List of Variables

Warning

Bit Variables displayed on Labels (see ref Workspace – Gauge Display) 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.

32 VAR

ID

Name

Units/Values

Description

0

IAS (Indicated Air Speed)

m/s

Pitot-static 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

radian

Direction in which the vehicle velocity vector is pointing

4

Flight Path Angle

radian

Angle between velocity vector and local horizontal line

5

Bank

radian

Velocity vector lateral component

6

Yaw

radian

Angle around the Vertical axis of the vehicle

7

Pitch

radian

Angle around the Transverse axis of the vehicle

8

Roll

radian

Angle around the Longitudinal axis of the vehicle

9

Along-Track Error

m

Fix error along the flight track

10

Cross-Track Error

m

Fix error across the flight track

11

Vertical-Track Error

m

Fix error in the vertical flight track

12

Roll Rate

rad/s (RDS)

Rate of change of the Roll angle

13

Pitch Rate

rad/s (RDS)

Rate of change of the Pitch angle

14

Yaw Rate

rad/s (RDS)

Rate of change of the Yaw angle

15

Forward Acceleration – X Body Axis

m/s²

Acceleration in the X-axis

16

Right Acceleration – Y Body Axis

m/s²

Acceleration in the Y-axis

17

Bottom Acceleration – Z Body Axis

m/s²

Acceleration in the Z-axis

18

RPM

rad/s (RDS)

Revolutions per minute configurable for external sensor

19

Front GV (Ground Velocity)

m/s

GV vector X component

20

Lateral GV (Ground Velocity)

m/s

GV vector Y component

21

Velocity

m/s

Velocity vector module

22

Forward Load Factor – X Body Axis

customType

G-force in X body axis

23

Right Load Factor – Y Body Axis

customType

G-force in Y body axis

24

Bottom Load Factor – Z Body Axis

customType

G-force in Z body axis

25

Tangential Acceleration

m/s²

Absolute acceleration for tangential direction

26

Energy Rate

customType

Variation from system total energy (kinetic & potential)

27

Energy Distribution

customType

Division of energy used between kinetic and potential

28

co-yaw

radian

Acrobatic Yaw with Body Z’ axis pointing to X

29

co-pitch

radian

Acrobatic Pitch with Body X’ axis pointing to -Z

30

co-roll

radian

Acrobatic Roll with Y’ keeping same as Y

31

Roll acceleration

radian/s²

Acceleration around the longitudinal axis

32

Pitch acceleration

radian/s²

Acceleration around the transverse axis

33

Yaw Acceleration

radian/s²

Acceleration around the vertical axis

40

RSSI

decimal

Received Signal Strength Indicator

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

radian

Commanded Heading from guidance

104

Desired Flight Path Angle

radian

Commanded Flight Path Angle from guidance

105

Desired Bank

radian

Commanded Bank from guidance

106

Desired Yaw

radian

Commanded Yaw from guidance

107

Desired Pitch

radian

Commanded Pitch from guidance

108

Desired Roll

radian

Commanded Roll from guidance

109

Desired Along-Track Error

m

Commanded Along-Track error from guidance

110

Desired Cross-Track Error

m

Commanded Cross-Track error from guidance

111

Desired Vertical-Track Error

m

Commanded Vertical-Track error from guidance

112

Desired Roll Rate

rad/s (RDS)

Commanded Roll rate from guidance

113

Desired Pitch Rate

rad/s (RDS)

Commanded Pitch rate from guidance

114

Desired Yaw Rate

rad/s (RDS)

Commanded Yaw rate from guidance

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 (RDS)

Commanded RPM from guidance

119

Desired Front GV (Ground Velocity)

m/s

Commanded Front GV from guidance

120

Desired Lateral GV (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

Desired Energy Rate

customType

Commanded Energy Rate from guidance

127

Desired Energy Distribution

customType

Commanded Energy Distribution from guidance

128

Desired co-yaw

radian

Commanded co-yaw from guidance

129

Desired co-pitch

radian

Commanded co-pitch from guidance

130

Desired co-roll

radian

Commanded co-roll from guidance

200

Desired North GV (Ground Velocity)

m/s

Commanded North (NED Coordinates system) GV from guidance

201

Desired East GV (Ground Velocity)

m/s

Commanded East (NED Coordinates system) GV from guidance

202

Desired Down GV (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

radian

Commanded Longitude from guidance

207

Desired Latitude

radian

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/

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 X-axis from guidance

257

Desired velocity Y body axis

m/s

Commanded velocity in Y-axis from guidance

258

Desired velocity Z body axis

m/s

Commanded velocity in Z-axis from guidance

259

External yaw

radian

Yaw from external navigation source

260

External pitch

radian

Pitch from external navigation source

261

External roll

radian

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 Start-Up

sec

Time spent since power-on of the system

301

Used Memory Space

Byte

SD used memory space

302

Free Memory Space

Byte

SD free memory space

303

Dynamic Pressure

pascal

Physical measurement from Pitot

304

Static Pressure

pascal

Physical measurement from Pitot

305

Internal Temperature

kelvin (K)

Physical measurement from internal sensors

306

External Temperature

kelvin (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 (RDS)

Gyroscope measurement for X axis

311

Gyroscope – Y Body Axis

rad/s (RDS)

Gyroscope measurement for Y axis

312

Gyroscope – Z Body Axis

rad/s (RDS)

Gyroscope measurement for Z axis

313

Magnetometer – X Body Axis

tesla

Magnetometer measurement for X axis

314

Magnetometer – Y Body Axis

tesla

Magnetometer measurement for Y axis

315

Magnetometer – Z Body Axis

tesla

Magnetometer measurement for Z axis

322

Internal magnetometer raw X in SI

tesla

Magnetometer raw measurement for X axis

323

Internal magnetometer raw Y in SI

tesla

Magnetometer raw measurement for Y axis

324

Internal magnetometer raw Z in SI

tesla

Magnetometer raw measurement for Z axis

325

Internal magnetometer temperature

kelvin (K)

Magnetometer temperature

326

External LIS3MDL magnetometer raw X in SI

tesla

LIS3MDL external Magnetometer raw measurement for X axis

327

External LIS3MDL magnetometer raw Y in SI

tesla

LIS3MDL external Magnetometer raw measurement for Y axis

328

External LIS3MDL magnetometer raw Z in SI

tesla

LIS3MDL external Magnetometer raw measurement for Z axis

329

External LIS3MDL magnetometer temperature

kelvin (K)

LIS3MDL external Magnetometer temperature

330

IMU 0 raw accelerometer x measurement

m/s²

IMU 0 raw accelerometer x measurement

331

IMU 0 raw accelerometer y measurement

m/s²

IMU 0 raw accelerometer y measurement

332

IMU 0 raw accelerometer z measurement

m/s²

IMU 0 raw accelerometer z measurement

333

IMU 0 raw gyroscope x measurement

rad/s (RDS)

IMU 0 raw gyroscope x measurement

334

IMU 0 raw gyroscope y measurement

rad/s (RDS)

IMU 0 raw gyroscope y measurement

335

IMU 0 raw gyroscope z measurement

rad/s (RDS)

IMU 0 raw gyroscope z measurement

336

IMU 0 temperature measurement

kelvin (K)

IMU 0 temperature measurement

337

IMU 1 raw accelerometer x measurement

m/s²

IMU 1 raw accelerometer x measurement

338

IMU 1 raw accelerometer y measurement

m/s²

IMU 1 raw accelerometer y measurement

339

IMU 1 raw accelerometer z measurement

m/s²

IMU 1 raw accelerometer z measurement

340

IMU 1 raw gyroscope x measurement

rad/s (RDS)

IMU 1 raw gyroscope x measurement

341

IMU 1 raw gyroscope y measurement

rad/s (RDS)

IMU 1 raw gyroscope y measurement

342

IMU 1 raw gyroscope z measurement

rad/s (RDS)

IMU 1 raw gyroscope z measurement

343

IMU 1 temperature measurement

kelvin (K)

IMU 1 temperature measurement

344

Static pressure sensor (MS56) raw measurement

pascal

Static pressure sensor 1 raw measurement

345

Static pressure sensor (MS56) temperature

kelvin (K)

Static pressure sensor 1 temperature

346

Dynamic pressure sensor raw measurement

pascal

Dynamic pressure sensor raw measurement

347

Dynamic pressure sensor temperature

kelvin (K)

Dynamic pressure sensor temperature

348

Static pressure sensor (HSC) raw measurement

pascal

Static pressure sensor 0 raw measurement

349

Static pressure sensor (HSC) temperature

kelvin (K)

Static pressure sensor 0 temperature

350

Vectornav Message Frequency

Hz

Frequency at which external navigation source VectorNav sends messages

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

m/s²

Raw gyroscope X measurement from external navigation source VectorNav

355

Vectornav Raw Gyr y measurement

m/s²

Raw gyroscope Y measurement from external navigation source VectorNav

356

Vectornav Raw Gyr z measurement

m/s²

Raw gyroscope Z measurement from external navigation source VectorNav

400

Power Input

volts

Power received by Veronte

401

Power Comicro 3.3V

volts

Power received by Veronte through 3.3V port

402

Power 5V

volts

Power received by Veronte through 5V port

403

Power Comicro Regulator

volts

Power received by Veronte Comicro Regulator

404

Power 3.6V

volts

Power received by Veronte through 3.6V port

405

CPU Temperature

kelvin (K)

Internal computer temperature

500

Longitude

radian

East-West geographic coordinate

501

Latitude

radian

North-South geographic coordinate

502

WGS84 Elevation (Height Over the Ellipsoid)

m

Elevation over WGS84 reference frame

503

MSL (Height Above Mean Sea Level) – Altitude

m

Altitude over the Mean Sea Level

504

AGL (Above Ground Level) – Height

m

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

505

Ground Velocity North

m/s

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

506

Ground Velocity East

m/s

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

507

Ground Velocity Down

m/s

Ground Velocity component in the resultant axis from North-East (NED Coordinates system)

508

Sensor IAS (Indicated Air Speed)

m/s

Pitot-static measurement speed

509

Angle of Attack – AoA

radian

Angle between reference body line and flow direction vector

510

Sideslip

radian

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

600-603

Temperature 1-4

kelvin (K)

Variables to be configured with external Temperature sensors

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

655

Gimbal pitch correction 2

customType

Correction calculated by the gimbal for the pitch control

656

Gimbal old joint 1

customType

Auxiliar variable for Gimbal control configuration

657

Gimbal old joint 2

customType

Auxiliar variable for Gimbal control configuration

658

Cos (gimbal yaw)

customType

Auxiliar variable for Gimbal control configuration

659

Sin (gimbal yaw)

customType

Auxiliar variable for Gimbal control configuration

660

Gimbal yaw radian/td>

customType

Auxiliar variable for Gimbal control configuration

661

Gimbal yaw output

customType

Yaw value the gimbal is outputting

662

Gimbal pitch output

customType

Pitch value the gimbal is outputting

700-705

RPM 1-6

rad/s (RDS)

RPM associated to pulse captured 1-6

750

Selected controller time step

sec

PID selected time step

751

Selected controller derivative filtered error

customType

PID selected derivative filtered error

752

Selected controller proportional action

customType

PID selected proportional action

753

Selected controller derivative action

customType

PID selected derivative action

754

Selected controller integral input

customType

PID selected integral input

755

Selected controller integral action

customType

PID selected integral action

756

Selected controller anti-windup input

customType

PID selected anti-windup input

757

Selected controller derivative error

customType

PID selected derivative error

800-815

PWM 1-16

customType

Pulse Width Modulation signal

900-915

Stick Input r1 – r16

customType

Raw stick measurement

1000-1031

Stick Input y1 – y32

customType

Servo position commanded from stick

1100-1104

Lidar 1-5 Distances

m

Variable configurable for Lidar distances

1105-1109

External range sensor 1-5 measurements

m

Variable configurable for external range sensors

1200

Cross-track Distance

customType

Shortest distance to desired path (perpendicular distance)

1201

Radar AGL (Above Ground Level) – Height

m

User Variable

1202

Radar Speed Down

m/s

User Variable

1203

External Rotation for Follow Route

radian

Relative vector rotation when using Follow Route

1204

Time to Impact with Obstacles

sec

Time calculated with Distance to Obstacle and travel speed

1300-1309

Clock 1-10

sec

Configurable timers for automations – Clock 1 correspond to Timer 1, etc

1400

Velocity – X Body Axis

m/s

Velocity vector X component

1401

Velocity – Y Body Axis

m/s

Velocity vector Y component

1402

Velocity – Z Body Axis

m/s

Velocity vector Z component

1403

Estimated Dynamic Pressure

pascal

Dynamic pressure sensor raw measurement

1404

Barometric Pressure at Sea Level (QNH)

pascal

Introduced value for QNH

1450-1453

Captured pulse 1-4

customType

Input values from pulses

1490

Internest raw x distance

m

Raw measurements for X-axis internest distance

1491

Internest raw y distance

m

Raw measurements for Y-axis internest distance

1492

Internest raw z distance

m

Raw measurements for Z-axis internest distance

1493

Internest raw angle

radian

Raw measurements for internest angle

1494

Internest raw xy standard deviation

m

Raw measurements for XY axis internest standard deviation

1495

Internest raw z standard deviation

m

Raw measurements for Z-axis internest standard deviation

1496

Internest raw angle standard deviation

radian

Raw measurements for internest angle standard deviation

1497

Internest position update frequency

Hz

Frequency at which Interest updates its position

1500

GNSS1 Time of Week

s

Data from GNSS1 module: Time of the week

1501

GNSS1 ECEF Position X

m

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

1502

GNSS1 ECEF Position Y

m

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

1503

GNSS1 ECEF Position Z

m

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

1504

GNSS1 Longitude

radian

Data from GNSS1 module: Longitude

1505

GNSS1 Latitude

radian

Data from GNSS1 module: Latitude

1506

GNSS1 Height Above Ellipsoid (WGS84)

m

Data from GNSS1 module: Height Above Ellipsoid (WGS84)

1507

GNSS1 Mean Sea Level (MSL)

m

Data from GNSS1 module: MSL

1508

GNSS1 Above Ground Level (AGL)

m

Data from GNSS1 module: AGL

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

radian

Data from GNSS1 module: RTK Base longitude

1518

GNSS1 Related Base Latitude

radian

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

radian

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

1521

GNSS1 Related Base to Rover Elevation

radian

Data from GNSS1 module: RTK Base-Rover vector elevation (Spherical COordinates system)

1522

GNSS1 Related Base to Rover Distance

m

Data from GNSS1 module: RTK Base-Rover vector distance (Spherical COordinates system)

1523

GNSS1 Related Base to Rover Accuracy

m

Data from GNSS1 module: RTK Base-Rover vector accuracy

1524

GNSS1 Survey in Accuracy

m

Data from GNSS1 module: RTK Base accuracy when base knows it is fixed in a particular position/td>

1525

GNSS1 Related Base to Rover North

m

Data from GNSS1 module: RTK Base-Rover vector North (NED Coordinate system)

1526

GNSS1 Related Base to Rover East

m

Data from GNSS1 module: RTK Base-Rover vector East (NED Coordinate system)

1527

GNSS1 Related Base to Rover Down

m

Data from GNSS1 module: RTK Base-Rover vector Down (NED Coordinate system)

1600

GNSS2 Time of Week

s

Data from GNSS2 module: Time of the week

1601

GNSS2 ECEF Position X

m

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

1602

GNSS2 ECEF Position Y

m

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

1603

GNSS2 ECEF Position Z

m

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

1604

GNSS2 Longitude

radian

Data from GNSS2 module: Longitude

1605

GNSS2 Latitude

radian

Data from GNSS2 module: Latitude

1606

GNSS2 Height Above Ellipsoid (WGS84)

m

Data from GNSS2 module: Height Above Ellipsoid (WGS84)

1607

GNSS2 Mean Sea Level (MSL)

m

Data from GNSS2 module: MSL

1608

GNSS2 Above Ground Level (AGL)

m

Data from GNSS2 module: AGL

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

radian

Data from GNSS2 module: RTK Base longitude

1618

GNSS2 Related Base Latitude

radian

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

radian

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

1621

GNSS2 Related Base to Rover Elevation

radian

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

1622

GNSS2 Related Base to Rover Distance

m

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

1623

GNSS2 Related Base to Rover Accuracy

m

Data from GNSS2 module: RTK Base-Rover vector accuracy

1624

GNSS2 Survey in Accuracy

m

Data from GNSS2 module: RTK Base accuracy when base knows it is fixed in a particular position/td>

1625

GNSS2 Related Base to Rover North

m

Data from GNSS2 module: RTK Base-Rover vector North (NED Coordinate system)

1626

GNSS2 Related Base to Rover East

m

Data from GNSS2 module: RTK Base-Rover vector East (NED Coordinate system)

1627

GNSS2 Related Base to Rover Down

m

Data from GNSS2 module: RTK Base-Rover vector Down (NED Coordinate system)

1700-1731

Actuator Output s1 – s32

customType

Configurable variable from actuator outputs to be transformed by the system

1800-1895

Distance, azimuth and elevation to Object of Interest 1-32

m, radian and m (respectively)

Spherical coordinates to Object of interest

2000

RX Packet Error Rate (on board)

decimal

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

2001

TX Packet Error Rate (on board)

decimal

Value relating 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

Same as Computed RX pkt/s, received 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

Same as Computed TX pkt/s, received through communications

2019

Stick RX rate

Hz

Stick messages received per second

2020

Position fix Time

sec

Time spend with GNSS not losing fix

2040

Tunnel producer receive frequency 1

Hz

Frequency at which the Tunnel producer receives data

2041

Tunnel producer receive frequency 2

Hz

Frequency at which the Tunnel producer receives data

2042

Tunnel producer receive frequency 3

Hz

Frequency at which the Tunnel producer receives data

2043

Tunnel consumer send frequency 1

Hz

Frequency at which the Tunnel consumer sends data

2044

Tunnel consumer send frequency 2

Hz

Frequency at which the Tunnel consumer sends data

2045

Tunnel consumer send frequency 3

Hz

Frequency at which the Tunnel consumer sends data

2046

Max duration of step in acquisition

sec

Longest time duration from a step in CIO

2047

Acquisition task timestep

sec

Average period for executing the acquisition task

2048

Acquisition task maximum timestep

sec

Maximum period for executing the acquisition task

2049

Cross core message queue CPU ratio

percentage

% of time of CPU that CIO waits for inter-core communications queue to be emptied

2050

Acquisition task average CPU ratio

percentage

Average % of time of CPU from the acquisition task

2051

Acquisition task maximum CPU ratio

percentage

Maximum % of time of CPU from the acquisition task

2052

Acquisition task average time

sec

Average time acquisition task has used

2053

Acquisition task maximum time

sec

Maximum time acquisition task has used

2054

CIO Max time

sec

Maximum time in acquisition from Core Input/Output

2055

CIO average time

sec

Average time in acquisition from Core Input/Output

2094

GNC task average CPU ratio

percentage

Average % of time of CPU from GNC task

2095

GNC task maximum CPU ratio

percentage

Maximum % of time of CPU from GNC task

2096

GNC task average time

sec

Average time spent on GNC task

2097

GNC task maximum time

sec

Maximum time spent on GNC task

2098

GNC task maximum timestep

sec

Maximum execution period for GNC task

2099

Max duration of step in GNC

sec

Maximum duration of one step in GNC

2100

Gyroscope Based on Accelerometer – X Body Axis

rad/s (RDS)

Gyroscope measurements obtained from accelerometer X-axis data

2101

Gyroscope Based on Accelerometer – Y Body Axis

rad/s (RDS)

Gyroscope measurements obtained from accelerometer Y-axis data

2102

Gyroscope Based on Accelerometer – Z Body Axis

rad/s (RDS)

Gyroscope measurements obtained from accelerometer Z-axis data

2103

Acceleration North

m/s²

Acceleration in the North direction (NED Coordinates System)

2104

Acceleration East

m/s²

Acceleration in the East direction (NED Coordinates System)

2105

Acceleration Down

m/s²

Acceleration in the Down direction (NED Coordinates System)

2112

Estimated Dem

m

Altitude given by the estimated Digital Elevation Model

2200

Curve Length Covered

m

Total distance from current mission leg covered

2201

Curve Length

m

Total distance from current mission leg

2202

Curve Length Pending

m

Total distance from current mission leg to be covered yet

2203

Curve Parameter Covered

customType

Total amount from current mission leg covered according to parameter selected

2204

Curve Parameter Range

customType

Total distance from current mission leg according to parameter selected

2205

Curve Parameter Pending

customType

Total distance from current mission leg to be covered according to parameter selected yet

2250-2259

Reserved 1-10

customType

System reserved variables

2300-2302

Joint 1-3 of Gimbal 1

radian

Variables for Gimbal 1 configuration – Angles sent to gimbal as Yaw (1), Pitch (2) and Roll (3)

2303-2305

Joint 1-3 of Gimbal 2

radian

Variables for Gimbal 2 configuration – Angles sent to gimbal as Yaw (1), Pitch (2) and Roll (3)

2400-2419

Control Output u1 – u20

customType

PID Output values that are transformed into Actuators Output through SU matrix

2500-2519

Stick Input u1-u20

customType

Intermediate values from stick used for arcade mode

2600-2619

Stick Input d1-d20

customType

Intermediate values from stick used for arcade mode – delta values

2700-2712

Operation Guidance 1-13

customType

Configurable values used in different guidances – Position or values or vectors

2800

Wind Velocity North

m/s

Wind velocity vector pointing North direction (NED Coordinate system)

2801

Wind Velocity East

m/s

Wind velocity vector pointing East direction (NED Coordinate system)

2802

Wind Velocity Down

m/s

Wind velocity vector pointing Down direction (NED Coordinate system)

2803

Wind Velocity North Estimation Covariance

m/s

Wind velocity vector pointing North direction (NED Coordinate system) estimation covariance

2804

Cross North-East Wind Velocity Estimation Covariance

m/s

Wind velocity vector pointing cross North-East direction (NED Coordinate system) estimation covariance

2805

Wind Velocity Estimation Uncertainty (Element 2-0)

m/s

2-0 element from covariance matrix in wind estimation

2806

Wind Velocity Estimation Uncertainty (Element 0-1)

m/s

0-1 element from covariance matrix in wind estimation

2807

Wind Velocity Estimation Uncertainty (Element 1-1)

m/s

1-1 element from covariance matrix in wind estimation

2808

Wind Velocity Estimation Uncertainty (Element 2-1)

m/s

2-1 element from covariance matrix in wind estimation

2809

Wind Velocity Estimation Uncertainty (Element 0-2)

m/s

0-2 element from covariance matrix in wind estimation

2810

Wind Velocity Estimation Uncertainty (Element 1-2)

m/s

1-2 element from covariance matrix in wind estimation

2811

Wind Velocity Estimation Uncertainty (Element 2-2)

m/s

2-2 element from covariance matrix in wind estimation

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

sec

Time-lapse considered since entering the current phase

2903

GNC Timestep

sec

Task execution period from GNC

2904

Total Flight Time

s

Time-lapse since the vehicle exited Standby

2905

Total Flight Distance

m

Distance covered by the vehicle in all mission length

2906

Reception Frequency of Simulated Navigation Data

Hz

Frequency at which the system receives Simulation Navigation Data

2907

Reception Frequency of External Navigation Data

Hz

Frequency at which the system receives External Navigation Data

2908-2927

Time Spent Within Phase 1-20

sec

Time-lapse spent by the vehicle in any phase

3000-3031

Simulation Variable 1-32

customType

Variables used for Simulation data

4100

Zero

customType

Constant value 0

4101

Rvar disabled

customType

Disabled variable

BIT

ID

Name

Units/Values

Description

0-2

Initialisation values

Bit for fail, ok and license – 0 for error, 1 for running

3

System Readiness

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

4

Writing telemetry

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

5

Readiness to flight

System is ready to start operation/flight – 0 for no, 1 for yes

6

File System state

System file manager is working – 0 for error, 1 for running

7

System state

System is working – 0 for error, 1 for running

8

Memory Allocation

Memory allocation is working – 0 for error, 1 for running

9

PDI State

PDI files are working – 0 for error, 1 for running

10

4X Arbiter state

Arbiter is working for 4xVeronte – 0 for error, 1 for running

50

Sensors error

Error/Running

51

Sensors-Main IMU

0 for not enable, 1 for enable

52

Sensors-Secondary IMU

0 for not enable, 1 for enable

53

Sensors-Magnetometer

Internal magnetometer – 0 for not enable, 1 for enable

54

Sensors-External magnetometer (HMR2300)

HMR2300 External magnetometer – 0 for not enable, 1 for enable

55

Sensors-External Magnetometer (LIS3MDL)

LIS3MDL External magnetometer – 0 for not enable, 1 for enable

56

Sensors-Static pressure (HSC)

HSC Static Pressure Sensor – 0 for not enable, 1 for enable

57

Sensors-Static pressure (MS56)

MS56 Static Pressure Sensor – 0 for not enable, 1 for enable

58

Sensors-Dynamic pressure (HSC)

HSC Dynamic Pressure Sensor – 0 for not enable, 1 for enable

59

Sensors-External I2C devices

0 for not enable, 1 for enable

60-64

Sensors-External I2C 0-4

External communication I2C – 0 for not enable, 1 for enable

65-72

SCI A-D

Serial Communication Interface – 0 for transmission, 1 for reception

73-76

CAN A-B

CAN Bus communication – 0 for error, 1 for running

77

Vectornav States for GPS Fix, IMU, Mag/Press, GPS Error, Navigation-Vectornav state

0 for error, 1 for running

100

Position not Fixed

GNSS data reception – 0 for not receiving, 1 for receiving

101

Georeferenced Area

0 for being outside a Georeferenced area, 1 for being inside

102-103

CAN A-B

CAN A or B communication – 0 for not receiving, 1 for receiving

104-105

Stick PPM 1-2 detection

Stick PPM (1 or 2) – 0 for not detecting, 1 for detecting

106-108

SCI A-C State

Defines the state of the Serial Communication Interface bus – 0 for error, 1 for running

109

MCBSP

Defines the state of the Multichannel Buffered Serial Port – 0 for error, 1 for running

110

Stick state

Show if the stick is being detected – 0 for error, 1 for running

111-112

CAN A-B

CAN A or B communication – 0 for not Transmitting, 1 for transmitting

113

Iridium Readiness

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

114-115

EKF

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

116

Radar Altimeter CAN-RX

Radar Altimeter State – 0 for error, 1 for running

117-118

Power A-B State

Power A-B State – 0 for error, 1 for running

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 running

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

181

Reserved State

System Bit

190

Internest ultrasound position status

0 for error, 1 for running

191

Internest ultrasound angle status

0 for error, 1 for running

200-206

(D)GNSS1

(Differential) GNSS1 Navigation, Input, Survey In, Float and Fixed Solution and Relative Position – 0 for Off, 1 for On

300-306

(D)GNSS2

(Differential) GNSS2 Navigation, Input, Survey In, Float and Fixed Solution and Relative Position – 0 for Off, 1 for On

400, 403-405

Reserved

System Bit

401

GNC progress

GNC Step Missed (0) and GNC Task ok (1)

402

Acquisition progress

Acquisition Step Missed (0) and Acquisition Task ok (1)

500

Ground effect compensation

Ground effect compensation effect – 0 for disabled, 1 for enabled

700-731

Servo 1-32 state

Servos state – 0 for saturated, 1 for Ok

800-815

PWM GPIO State

PWM GPIO communication Sate – 0 for Off, 1 for On

816-819

IO 1-4 State

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

820-822

RSSI LED 1-3 State

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

1000-1009

Simulation BIT 1-10 State

Variables used for Simulation data – 0 for error, 1 for running

1200-1299

User BIT 1-100

Free bits for the user to use – 0 for error, 1 for running

2200

BIT Dummy

Bit for configurable checks – 0 for error, 1 for running

16 VAR

ID

Name

Units/Values

Description

0

Control Mode

Index pointing to the Control mode in use

1

Mission Phase ID

Phase Identifier

2 -18

ADC Channel 1-17

Internal ADC 1, 7-8 ADC 1-5

19

Current envelope

Index pointing to the envelope in use

20

Counter for C2 system BIT

Index for number of cycles from Core 2

80

Detour calculation identifier

Index for a route change

100-101

GNSS1-2 Satellites Number Information

Number of Satellites Used in Solution

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

303-305

HMR2300 Magnetometer Raw Measurement

X, Y & Z

310-311

Iridium

Sent & Received

398

VectorNav Mode

Index showing external source VectorNav mode

399

Identifier of max duration step in acquisition

Index

400

Internest raw status

Index

401

Navigation source

Index pointing to the primary navigation source

402

Raw position source identifier

Index

403-410

Sensor selection

Static & Dynamic Pressure, Primary accelerometer & gyroscope, magnetometer and stick priority table

425

Step in GNC max duration

Identifier for the step with maximum duration

450-453

CAN errors

Tx & Rx

490

Number of moving objects detected

Index

497-499

Configuration

Config manager status, global configuration state of files & memory

500

Transponder sequence number

Value of the transponder sequence number

501

System Reserved

System variables not configurable

550-553

Command 1-4 gimbal

Index

900-909

Simulation variables

Variables used for Simulation data

1000-1099

User Variables

Free variables for the user to use

2000

Uvar State

Index

2001

Zero

Uvar with constant 0 value