Log Details

Log File Details

Below is a list of the various log categories you will encounter in the log files. The first section contains a list of useful categories in alphabetically order. The second section contains a list of the remaining categories with a very brief description in case you are interested.

• Important Data
• Other Data
• Not Present in AA241x Version

Mapping of Variables

Here is a brief mapping between the variables you have access to in your code and variables in the logs:

ATT

• roll -> Roll
• pitch -> Pitch
• yaw -> Yaw
• roll_rate -> RollRate
• pitch_rate -> PitchRate
• yaw_rate -> YawRate

ADAT

• speed_body_u -> u
• speed_body_v -> v
• speed_body_w -> w
• position_N -> N
• position_E -> E
• position_D_gps -> Dgps
• position_D_baro -> Dbaro
• ground_speed -> GrndSpd or GrndCrs (depending on code version)

IMU

• accel_body_x -> AccX
• accel_body_y -> AccY
• accel_body_z -> AccZ

GPOS

• vel_N -> VelN
• vel_E -> VelE
• vel_D -> VelD

GPS

• ground_course -> Cog (at the moment just heading, but will be mapped to Cog)
• gps_ok -> Fix

AIRS

• air_speed -> TrueSpeed

BATT

• battery_voltage -> VFilt
• battery_current -> C

ATTC

• roll_servo_out -> Roll
• pitch_servo_out -> Pitch
• yaw_servo_out -> Yaw
• throttle_servo_out -> Throttle

RC

• man_roll_in -> CH0
• man_pitch_in -> CH1
• man_throttle_in -> CH2
• man_yaw_in -> CH3
• man_flaps_in -> CH4
• man_aux1_in -> CH5
• man_aux2_in -> CH6

Param Values - these values can be found in the parameter list.

• roll_trim
• pitch_trim
• yaw_trim

Unmapped

• local_pos_ne_valid
• local_pos_d_valid

Important Data

ADAT - AA241x Data

Only present in the AA241x version of the code. This contains the calculated auxiliary data that is not found in other log categories.

• Dbaro [m] - the barometeric pressure altitude above the center of lake lag
• Dgps [m] - the gps altitude above the center of lake lag (Note: this is the altitude used in mission)
• E [m] - East position from the center of lake lag
• GrndCrs or GrndSpd (renamed to GrndSpd recently) [m/s] - Ground speed as measured by GPS
• N [m] - North position from center of lake lag
• u [m/s] - body velocity in the x direction
• v [m/s] - body velocity in the y direction
• w [m/s] - body velocity in the z direction

AIRS - Airspeed

Contains airspeed information.

• AirTemp [C] - air temperature used to filter baro pressure information
• IndSpeed [m/s] - indicated airspeed
• TrueSpeed [m/s] - true airspeed

AMIS - AA241x Mission Status

Only present in the AA241x version of the code. This constains the current mission status information.

• CanStart - 1: the mission is able to start; 0: uav has violated a starting condition
• InMission - 1: currently running a mission, 0: not in a mission
• MisTime [min] - the current run time of the mission (time since mission started)
• Score - your current mission score

ATSP - Attitude Setpoint

This contains the setpoint information for the attitude. These fields can be set by setting the *_desired variables from either the high or low module.

• PitchSp
• RollSp
• ThrustSp
• YawSP

ATT - Attitude

This contains all of the attitude information.

• GX, GY, GZ [?] - Compensated gravity vector
• Pitch [rad] - pitch ranges from -pi/2..pi/2
• PitchRate [rad/sec] - pitch rate
• Roll [rad] - roll ranges from -pi..pi
• RollRate [rad/sec] - roll rate
• Yaw [rad] - yaw ranges from -pi..pi
• YawRate [rad/sec] - yaw rate
• qw, qx, qy, qz - quaternions

ATTC - Actuator Controls

This contains the output for the main actuators. Values are bound between -1..1 with the exception of throttle which is bound from 0..1. These values will get converted by the pixhawk to the required PWM values for the servos.

• Pitch - the output to the pitch actuator
• Roll - the output to the roll actuator
• Thrust - the output for the thrust
• Yaw - the output to the yaw actuator

BATT - Battery Status

Contains information on the battery.

• C [A] - current being pulled
• Discharged [mAh] - the amount of capacity that has been discharged
• V [V] - the battery voltage
• VFilt [V] - filtered battery voltage

FIRE

Only present in the AA241x version of the code. Contains information on the propagation of the fire (though not reliable at the moment).

GPSOS - GPS Fused

The fused GPS position estimate. It is not the raw GPS measurement. Position as calculated by the position estimator which will take more sources of information into account than just GPS, e.g. control inputs of the vehicle in a Kalman-filter implementation.

• Alt [m] - altitude AMSL (Above Mean Sea Level)
• EPH - standard deviation of estimate horizontally
• EPV - standard deviation of vertical
• Lat [deg*1e7] - latitude in degree * 1e7
• Lon [deg*1e7] - longitude in degree * 1e7
• TALT [m] - terrain altitude (WGS84)
• VelD [m/s] - ground downward velocity
• VelE [m/s] - ground eastwards velocity
• VelN [m/s] - ground northwards velocity

GPS - GPS Raw

Raw GPS position in WGS84 coordinates. This is not the the data that is used to provide you with North, East, Down positions.

• Alt
• Cog [rad] - course over ground (not heading, but direction of movement) ranging from 0..2*pi
• EPH
• EPV
• Fix - 1: have a GPS fix, 0: no fix
• GPSTime
• J
• Lat
• Lon
• N - number of satellites in view
• SNR
• TALT
• VelD
• VelE
• VelN

GPSP - GPS Setpoint

GPS position setpoint. Currently not being used, but watch for updates.

HIGH - High Priority Data

Only present in the AA241x code. The custom high priority module data.

IMU - Inertial Measurement Unit

Scaled and filtered data from the onboard sensors.

• AccX [m/s^2] - accelerometer reading x direction (body acceleration x direction)
• AccY [m/s^2] - accelerometer reading y direction (body acceleration y direction)
• AccZ [m/s^2] - accelerometer reading z direction (body acceleration z direction)
• GyroX [rad/sec] - gyroscope reading x direction
• GyroY [rad/sec] - gyroscope reading y direction
• GyroZ [rad/sec] - gyroscope reading z direction
• MagX [Gs] - magnetometer reading x direction
• MagY [Gs] - magnetometer reading y direction
• MagZ [Gs] - magnetometer reading z direction

IMU1, IMU2 - Inertial Measurement Unit Sensors (2) (3)

Continued inertial measurement unit sensor information. Gives data from secondary sensors. Not used in the AA241x code.

LOW - Low Priority Data

Only present in the AA241x code. The custom low priority module data.

LPOS - Local Position

Fused local position.

• Dist
• DistR
• EPH
• EPV
• GFlg
• PFlg
• RAlt
• RLat
• RLon
• VX
• VY
• VZ
• X
• Y
• Z [m] - downward relative position based on fused baro and GPS measurement (0 is altitude where Pixhawk was turned on)

OUT0 - True Actuator Output

Output PWM signal to the control servos.

• OUT0 - roll servo
• OUT1 - pitch servo
• OUT2 - yaw servo
• OUT3 - throttle (speed controller)

PICD - Picture Details

Only present in the AA241x version of the code. Contains the details of what the camera "saw" for the picture result. As an example, the coordinate given by (i1, j1) will have state s1. Due to limitations of size on a log entry, only 5 grid cell results can be shown at a time. In the even that more than 5 grids are seen, multiple of these messages will be seen in line with an increasing n value.

• i* - the i coordinate of the grid cell seen
• j* - the j coordinate of the grid cell seen
• s* - the state of the grid cell seen
• n - the number of this picture diameter result

PICR - Picture Result

Only present in the AA241x version of the code. Contains the general information returned when a picture is taken.

• CntrD [m] - down position of the center of the picture
• CntrE [m] - east position of the center of the picture
• CntrN [m] - noth position of the center of the picture
• PicD [m] - diameter of the picture (a function of altitude)
• Success - 1: picture was successfully taken, 0: otherwise
• T [us] - timestamp since boot that the picture was taken
• nCell - the number of grid cells "seen" in the picture, if greater than 5, look for two sets of PICD messages

RC - RC

R/C inputs for each channel ranging from -1..1, with the exception of throttle which ranges from 0..1.

• Ch0 - aileron input
• Ch1 - pitch input
• Ch2 - throttle input
• Ch3 - yaw input
• Ch5, Ch6, Ch7 - other channel inputs
• Count - total number of r/c inputs seen by the receiver
• SignalLost - 1: signal from transmitter has been lost, 0: otherwise

SENS - Sensor Data

Barometeric pressure sensor information. You may note some variations between BaroAlt and the ADAT. Dbaro values as the barometric pressure altitude used in the ADAT category has been smoothed and is also a downwards position (therefore will be a negative of BaroAlt

• BaroAlt [m] - temperature compensated relative altitude
• BaroPres [mbar] - temperature compensated barometric pressure
• BaroTemp [C] - temperature
• DiffPres [Pa] - differential pressure between current and starting location
• DiffPresFilt [Pa] - filtered differential pressure

STAT - Vehicle Status

Vehicle status information.

• ArmState - 1: armed, 0: not armed
• BatRem - decimal percentage of the amount of battery that is remaining
• BatWarn
• FailsafeState
• Landed
• MainState

WDRP - Water Drop Result

Only present in the AA241x version of the code. The result of a water drop execution. This is only for your help in testing, you will not be provided any of this information in flight.

• Success - 1: successfully dropped water, 0: unsuccessful
• T [us]- timestamp since boot of when the water was dropped
• i - i grid coordinate of where the water was dropped
• j - j grid coordinate of where the water was dropped

WIND - Wind Estimate

Wind estimate data.

• CovX - covariance in north estimate (0 means no estimate)
• CovY - covariance in east estimate (0 means no estimate)
• X [m/s] - northward wind direction
• Y [m/s] - eastward wind direction

Other Data

AIR1 - Air Sensor Data

Contains sensor information related to the air.

• BaroAlt
• BaroPa
• BaroTmp
• DiffPres
• DiffPresF

ARSP - Attitude Rate Setpoint

This constains the setpoint information for the attitude rate. Not of interest.

ATC1 - Actuator Controls Group 1

This contains the output for the acutators in control group 1. Control group 1 is not used for your aircraft so none of these fields will be of interest.

ENCD - Encoder Status

Information on the encodes. Not of interest.

ESC - Speed Controller

Contains information from the speed controller, though none of this information will be populated by the ESCs being used. Not of interest.

ETS0 - Estimator (1/2)

Estimator status information. Data from the estimator that does all the state estimation to be able to monitor the estimator's performance. Not immediately of interest, but definitely interesting.

EST1 - Estimator (2/2)

Continued estimator status information.

GS0A, GS0B, GS1A, GS1A

Detailed information on all the GPS satellites in view. Only active in extended logging which is not being used.

LPSP - Local Position Setpint

Setpoint of local position. Not used in the AA241x code.

PWR - Power

General raw power information from the power module.

TECS - Total Energy Controller

Data on the total energy controller (not activated in the AA241x version of the code, therefore will be empty).

TEL0, TEL1, TEL2, TEL3 - Telemetry Links

Status on the telemetry links.

Not Present in AA241x Version

DIST - Range Finder

This should not be present in the AA241x code logs. Rangefinder distance. Not of interest.

FLOW - Optical Flow Sensor

This should not be present in the AA241x code logs. Optical flow sensor data. Not of interest.

VICN - Vicon Position System

Should not be present in the AA241x version of the code. Vicon position information.

VISN - Vision Position Information

Should not be present in the AA241x version of the code. Vision position estimate.