# 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 |