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.

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.

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

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-1 Error

Power supply for inner Autopilot 1x number 1 (Based on RVar 1363) - 0 for error, 1 for OK

128

4XV Vcc-2 Error

Power supply for inner Autopilot 1x number 2 (Based on RVar 1364) - 0 for error, 1 for OK

129

4XV Vcc-3 Error

Power supply for inner Autopilot 1x number 3 (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

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

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

402

Acquisition step missed

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

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

800-805

PWM 0-5 GPIO Off

PWM GPIO 0-5 communication Sate - 0 for Off, 1 for On

1200-1209

User BIT Error 00-09

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

Configuration manager state (flash, sd or safe)

57*

4XV File system status

State error for DFS2 file system

58*

4XV CAN-Serial 0 frames dropped

Lost messages during transformations CAN to Serial 0

59*

4XV CAN-Serial 1 frames dropped

Lost messages during transformations CAN to Serial 1

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

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 out of range

pdi_arb_cfg1

10004

Error ID for Arb cfg method out of range

pdi_arb_cfg2

10005

Error ID for Arb cfg tmin out of range

pdi_arb_cfg3

10006

Error ID for Arb cfg hysteresis out of range

pdi_arb_init_time

10011

Error ID for Arbiter Power Init Time less than 0

pdi_arb_varcfg

10013

Incorrect arbiter variable configuration