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