of CPU time of the acquisition task 
2051 
Acquisition Task Maximum CPU Ratio 
percentage 
Maximum % of CPU time of the acquisition task 
2052 
Acquisition Task Average Time 
s 
Average time for acquisition task 
2053 
Acquisition Task Maximum Time 
s 
Maximum time for acquisition task 
2054 
CIO Max Time 
s 
Maximum acquisition time from Core Input/Output 
2055 
CIO Average Time 
s 
Average acquisition time from Core Input/Output 
2056 
CrossCore Message Queue Usage 
% 
Percentage of communication employed between both microprocessors 
2057 
CIO Running Frequency 
Hz 
C1 low frequency 
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 Xaxis data 
2101 
Gyroscope Based on Accelerometer – Y Body Axis 
rad/s 
Gyroscope measurements obtained from accelerometer Yaxis data 
2102 
Gyroscope Based on Accelerometer – Z Body Axis 
rad/s 
Gyroscope measurements obtained from accelerometer Zaxis 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 
22502259 
Reserved 110 
customType 
System reserved variables 
23002302 
Joint 13 of Gimbal 1 
rad 
Variables for Gimbal 1 configuration – Angles sent to gimbal as Yaw (1), Pitch (2) and Roll (3) 
23032305 
Joint 13 of Gimbal 2 
rad 
Variables for Gimbal 2 configuration – Angles sent to gimbal as Yaw (1), Pitch (2) and Roll (3) 
2330 
VMC Control Loop Period 
s 
MC01 control loop period 
2331 
VMC Control Loop Maximum Period 
s 
MC01 maximum control loop period 
2332 
VMC Control Loop Duration 
s 
MC01 control loop average execution time 
2333 
VMC Control Loop Maximum Duration 
s 
MC01 control loop maximum average execution time 
2334 
VMC Control Loop CPU Usage Ratio 
% 
MC01 CPU usage ratio 
2335 
VMC Control Loop Maximum CPU Usage Ratio 
% 
MC01 maximum CPU usage ratio 
23362338 
VMC UVW Phase Current 
customType 
MC01 UVW phase current 
2339 
VMC Electrical Angle 
rad 
MC01 electrical angle 
2340 
VMC Mechanical Angle 
rad 
MC01 mechanical angle 
2341 
VMC Mechanical Angular Speed 
rad/s 
MC01 mechanical angular speed 
2342 
VMC Desired Mechanical Angle 
rad 
MC01 desired mechanical angle 
2343 
VMC Position Controller Output 
rad/s 
MC01 position PDI output 
2344 
VMC Desired Mechanical Angular Speed 
rad/s 
MC01 desired mechanical angular speed 
2345 
VMC Desired Mechanical Angular Speed After Speed Limiter 
rad/s 
MC01 desired mechanical angular speed after speed limiter 
2346 
VMC Speed Controller Output 
customType 
MC01 speed PDI output 
23472348 
VMC Clarke AlphaBeta Current 
customType 
MC01 alpha and beta current after Clarke transformation 
23492350 
VMC Park DirectQuadrature Current 
customType 
MC01 currents after park transformation 
23512352 
VMC Desired Park DirectQuadrature Current 
customType 
MC01 desired park currents 
23532354 
VMC Park DirectQuadrature Current Controller Output 
customType 
MC01 current PIDs outputs 
23552356 
VMC Clarke AlphaBeta Current from Park Controller Output 
customType 
MC01 Clarke alphabeta currents from park controller output 
23572358 
VMC Desired Clarke AlphaBeta current 
customType 
MC01 desired Clarke currents 
23592361 
VMC UVW Phase Space Vector Generator Output 
customType 
MC01 phase time constants 
23622364 
VMC UVW Phase PWM output 
percentage 
MC01 PWM outputs 
2365 
VMC Encoder Raw Angle 
rad 
MC01 encoder raw measured angle 
2366 
VMC Stepper Output Frequency 
Hz 
MC01 stepper output frequency 
2367 
VMC Mechanical Angle Error 
rad 
MC01 mechanical angle error 
23682370 
VMC UVW Phase BEMF 
V 
MC01 UVW phase electromechanical force 
2371 
VMC Input Current 
A 
DC bus current estimation 
2372 
VMC Input Command Value 
customType 
Speed input rate from source (CAN or PWM) 
23732374 
VMC ADC in 12 (MC110) 
V 
System reserved variables 
2375 
Board Temperature (MC110) 
K 
Board temperature 
2376 
Power Module Temperature (MC110) 
K 
IGBT filtered temperature 
2377 
External Temperature (MC110) 
K 
Motor temperature 
2378 
Input Power (MC110) 
V 
DC bus voltage 
23792380 
UV Phase Hall current sensor (MC110) 
customType 
System reserved variables 
2381 
Virtual and estimator angle difference 
rad 
Angle offset value from estimated and commanded angle to close control loop. 
24002419 
Control Output u120 
customType 
Control output 1 to 20 after servo saturation 
25002519 
Stick Input u1u20 
customType 
Intermediate values from stick used for arcade mode 
26002619 
Stick Input d1d20 
customType 
Intermediate values from stick used for arcade mode  delta values 
27002739 
Operation Guidance 140 
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 NorthEast Wind Velocity Estimation Covariance 
m/s 
Wind velocity vector pointing cross NorthEast direction (NED Coordinate system) estimation covariance 
2805 
Wind Velocity Estimation Uncertainty (Element 20) 
m/s 
20 element from covariance matrix in wind estimation 
2806 
Wind Velocity Estimation Uncertainty (Element 01) 
m/s 
01 element from covariance matrix in wind estimation 
2807 
Wind Velocity Estimation Uncertainty (Element 11) 
m/s 
11 element from covariance matrix in wind estimation 
2808 
Wind Velocity Estimation Uncertainty (Element 21) 
m/s 
21 element from covariance matrix in wind estimation 
2809 
Wind Velocity Estimation Uncertainty (Element 02) 
m/s 
02 element from covariance matrix in wind estimation 
2810 
Wind Velocity Estimation Uncertainty (Element 12) 
m/s 
12 element from covariance matrix in wind estimation 
2811 
Wind Velocity Estimation Uncertainty (Element 22) 
m/s 
22 element from covariance matrix in wind estimation 
2812 
Wind Azimuth Angle 
degree 
Wind estimated azimuth 
2813 
Wind Velocity in NorthEast plane 
m/s 
Horizontal wind velocity 
2900 
MSL Right from Actual QNH and Pressure Measurement 
m 
Mean Sea Level obtained from Actual QNH and current Pressure Measurement 
2901 
MSL for ISA and Pressure Measurement 
m 
Mean Sea Level calculated for ISO International Standard Atmosphere and Pressure Measurement 
2902 
Time Since Entering Current Phase 
s 
Timelapse considered since entering the current phase 
2903 
GNC Timestep 
s 
Task execution period from GNC 
2904 
Total Flight Time 
s 
Timelapse 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 
29082927 
Time in Phase 120 
s 
Timelapse spent by the vehicle in phase 1 to 20 
30003031 
Simulation Variable 132 
customType 
Variables used for Simulation data 
31003399 
User Variable 01300 (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 1 
Internal ADC pin 1 Warning Variable for internal use 
37 
ADC 15 
Direct reading of ADC pin 15 
818 
Internal ADC 717 
Internal ADC pin 717 Warning Variable for internal use 
19 
Current envelope 
Index pointing to the used envelope 
20 
Counter for C2 system BIT 
Index for number of cycles from Core 2 
21 
Total memory for blocks allocation 
Total words available for blocks Note 1 word = 2 bytes 
22 
Memory used for blocks allocation 
Words used for blocks in allocator Note 1 word = 2 bytes 
23 
SRTM source at UAV’s position 
Index for the SRTM source type 
50 
PDI Error Source 
Index for PDI error source identification 
51 
Operation error source 
Index for operation error source identification 
5475 
4xV Integer variables 
For more information, check 4x Software Manual > 16 VAR 
80 
Detour calculation identifier 
Index for a route change 
81 
Approach calculation identifier 
Index for the approach calculation route 
82 
Climb calculation identifier 
Index for the climb calculation route 
83 
Cruise calculation identifier 
Index for the cruise calculation route 
84 
Rendezvous calculation identifier 
Index for the rendezvous calculation route 
85 
Taxi calculation identifier 
Index for the taxi calculation route 
86 
VTOL calculation identifier 
Index for the VTOL calculation route 
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 
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 
101102 
GNSS1 rejectedaccepted RTCM 1005 
Number of RTCM rejected by wrong CRC  correctly received by Ublox 1005 
103104 
GNSS1 rejectedaccepted RTCM 1077 
Number of RTCM rejected by wrong CRC  correctly received by Ublox 1077 
105106 
GNSS1 rejectedaccepted RTCM 1087 
Number of RTCM rejected by wrong CRC  correctly received by Ublox 1087 
107108 
GNSS1 rejectedaccepted RTCM 1127 
Number of RTCM rejected by wrong CRC  correctly received by Ublox 1127 
109110 
GNSS1 rejectedaccepted RTCM 1230 
Number of RTCM rejected by wrong CRC  correctly received by Ublox 1230 
111112 
GNSS1 rejectedaccepted 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

150 
GNSS2 Number of Satellites Used in Solution 
Number of Satellites Used in Solution 
151152 
GNSS2 rejectedaccepted RTCM 1005 
Number of RTCM rejected by wrong CRC  correctly received by Ublox 1005 
153154 
GNSS2 rejectedaccepted RTCM 1077 
Number of RTCM rejected by wrong CRC  correctly received by Ublox 1077 
155156 
GNSS2 rejectedaccepted RTCM 1087 
Number of RTCM rejected by wrong CRC  correctly received by Ublox 1087 
157158 
GNSS2 rejectedaccepted RTCM 1127 
Number of RTCM rejected by wrong CRC  correctly received by Ublox 1127 
159160 
GNSS2 rejectedaccepted RTCM 1230 
Number of RTCM rejected by wrong CRC  correctly received by Ublox 1230 
161162 
GNSS2 rejectedaccepted 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

200 
Radar Altimeter State 
Index for the radar altimeter state 
201 
Current Section 
Index showing section 
202 
Last Achieved Section 
Index showing sections achieved 
203 
Track Stage 
Index showed when a route change happens 
204 
Current patchset ID 
Index showing the patchset 
303305 
HMR2300 Magnetometer Raw Measurement XYZ 
External HMR2300 magnetometer raw measurements 
310311 
Iridium sentreceived 
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 acquisition 
400 
Internest raw status 
Internest raw status 
401 
Navigation source 
Index pointing to the primary navigation source 
402 
Raw position source identifier 
GPS identifier selected as main 
403 
Selected static pressure sensor 
Static pressure sensor selection Warning Deprecated variable 
404 
Selected dynamic pressure sensor 
Dynamic pressure sensor selection 
405 
Selected primary accelerometer 
Primary accelerometer selection 
406 
Selected primary gyroscope 
Primary gyroscope selection 
409 
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 
450 
CANA Tx errors 
CAN A communication errors in transmission 
451 
CANA Rx errors 
CAN A communication errors in reception 
452 
CANB Tx errors 
CAN B communication errors in transmission 
453 
CANB Rx errors 
CAN B communication errors in reception 
454456 
CAN to Serial 13 frames dropped 
Lost messages during CAN to Serial transformations 
460461 
FirstLast file Periodic log 
FirstLast file of the periodic log 
462463 
FirstLast file Event log 
FirstLast file of the event log 
464465 
FirstLast file Fast log 
FirstLast file of the fast log 
480485 
COM16 packet discarded 
Discared packets at COM 1 to 6 
490 
Number of moving objects detected 
Number of moving objects detected 
491492 
Veronte static cfg CRC(no Operation) of files (HigherLower 16 bits) 
Veronte static cfg CRC (no Op.) of files 
493494 
Veronte static cfg CRC(no Operation) of memory (HigherLower 16 bits) 
Veronte static cfg CRC (no Op.) of memory 
495496 
Global configuration state (crc) of files (HigherLower 16 bits) 
Global configuration state (crc) of files 
497 
Config manager status (flash / sd / maintenance mode) 
Configuration manager status 
498499 
Global configuration state (crc) of filesmemory 
Global configuration state (crc) of files and memory 
501 
System reserved 1 
4x veronte selected Warning DEPRECATED VARIABLE on v6.2 
550557 
Reserved 18 
System reserved variables for Gimbal 
600615 
PPM channel 116 output 
CEX PPM channel outputs 
620 
Jetibox max successfully parsed message 
Note CEX variable 
710 
ADSB OUT  Squawk Code 
ADSB Squak 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

711 
ADSB OUT  ICAO 
ADSB 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

712 
ADSB 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

713 
ADSB OUT  Mode 
Index of ADSB mode: IN, OUT or BOTH This variable is closely related to the management of communications between transponders and Veronte Autopilot 1x. Warning

714721 
ADSB OUT  Call sign 18 
ADSB 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

730 
Ping1090  Sequence number 
Warning Variable for internal use (custom message for Ping1090 transpoder) 
741 
Sagetech MXS  Hemisphere data status 
Sagetech variable, used by block to parse variables for GPS Navigation Data Message Warning Variable for internal use 
742 
Sagetech MXS  Ground track 
Sagetech variable, used by block to parse variables for GPS Navigation Data Message Warning Variable for internal use 
743 
Sagetech MXS  Air speed 
Sagetech variable, used by block to parse variables for GPS Navigation Data Message Warning Variable for internal use 
800 
VMC Fault Id 
Index of the VMC error 
801 
VMC Control Mode 
Index of the VMC control mode: 0 fail_safe, 1 PPM, 2 CAN 
900909 
Simulation variable 110 
Variables used for simulation data 
10001299 
User Variable 1300 (Unsigned Integer  16 bits) 
Free variables for user 
2000 
Uvar Disabled 
Disabled variable 
2001 
Zero 
Variable with constant 0 value 
List of PDI errors¶
The following table explains the list of possible errors from Veronte applications.
Code 
Nº 
Explanation 

pdi_ok 
0 
No errors detected 
pdi_gpio 
1 
GPIOs function configuration 
pdi_odt_pool_sz 
2 
Incorrect pool size in ondemand 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_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 
Readonly variable selected in sniffer 
pdi_fmsgc_read_only 
65 
Readonly variable selected in serial message consumer 
pdi_canmsgc_read_only 
66 
Readonly variable selected in CAN message consumer 
pdi_vref_read_only 
67 
Readonly 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_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_cmd_rdvzset 
176 
Rendezvous command base_yaw oor 
pdi_cmd_taxiget 
183 
Taxi guidance request command 
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_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 nondecreasing 
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 [100100] 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 
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 
578 
Invalid type of desired velocity smoothing 
pdi_accellimit1 
579 
Maximum permitted falling acceleration per axis is less than the minimum allowed acceleration in each axis 
pdi_accellimit2 
580 
Maximum permitted rising acceleration per axis is less than the minimum allowed acceleration in each axis 
pdi_accellimit3 
581 
Maximum permitted falling jerk per axis is less than the minimum allowed jerk in each axis 
pdi_accellimit4 
582 
Maximum permitted rising jerk per axis is less than the minimum allowed jerk in each axis 
pdi_circle 
583 
Circle radius is less than or equal to 0 
pdi_height 
584 
Height type is neither relative nor absolute 
pdi_heightabs 
585 
Invalid absolute height type 
pdi_rwy 
586 
Invalid runway preferred type 
pdi_driver 
588 
Problem in Driver block configuration 
pdi_mwk 
592 
Gyroscope measurement error 
pdi_opinctrl 
593 
Invalid PID controller input type 
pdi_pid 
594 
Invalid PID integral configuration (tau must be > 0) 
pdi_prediction 
595 
Error in the Model Prediction Control algorithm. Prediction Horizon out of range or zero diagonal matrix R 
pdi_sysid 
596 
Incorrect system identification block configuration 
pdi_tsched 
597 
Empty table scheduler PID 
pdi_iir 
599 
Invalid cutoff frequencies for IIR2 filter in sensor 
pdi_iir3 
600 
Invalid cutoff frequencies for 3D IIR2 filter in sensor 
pdi_usre2 
601 
User configured variance less than minimum variance allowed if in device mode 
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 configurationchannel 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 writeonly 
pdi_tuntrait 
625 
Error trying to resize an array out of its maximum size 
pdi_asuite 
626 
Selected sensor (accelerometer, gyroscope or dynamic pressure) 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_addvec 
631 
Error in the connections for block Add 
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 TSched 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 (nonexisting patch) 
pdi_vblk_approach 
716 
Incorrect approach block operation 
pdi_vblk_yawing 
717 
Incorrect yawing block configuration 
pdi_vblk_siggen 
718 
Incorrect signal genaration 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_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_cfgmr_length 
32000 
Unexpected size of PDI or command 
pdi_check_test 
0xFFFFError 
ID for given pdi check. 