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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	rad	Direction in which the vehicle velocity vector is pointing
4	Flight Path Angle	rad	Angle between velocity vector and local horizontal line
5	Bank	rad	Velocity vector lateral component
6	Yaw	rad	Angle around the Vertical axis of the vehicle
7	Pitch	rad	Angle around the Transverse axis of the vehicle
8	Roll	rad	Angle around the Longitudinal axis of the vehicle
9	Route-guidance tangential deviation	m	Tangencial distance to the desired position (guidance)
10	Route-guidance horizontal deviation	m	Horizontal distance to the desired position (guidance)
11	Route-guidance perpendicular deviation	m	Perpendicular distance to the desired position (guidance)
12	p (Angular Velocity - X Body Axis)	rad/s	Angular velocity around longitudinal axis
13	q (Angular Velocity - Y Body Axis)	rad/s	Angular velocity around lateral axis
14	r (Angular Velocity - Z Body Axis)	rad/s	Angular velocity around vertical axis
15	Forward Acceleration – X Body Axis	m/s²	Acceleration in the 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
28	Co-yaw	rad	Acrobatic Yaw with Body Z’ axis pointing to X
29	Co-pitch	rad	Acrobatic Pitch with Body X’ axis pointing to -Z
30	Co-roll	rad	Acrobatic Roll with Y’ keeping same as Y
31	Angular Acceleration - X Body Axis	rad/s²	Acceleration around the longitudinal axis
32	Angular Acceleration - Y Body Axis	rad/s²	Acceleration around the lateral axis
33	Angular Acceleration - Z Body Axis	rad/s²	Acceleration around the vertical axis
34	Body to NED quaternion qs	customType	First component of body to NED orientation quaternion
35	Body to NED quaternion qi	customType	Second component of body to NED orientation quaternion
36	Body to NED quaternion qj	customType	Third component of body to NED orientation quaternion
37	Body to NED quaternion qk	customType	Fourth component of body to NED orientation quaternion
40	RSSI	percentage	Received Signal Strength Indicator
42	SCI-A Rx rate (4G)	bytes/s	4G link reception byte rate
43	SCI-A Tx rate (4G)	bytes/s	4G link transmission byte rate
44	SCI-B Rx rate (LOS)	bytes/s	Radio link reception byte rate
45	SCI-B Tx rate (LOS)	bytes/s	Radio link transmission byte rate
46	SCI-C Rx rate (RS485)	bytes/s	RS485 communication reception byte rate
47	SCI-C Tx rate (RS485)	bytes/s	RS485 communication transmission byte rate
48	SCI-D Rx rate (RS232)	bytes/s	RS232 communication reception byte rate
49	SCI-D Tx rate (RS232)	bytes/s	RS232 communication transmission byte rate
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
56	Yaw rate	rad/s	Rate of change of the yaw angle
57	Pitch rate	rad/s	Rate of change of the pitch angle
58	Roll rate	rad/s	Rate of change of the roll angle
100	Desired IAS (Indicated Air Speed)	m/s	Commanded IAS from guidance
101	Desired TAS (True Air Speed)	m/s	Commanded TAS from guidance
102	Desired GS (Ground Speed)	m/s	Commanded GS from guidance
103	Desired Heading	rad	Commanded Heading from guidance
104	Desired Flight Path Angle	rad	Commanded Flight Path Angle from guidance
105	Desired Bank	rad	Commanded Bank from guidance
106	Desired Yaw	rad	Commanded Yaw from guidance
107	Desired Pitch	rad	Commanded Pitch from guidance
108	Desired Roll	rad	Commanded Roll from guidance
112	Desired p (Angular Velocity - X Body Axis)	rad/s	Commanded angular velocity around longitudinal axis
113	Desired q (Angular Velocity - Y Body Axis)	rad/s	Commanded angular velocity around lateral axis
114	Desired r (Angular Velocity - Z Body Axis)	rad/s	Commanded angular velocity around vertical axis
115	Desired Foward Acceleration – X Body Axis	m/s²	Commanded Forward Acceleration from guidance
116	Desired Right Acceleration – Y Body Axis	m/s²	Commanded Right Acceleration from guidance
117	Desired Bottom Acceleration – Z Body Axis	m/s²	Commanded Bottom Acceleration from guidance
118	Desired RPM	rad/s	Commanded RPM from guidance
119	Desired Front 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	Energy Rate Error	customType	Rate of change of the Total System Energy
127	Energy Distribution Error	customType	Distribution of system energy between kinetical and geopotential energy
128	Desired co-yaw	rad	Commanded co-yaw from guidance
129	Desired co-pitch	rad	Commanded co-pitch from guidance
130	Desired co-roll	rad	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	rad	Commanded Longitude from guidance
207	Desired Latitude	rad	Commanded Latitude from guidance
208	Desired WGS84 Elevation (Height Over The Ellipsoid)	m	Commanded WGS84 Elevation from guidance
209	Desired MSL (Height Above Mean Sea Level) – Altitude	m	Commanded MSL Altitude from guidance
210	Desired AGL (Above Ground Level) – Height	m	Commanded AGL Altitude from guidance
250	Guidance north position error	m	Difference from Desired and actual north position
251	Guidance east position error	m	Difference from Desired and actual east position
252	Guidance down position error	m	Difference from Desired and actual down position
253	Guidance PID north desired velocity	m/s	Difference from Desired and actual PID north velocity
254	Guidance PID east desired velocity	m/s	Difference from Desired and actual PID east velocity
255	Guidance PID down desired velocity	m/s	Difference from Desired and actual PID down velocity
256	Desired velocity X body axis	m/s	Commanded velocity in 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	rad	Yaw from external navigation source
260	External pitch	rad	Pitch from external navigation source
261	External roll	rad	Roll from external navigation source
262	External Roll Rate	rad/s	Roll rate from external navigation source
263	External Pitch Rate	rad/s	Pitch rate from external navigation source
264	External Yaw Rate	rad/s	Yaw rate from external navigation source
265	External Velocity North	m/s	Velocity North from external navigation source
266	External Velocity East	m/s	Velocity East from external navigation source
267	External Velocity Down	m/s	Velocity Down from external navigation source
268	External acceleration x body axis	m/s²	Acceleration x body axis from external navigation source
269	External acceleration y body axis	m/s²	Acceleration y body axis from external navigation source
270	External acceleration z body axis	m/s²	Acceleration z body axis from external navigation source
271	External GPS Time of Week	s	GNSS Time of week from external navigation source
300	Time since Hardware Start-Up	s	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	Pa	Physical measurement from Pitot (dynamic preassure)
304	Static Pressure	Pa	Physical measurement from Pitot (static preassure)
305	Internal Temperature	K	Physical measurement from internal sensors
306	External Temperature	K	Physical measurement from Veronte sensors
307	Accelerometer – X Body Axis	m/s²	Accelerometer measurement for X axis
308	Accelerometer – Y Body Axis	m/s²	Accelerometer measurement for Y axis
309	Accelerometer – Z Body Axis	m/s²	Accelerometer measurement for Z axis
310	Gyroscope – X Body Axis	rad/s	Gyroscope measurement for X axis
311	Gyroscope – Y Body Axis	rad/s	Gyroscope measurement for Y axis
312	Gyroscope – Z Body Axis	rad/s	Gyroscope measurement for Z axis
313	Magnetometer – X Body Axis	T	Magnetometer measurement for X axis
314	Magnetometer – Y Body Axis	T	Magnetometer measurement for Y axis
315	Magnetometer – Z Body Axis	T	Magnetometer measurement for Z axis
322	Internal magnetometer raw X in SI	T	Magnetometer raw measurement for X axis
323	Internal magnetometer raw Y in SI	T	Magnetometer raw measurement for Y axis
324	Internal magnetometer raw Z in SI	T	Magnetometer raw measurement for Z axis
325	Internal magnetometer temperature	K	Magnetometer temperature
326	External LIS3MDL magnetometer raw X in SI	T	LIS3MDL external Magnetometer raw measurement for X axis
327	External LIS3MDL magnetometer raw Y in SI	T	LIS3MDL external Magnetometer raw measurement for Y axis
328	External LIS3MDL magnetometer raw Z in SI	T	LIS3MDL external Magnetometer raw measurement for Z axis
329	External LIS3MDL magnetometer temperature	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	IMU 0 raw gyroscope x measurement
334	IMU 0 raw gyroscope y measurement	rad/s	IMU 0 raw gyroscope y measurement
335	IMU 0 raw gyroscope z measurement	rad/s	IMU 0 raw gyroscope z measurement
336	IMU 0 temperature measurement	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	IMU 1 raw gyroscope x measurement
341	IMU 1 raw gyroscope y measurement	rad/s	IMU 1 raw gyroscope y measurement
342	IMU 1 raw gyroscope z measurement	rad/s	IMU 1 raw gyroscope z measurement
343	IMU 1 temperature measurement	K	IMU 1 temperature measurement
344	Static pressure sensor (MS56) raw measurement	Pa	Static pressure sensor MS56 raw measurement
345	Static pressure sensor (MS56) temperature	K	Static pressure sensor MS56 temperature
346	Dynamic pressure sensor raw measurement	Pa	Dynamic pressure sensor raw measurement
347	Dynamic pressure sensor temperature	K	Dynamic pressure sensor temperature
348	Static pressure sensor (HSC) raw measurement	Pa	Static pressure sensor 0 raw measurement
349	Static pressure sensor (HSC) temperature	K	Static pressure sensor 0 temperature
350	Vectornav Message Frequency	Hz	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
357	External HSC magnetometer raw X in SI	T	HSCDTD008A external Magnetometer raw measurement for X axis
358	External HSC magnetometer raw Y in SI	T	HSCDTD008A external Magnetometer raw measurement for Y axis
359	External HSC magnetometer raw Z in SI	T	HSCDTD008A external Magnetometer raw measurement for Z axis
360	External HSC magnetometer temperature	K	HSCDTD008A external Magnetometer temperature
361	IMU 2 raw accelerometer x measurement	m/s²	IMU 2 raw accelerometer x measurement
362	IMU 2 raw accelerometer y measurement	m/s²	IMU 2 raw accelerometer y measurement
363	IMU 2 raw accelerometer z measurement	m/s²	IMU 2 raw accelerometer z measurement
364	IMU 2 raw gyroscope x measurement	rad/s	IMU 2 raw gyroscope x measurement
365	IMU 2 raw gyroscope y measurement	rad/s	IMU 2 raw gyroscope y measurement
366	IMU 2 raw gyroscope z measurement	rad/s	IMU 2 raw gyroscope z measurement
367	IMU 2 temperature measurement	K	IMU 2 temperature measurement
368	Static pressure sensor (DPS310) raw measurement	Pa	Static pressure sensor DPS310 raw measurement
369	Static pressure sensor (DPS310) temperature	K	Static pressure sensor DPS310 temperature
370	Magnetometer 4 raw measure X converted to SI	T	Magnetometer 4 raw measurement for X axis converted to SI
371	Magnetometer 4 raw measure Y converted to SI	T	Magnetometer 4 raw measurement for Y axis converted to SI
372	Magnetometer 4 raw measure Z converted to SI	T	Magnetometer 4 raw measurement for Z axis converted to SI
373	Magnetometer 4 temperature	K	Magnetometer 4 temperature
400	Power Input	V	Power received by Veronte
401	Power Comicro 3.3V	V	Power received by Veronte through 3.3V port
402	Power 5V	V	Power received by Veronte through 5V port
403	SUC Power Input	V	Power received by Veronte SUC
404	Power 3.6V	V	Power received by Veronte through 3.6V port
405	CPU Temperature	K	Internal computer temperature

500	Longitude	rad	East-West geographic coordinate
501	Latitude	rad	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	rad	Angle between reference body line and flow direction vector
510	Sideslip	rad	Angle between the flow direction vector and the longitudinal axis of the vehicle
600-603	Temperature 1-4	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 rad	customType	Auxiliar variable for Gimbal control configuration
661	Veronte Gimbal yaw output	customType	Yaw value the gimbal is outputting
662	Veronte Gimbal pitch output	customType	Pitch value the gimbal is outputting
663	Gimbal phi(z)	customType	Auxiliar variable for Gimbal control configuration
664	Gimbal theta(y)	customType	Auxiliar variable for Gimbal control configuration
665	Gimbal psi(x)	customType	Auxiliar variable for Gimbal control configuration
666	Veronte Gimbal roll output	customType	Roll value the gimbal is outputting
700-705	RPM 1-6	rad/s	RPM associated to pulse captured 1-6
750	Selected controller time step	s	PID selected time step
751	Selected controller derivative filtered error	customType	PID selected derivative filtered error
752	Selected controller proportional action	customType	PID selected proportional action
753	Selected controller derivative action	customType	PID selected derivative action
754	Selected controller integral input	customType	PID selected integral input
755	Selected controller integral action	customType	PID selected integral action
756	Selected controller 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
1050-1069	Control Output u1-20 before servo saturation	customType	Commanded control output before saturation correction
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	Route-Guidance Distance	customType	Shortest distance to desired path (perpendicular distance)
1201	Radar AGL (Above Ground Level) – Height	m	Radar altimeter measure
1202	Radar Speed Down	m/s	Radar speed
1203	External Rotation for Follow Route	rad	Relative vector rotation when using Follow Route
1204	Time to Impact with Obstacles	s	Time calculated with Distance to Obstacle and travel speed
1300-1309	Clock 1-10	s	Configurable timers for automations – Clock 1 correspond to Timer 1, etc
1320-1321	ADC 3.3V input 1-2	V	CEX ADC 3.3 V inputs
1322-1323	ADC 5.0V input 1-2	V	CEX ADC 5.0 V inputs
1324-1325	ADC 12.0V input 1-2	V	CEX ADC 12.0 V inputs
1326-1327	ADC 36.0V input 1-2	V	CEX ADC 36.0 V inputs
1328-1329	ADC vIn 1-2	V	CEX External power supplies
1330	PCB Temperature	K	CEX PCB Temperature (from ADC input)
1350-1356	4XV ADC1-6 converted value	V	4xVeronte ADC 1-6 converted value
1357-1359	4XV internal ADC7-9 converted value	V	4xVeronte ADC 7-9 converted value
1360	4XV Vcc for arbiter	V	4xVeronte Arbiter power supply
1361-1362	4XV Vcc A-B 3.3V	V	4xVeronte Redundant power supplies
1363-1365	4XV Vcc 1-3	V	4xVeronte Autopilots power supplies
1366-1368	4XV Autopilot 0-1 Score	customType	4xVeronte Autopilots scores
1369	4XV Autopilot External score	decimal	4xVeronte External autopilot score

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	Pa	Dynamic pressure sensor raw measurement
1404	Barometric Pressure at Sea Level (QNH)	Pa	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	rad	Raw measurements for internest angle
1494	Internest raw xy standard deviation	m	Raw measurements for XY axis internest standard deviation
1495	Internest raw z standard deviation	m	Raw measurements for Z-axis internest standard deviation
1496	Internest raw angle standard deviation	rad	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	rad	Data from GNSS1 module: Longitude
1505	GNSS1 Latitude	rad	Data from GNSS1 module: Latitude
1506	GNSS1 Height Above Ellipsoid (WGS84)	m	Data from GNSS1 module: Height Above Ellipsoid (WGS84)
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	rad	Data from GNSS1 module: RTK Base longitude
1518	GNSS1 Related Base Latitude	rad	Data from GNSS1 module: RTK Base latitude
1519	GNSS1 Related Base WGS84 Altitude	m	Data from GNSS1 module: RTK Base WGS84 Altitude
1520	GNSS1 Related Base to Rover Azimuth	rad	Data from GNSS1 module: RTK Base-Rover vector azimuth (Spherical COordinates system)
1521	GNSS1 Related Base to Rover Elevation	rad	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)
1528	GNSS1 Position Frequency	Hz	Data from GNSS1 module: Position frequency
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	rad	Data from GNSS2 module: Longitude
1605	GNSS2 Latitude	rad	Data from GNSS2 module: Latitude
1606	GNSS2 Height Above Ellipsoid (WGS84)	m	Data from GNSS2 module: Height Above Ellipsoid (WGS84)
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	rad	Data from GNSS2 module: RTK Base longitude
1618	GNSS2 Related Base Latitude	rad	Data from GNSS2 module: RTK Base latitude
1619	GNSS2 Related Base WGS84 Altitude	m	Data from GNSS2 module: RTK Base WGS84 Altitude
1620	GNSS2 Related Base to Rover Azimuth	rad	Data from GNSS2 module: RTK Base-Rover vector azimuth (Spherical COordinates system)
1621	GNSS2 Related Base to Rover Elevation	rad	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)
1528	GNSS2 Position Frequency	Hz	Data from GNSS2 module: Position frequency
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, rad 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	s	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 CIO	s	Longest time duration from a step in CIO
2047	Acquisition task timestep	s	Average period for executing the acquisition task
2048	Acquisition task maximum timestep	s	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	s	Average time acquisition task has used
2053	Acquisition task maximum time	s	Maximum time acquisition task has used
2054	CIO Max time	s	Maximum time in acquisition from Core Input/Output
2055	CIO average time	s	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	s	Average time spent on GNC task
2097	GNC task maximum time	s	Maximum time spent on GNC task
2098	GNC task maximum timestep	s	Maximum execution period for GNC task
2099	Max duration of step in GNC	s	Maximum duration of one step in GNC
2100	Gyroscope Based on Accelerometer – X Body Axis	rad/s	Gyroscope measurements obtained from accelerometer X-axis data
2101	Gyroscope Based on Accelerometer – Y Body Axis	rad/s	Gyroscope measurements obtained from accelerometer Y-axis data
2102	Gyroscope Based on Accelerometer – Z Body Axis	rad/s	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	rad	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	rad	Variables for Gimbal 2 configuration – Angles sent to gimbal as Yaw (1), Pitch (2) and Roll (3)
2303-2305	Joint 1-3 of Gimbal 2	rad	Variables for Gimbal 2 configuration – Angles sent to gimbal as Yaw (1), Pitch (2) and Roll (3)
2330	VMC control loop period	s	Veronte Motor Controller control loop period
2331	VMC control loop maximum period	s	Veronte Motor Controller maximum control loop period
2332	VMC control loop duration	s	Veronte Motor Controller control loop average execution time
2333	VMC control loop maximum duration	s	Veronte Motor Controller control loop maximum averaged execution time
2334	VMC control CPU usage ratio	percentage	Veronte Motor Controller CPU usage ratio
2335	VMC control loop maximum CPU usage ratio	percentage	Veronte Motor Controller maximum CPU usage ratio
2336-2338	VMC U-W phase current	customType	Veronte Motor Controller U-W phase current
2339	VMC electrical angle	rad	Veronte Motor Controller electrical angle
2340	VMC mechanical angle	rad	Veronte Motor Controller mechanical angle
2341	VMC mechanical angular speed	rad/s	Veronte Motor Controller mechanical angular speed
2342	VMC desired mechanical angle	rad	Veronte Motor Controller desired mechanical angle
2343	VMC position controller output	rad/s	Veronte Motor Controller position PDI output
2344	VMC desired mechanical angular speed	rad/s	Veronte Motor Controller desired mechanical angular speed
2345	VMC desired mechanical angular speed after limiter	rad/s	Veronte Motor Controller desired mechanical angular speed after speed limiter
2346	VMC speed controller output	customType	Veronte Motor Controller speed PDI output
2347-2348	VMC clarke alpha-beta current	customType	Veronte Motor Controller current after clarke transformation
2349-2350	VMC park direct-quadrature current	customType	Veronte Motor Controller current after park transformation
2351-2352	VMC desired park direct-quadrature current	customType	Veronte Motor Controller desired park currents
2353-2354	VMC park direct-quadrature current controller output	customType	Veronte Motor Controller current PIDs outputs
2355-2356	VMC clarke alpha-beta current from park controller output | customType | Veronte Motor Controller clarke alpha-beta current from park controller output
2357-2358	VMC desired clarke alpha-beta current	customType	Veronte Motor Controller desired clarke current
2359-2361	VMC U-W phase space vector generator output	customType	Veronte Motor Controller phase time constants
2362-2364	VMC U-W phase PWM output	percentage	Veronte Motor Controller PWM outputs
2365	VMC encoder raw angle	rad	Veronte Motor Controller encoder raw measured angle
2366	VMC stepper output frequency	Hz	Veronte Motor Controller stepper output frequency
2367	VMC mechanical angle error	rad	Veronte Motor Controller mechanical angle error
2368-2370	VMC U-W phase BEMF	V	Veronte Motor Controller U-W phase electromechanical force
2400-2419	Control Output u1-20	customType	Control output 1-20 after servo saturation
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
2700-2731	Operation Guidance 1-32	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
2812	Wind Azimuth Angle	deg	Wind estimated azimuth
2813	Wind Velocity in North-East plane	m/s	Wind velocity vector horizontal component
2900	MSL Right from Actual QNH and Pressure Measurement	m	Mean Sea Level obtained from Actual QNH and current Pressure Measurement
2901	MSL for ISA and Pressure Measurement	m	Mean Sea Level calculated for ISO International Standard Atmosphere and Pressure Measurement
2902	Time Since Entering Current Phase	s	Time-lapse considered since entering the current phase
2903	GNC Timestep	s	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	s	Time-lapse spent by the vehicle in any phase
3000-3031	Simulation Variable 1-32	customType	Variables used for Simulation data
3100-3399	User Variable 1-300	customType	Free variables for the user to use
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 Not Ready to Start	–	System is ready to start operating – 0 for not ready, 1 for ready
4	No Writing Telemetry	–	Telemetry is properly sending/receiving – 0 for no, 1 for yes
5	Reserved	–	Reserved variable
6	File System Error	–	System file manager is working – 0 for error, 1 for running
7	System Error	–	System is working – 0 for error, 1 for running
8	Memory Allocation	–	Memory allocation is working – 0 for error, 1 for running
9	PDI Error	–	PDI files are working – 0 for error, 1 for running
10	CIO Low or C2 Error	–	All threads running at specified frequencies – 0 for false, 1 for true
11	PDI Version Not Compatible	–	PDI files compatible with current version – 0 for false, 1 for true
12	System Power Up Bit Error	–	Power up Built in Test result – 0 for fail, 1 for ok
13	Reset and Write Disabled	–	When true, indicates that reset and non-operation PDI writes are allowed
14-15	FTS-1-2 Feedback (V4.5)	–	Flight Termination System feedback – 0 for error, 1 for running
16-17	Stack Core 1-2 Usage Fail	–	Stack CPU 1-2 usage - 0 for fail, 1 for ok
20	4XV System	–	4xVeronte system wide bit (Arbiter OK) - 0 for fail, 1 for ok
21	4XV System Power up Bit	–	4xVeronte power up Built in Test result – 0 for fail, 1 for ok
22	4XV PDI	–	4xVeronte PDI files are working – 0 for error, 1 for running
23	4XV Memory Allocation	–	4xVeronte Memory allocation is working – 0 for error, 1 for running
24-25	4XV CAN-A-B Bus Off	–	4xVeronte CAN A-B bus is working – 0 for error, 1 for running
26	4XV C1 Arbiter	–	4xVeronte CP1 Main Task – 0 for error, 1 for running
27	4XV Acquisition Arbiter	–	4xVeronte Acquisition task in real time – 0 for error, 1 for running
28	4XV Power A	–	4xVeronte Power A Status - 0 for error, 1 for running
29	4XV Not in Maintenance Mode	–	4xVeronte Arbiter in Maintenance Mode – 0 for false, 1 for true
30-32	4XV Alive 0-2	–	4xVeronte Autopilot 0-2 Alive – 0 for false, 1 for true
33	4XV Alive 3 External	–	4xVeronte External Autopilot Alive – 0 for false, 1 for true
34-36	4XV Ready 0-2	–	4xVeronte Autopilot 0-2 Ready – 0 for false, 1 for true
37	4XV Ready 3 External	–	4xVeronte External Autopilot Ready – 0 for false, 1 for true
38	4XV Arbitrating	–	4xVeronte Arbiter Ready – 0 for false, 1 for true
39	4XV File Open Error	–	4xVeronte System file manager is working – 0 for error, 1 for running
40	4XV PDI Version Not Compatible	–	4xVeronte PDI files compatible with current version – 0 for false, 1 for true
41	4XV Stack Usage Fail	–	4xVeronte Stack CPU usage - 0 for fail, 1 for ok
42-46	4XV PWM1-5 GPIO Off	–	4xVeronte GPIO/PWM 1-5 Read Value - 0 for false, 1 for true
50	Sensors error	–	Selected sensors are working - 0 for error, 1 for 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 Transmitting-Receiving	–	SCI A-D Transmitting-Receiving during last check period – 0 for fail, 1 for ok
73-74	CAN A-B Error	–	CAN A-B Bus communication – 0 for error, 1 for running
75-76	CAN A-B Warning	–	CAN A-B deteriorated (but still working) - 0 for no deterioration, 1 for deterioration
77	Vectornav GPS fix	–	Vectornav GPS fix state - 0 for error, 1 for running
78	Vectornav IMU Error	–	Vectornav IMU state - 0 for error, 1 for running
79	Vectornav Mag/Press Error	–	Vectornav Magentometer and Pressure sensors state - 0 for error, 1 for running
80	Vectornav GPS Error	–	Vectornav GPS state - 0 for error, 1 for running
81	Vectornav Navigation Error	–	Vectornav navigation state - 0 for error, 1 for running
82	Sensor External Magnetometer (HSCDTD008A)	–	External Magnetometer HSCDTD008A state - 0 for error, 1 for running
83	Sensor 3rd IMU BMI088	–	IMU BMI088 state - 0 for error, 1 for running
84	Sensor Static Preassure 2 (DPS310)	–	Static preassure sensor DPS310 state - 0 for error, 1 for running
85	Magnetometer 4 (MMC5883MA)	–	Magnetometer MMC5883MA state - 0 for error, 1 for running
100	Position not Fixed	–	GNSS data reception – 0 for not receiving, 1 for receiving
101	Out of Georeferenced Area	–	0 for being outside a Georeferenced area, 1 for being inside
102-103	CAN A-B Receiving	–	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	Magnetic Field Out of Bounds	–	0 for Magnetic Field Out of Bounds, 1 for Magnetic Field Inside Bounds
107	INSS Navigation Off	–	INS Navigation state - 0 for off, 1 for on
108-109	Stick PPM 3-4 detection	–	Stick PPM (3 or 4) – 0 for not detecting, 1 for detecting
110	Stick Not Detected	–	Stick signal detected – 0 for not detecting, 1 for detecting
111-112	CAN A-B Transmitting	–	CAN A or B communication – 0 for not transmitting, 1 for transmitting
113	Iridium Ready	–	Iridium ready state – 0 for not ready, 1 for ready
114	EKF: Cholesky Inverse Error	–	Cholesky Inverse Error in Kalman filter - 0 for error, 1 for ok
115	EKF: Condition Number Error	–	Matrix inversion error in Kalman filter - 0 for error, 1 for ok
116	Radar Altimeter CAN-RX Error	–	Radar Altimeter State – 0 for error, 1 for running
117-118	Main-SuC Power Error	–	Main or SuC Power State – 0 for error, 1 for running
120-123	Pulse 1-4 Not Detected	–	Pulse 1-4 signal detected – 0 for not detecting, 1 for detecting
124	4XV Vcc for Arbiter CPU Error	–	4xVeronte Arbiter Power State – 0 for error, 1 for running
125-126	4XV Vcc-A-B Error	–	4xVeronte Redundant Power State – 0 for error, 1 for running
127-129	4XV Vcc Vcc-1-3 Error	–	4xVeronte Autopilots Power 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 Navigation Error	–	External VCP State – 0 for error, 1 for running
160	External var Navigation Error	–	External Navigation State – 0 for error, 1 for running
180	External Attitude	–	Kind of attitude calculation – 0 for external, 1 for internal
181	Reserved Off	–	System Bit
182	FTS Activation (V4.5)	–	FTS Activation Bit - 0 for not activated, 1 for activated
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
207	DGNSS1 Not Moving Baseline Mode	–	Moving Baseline Mode - 0 for deactivated, 1 for activated
230-293	4XV Custom Msg 0-63 Error	–	4xVeronte Arbiter custom message timeout - 0 for error, 1 for ok
300-306	(D)GNSS2	–	(Differential) GNSS2 Navigation, Input, Survey In, Float and Fixed Solution and Relative Position – 0 for Off, 1 for On
307	DGNSS2 Not Moving Baseline Mode	–	Moving Baseline Mode - 0 for deactivated, 1 for activated
330	Jetibox COMM Error	–	Jetibox is communicating properly - 0 for error, 1 for ok
400	C1 Low Frequency	–	0 for CPU main task error, 1 for CPU main task ok
401	GNC Step Missed	–	0 for GNC Step Missed, 1 for GNC Task ok
402	Acquisition Step Missed	–	0 for Acquisition Step Missed, 1 for Acquisition Task ok
403	CIO Hi Overload Warning	–	0 for Acquisition Task overload, 1 for Acquisition Task ok
404-405	Reserved	–	System bits
480	VMC Stepper Direction Output	–	Veronte Motor Controller stepper inversion - 0 for direct, 1 for inverted
481	VMC Brushless Driver Fault	–	Veronte Motor Controller PWM driver input error - 0 for no error, 1 for error
500	Ground effect compensation variance disabled	–	Ground effect compensation effect – 0 for disabled, 1 for enabled
501	Ground effect compensation measurement disabled	–	Ground effect compensation effect – 0 for disabled, 1 for enabled
600	Wind Estimation Off	–	Wind estimation - 0 for disabled, 1 for enabled
700-731	Servo 1-32 Of	–	Servos state – 0 for saturated, 1 for Ok
800-815	PWM1-16 GPIO Off	–	PWM GPIO 1-16 communication Sate – 0 for Off, 1 for On
816-819	EQEP A-D Off	–	Input/Output State – 0 for Off, 1 for On
820-822	RSSI LED 1-3 Off	–	Received Signal Strength Indicator led state – 0 for Off, 1 for On
900-931	Virtual GPIO 1-32 Off	–	Virtual GPIO 1-32 - 0 for Off, 1 for On
1000-1009	Simulation BIT 1-10 State	–	Variables used for Simulation data – 0 for error, 1 for running
1010-1113	Custom Msg 0-103 Rx Error	–	Custom message timeout - 0 for error, 1 for ok
1120-1121	Entrance EKF GNSS0-1 Off	–	GNSS1-2 information considered in EKF Navigation - 0 for no, 1 for yes
1122	Entrance EKF GNSS EXT Off	–	External GNSS information considered in EKF Navigation - 0 for no, 1 for yes
1123	Entrance EKF Internest Off	–	Internest information considered in EKF Navigation - 0 for no, 1 for yes
1124	Entrance EKF GPSCOMPASS Off	–	GNSS Compass information considered in EKF Navigation - 0 for no, 1 for yes
1125	Entrance EKF Magnetometer Off	–	Magnetometer information considered in EKF Navigation - 0 for no, 1 for yes
1126	Entrance EKF Static Press Off	–	Static Pressure sensor information considered in EKF Navigation - 0 for no, 1 for yes
1127	Entrance EKF Altimeter Off	–	Altimeter information considered in EKF Navigation - 0 for no, 1 for yes
1128	Entrance EKF Radar-Altimeter Off	–	Radar Altimeter information considered in EKF Navigation - 0 for no, 1 for yes
1129	Entrance EKF DEM Off	–	DEM information considered in EKF Navigation - 0 for no, 1 for yes
1180-1181	Sniffer Msg 0-1 Rx Error	–	Error in received sniffer message - 0 for error, 1 for running
1200-1499	User BIT 1-300	–	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	Actuator mode	–	Index pointing to the flight mode in use
1	Phase identifier	–	Index pointing to the active phase
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
50	PDI Error Source	–	Index for error source identification
55	4XV Veronte Selected	–	4xVeronte selected autopilot
56	4XV Config manager status	–	4xVeronte Configuration manager status (flash, sd, safe)
57	4XV File System Status	–	4xVeronte State error for DFS2 file system
58-59	4XV CAN to Serial 0-1 frames dropped	–	4xVeronte Lost messages during CAN to Serial transformations
60-69	4XV Internal ADC Channel 1-10	–	4xVeronte ADC Converters input signals
70	4XV VCC arbiter	–	4xVeronte Arbiter power supply
71-72	4XV VCC A-B	–	4xVeronte Redundant power supplies
73-75	4XV VCC 1-3	–	4xVeronte Autopilots power supplies
80	Detour calculation identifier	–	Index for a route change
90	Version Major	–	Major software version
91	Version Minor	–	Minor software version
92	Version Revision	–	Revision software version
95	UAV Address	–	UAV address
96	File system status	–	State error for DFS2 FS
100	GNSS1 Number of Satellites Used in Solution	–	Number of Satellites Used in Solution
101-112	GNSS1 rejected/accepted RTCM	–	Number of RTCM rejected by wrong CRC/correctly received by Ublox 1005/1077/1087/1127/1230/4072
113	GNSS1 rejected RTCM unknown type	–	Number of RTCM unknown rejected by wrong CRC
114	GNSS1 week	–	GNSS1 week
150	GNSS2 Number of Satellites Used in Solution	–	Number of Satellites Used in Solution
151-162	GNSS2 rejected/accepted RTCM	–	Number of RTCM rejected by wrong CRC/correctly received by Ublox 1005/1077/1087/1127/1230/4072
163	GNSS2 rejected RTCM unknown type	–	Number of RTCM unknown rejected by wrong CRC
164	GNSS2 week	–	GNSS2 week
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	–	External HMR2300 Magnetometer Raw Measurement
310-311	Iridium sent-received	–	Number of packets succesfully sent/received
398	VectorNav Mode	–	Index showing external source VectorNav mode
399	Identifier of max duration step in acquisition	–	Identifier of maximum duration step in acquisition
400	Internest raw status	–	Internest raw status
401	Navigation source	–	Index pointing to the primary navigation source
402	Raw position source identifier	–	GPS identifier selected as main
403-410	Sensor selection	–	Static & Dynamic Pressure, Primary accelerometer & gyroscope, magnetometer and stick priority table
425	Identifier of max duration step in GNC	–	Step with maximum duration
426	Group of user bits selected for CBIT	–	Step with maximum duration
450-453	CAN A-B Tx-Rx errors	–	CAN A-B communication errors in transmission-reception
454-456	CAN to Serial 1-3 frames dropped	–	Lost messages during CAN to Serial transformations
460-461	First-Last file Periodic log	–	First-Last file of the periodic log
462-463	First-Last file Event log	–	First-Last file of the event log
464-465	First-Last file Fast log	–	First-Last file of the fast log
490	Number of moving objects detected	–	Number of moving objects detected
491-492	Veronte static cfg CRC (no Op.) of files	–	Veronte static cfg CRC (no Op.) of files - Higher-Lower 16 bits
493-494	Veronte static cfg CRC (no Op.) of memory	–	Veronte static cfg CRC (no Op.) of memory - Higher-Lower 16 bits
495-496	Global configuration state (crc) files-memory	–	Global configuration state (crc) files-memory - Higher-Lower 16 bits
497	Config manager status (flash/sd/maintenance m.)	–	Config manager status
498-499	Global configuration state (crc) files-memory	–	Global configuration state (crc) files-memory
500	Transponder sequence number	–	Value of the transponder sequence number
501	System Reserved	–	System variables not configurable
550-555	Reserved 1-8	–	System reserved variables
600-615	PPM channel 0-15 output	–	CEX PPM channel outputs
900-909	Simulation variables	–	Variables used for Simulation data
1000-1299	User Variables	–	Free variables for the user to use
2000	Uvar Disabled	–	Disabled variable
2001	Zero	–	Uvar with constant 0 value

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