Lists of interest¶
This section contains all the lists with information of interest for the user.
Activation System Error bits¶
The System Error variable is indicated by bit number 7. This bit checks whether the system is running properly. If one of certain malfunctions occur, the System Error will be set as 0 and the FTS will be activated. Othwerwise, if everything is OK, it will remain as 1.
Warning
This bit works different for Autopilot 1x and Arbiter. This explanation is for Arbiter.
The System Error will be triggered and remain as 0 if one of the following unwanted events happens:
An error occurred with System power up according to bit 12.
RAM allocation is in error state due to try using more memory than available, this is indicated with a 0 on bit 8.
CAN A bus is not working, hence bit 73 is set as 0.
CAN B bus is not working, hence bit 74 is set as 0.
One of the internal voltages is not in range, i.e. bit 5 of one of the Autopilots 1x is set as 0.
There is not any autopilot alive.
Low priority task frequency is not correct, i.e. bit 400 is set as 0.
Acquisition task frequency is not correct, i.e. bit 402 is set as 0.
Lists of variables¶
This section shows the variables employed by Veronte Autopilot 4x, both variables of the Arbiter and of Autopilots 1x.
A suitable configuration of the Autopilots 1x is key for ensuring proper communication and operation of the Autopilot 4x. Consider the structure of Arbitration messages, and consult the Lists of variables section of 1x Software Manual for further information.
Bit Variables¶
Important
Variables marked with “*” are stored in Autopilot 1x. If communication is configured accordingly, they represent information transmitted from the Arbiter.
ID |
Name |
Description |
|---|---|---|
6 |
File System Error |
System file manager - 0 for error, 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 Warning Deprecated variable |
11 |
4X CAN failed |
Fail of CAN communication between 1x and Arbiter - 0 for fail, 1 for communication OK This bit is initialized with 1. When it is set as 0, it cannot recover until 1x is restarted |
12 |
System Power up BIT Error |
Power up - 0 for error, 1 for OK |
16 |
Stack C1 usage FAIL |
0 for stack overflow of core 1, 1 for OK |
20* |
4XV System |
System Error bit (bit 7) from the Arbiter |
21* |
4XV System Power up BIT |
Autopilot 4x power up - 0 for fail, 1 for running OK |
22* |
4XV PDI |
PDI files for Autopilot 4x - 0 for wrong PDI configuration, 1 for OK |
23* |
4XV Memory allocation |
RAM allocation - 0 for trying to use more than available memory, 1 for OK |
24* |
4XV CAN-A BUS OFF |
Autopilot 4x CAN A bus - 0 for error, 1 for running OK |
25* |
4XV CAN-B BUS OFF |
Autopilot 4x CAN B bus - 0 for error, 1 for running OK |
26* |
4XV C1 arbiter |
Main Task of CP1 in Autopilot 4x - 0 for error, 1 for running OK |
27* |
4XV Acquisition arbiter |
Autopilot 4x acquisition task in real time - 0 for error, 1 for OK |
28* |
4XV Power A |
State of power supply for Autopilot 4x - 0 for error, 1 for OK |
29* |
4XV not in maintenance mode |
1 for NOT in mantenance mode - 0 for maintenance mode |
30* |
4XV Alive 0 |
Indicates whether Autopilot 1x number 0 is sending status messages or not - 0 for dead, 1 for alive |
31* |
4XV Alive 1 |
Indicates whether Autopilot 1x number 1 is sending status messages or not - 0 for dead, 1 for alive |
32* |
4XV Alive 2 |
Indicates whether Autopilot 1x number 2 is sending status messages or not - 0 for dead, 1 for alive |
33* |
4XV Alive 3 external |
Indicates whether external Autopilot is sending status messages or not - 0 for dead, 1 for alive |
34* |
4XV Ready 0 |
Inner Autopilot 1x number 0 state - 0 for not ready, 1 for ready |
35* |
4XV Ready 1 |
Inner Autopilot 1x number 1 state - 0 for not ready, 1 for ready |
36* |
4XV Ready 2 |
Inner Autopilot 1x number 2 state - 0 for not ready, 1 for ready |
37* |
4XV Ready 3 external |
External Autopilot 1x state - 0 for not ready, 1 for ready |
38* |
4XV Arbitrating |
Arbiter state - 0 for not ready, 1 for ready |
39* |
4XV File Open Error |
System file manager state - 0 for error, 1 for running OK |
40* |
4XV PDI version not compatible |
PDI files state - 0 for not compatible with current version, 1 for compatible |
41* |
4XV Stack usage FAIL |
0 for memory overflow allocated for local variables, 1 for OK |
42* |
4XV PWM1 GPIO Off |
GPIO/PWM 1 Value to read - 0 for OFF, 1 for ON |
43* |
4XV PWM2 GPIO Off |
GPIO/PWM 2 Value to read - 0 for OFF, 1 for ON |
44* |
4XV PWM3 GPIO Off |
GPIO/PWM 3 Value to read - 0 for OFF, 1 for ON |
45* |
4XV PWM4 GPIO Off |
GPIO/PWM 4 Value to read - 0 for OFF, 1 for ON |
46* |
4XV PWM5 GPIO Off |
GPIO/PWM 5 Value to read - 0 for OFF, 1 for ON |
47 |
4XV Watchdog Error. (v4.7+) |
For version 4.7 or higher - 0 for watchdog signal is not read correctly, 1 for OK |
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 |
117 |
Main Power Error |
Main power supply A. It will be 0 fot indicating error state |
124 |
4XV Vcc for Arbiter CPU Error |
Power state of CPU Arbiter (Based on RVar 1360) - 0 for error, 1 for OK |
125 |
4XV Vcc-A Error |
State of redundant power supply A (Based on RVar 1361) - 0 for error, 1 for OK |
126 |
4XV Vcc-B Error |
State of redundant power supply B (Based on RVar 1362)- 0 for error, 1 for OK |
127 |
4XV Vcc-0 Error |
Power supply for inner Autopilot 1x number 0 (Based on RVar 1363) - 0 for error, 1 for OK |
128 |
4XV Vcc-1 Error |
Power supply for inner Autopilot 1x number 1 (Based on RVar 1364) - 0 for error, 1 for OK |
129 |
4XV Vcc-2 Error |
Power supply for inner Autopilot 1x number 2 (Based on RVar 1365) - 0 for error, 1 for OK |
183 |
4X Selected |
4x Veronte Autopilot selected - 0 when this AP is not the selected AP, 1 when this AP is the selected one |
230-293 |
4XV Custom msg 0-63 Rx Error |
Custom message of Arbiter - 0 for timeout, 1 for OK |
400 |
C1 Low Frequency |
Low priority tasks frequency
|
402 |
Acquisition step missed |
|
800-805 |
PWM 0-5 GPIO Off |
PWM GPIO 0-5 communication Sate - 0 for Off, 1 for On |
1200-1209 |
User BIT 00-09 Error |
User bit 0 to 9 - 0 for error, 1 for OK |
Real Variables (RVar) - 32 Bits¶
Important
Variables marked with “*” are stored in Autopilot 1x. If communication is configured accordingly, they represent information transmitted from the Arbiter.
ID |
Name |
Units/Values |
Description |
|---|---|---|---|
50 |
CAN-A Tx Rate |
pkts/s |
CAN-A transmission packet rate |
51 |
CAN-B Tx Rate |
pkts/s |
CAN-B transmission packet rate |
52 |
CAN-A Tx Skip Rate |
pkts/s |
CAN-A messages delayed because no mailbox is available for sending |
53 |
CAN-B Tx Skip Rate |
pkts/s |
CAN-B messages delayed because no mailbox is available for sending |
300 |
Relative Timestamp |
s |
CAN-A messages delayed because no mailbox is available for sending |
1350-1356 |
4XV ADC0-6 Converted Value |
V |
4XV ADC0-6 Converted Values |
1357-1358 |
4XV Internal ADC7-8 Converted Value |
V |
4XV Internal ADC7-8 Converted Values |
1359 |
4XV Internal ADC 9 Converted Value |
V |
4XV Internal Arbiter identifier (A or B) |
1360 |
4XV Vcc for arbiter |
V |
Vcc for arbiter |
1361 |
4XV Vcc-A 3.3V |
Vcc-A 3.3V |
|
1362 |
4XV Vcc-B 3.3V |
Vcc-B 3.3V |
|
1363 |
4XV Vcc-0 |
Vcc-0 |
|
1364 |
4XV Vcc-1 |
Vcc-1 |
|
1365 |
4XV Vcc-2 |
Vcc-2 |
|
1366* |
4XV Autopilot 0 Score |
customType |
Score of Autopilot 1x number 0 |
1367* |
4XV Autopilot 1 Score |
customType |
Score of Autopilot 1x number 1 |
1368* |
4XV Autopilot 2 Score |
customType |
Score of Autopilot 1x number 2 |
1369* |
4XV Autopilot External Score |
Decimal |
Score of external Autopilot 1x |
Integer Variables (UVar) - 16 Bits¶
Important
Variables marked with “*” are stored in Autopilot 1x. If communication is configured accordingly, they represent information transmitted from the Arbiter.
ID |
Name |
Description |
|---|---|---|
2 |
Internal ADC 0 |
Internal ADC pin Note Variable for internal use |
3-7 |
ADC 0-4 |
Direct reading of ADC pins |
8-17 |
Internal ADC 1-10 |
Internal ADC pins Note Variables for internal use |
53 |
4XV Veronte ID |
ID of the Autopilot 1x for the redundant configuration (0 - 3) |
54 |
4XV Veronte CAP |
Current Autopilot 1x selected - If the Autopilot has version 4.7 or higher, it is obtained from MUX readings, otherwise it is copied from RVar 55 (in this table) |
55* |
4XV Veronte selected |
Autopilot 1x selected |
56* |
4XV Config manager status (flash / sd / safe mode) |
Configuration manager state (flash, sd or safe) |
57* |
4XV File system status |
State error for DFS2 file system |
58* |
4XV CAN to Serial 0 frames dropped |
Lost messages during transformations CAN to Serial 0 |
59* |
4XV CAN to Serial 1 frames dropped |
Lost messages during transformations CAN to Serial 1 |
60-69* |
4XV Internal ADC 0-9 |
4XV Internal ADC pind 0-9 |
70* |
4XV VCC arbiter |
4XV VCC for arbiter |
71* |
4XV VCC A |
4XV VCC A |
72* |
4XV VCC B |
4XV VCC B |
73* |
4XV VCC 0 |
4XV VCC 0 |
74* |
4XV VCC 1 |
4XV VCC 1 |
75* |
4XV VCC 2 |
4XV VCC 2 |
90 |
Version Major |
Major software version |
91 |
Version Minor |
Minor software version |
92 |
Version Revision |
Revision software version |
95 |
UAV address |
UAV address |
450 |
CAN-A Tx errors |
CAN A communication errors in transmission |
451 |
CAN-A Rx errors |
CAN A communication errors in reception |
452 |
CAN-B Tx errors |
CAN B communication errors in transmission |
453 |
CAN-B Rx errors |
CAN B communication errors in reception |
454-455 |
CAN to Serial 0-1 frames dropped |
Lost messages during CAN to Serial transformations |
495 |
Global configuration state (crc) of files (Higher 16 bits) |
Global configuration state (crc) of files |
496 |
Global configuration state (crc) of memory (Higher 16 bits) |
Global configuration state (crc) of memory |
498 |
Global configuration state (crc) of files |
Global configuration state (crc) of files |
499 |
Global configuration state (crc) of memory |
Global configuration state (crc) of memory |
List of PDI errors¶
This section shows the errors that can be displayed by Veronte Autopilot 4x. The rest of errors can be read in the List of PDI errors section of 1x Software Manual.
Code |
Nº |
Explanation |
|---|---|---|
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_arb_init_time |
10011 |
Error ID for Arbiter Power Init Time less than 0 |
pdi_arb_varcfg |
10013 |
Incorrect arbiter variable configuration |