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 |