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