Logging groups and variables

Index

a

• acc
• activeMarker
• aidecktest
• amarkUartTest
• asc37800

b

• baro

c

• colAv
• controller
• crtp
• ctrlINDI
• ctrlMel
• ctrltarget
• ctrltargetZ

D

• DTR_P2P

e

• estimator
• ext_pos
• extrx
• extrx_raw

f

• flapper

g

• gps
• gyro

h

• health

k

• kalman
• kalman_pred

l

• lhFlasher
• lighthouse
• loadcell
• loco
• locSrv
• locSrvZ

m

• mag
• memTst
• motion
• motor

n

• navFilter

o

• oa
• outlierf

p

• pid_attitude
• pid_rate
• pm
• posCtl
• posCtrlIndi
• posEstAlt

r

• radio
• range
• ranging
• ring
• rpm

s

• sensfusion6
• sensorFilter
• stabilizer
• stateEstimate
• stateEstimateZ
• supervisor
• sys

t

• tdoa2
• tdoaEngine
• twr

u

• ukf
• usd

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back to group index

acc

Log group for accelerometer sensor measurement, based on body frame. Compensated for a miss-alignment by gravity at startup.

For data on measurement noise please see information from the sensor manufacturer. To see what accelerometer sensor is in your Crazyflie or Bolt please check documentation on the Bitcraze webpage or check the parameter group imu_sensors.

Variables

Name	Core	Type	Description
acc.x	Core	LOG_FLOAT	Acceleration in X [Gs].
acc.y	Core	LOG_FLOAT	Acceleration in Y [Gs].
acc.z	Core	LOG_FLOAT	Acceleration in Z [Gs].

Detailed Variable Information

acc.x

src/modules/src/stabilizer.c (L571)

Acceleration in X [Gs].

acc.y

src/modules/src/stabilizer.c (L576)

Acceleration in Y [Gs].

acc.z

src/modules/src/stabilizer.c (L581)

Acceleration in Z [Gs].

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activeMarker

Variables

Name	Core	Type	Description
activeMarker.btSns		LOG_UINT8
activeMarker.i2cOk		LOG_UINT8

Detailed Variable Information

activeMarker.btSns

src/deck/drivers/src/activeMarkerDeck.c (L316)

activeMarker.i2cOk

src/deck/drivers/src/activeMarkerDeck.c (L317)

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aidecktest

Variables

Name	Core	Type	Description
aidecktest.testresult		LOG_UINT32
aidecktest.done		LOG_UINT8

Detailed Variable Information

aidecktest.testresult

src/deck/drivers/src/test/aidecktest.c (L469)

aidecktest.done

src/deck/drivers/src/test/aidecktest.c (L470)

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amarkUartTest

Variables

Name	Core	Type	Description
amarkUartTest.passed		LOG_UINT8

Detailed Variable Information

amarkUartTest.passed

src/deck/drivers/src/test/activeMarkerUartTest.c (L105)

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back to group index

asc37800

Variables

Name	Core	Type	Description
asc37800.v		LOG_FLOAT
asc37800.vRMS		LOG_FLOAT
asc37800.v_mV		LOG_INT16
asc37800.i		LOG_FLOAT
asc37800.iRMS		LOG_FLOAT
asc37800.i_avg		LOG_FLOAT
asc37800.i_mA		LOG_INT16
asc37800.p		LOG_FLOAT
asc37800.p_avg		LOG_FLOAT
asc37800.p_mW		LOG_INT16

Detailed Variable Information

asc37800.v

src/deck/drivers/src/acs37800.c (L337)

asc37800.vRMS

src/deck/drivers/src/acs37800.c (L338)

asc37800.v_mV

src/deck/drivers/src/acs37800.c (L339)

asc37800.i

src/deck/drivers/src/acs37800.c (L340)

asc37800.iRMS

src/deck/drivers/src/acs37800.c (L341)

asc37800.i_avg

src/deck/drivers/src/acs37800.c (L342)

asc37800.i_mA

src/deck/drivers/src/acs37800.c (L343)

asc37800.p

src/deck/drivers/src/acs37800.c (L344)

asc37800.p_avg

src/deck/drivers/src/acs37800.c (L345)

asc37800.p_mW

src/deck/drivers/src/acs37800.c (L346)

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back to group index

baro

Log group for the barometer.

For data on measurement noise please see information from the sensor manufacturer. To see what barometer sensor is in your Crazyflie or Bolt please check documentation on the Bitcraze webpage or check the parameter group imu_sensors.

Variables

Name	Core	Type	Description
baro.asl	Core	LOG_FLOAT	Altitude above Sea Level [m].
baro.temp		LOG_FLOAT	Temperature [degrees Celsius].
baro.pressure	Core	LOG_FLOAT	Air preassure [mbar].

Detailed Variable Information

baro.asl

src/modules/src/stabilizer.c (L605)

Altitude above Sea Level [m].

baro.temp

src/modules/src/stabilizer.c (L610)

Temperature [degrees Celsius].

baro.pressure

src/modules/src/stabilizer.c (L615)

Air preassure [mbar].

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back to group index

colAv

Variables

Name	Core	Type	Description
colAv.latency		LOG_UINT32

Detailed Variable Information

colAv.latency

src/modules/src/collision_avoidance.c (L345)

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controller

Logging variables for the command and reference signals for the altitude PID controller

Variables

Name	Core	Type	Description
controller.cmd_thrust		LOG_FLOAT	Thrust command.
controller.cmd_roll		LOG_FLOAT	Roll command.
controller.cmd_pitch		LOG_FLOAT	Pitch command.
controller.cmd_yaw		LOG_FLOAT	yaw command
controller.r_roll		LOG_FLOAT	Gyro roll measurement in radians.
controller.r_pitch		LOG_FLOAT	Gyro pitch measurement in radians.
controller.r_yaw		LOG_FLOAT	Yaw measurement in radians.
controller.accelz		LOG_FLOAT	Acceleration in the zaxis in G-force.
controller.actuatorThrust		LOG_FLOAT	Thrust command without (tilt)compensation.
controller.roll		LOG_FLOAT	Desired roll setpoint.
controller.pitch		LOG_FLOAT	Desired pitch setpoint.
controller.yaw		LOG_FLOAT	Desired yaw setpoint.
controller.rollRate		LOG_FLOAT	Desired roll rate setpoint.
controller.pitchRate		LOG_FLOAT	Desired pitch rate setpoint.
controller.yawRate		LOG_FLOAT	Desired yaw rate setpoint.
controller.ctr_yaw		LOG_INT16

Detailed Variable Information

controller.cmd_thrust

src/modules/src/controller/controller_pid.c (L173)

Thrust command.

controller.cmd_roll

src/modules/src/controller/controller_pid.c (L177)

Roll command.

controller.cmd_pitch

src/modules/src/controller/controller_pid.c (L181)

Pitch command.

controller.cmd_yaw

src/modules/src/controller/controller_pid.c (L185)

yaw command

controller.r_roll

src/modules/src/controller/controller_pid.c (L189)

Gyro roll measurement in radians.

controller.r_pitch

src/modules/src/controller/controller_pid.c (L193)

Gyro pitch measurement in radians.

controller.r_yaw

src/modules/src/controller/controller_pid.c (L197)

Yaw measurement in radians.

controller.accelz

src/modules/src/controller/controller_pid.c (L201)

Acceleration in the zaxis in G-force.

controller.actuatorThrust

src/modules/src/controller/controller_pid.c (L205)

Thrust command without (tilt)compensation.

controller.roll

src/modules/src/controller/controller_pid.c (L209)

Desired roll setpoint.

controller.pitch

src/modules/src/controller/controller_pid.c (L213)

Desired pitch setpoint.

controller.yaw

src/modules/src/controller/controller_pid.c (L217)

Desired yaw setpoint.

controller.rollRate

src/modules/src/controller/controller_pid.c (L221)

Desired roll rate setpoint.

controller.pitchRate

src/modules/src/controller/controller_pid.c (L225)

Desired pitch rate setpoint.

controller.yawRate

src/modules/src/controller/controller_pid.c (L229)

Desired yaw rate setpoint.

controller.ctr_yaw

src/modules/src/stabilizer.c (L673)

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crtp

Variables

Name	Core	Type	Description
crtp.rxRate		LOG_UINT16
crtp.txRate		LOG_UINT16

Detailed Variable Information

crtp.rxRate

src/modules/src/crtp.c (L282)

crtp.txRate

src/modules/src/crtp.c (L283)

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ctrlINDI

Variables

Name	Core	Type	Description
ctrlINDI.cmd_thrust		LOG_FLOAT	INDI Thrust motor command [motor units].
ctrlINDI.cmd_roll		LOG_FLOAT	INDI Roll motor command [motor units].
ctrlINDI.cmd_pitch		LOG_FLOAT	INDI Pitch motor command [motor units].
ctrlINDI.cmd_yaw		LOG_FLOAT	INDI Yaw motor command [motor units].
ctrlINDI.r_roll		LOG_FLOAT	INDI unfiltered Gyroscope roll rate measurement (only factory filter and 2 pole low-pass filter) [rad/s].
ctrlINDI.r_pitch		LOG_FLOAT	INDI unfiltered Gyroscope pitch rate measurement (only factory filter and 2 pole low-pass filter) [rad/s].
ctrlINDI.r_yaw		LOG_FLOAT	INDI unfiltered Gyroscope yaw rate measurement (only factory filter and 2 pole low-pass filter) [rad/s].
ctrlINDI.u_act_dyn_p		LOG_FLOAT	INDI roll motor command propagated through motor dynamics [motor units].
ctrlINDI.u_act_dyn_q		LOG_FLOAT	INDI pitch motor command propagated through motor dynamics [motor units].
ctrlINDI.u_act_dyn_r		LOG_FLOAT	INDI yaw motor command propagated through motor dynamics [motor units].
ctrlINDI.du_p		LOG_FLOAT	INDI roll motor command increment [motor units].
ctrlINDI.du_q		LOG_FLOAT	INDI pitch motor command increment [motor units].
ctrlINDI.du_r		LOG_FLOAT	INDI yaw motor command increment [motor units].
ctrlINDI.ang_accel_ref_p		LOG_FLOAT	INDI reference angular acceleration roll (sometimes named virtual input in INDI papers) [rad/s^2].
ctrlINDI.ang_accel_ref_q		LOG_FLOAT	INDI reference angular acceleration pitch (sometimes named virtual input in INDI papers) [rad/s^2].
ctrlINDI.ang_accel_ref_r		LOG_FLOAT	INDI reference angular acceleration yaw (sometimes named virtual input in INDI papers) [rad/s^2].
ctrlINDI.rate_d		LOG_FLOAT	INDI derived angular acceleration from filtered gyroscope measurement, roll [rad/s^2].
ctrlINDI.uf_p		LOG_FLOAT	INDI filtered (8Hz low-pass) roll motor input from previous time step [motor units].
ctrlINDI.uf_q		LOG_FLOAT	INDI filtered (8Hz low-pass) pitch motor input from previous time step [motor units].
ctrlINDI.uf_r		LOG_FLOAT	INDI filtered (8Hz low-pass) yaw motor input from previous time step [motor units].
ctrlINDI.Omega_f_p		LOG_FLOAT	INDI filtered gyroscope measurement (8Hz low-pass), roll [rad/s].
ctrlINDI.Omega_f_q		LOG_FLOAT	INDI filtered gyroscope measurement (8Hz low-pass), pitch [rad/s].
ctrlINDI.Omega_f_r		LOG_FLOAT	INDI filtered gyroscope measurement (8Hz low-pass), yaw [rad/s].
ctrlINDI.n_p		LOG_FLOAT	INDI desired attitude angle from outer loop, roll [rad].
ctrlINDI.n_q		LOG_FLOAT	INDI desired attitude angle from outer loop, pitch [rad].
ctrlINDI.n_r		LOG_FLOAT	INDI desired attitude angle from outer loop, yaw [rad].

Detailed Variable Information

ctrlINDI.cmd_thrust

src/modules/src/controller/controller_indi.c (L427)

INDI Thrust motor command [motor units].

ctrlINDI.cmd_roll

src/modules/src/controller/controller_indi.c (L431)

INDI Roll motor command [motor units].

ctrlINDI.cmd_pitch

src/modules/src/controller/controller_indi.c (L435)

INDI Pitch motor command [motor units].

ctrlINDI.cmd_yaw

src/modules/src/controller/controller_indi.c (L439)

INDI Yaw motor command [motor units].

ctrlINDI.r_roll

src/modules/src/controller/controller_indi.c (L444)

INDI unfiltered Gyroscope roll rate measurement (only factory filter and 2 pole low-pass filter) [rad/s].

ctrlINDI.r_pitch

src/modules/src/controller/controller_indi.c (L448)

INDI unfiltered Gyroscope pitch rate measurement (only factory filter and 2 pole low-pass filter) [rad/s].

ctrlINDI.r_yaw

src/modules/src/controller/controller_indi.c (L452)

INDI unfiltered Gyroscope yaw rate measurement (only factory filter and 2 pole low-pass filter) [rad/s].

ctrlINDI.u_act_dyn_p

src/modules/src/controller/controller_indi.c (L457)

INDI roll motor command propagated through motor dynamics [motor units].

ctrlINDI.u_act_dyn_q

src/modules/src/controller/controller_indi.c (L461)

INDI pitch motor command propagated through motor dynamics [motor units].

ctrlINDI.u_act_dyn_r

src/modules/src/controller/controller_indi.c (L465)

INDI yaw motor command propagated through motor dynamics [motor units].

ctrlINDI.du_p

src/modules/src/controller/controller_indi.c (L470)

INDI roll motor command increment [motor units].

ctrlINDI.du_q

src/modules/src/controller/controller_indi.c (L474)

INDI pitch motor command increment [motor units].

ctrlINDI.du_r

src/modules/src/controller/controller_indi.c (L478)

INDI yaw motor command increment [motor units].

ctrlINDI.ang_accel_ref_p

src/modules/src/controller/controller_indi.c (L483)

INDI reference angular acceleration roll (sometimes named virtual input in INDI papers) [rad/s^2].

ctrlINDI.ang_accel_ref_q

src/modules/src/controller/controller_indi.c (L487)

INDI reference angular acceleration pitch (sometimes named virtual input in INDI papers) [rad/s^2].

ctrlINDI.ang_accel_ref_r

src/modules/src/controller/controller_indi.c (L491)

INDI reference angular acceleration yaw (sometimes named virtual input in INDI papers) [rad/s^2].

ctrlINDI.rate_d

src/modules/src/controller/controller_indi.c (L496)

INDI derived angular acceleration from filtered gyroscope measurement, roll [rad/s^2].

INDI derived angular acceleration from filtered gyroscope measurement, yaw [rad/s^2].

INDI derived angular acceleration from filtered gyroscope measurement, pitch [rad/s^2].

ctrlINDI.uf_p

src/modules/src/controller/controller_indi.c (L509)

INDI filtered (8Hz low-pass) roll motor input from previous time step [motor units].

ctrlINDI.uf_q

src/modules/src/controller/controller_indi.c (L513)

INDI filtered (8Hz low-pass) pitch motor input from previous time step [motor units].

ctrlINDI.uf_r

src/modules/src/controller/controller_indi.c (L517)

INDI filtered (8Hz low-pass) yaw motor input from previous time step [motor units].

ctrlINDI.Omega_f_p

src/modules/src/controller/controller_indi.c (L522)

INDI filtered gyroscope measurement (8Hz low-pass), roll [rad/s].

ctrlINDI.Omega_f_q

src/modules/src/controller/controller_indi.c (L526)

INDI filtered gyroscope measurement (8Hz low-pass), pitch [rad/s].

ctrlINDI.Omega_f_r

src/modules/src/controller/controller_indi.c (L530)

INDI filtered gyroscope measurement (8Hz low-pass), yaw [rad/s].

ctrlINDI.n_p

src/modules/src/controller/controller_indi.c (L535)

INDI desired attitude angle from outer loop, roll [rad].

ctrlINDI.n_q

src/modules/src/controller/controller_indi.c (L539)

INDI desired attitude angle from outer loop, pitch [rad].

ctrlINDI.n_r

src/modules/src/controller/controller_indi.c (L543)

INDI desired attitude angle from outer loop, yaw [rad].

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ctrlMel

Logging variables for the command and reference signals for the Mellinger controller

Variables

Name	Core	Type	Description
ctrlMel.cmd_thrust		LOG_FLOAT
ctrlMel.cmd_roll		LOG_FLOAT
ctrlMel.cmd_pitch		LOG_FLOAT
ctrlMel.cmd_yaw		LOG_FLOAT
ctrlMel.r_roll		LOG_FLOAT
ctrlMel.r_pitch		LOG_FLOAT
ctrlMel.r_yaw		LOG_FLOAT
ctrlMel.accelz		LOG_FLOAT
ctrlMel.zdx		LOG_FLOAT
ctrlMel.zdy		LOG_FLOAT
ctrlMel.zdz		LOG_FLOAT
ctrlMel.i_err_x		LOG_FLOAT
ctrlMel.i_err_y		LOG_FLOAT
ctrlMel.i_err_z		LOG_FLOAT

Detailed Variable Information

ctrlMel.cmd_thrust

src/modules/src/controller/controller_mellinger.c (L425)

ctrlMel.cmd_roll

src/modules/src/controller/controller_mellinger.c (L426)

ctrlMel.cmd_pitch

src/modules/src/controller/controller_mellinger.c (L427)

ctrlMel.cmd_yaw

src/modules/src/controller/controller_mellinger.c (L428)

ctrlMel.r_roll

src/modules/src/controller/controller_mellinger.c (L429)

ctrlMel.r_pitch

src/modules/src/controller/controller_mellinger.c (L430)

ctrlMel.r_yaw

src/modules/src/controller/controller_mellinger.c (L431)

ctrlMel.accelz

src/modules/src/controller/controller_mellinger.c (L432)

ctrlMel.zdx

src/modules/src/controller/controller_mellinger.c (L433)

ctrlMel.zdy

src/modules/src/controller/controller_mellinger.c (L434)

ctrlMel.zdz

src/modules/src/controller/controller_mellinger.c (L435)

ctrlMel.i_err_x

src/modules/src/controller/controller_mellinger.c (L436)

ctrlMel.i_err_y

src/modules/src/controller/controller_mellinger.c (L437)

ctrlMel.i_err_z

src/modules/src/controller/controller_mellinger.c (L438)

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ctrltarget

Log group for the current controller target

Note: all members may not be updated depending on how the system is used

Variables

Name	Core	Type	Description
ctrltarget.x	Core	LOG_FLOAT	Desired position X [m].
ctrltarget.y	Core	LOG_FLOAT	Desired position Y [m].
ctrltarget.z	Core	LOG_FLOAT	Desired position X [m].
ctrltarget.vx	Core	LOG_FLOAT	Desired velocity X [m/s].
ctrltarget.vy	Core	LOG_FLOAT	Desired velocity Y [m/s].
ctrltarget.vz	Core	LOG_FLOAT	Desired velocity Z [m/s].
ctrltarget.ax	Core	LOG_FLOAT	Desired acceleration X [m/s^2].
ctrltarget.ay	Core	LOG_FLOAT	Desired acceleration Y [m/s^2].
ctrltarget.az	Core	LOG_FLOAT	Desired acceleration Z [m/s^2].
ctrltarget.roll	Core	LOG_FLOAT	Desired attitude, roll [deg].
ctrltarget.pitch	Core	LOG_FLOAT	Desired attitude, pitch [deg].
ctrltarget.yaw	Core	LOG_FLOAT	Desired attitude rate, yaw rate [deg/s].

Detailed Variable Information

ctrltarget.x

src/modules/src/stabilizer.c (L408)

Desired position X [m].

ctrltarget.y

src/modules/src/stabilizer.c (L413)

Desired position Y [m].

ctrltarget.z

src/modules/src/stabilizer.c (L418)

Desired position X [m].

ctrltarget.vx

src/modules/src/stabilizer.c (L423)

Desired velocity X [m/s].

ctrltarget.vy

src/modules/src/stabilizer.c (L428)

Desired velocity Y [m/s].

ctrltarget.vz

src/modules/src/stabilizer.c (L433)

Desired velocity Z [m/s].

ctrltarget.ax

src/modules/src/stabilizer.c (L438)

Desired acceleration X [m/s^2].

ctrltarget.ay

src/modules/src/stabilizer.c (L443)

Desired acceleration Y [m/s^2].

ctrltarget.az

src/modules/src/stabilizer.c (L448)

Desired acceleration Z [m/s^2].

ctrltarget.roll

src/modules/src/stabilizer.c (L453)

Desired attitude, roll [deg].

ctrltarget.pitch

src/modules/src/stabilizer.c (L458)

Desired attitude, pitch [deg].

ctrltarget.yaw

src/modules/src/stabilizer.c (L463)

Desired attitude rate, yaw rate [deg/s].

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ctrltargetZ

Log group for the current controller target, compressed format. This flavour of the controller target logs are defined with types that use less space and makes it possible to add more logs to a log configuration.

Note: all members may not be updated depending on how the system is used

Variables

Name	Core	Type	Description
ctrltargetZ.x		LOG_INT16	Desired position X [mm].
ctrltargetZ.y		LOG_INT16	Desired position Y [mm].
ctrltargetZ.z		LOG_INT16	Desired position Z [mm].
ctrltargetZ.vx		LOG_INT16	Desired velocity X [mm/s].
ctrltargetZ.vy		LOG_INT16	Desired velocity Y [mm/s].
ctrltargetZ.vz		LOG_INT16	Desired velocity Z [mm/s].
ctrltargetZ.ax		LOG_INT16	Desired acceleration X [mm/s^2].
ctrltargetZ.ay		LOG_INT16	Desired acceleration Y [mm/s^2].
ctrltargetZ.az		LOG_INT16	Desired acceleration Z [mm/s^2].

Detailed Variable Information

ctrltargetZ.x

src/modules/src/stabilizer.c (L479)

Desired position X [mm].

ctrltargetZ.y

src/modules/src/stabilizer.c (L484)

Desired position Y [mm].

ctrltargetZ.z

src/modules/src/stabilizer.c (L489)

Desired position Z [mm].

ctrltargetZ.vx

src/modules/src/stabilizer.c (L494)

Desired velocity X [mm/s].

ctrltargetZ.vy

src/modules/src/stabilizer.c (L499)

Desired velocity Y [mm/s].

ctrltargetZ.vz

src/modules/src/stabilizer.c (L504)

Desired velocity Z [mm/s].

ctrltargetZ.ax

src/modules/src/stabilizer.c (L509)

Desired acceleration X [mm/s^2].

ctrltargetZ.ay

src/modules/src/stabilizer.c (L514)

Desired acceleration Y [mm/s^2].

ctrltargetZ.az

src/modules/src/stabilizer.c (L519)

Desired acceleration Z [mm/s^2].

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DTR_P2P

Variables

Name	Core	Type	Description
DTR_P2P.rx_state		LOG_UINT8
DTR_P2P.tx_state		LOG_UINT8

Detailed Variable Information

DTR_P2P.rx_state

src/modules/src/p2pDTR/token_ring.c (L600)

DTR_P2P.tx_state

src/modules/src/p2pDTR/token_ring.c (L601)

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estimator

Variables

Name	Core	Type	Description
estimator.rtApnd		LOG_FLOAT
estimator.rtRej		LOG_FLOAT

Detailed Variable Information

estimator.rtApnd

src/modules/src/estimator/estimator.c (L263)

estimator.rtRej

src/modules/src/estimator/estimator.c (L264)

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ext_pos

Variables

Name	Core	Type	Description
ext_pos.X		LOG_FLOAT
ext_pos.Y		LOG_FLOAT
ext_pos.Z		LOG_FLOAT

Detailed Variable Information

ext_pos.X

src/modules/src/crtp_localization_service.c (L409)

ext_pos.Y

src/modules/src/crtp_localization_service.c (L410)

ext_pos.Z

src/modules/src/crtp_localization_service.c (L411)

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extrx

External receiver (RX) log group. This contains setpoints for thrust, roll, pitch, yaw rate, z velocity, and arming and altitude-hold signals

Variables

Name	Core	Type	Description
extrx.thrust		LOG_FLOAT	External RX thrust.
extrx.roll		LOG_FLOAT	External RX roll setpoint.
extrx.pitch		LOG_FLOAT	External RX pitch setpoint.
extrx.rollRate		LOG_FLOAT	External RX roll rate setpoint.
extrx.pitchRate		LOG_FLOAT	External RX pitch rate setpoint.
extrx.yawRate		LOG_FLOAT	External RX yaw rate setpoint.
extrx.zVel		LOG_FLOAT	External RX z-velocity setpoint.
extrx.AltHold		LOG_UINT8	External RX Altitude Hold signal.
extrx.Arm		LOG_UINT8	External RX Arming signal.

Detailed Variable Information

extrx.thrust

src/modules/src/extrx.c (L383)

External RX thrust.

extrx.roll

src/modules/src/extrx.c (L387)

External RX roll setpoint.

extrx.pitch

src/modules/src/extrx.c (L391)

External RX pitch setpoint.

extrx.rollRate

src/modules/src/extrx.c (L395)

External RX roll rate setpoint.

extrx.pitchRate

src/modules/src/extrx.c (L399)

External RX pitch rate setpoint.

extrx.yawRate

src/modules/src/extrx.c (L403)

External RX yaw rate setpoint.

extrx.zVel

src/modules/src/extrx.c (L407)

External RX z-velocity setpoint.

extrx.AltHold

src/modules/src/extrx.c (L411)

External RX Altitude Hold signal.

extrx.Arm

src/modules/src/extrx.c (L415)

External RX Arming signal.

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extrx_raw

External receiver (RX) log group. This contains received raw channel data

Variables

Name	Core	Type	Description
extrx_raw.ch0		LOG_UINT16	External RX received channel 0 value.
extrx_raw.ch1		LOG_UINT16	External RX received channel 1 value.
extrx_raw.ch2		LOG_UINT16	External RX received channel 2 value.
extrx_raw.ch3		LOG_UINT16	External RX received channel 3 value.
extrx_raw.ch4		LOG_UINT16	External RX received channel 4 value.
extrx_raw.ch5		LOG_UINT16	External RX received channel 5 value.
extrx_raw.ch6		LOG_UINT16	External RX received channel 6 value.
extrx_raw.ch7		LOG_UINT16	External RX received channel 7 value.

Detailed Variable Information

extrx_raw.ch0

src/modules/src/extrx.c (L343)

External RX received channel 0 value.

extrx_raw.ch1

src/modules/src/extrx.c (L347)

External RX received channel 1 value.

extrx_raw.ch2

src/modules/src/extrx.c (L351)

External RX received channel 2 value.

extrx_raw.ch3

src/modules/src/extrx.c (L355)

External RX received channel 3 value.

extrx_raw.ch4

src/modules/src/extrx.c (L359)

External RX received channel 4 value.

extrx_raw.ch5

src/modules/src/extrx.c (L363)

External RX received channel 5 value.

extrx_raw.ch6

src/modules/src/extrx.c (L367)

External RX received channel 6 value.

extrx_raw.ch7

src/modules/src/extrx.c (L371)

External RX received channel 7 value.

---

back to group index

flapper

Variables

Name	Core	Type	Description
flapper.vbat		LOG_FLOAT
flapper.i_raw		LOG_FLOAT
flapper.current		LOG_FLOAT
flapper.power		LOG_FLOAT

Detailed Variable Information

flapper.vbat

src/deck/drivers/src/flapperdeck.c (L136)

flapper.i_raw

src/deck/drivers/src/flapperdeck.c (L137)

flapper.current

src/deck/drivers/src/flapperdeck.c (L138)

flapper.power

src/deck/drivers/src/flapperdeck.c (L139)

---

back to group index

gps

Variables

Name	Core	Type	Description
gps.lat		LOG_INT32
gps.lon		LOG_INT32
gps.hMSL		LOG_FLOAT
gps.hAcc		LOG_FLOAT
gps.nsat		LOG_INT32
gps.fix		LOG_INT32

Detailed Variable Information

gps.lat

src/deck/drivers/src/gtgps.c (L320)

gps.lon

src/deck/drivers/src/gtgps.c (L321)

gps.hMSL

src/deck/drivers/src/gtgps.c (L322)

gps.hAcc

src/deck/drivers/src/gtgps.c (L323)

gps.nsat

src/deck/drivers/src/gtgps.c (L324)

gps.fix

src/deck/drivers/src/gtgps.c (L325)

---

back to group index

gyro

Log group for gyroscopes.

For data on measurement noise please see information from the sensor manufacturer. To see what gyroscope sensor is in your Crazyflie or Bolt please check documentation on the Bitcraze webpage or check the parameter group imu_sensors.

Variables

Name	Core	Type	Description
gyro.xRaw		LOG_INT16
gyro.yRaw		LOG_INT16
gyro.zRaw		LOG_INT16
gyro.xVariance		LOG_FLOAT
gyro.yVariance		LOG_FLOAT
gyro.zVariance		LOG_FLOAT
gyro.x	Core	LOG_FLOAT	Angular velocity (rotation) around the X-axis, after filtering [deg/s].
gyro.y	Core	LOG_FLOAT	Angular velocity (rotation) around the Y-axis, after filtering [deg/s].
gyro.z	Core	LOG_FLOAT	Angular velocity (rotation) around the Z-axis, after filtering [deg/s].

Detailed Variable Information

gyro.xRaw

src/hal/src/sensors_bmi088_bmp3xx.c (L1004)

gyro.yRaw

src/hal/src/sensors_bmi088_bmp3xx.c (L1005)

gyro.zRaw

src/hal/src/sensors_bmi088_bmp3xx.c (L1006)

gyro.xVariance

src/hal/src/sensors_bmi088_bmp3xx.c (L1007)

gyro.yVariance

src/hal/src/sensors_bmi088_bmp3xx.c (L1008)

gyro.zVariance

src/hal/src/sensors_bmi088_bmp3xx.c (L1009)

gyro.x

src/modules/src/stabilizer.c (L631)

Angular velocity (rotation) around the X-axis, after filtering [deg/s].

gyro.y

src/modules/src/stabilizer.c (L636)

Angular velocity (rotation) around the Y-axis, after filtering [deg/s].

gyro.z

src/modules/src/stabilizer.c (L641)

Angular velocity (rotation) around the Z-axis, after filtering [deg/s].

---

back to group index

health

Logging of the result from the health checks.

Variables

Name	Core	Type	Description
health.motorVarXM1		LOG_FLOAT	Variance test result of accel. axis X on motor 1.
health.motorVarYM1		LOG_FLOAT	Variance test result of accel. axis Y on motor 1.
health.motorVarXM2		LOG_FLOAT	Variance test result of accel. axis X on motor 2.
health.motorVarYM2		LOG_FLOAT	Variance test result of accel. axis Y on motor 2.
health.motorVarXM3		LOG_FLOAT	Variance test result of accel. axis X on motor 3.
health.motorVarYM3		LOG_FLOAT	Variance test result of accel. axis Y on motor 3.
health.motorVarXM4		LOG_FLOAT	Variance test result of accel. axis X on motor 4.
health.motorVarYM4		LOG_FLOAT	Variance test result of accel. axis Y on motor 4.
health.motorPass	Core	LOG_UINT8	Propeller test result, bit is one if OK. [Bit0=M1 Bit1=M2 …].
health.batterySag		LOG_FLOAT	Battery voltage sag test result. [V].
health.batteryPass	Core	LOG_UINT8	Battery test result. Nonzero if OK.
health.motorTestCount		LOG_UINT16

Detailed Variable Information

health.motorVarXM1

src/modules/src/health.c (L356)

Variance test result of accel. axis X on motor 1.

health.motorVarYM1

src/modules/src/health.c (L360)

Variance test result of accel. axis Y on motor 1.

health.motorVarXM2

src/modules/src/health.c (L364)

Variance test result of accel. axis X on motor 2.

health.motorVarYM2

src/modules/src/health.c (L368)

Variance test result of accel. axis Y on motor 2.

health.motorVarXM3

src/modules/src/health.c (L372)

Variance test result of accel. axis X on motor 3.

health.motorVarYM3

src/modules/src/health.c (L376)

Variance test result of accel. axis Y on motor 3.

health.motorVarXM4

src/modules/src/health.c (L380)

Variance test result of accel. axis X on motor 4.

health.motorVarYM4

src/modules/src/health.c (L384)

Variance test result of accel. axis Y on motor 4.

health.motorPass

src/modules/src/health.c (L388)

Propeller test result, bit is one if OK. [Bit0=M1 Bit1=M2 …].

health.batterySag

src/modules/src/health.c (L392)

Battery voltage sag test result. [V].

health.batteryPass

src/modules/src/health.c (L396)

Battery test result. Nonzero if OK.

health.motorTestCount

src/modules/src/health.c (L398)

---

back to group index

kalman

Variables and results from the Extended Kalman Filter

Variables

Name	Core	Type	Description
kalman.stateX		LOG_FLOAT	State position in the global frame x.
kalman.stateY		LOG_FLOAT	State position in the global frame y.
kalman.stateZ		LOG_FLOAT	State position in the global frame z.
kalman.statePX		LOG_FLOAT	State velocity in its body frame x.
kalman.statePY		LOG_FLOAT	State velocity in its body frame y.
kalman.statePZ		LOG_FLOAT	State velocity in its body frame z.
kalman.stateD0		LOG_FLOAT	State attitude error roll.
kalman.stateD1		LOG_FLOAT	State attitude error pitch.
kalman.stateD2		LOG_FLOAT	State attitude error yaw.
kalman.varX		LOG_FLOAT	Covariance matrix position x.
kalman.varY		LOG_FLOAT	Covariance matrix position y.
kalman.varZ		LOG_FLOAT	Covariance matrix position z.
kalman.varPX		LOG_FLOAT	Covariance matrix velocity x.
kalman.varPY		LOG_FLOAT	Covariance matrix velocity y.
kalman.varPZ		LOG_FLOAT	Covariance matrix velocity z.
kalman.varD0		LOG_FLOAT	Covariance matrix attitude error roll.
kalman.varD1		LOG_FLOAT	Covariance matrix attitude error pitch.
kalman.varD2		LOG_FLOAT	Covariance matrix attitude error yaw.
kalman.q0		LOG_FLOAT	Estimated Attitude quarternion w.
kalman.q1		LOG_FLOAT	Estimated Attitude quarternion x.
kalman.q2		LOG_FLOAT	Estimated Attitude quarternion y.
kalman.q3		LOG_FLOAT	Estimated Attitude quarternion z.
kalman.rtUpdate		LOG_FLOAT	Statistics rate of update step.
kalman.rtPred		LOG_FLOAT	Statistics rate of prediction step.
kalman.rtFinal		LOG_FLOAT	Statistics rate full estimation step.

Detailed Variable Information

kalman.stateX

src/modules/src/estimator/estimator_kalman.c (L395)

State position in the global frame x.

Note: This is similar to stateEstimate.x.

kalman.stateY

src/modules/src/estimator/estimator_kalman.c (L401)

State position in the global frame y.

Note: This is similar to stateEstimate.y

kalman.stateZ

src/modules/src/estimator/estimator_kalman.c (L407)

State position in the global frame z.

Note: This is similar to stateEstimate.z

kalman.statePX

src/modules/src/estimator/estimator_kalman.c (L413)

State velocity in its body frame x.

Note: This should be part of stateEstimate

kalman.statePY

src/modules/src/estimator/estimator_kalman.c (L419)

State velocity in its body frame y.

Note: This should be part of stateEstimate

kalman.statePZ

src/modules/src/estimator/estimator_kalman.c (L425)

State velocity in its body frame z.

Note: This should be part of stateEstimate

kalman.stateD0

src/modules/src/estimator/estimator_kalman.c (L429)

State attitude error roll.

kalman.stateD1

src/modules/src/estimator/estimator_kalman.c (L433)

State attitude error pitch.

kalman.stateD2

src/modules/src/estimator/estimator_kalman.c (L437)

State attitude error yaw.

kalman.varX

src/modules/src/estimator/estimator_kalman.c (L441)

Covariance matrix position x.

kalman.varY

src/modules/src/estimator/estimator_kalman.c (L445)

Covariance matrix position y.

kalman.varZ

src/modules/src/estimator/estimator_kalman.c (L449)

Covariance matrix position z.

kalman.varPX

src/modules/src/estimator/estimator_kalman.c (L453)

Covariance matrix velocity x.

kalman.varPY

src/modules/src/estimator/estimator_kalman.c (L457)

Covariance matrix velocity y.

kalman.varPZ

src/modules/src/estimator/estimator_kalman.c (L461)

Covariance matrix velocity z.

kalman.varD0

src/modules/src/estimator/estimator_kalman.c (L465)

Covariance matrix attitude error roll.

kalman.varD1

src/modules/src/estimator/estimator_kalman.c (L469)

Covariance matrix attitude error pitch.

kalman.varD2

src/modules/src/estimator/estimator_kalman.c (L473)

Covariance matrix attitude error yaw.

kalman.q0

src/modules/src/estimator/estimator_kalman.c (L477)

Estimated Attitude quarternion w.

kalman.q1

src/modules/src/estimator/estimator_kalman.c (L481)

Estimated Attitude quarternion x.

kalman.q2

src/modules/src/estimator/estimator_kalman.c (L485)

Estimated Attitude quarternion y.

kalman.q3

src/modules/src/estimator/estimator_kalman.c (L489)

Estimated Attitude quarternion z.

kalman.rtUpdate

src/modules/src/estimator/estimator_kalman.c (L493)

Statistics rate of update step.

kalman.rtPred

src/modules/src/estimator/estimator_kalman.c (L497)

Statistics rate of prediction step.

kalman.rtFinal

src/modules/src/estimator/estimator_kalman.c (L501)

Statistics rate full estimation step.

---

back to group index

kalman_pred

Predicted and measured values of the X and Y direction of the flowdeck

Variables

Name	Core	Type	Description
kalman_pred.predNX		LOG_FLOAT	Flow sensor predicted dx [pixels/frame].
kalman_pred.predNY		LOG_FLOAT	Flow sensor predicted dy [pixels/frame].
kalman_pred.measNX		LOG_FLOAT	Flow sensor measured dx [pixels/frame].
kalman_pred.measNY		LOG_FLOAT	Flow sensor measured dy [pixels/frame].

Detailed Variable Information

kalman_pred.predNX

src/modules/src/kalman_core/mm_flow.c (L113)

Flow sensor predicted dx [pixels/frame].

note: rename to kalmanMM.flowX?

kalman_pred.predNY

src/modules/src/kalman_core/mm_flow.c (L119)

Flow sensor predicted dy [pixels/frame].

note: rename to kalmanMM.flowY?

kalman_pred.measNX

src/modules/src/kalman_core/mm_flow.c (L125)

Flow sensor measured dx [pixels/frame].

note: This is the same as motion.deltaX, so perhaps remove this?

kalman_pred.measNY

src/modules/src/kalman_core/mm_flow.c (L131)

Flow sensor measured dy [pixels/frame].

note: This is the same as motion.deltaY, so perhaps remove this?

---

back to group index

lhFlasher

Variables

Name	Core	Type	Description
lhFlasher.done		LOG_UINT8
lhFlasher.code		LOG_UINT32

Detailed Variable Information

lhFlasher.done

src/drivers/src/lh_flasher.c (L395)

lhFlasher.code

src/drivers/src/lh_flasher.c (L396)

---

back to group index

lighthouse

Log group for the lighthouse positioning system

Variables

Name	Core	Type	Description
lighthouse.validAngles		LOG_UINT8
lighthouse.rawAngle0x		LOG_FLOAT	The raw V1 angle received by sensor 0 [rad].
lighthouse.rawAngle0y		LOG_FLOAT	The raw V1 angle received by sensor 0 [rad].
lighthouse.rawAngle1x		LOG_FLOAT	The raw V1 angle received by sensor 0 [rad].
lighthouse.rawAngle1y		LOG_FLOAT	The raw V1 angle received by sensor 0 [rad].
lighthouse.angle0x		LOG_FLOAT	The V1 angle received by sensor 0, corrected using calibration data [rad].
lighthouse.angle0y		LOG_FLOAT	The V1 angle received by sensor 0, corrected using calibration data [rad].
lighthouse.angle1x		LOG_FLOAT	The angle received by sensor 0, corrected using calibration data [rad].
lighthouse.angle1y		LOG_FLOAT	The angle received by sensor 0, corrected using calibration data [rad].
lighthouse.rawAngle0xlh2		LOG_FLOAT	The angle received by sensor 1, corrected using calibration data [rad].
lighthouse.rawAngle0ylh2		LOG_FLOAT	The raw V2 angle received by sensor 0 [rad].
lighthouse.rawAngle1xlh2		LOG_FLOAT	The raw V2 angle received by sensor 0 [rad].
lighthouse.rawAngle1ylh2		LOG_FLOAT	The raw V2 angle received by sensor 0 [rad].
lighthouse.angle0x_0lh2		LOG_FLOAT	The V2 angle received by sensor 0, corrected using calibration data [rad].
lighthouse.angle0y_0lh2		LOG_FLOAT	The V2 angle received by sensor 0, corrected using calibration data [rad].
lighthouse.angle1x_0lh2		LOG_FLOAT	The V2 angle received by sensor 0, corrected using calibration data [rad].
lighthouse.angle1y_0lh2		LOG_FLOAT	The V2 angle received by sensor 0, corrected using calibration data [rad].
lighthouse.comSync		LOG_UINT8	Rate of frames from the Lighthouse deck on the serial buss [1/s].
lighthouse.bsAvailable	Core	LOG_UINT16	Bit field indicating which base stations that are available.
lighthouse.bsReceive	Core	LOG_UINT16	Bit field indicating which base stations that are received by the lighthouse deck.
lighthouse.bsActive	Core	LOG_UINT16	Bit field indicating which base stations that are providing useful data to the estimator.
lighthouse.bsCalUd	Core	LOG_UINT16	Bit field that indicates which base stations that have received calibration data that was different to what was stored in memory.
lighthouse.bsCalCon	Core	LOG_UINT16	Bit field that indicates which base stations that have received calibration data over the air.
lighthouse.status	Core	LOG_UINT8	Overall status of the lighthouse system.
lighthouse.posRt		LOG_FLOAT
lighthouse.estBs0Rt		LOG_FLOAT
lighthouse.estBs1Rt		LOG_FLOAT
lighthouse.x	Core	LOG_FLOAT
lighthouse.y	Core	LOG_FLOAT
lighthouse.z	Core	LOG_FLOAT
lighthouse.delta		LOG_FLOAT
lighthouse.bsGeoVal	Core	LOG_UINT16
lighthouse.bsCalVal	Core	LOG_UINT16

Detailed Variable Information

lighthouse.validAngles

src/modules/src/lighthouse/lighthouse_core.c (L612)

lighthouse.rawAngle0x

src/modules/src/lighthouse/lighthouse_core.c (L622)

The raw V1 angle received by sensor 0 [rad].

Base station type	V1
Base station	primary
Sweep	1
Sensor	0

lighthouse.rawAngle0y

src/modules/src/lighthouse/lighthouse_core.c (L632)

The raw V1 angle received by sensor 0 [rad].

Base station type	V1
Base station	primary
Sweep	2
Sensor	0

lighthouse.rawAngle1x

src/modules/src/lighthouse/lighthouse_core.c (L642)

The raw V1 angle received by sensor 0 [rad].

Base station type	V1
Base station	secondary
Sweep	1
Sensor	0

lighthouse.rawAngle1y

src/modules/src/lighthouse/lighthouse_core.c (L652)

The raw V1 angle received by sensor 0 [rad].

Base station type	V1
Base station	secondary
Sweep	2
Sensor	0

lighthouse.angle0x

src/modules/src/lighthouse/lighthouse_core.c (L664)

The V1 angle received by sensor 0, corrected using calibration data [rad].

Base station type	V1
Base station	primary
Sweep	1
Sensor	0

If a base station of type V2 is used, this will contain the V2 angles converted to V1 style for the base station with channel 1.

lighthouse.angle0y

src/modules/src/lighthouse/lighthouse_core.c (L676)

The V1 angle received by sensor 0, corrected using calibration data [rad].

Base station type	V1
Base station	primary
Sweep	2
Sensor	0

If a base station of type V2 is used, this will contain the V2 angles converted to V1 style for the base station with channel 1.

lighthouse.angle1x

src/modules/src/lighthouse/lighthouse_core.c (L688)

The angle received by sensor 0, corrected using calibration data [rad].

Base station type	V1
Base station	secondary
Sweep	1
Sensor	0

If a base station of type V2 is used, this will contain the V2 angles converted to V1 style for the base station with channel 2.

lighthouse.angle1y

src/modules/src/lighthouse/lighthouse_core.c (L700)

The angle received by sensor 0, corrected using calibration data [rad].

Base station type	V1
Base station	secondary
Sweep	2
Sensor	0

If a base station of type V2 is used, this will contain the V2 angles converted to V1 style for the base station with channel 2.

lighthouse.rawAngle0xlh2

src/modules/src/lighthouse/lighthouse_core.c (L768)

The angle received by sensor 1, corrected using calibration data [rad].

Base station type	V1
Base station	primary
Sweep	1
Sensor	1

If a base station of type V2 is used, this will contain the V2 angles converted to V1 style for the base station with channel 1.

The V1 angle received by sensor 1, corrected using calibration data [rad]

Base station type	V1
Base station	primary
Sweep	2
Sensor	1

If a base station of type V2 is used, this will contain the V2 angles converted to V1 style for the base station with channel 1.

The V1 angle received by sensor 1, corrected using calibration data [rad]

Base station type	V1
Base station	secondary
Sweep	1
Sensor	1

If a base station of type V2 is used, this will contain the V2 angles converted to V1 style for the base station with channel 2.

The V1 angle received by sensor 1, corrected using calibration data [rad]

Base station type	V1
Base station	secondary
Sweep	2
Sensor	1

If a base station of type V2 is used, this will contain the V2 angles converted to V1 style for the base station with channel 2.

The raw V2 angle received by sensor 0 [rad]

Base station type	V2
Channel	1
Sweep	1
Sensor	0

lighthouse.rawAngle0ylh2

src/modules/src/lighthouse/lighthouse_core.c (L778)

The raw V2 angle received by sensor 0 [rad].

Base station type	V2
Channel	1
Sweep	2
Sensor	0

lighthouse.rawAngle1xlh2

src/modules/src/lighthouse/lighthouse_core.c (L788)

The raw V2 angle received by sensor 0 [rad].

Base station type	V2
Channel	2
Sweep	1
Sensor	0

lighthouse.rawAngle1ylh2

src/modules/src/lighthouse/lighthouse_core.c (L798)

The raw V2 angle received by sensor 0 [rad].

Base station type	V2
Channel	2
Sweep	2
Sensor	0

lighthouse.angle0x_0lh2

src/modules/src/lighthouse/lighthouse_core.c (L808)

The V2 angle received by sensor 0, corrected using calibration data [rad].

Base station type	V2
Channel	1
Sweep	1
Sensor	0

lighthouse.angle0y_0lh2

src/modules/src/lighthouse/lighthouse_core.c (L818)

The V2 angle received by sensor 0, corrected using calibration data [rad].

Base station type	V2
Channel	1
Sweep	2
Sensor	0

lighthouse.angle1x_0lh2

src/modules/src/lighthouse/lighthouse_core.c (L828)

The V2 angle received by sensor 0, corrected using calibration data [rad].

Base station type	V2
Channel	2
Sweep	1
Sensor	0

lighthouse.angle1y_0lh2

src/modules/src/lighthouse/lighthouse_core.c (L838)

The V2 angle received by sensor 0, corrected using calibration data [rad].

Base station type	V2
Channel	2
Sweep	2
Sensor	0

lighthouse.comSync

src/modules/src/lighthouse/lighthouse_core.c (L863)

Rate of frames from the Lighthouse deck on the serial buss [1/s].

Rate of frames from the Lighthouse deck that contains sweep data [1/s]

lighthouse.bsAvailable

src/modules/src/lighthouse/lighthouse_core.c (L870)

Bit field indicating which base stations that are available.

The lowest bit maps to base station channel 1 and the highest to channel 16.

lighthouse.bsReceive

src/modules/src/lighthouse/lighthouse_core.c (L877)

Bit field indicating which base stations that are received by the lighthouse deck.

The lowest bit maps to base station channel 1 and the highest to channel 16.

lighthouse.bsActive

src/modules/src/lighthouse/lighthouse_core.c (L886)

Bit field indicating which base stations that are providing useful data to the estimator.

A bit will be set if there is calibration and geometry data for the base station, and sweeps are received.

The lowest bit maps to base station channel 1 and the highest to channel 16.

lighthouse.bsCalUd

src/modules/src/lighthouse/lighthouse_core.c (L893)

Bit field that indicates which base stations that have received calibration data that was different to what was stored in memory.

The lowest bit maps to base station channel 1 and the highest to channel 16.

lighthouse.bsCalCon

src/modules/src/lighthouse/lighthouse_core.c (L900)

Bit field that indicates which base stations that have received calibration data over the air.

The lowest bit maps to base station channel 1 and the highest to channel 16.

lighthouse.status

src/modules/src/lighthouse/lighthouse_core.c (L912)

Overall status of the lighthouse system.

Value	Meaning
0	No lighthouse base stations are recevied
1	One or more base stations are received but geometry or callibration data is missing
2	Base station data is sent to the state estimator

lighthouse.posRt

src/modules/src/lighthouse/lighthouse_position_est.c (L482)

lighthouse.estBs0Rt

src/modules/src/lighthouse/lighthouse_position_est.c (L483)

lighthouse.estBs1Rt

src/modules/src/lighthouse/lighthouse_position_est.c (L484)

lighthouse.x

src/modules/src/lighthouse/lighthouse_position_est.c (L486)

lighthouse.y

src/modules/src/lighthouse/lighthouse_position_est.c (L487)

lighthouse.z

src/modules/src/lighthouse/lighthouse_position_est.c (L488)

lighthouse.delta

src/modules/src/lighthouse/lighthouse_position_est.c (L490)

lighthouse.bsGeoVal

src/modules/src/lighthouse/lighthouse_position_est.c (L492)

lighthouse.bsCalVal

src/modules/src/lighthouse/lighthouse_position_est.c (L493)

---

back to group index

loadcell

Variables

Name	Core	Type	Description
loadcell.rawWeight		LOG_INT32
loadcell.weight		LOG_FLOAT
loadcell.rate		LOG_FLOAT

Detailed Variable Information

loadcell.rawWeight

src/deck/drivers/src/loadcell.c (L207)

loadcell.weight

src/deck/drivers/src/loadcell.c (L208)

loadcell.rate

src/deck/drivers/src/loadcell_nau7802.c (L566)

---

back to group index

loco

Log group for basic information about the Loco Positioning System

Variables

Name	Core	Type	Description
loco.mode	Core	LOG_UINT8	The current mode of the Loco Positioning system.
loco.spiWr		LOG_FLOAT
loco.spiRe		LOG_FLOAT

Detailed Variable Information

loco.mode

src/deck/drivers/src/locodeck.c (L635)

The current mode of the Loco Positioning system.

Value	Mode
1	TWR
2	TDoA 2
3	TDoA 3

loco.spiWr

src/deck/drivers/src/locodeck.c (L637)

loco.spiRe

src/deck/drivers/src/locodeck.c (L638)

---

back to group index

locSrv

Logging variables for (external) positioning data stream through ctrp

Variables

Name	Core	Type	Description
locSrv.x	Core	LOG_FLOAT	Position X measurement from external system.
locSrv.y	Core	LOG_FLOAT	Position Y measurement from external system.
locSrv.z	Core	LOG_FLOAT	Position Z measurement from external system.
locSrv.qx	Core	LOG_FLOAT	Quaternion x meas from an external system.
locSrv.qy	Core	LOG_FLOAT	Quaternion y meas from an external system.
locSrv.qz	Core	LOG_FLOAT	Quaternion z meas from an external system.
locSrv.qw	Core	LOG_FLOAT	Quaternion w meas from an external system.

Detailed Variable Information

locSrv.x

src/modules/src/crtp_localization_service.c (L421)

Position X measurement from external system.

locSrv.y

src/modules/src/crtp_localization_service.c (L425)

Position Y measurement from external system.

locSrv.z

src/modules/src/crtp_localization_service.c (L429)

Position Z measurement from external system.

locSrv.qx

src/modules/src/crtp_localization_service.c (L433)

Quaternion x meas from an external system.

locSrv.qy

src/modules/src/crtp_localization_service.c (L437)

Quaternion y meas from an external system.

locSrv.qz

src/modules/src/crtp_localization_service.c (L441)

Quaternion z meas from an external system.

locSrv.qw

src/modules/src/crtp_localization_service.c (L445)

Quaternion w meas from an external system.

---

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locSrvZ

Logging variables for (external) positioning data stream through Compressed

Variables

Name	Core	Type	Description
locSrvZ.tick	Core	LOG_UINT16	time when data was received last (ms/ticks)

Detailed Variable Information

locSrvZ.tick

src/modules/src/crtp_localization_service.c (L455)

time when data was received last (ms/ticks)

---

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mag

Log group for magnetometer.

Currently only present on Crazyflie 2.0

Variables

Name	Core	Type	Description
mag.x	Core	LOG_FLOAT	Magnetometer X axis, after filtering [gauss].
mag.y	Core	LOG_FLOAT	Magnetometer Y axis, after filtering [gauss].
mag.z	Core	LOG_FLOAT	Magnetometer Z axis, after filtering [gauss].

Detailed Variable Information

mag.x

src/modules/src/stabilizer.c (L661)

Magnetometer X axis, after filtering [gauss].

mag.y

src/modules/src/stabilizer.c (L665)

Magnetometer Y axis, after filtering [gauss].

mag.z

src/modules/src/stabilizer.c (L669)

Magnetometer Z axis, after filtering [gauss].

---

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memTst

Variables

Name	Core	Type	Description
memTst.errCntW		LOG_UINT32

Detailed Variable Information

memTst.errCntW

src/modules/src/mem.c (L237)

---

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motion

Logging variables of the motion sensor of the flowdeck

Variables

Name	Core	Type	Description
motion.motion		LOG_UINT8	True if motion occurred since the last measurement.
motion.deltaX		LOG_INT16	Flow X measurement [flow/fr].
motion.deltaY		LOG_INT16	Flow Y measurement [flow/fr].
motion.shutter		LOG_UINT16	Shutter time [clock cycles].
motion.maxRaw		LOG_UINT8	Maximum raw data value in frame.
motion.minRaw		LOG_UINT8	Minimum raw data value in frame.
motion.Rawsum		LOG_UINT8	Average raw data value.
motion.outlierCount		LOG_UINT8	Counted flow outliers excluded from the estimator.
motion.squal		LOG_UINT8	Count of surface feature.
motion.std		LOG_FLOAT	Standard deviation of flow measurement.

Detailed Variable Information

motion.motion

src/deck/drivers/src/flowdeck_v1v2.c (L266)

True if motion occurred since the last measurement.

motion.deltaX

src/deck/drivers/src/flowdeck_v1v2.c (L270)

Flow X measurement [flow/fr].

motion.deltaY

src/deck/drivers/src/flowdeck_v1v2.c (L274)

Flow Y measurement [flow/fr].

motion.shutter

src/deck/drivers/src/flowdeck_v1v2.c (L278)

Shutter time [clock cycles].

motion.maxRaw

src/deck/drivers/src/flowdeck_v1v2.c (L282)

Maximum raw data value in frame.

motion.minRaw

src/deck/drivers/src/flowdeck_v1v2.c (L286)

Minimum raw data value in frame.

motion.Rawsum

src/deck/drivers/src/flowdeck_v1v2.c (L290)

Average raw data value.

motion.outlierCount

src/deck/drivers/src/flowdeck_v1v2.c (L294)

Counted flow outliers excluded from the estimator.

motion.squal

src/deck/drivers/src/flowdeck_v1v2.c (L298)

Count of surface feature.

motion.std

src/deck/drivers/src/flowdeck_v1v2.c (L302)

Standard deviation of flow measurement.

---

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motor

Motor output related log variables.

Variables

Name	Core	Type	Description
motor.m1	Core	LOG_UINT16	Motor power (PWM value) for M1 [0 - UINT16_MAX].
motor.m2	Core	LOG_UINT16	Motor power (PWM value) for M2 [0 - UINT16_MAX].
motor.m3	Core	LOG_UINT16	Motor power (PWM value) for M3 [0 - UINT16_MAX].
motor.m4	Core	LOG_UINT16	Motor power (PWM value) for M4 [0 - UINT16_MAX].
motor.m1req		LOG_INT32	Requested motor power for m1, including battery compensation. Same scale as the motor PWM but uncapped and may have values outside the [0 - UINT16_MAX] range.
motor.m2req		LOG_INT32	Requested motor power for m1, including battery compensation. Same scale as the motor PWM but uncapped and may have values outside the [0 - UINT16_MAX] range.
motor.m3req		LOG_INT32	Requested motor power for m1, including battery compensation. Same scale as the motor PWM but uncapped and may have values outside the [0 - UINT16_MAX] range.
motor.m4req		LOG_INT32	Requested motor power for m1, including battery compensation. Same scale as the motor PWM but uncapped and may have values outside the [0 - UINT16_MAX] range.

Detailed Variable Information

motor.m1

src/drivers/src/motors.c (L752)

Motor power (PWM value) for M1 [0 - UINT16_MAX].

motor.m2

src/drivers/src/motors.c (L756)

Motor power (PWM value) for M2 [0 - UINT16_MAX].

motor.m3

src/drivers/src/motors.c (L760)

Motor power (PWM value) for M3 [0 - UINT16_MAX].

motor.m4

src/drivers/src/motors.c (L764)

Motor power (PWM value) for M4 [0 - UINT16_MAX].

motor.m1req

src/modules/src/stabilizer.c (L846)

Requested motor power for m1, including battery compensation. Same scale as the motor PWM but uncapped and may have values outside the [0 - UINT16_MAX] range.

motor.m2req

src/modules/src/stabilizer.c (L852)

Requested motor power for m1, including battery compensation. Same scale as the motor PWM but uncapped and may have values outside the [0 - UINT16_MAX] range.

motor.m3req

src/modules/src/stabilizer.c (L858)

Requested motor power for m1, including battery compensation. Same scale as the motor PWM but uncapped and may have values outside the [0 - UINT16_MAX] range.

motor.m4req

src/modules/src/stabilizer.c (L864)

Requested motor power for m1, including battery compensation. Same scale as the motor PWM but uncapped and may have values outside the [0 - UINT16_MAX] range.

---

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navFilter

Log groups for the navigation filter associated with the error-state Unscented Kalman Filter (experimental)

Variables

Name	Core	Type	Description
navFilter.posX		LOG_FLOAT
navFilter.posY		LOG_FLOAT
navFilter.posZ		LOG_FLOAT
navFilter.accX		LOG_FLOAT
navFilter.accY		LOG_FLOAT
navFilter.accZ		LOG_FLOAT
navFilter.omegaX		LOG_FLOAT
navFilter.omegaY		LOG_FLOAT
navFilter.omegaZ		LOG_FLOAT
navFilter.Phi		LOG_FLOAT
navFilter.Theta		LOG_FLOAT
navFilter.Psi		LOG_FLOAT
navFilter.Px		LOG_FLOAT
navFilter.Pvx		LOG_FLOAT
navFilter.Pattx		LOG_FLOAT
navFilter.nanCounter		LOG_UINT32
navFilter.range		LOG_FLOAT
navFilter.procTimeFilter		LOG_FLOAT
navFilter.recAnchorId		LOG_UINT8

Detailed Variable Information

navFilter.posX

src/modules/src/estimator/estimator_ukf.c (L1545)

navFilter.posY

src/modules/src/estimator/estimator_ukf.c (L1546)

navFilter.posZ

src/modules/src/estimator/estimator_ukf.c (L1547)

navFilter.accX

src/modules/src/estimator/estimator_ukf.c (L1548)

navFilter.accY

src/modules/src/estimator/estimator_ukf.c (L1549)

navFilter.accZ

src/modules/src/estimator/estimator_ukf.c (L1550)

navFilter.omegaX

src/modules/src/estimator/estimator_ukf.c (L1551)

navFilter.omegaY

src/modules/src/estimator/estimator_ukf.c (L1552)

navFilter.omegaZ

src/modules/src/estimator/estimator_ukf.c (L1553)

navFilter.Phi

src/modules/src/estimator/estimator_ukf.c (L1554)

navFilter.Theta

src/modules/src/estimator/estimator_ukf.c (L1555)

navFilter.Psi

src/modules/src/estimator/estimator_ukf.c (L1556)

navFilter.Px

src/modules/src/estimator/estimator_ukf.c (L1557)

navFilter.Pvx

src/modules/src/estimator/estimator_ukf.c (L1558)

navFilter.Pattx

src/modules/src/estimator/estimator_ukf.c (L1559)

navFilter.nanCounter

src/modules/src/estimator/estimator_ukf.c (L1560)

navFilter.range

src/modules/src/estimator/estimator_ukf.c (L1561)

navFilter.procTimeFilter

src/modules/src/estimator/estimator_ukf.c (L1562)

navFilter.recAnchorId

src/modules/src/estimator/estimator_ukf.c (L1563)

---

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oa

Variables

Name	Core	Type	Description
oa.front		LOG_UINT16
oa.back		LOG_UINT16
oa.up		LOG_UINT16
oa.left		LOG_UINT16
oa.right		LOG_UINT16

Detailed Variable Information

oa.front

src/deck/drivers/src/oa.c (L187)

oa.back

src/deck/drivers/src/oa.c (L188)

oa.up

src/deck/drivers/src/oa.c (L189)

oa.left

src/deck/drivers/src/oa.c (L190)

oa.right

src/deck/drivers/src/oa.c (L191)

---

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outlierf

Variables

Name	Core	Type	Description
outlierf.lhWin		LOG_INT32
outlierf.bucket0		LOG_INT32
outlierf.bucket1		LOG_INT32
outlierf.bucket2		LOG_INT32
outlierf.bucket3		LOG_INT32
outlierf.bucket4		LOG_INT32
outlierf.accLev		LOG_FLOAT
outlierf.errD		LOG_FLOAT

Detailed Variable Information

outlierf.lhWin

src/modules/src/estimator/estimator_kalman.c (L505)

outlierf.bucket0

src/modules/src/outlierfilter/outlierFilterTdoaSteps.c (L149)

outlierf.bucket1

src/modules/src/outlierfilter/outlierFilterTdoaSteps.c (L150)

outlierf.bucket2

src/modules/src/outlierfilter/outlierFilterTdoaSteps.c (L151)

outlierf.bucket3

src/modules/src/outlierfilter/outlierFilterTdoaSteps.c (L152)

outlierf.bucket4

src/modules/src/outlierfilter/outlierFilterTdoaSteps.c (L153)

outlierf.accLev

src/modules/src/outlierfilter/outlierFilterTdoaSteps.c (L154)

outlierf.errD

src/modules/src/outlierfilter/outlierFilterTdoaSteps.c (L155)

---

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pid_attitude

Log variables of attitude PID controller

Variables

Name	Core	Type	Description
pid_attitude.roll_outP		LOG_FLOAT	Proportional output roll.
pid_attitude.roll_outI		LOG_FLOAT	Integral output roll.
pid_attitude.roll_outD		LOG_FLOAT	Derivative output roll.
pid_attitude.roll_outFF		LOG_FLOAT	Feedforward output roll.
pid_attitude.pitch_outP		LOG_FLOAT	Proportional output pitch.
pid_attitude.pitch_outI		LOG_FLOAT	Integral output pitch.
pid_attitude.pitch_outD		LOG_FLOAT	Derivative output pitch.
pid_attitude.pitch_outFF		LOG_FLOAT	Feedforward output pitch.
pid_attitude.yaw_outP		LOG_FLOAT	Proportional output yaw.
pid_attitude.yaw_outI		LOG_FLOAT	Intergal output yaw.
pid_attitude.yaw_outD		LOG_FLOAT	Derivative output yaw.
pid_attitude.yaw_outFF		LOG_FLOAT	Feedforward output yaw.

Detailed Variable Information

pid_attitude.roll_outP

src/modules/src/controller/attitude_pid_controller.c (L212)

Proportional output roll.

pid_attitude.roll_outI

src/modules/src/controller/attitude_pid_controller.c (L216)

Integral output roll.

pid_attitude.roll_outD

src/modules/src/controller/attitude_pid_controller.c (L220)

Derivative output roll.

pid_attitude.roll_outFF

src/modules/src/controller/attitude_pid_controller.c (L224)

Feedforward output roll.

pid_attitude.pitch_outP

src/modules/src/controller/attitude_pid_controller.c (L228)

Proportional output pitch.

pid_attitude.pitch_outI

src/modules/src/controller/attitude_pid_controller.c (L232)

Integral output pitch.

pid_attitude.pitch_outD

src/modules/src/controller/attitude_pid_controller.c (L236)

Derivative output pitch.

pid_attitude.pitch_outFF

src/modules/src/controller/attitude_pid_controller.c (L240)

Feedforward output pitch.

pid_attitude.yaw_outP

src/modules/src/controller/attitude_pid_controller.c (L244)

Proportional output yaw.

pid_attitude.yaw_outI

src/modules/src/controller/attitude_pid_controller.c (L248)

Intergal output yaw.

pid_attitude.yaw_outD

src/modules/src/controller/attitude_pid_controller.c (L252)

Derivative output yaw.

pid_attitude.yaw_outFF

src/modules/src/controller/attitude_pid_controller.c (L256)

Feedforward output yaw.

---

back to group index

pid_rate

Log variables of attitude rate PID controller

Variables

Name	Core	Type	Description
pid_rate.roll_outP		LOG_FLOAT	Proportional output roll rate.
pid_rate.roll_outI		LOG_FLOAT	Integral output roll rate.
pid_rate.roll_outD		LOG_FLOAT	Derivative output roll rate.
pid_rate.roll_outFF		LOG_FLOAT	Feedforward output roll rate.
pid_rate.pitch_outP		LOG_FLOAT	Proportional output pitch rate.
pid_rate.pitch_outI		LOG_FLOAT	Integral output pitch rate.
pid_rate.pitch_outD		LOG_FLOAT	Derivative output pitch rate.
pid_rate.pitch_outFF		LOG_FLOAT	Feedforward output pitch rate.
pid_rate.yaw_outP		LOG_FLOAT	Proportional output yaw rate.
pid_rate.yaw_outI		LOG_FLOAT	Integral output yaw rate.
pid_rate.yaw_outD		LOG_FLOAT	Derivative output yaw rate.
pid_rate.yaw_outFF		LOG_FLOAT	Feedforward output yaw rate.

Detailed Variable Information

pid_rate.roll_outP

src/modules/src/controller/attitude_pid_controller.c (L266)

Proportional output roll rate.

pid_rate.roll_outI

src/modules/src/controller/attitude_pid_controller.c (L270)

Integral output roll rate.

pid_rate.roll_outD

src/modules/src/controller/attitude_pid_controller.c (L274)

Derivative output roll rate.

pid_rate.roll_outFF

src/modules/src/controller/attitude_pid_controller.c (L278)

Feedforward output roll rate.

pid_rate.pitch_outP

src/modules/src/controller/attitude_pid_controller.c (L282)

Proportional output pitch rate.

pid_rate.pitch_outI

src/modules/src/controller/attitude_pid_controller.c (L286)

Integral output pitch rate.

pid_rate.pitch_outD

src/modules/src/controller/attitude_pid_controller.c (L290)

Derivative output pitch rate.

pid_rate.pitch_outFF

src/modules/src/controller/attitude_pid_controller.c (L294)

Feedforward output pitch rate.

pid_rate.yaw_outP

src/modules/src/controller/attitude_pid_controller.c (L298)

Proportional output yaw rate.

pid_rate.yaw_outI

src/modules/src/controller/attitude_pid_controller.c (L302)

Integral output yaw rate.

pid_rate.yaw_outD

src/modules/src/controller/attitude_pid_controller.c (L306)

Derivative output yaw rate.

pid_rate.yaw_outFF

src/modules/src/controller/attitude_pid_controller.c (L310)

Feedforward output yaw rate.

---

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pm

Power management log variables.

Variables

Name	Core	Type	Description
pm.vbat	Core	LOG_FLOAT	Battery voltage [V].
pm.vbatMV		LOG_UINT16	Battery voltage [mV].
pm.extVbat		LOG_FLOAT	BigQuad external voltage measurement [V].
pm.extVbatMV		LOG_UINT16	BigQuad external voltage measurement [mV].
pm.extCurr		LOG_FLOAT	BigQuad external current measurement [V].
pm.chargeCurrent		LOG_FLOAT	Battery charge current [A].
pm.state	Core	LOG_INT8	State of power management.
pm.batteryLevel	Core	LOG_UINT8	Battery charge level [%].

Detailed Variable Information

pm.vbat

src/hal/src/pm_stm32f4.c (L510)

Battery voltage [V].

pm.vbatMV

src/hal/src/pm_stm32f4.c (L514)

Battery voltage [mV].

pm.extVbat

src/hal/src/pm_stm32f4.c (L518)

BigQuad external voltage measurement [V].

pm.extVbatMV

src/hal/src/pm_stm32f4.c (L522)

BigQuad external voltage measurement [mV].

pm.extCurr

src/hal/src/pm_stm32f4.c (L526)

BigQuad external current measurement [V].

pm.chargeCurrent

src/hal/src/pm_stm32f4.c (L530)

Battery charge current [A].

pm.state

src/hal/src/pm_stm32f4.c (L542)

State of power management.

State	Meaning
0	Battery
1	Charging
2	Charged
3	Low power
4	Shutdown

pm.batteryLevel

src/hal/src/pm_stm32f4.c (L546)

Battery charge level [%].

---

back to group index

posCtl

Log variables of the PID position controller

Note: rename to posCtrlPID ?

Variables

Name	Core	Type	Description
posCtl.targetVX		LOG_FLOAT	PID controller target desired body-yaw-aligned velocity x [m/s].
posCtl.targetVY		LOG_FLOAT	PID controller target desired body-yaw-aligned velocity y [m/s].
posCtl.targetVZ		LOG_FLOAT	PID controller target desired velocity z [m/s].
posCtl.targetX		LOG_FLOAT	PID controller target desired body-yaw-aligned position x [m].
posCtl.targetY		LOG_FLOAT	PID controller target desired body-yaw-aligned position y [m].
posCtl.targetZ		LOG_FLOAT	PID controller target desired global position z [m].
posCtl.bodyVX		LOG_FLOAT	PID state body-yaw-aligned velocity x [m/s].
posCtl.bodyVY		LOG_FLOAT	PID state body-yaw-aligned velocity y [m/s].
posCtl.bodyX		LOG_FLOAT	PID state body-yaw-aligned position x [m].
posCtl.bodyY		LOG_FLOAT	PID state body-yaw-aligned position y [m].
posCtl.Xp		LOG_FLOAT	PID proportional output position x.
posCtl.Xi		LOG_FLOAT	PID integral output position x.
posCtl.Xd		LOG_FLOAT	PID derivative output position x.
posCtl.Xff		LOG_FLOAT	PID feedforward output position x.
posCtl.Yp		LOG_FLOAT	PID proportional output position y.
posCtl.Yi		LOG_FLOAT	PID integral output position y.
posCtl.Yd		LOG_FLOAT	PID derivative output position y.
posCtl.Yff		LOG_FLOAT	PID feedforward output position y.
posCtl.Zp		LOG_FLOAT	PID proportional output position z.
posCtl.Zi		LOG_FLOAT	PID integral output position z.
posCtl.Zd		LOG_FLOAT	PID derivative output position z.
posCtl.Zff		LOG_FLOAT	PID feedforward output position z.
posCtl.VXp		LOG_FLOAT	PID proportional output velocity x.
posCtl.VXi		LOG_FLOAT	PID integral output velocity x.
posCtl.VXd		LOG_FLOAT	PID derivative output velocity x.
posCtl.VXff		LOG_FLOAT	PID feedforward output velocity x.
posCtl.VYp		LOG_FLOAT	PID proportional output velocity y.
posCtl.VYi		LOG_FLOAT	PID integral output velocity y.
posCtl.VYd		LOG_FLOAT	PID derivative output velocity y.
posCtl.VYff		LOG_FLOAT	PID feedforward output velocity y.
posCtl.VZp		LOG_FLOAT	PID proportional output velocity z.
posCtl.VZi		LOG_FLOAT	PID integral output velocity z.
posCtl.VZd		LOG_FLOAT	PID integral output velocity z.
posCtl.VZff		LOG_FLOAT	PID feedforward output velocity z.

Detailed Variable Information

posCtl.targetVX

src/modules/src/controller/position_controller_pid.c (L300)

PID controller target desired body-yaw-aligned velocity x [m/s].

Note: Same as stabilizer log

posCtl.targetVY

src/modules/src/controller/position_controller_pid.c (L306)

PID controller target desired body-yaw-aligned velocity y [m/s].

Note: Same as stabilizer log

posCtl.targetVZ

src/modules/src/controller/position_controller_pid.c (L312)

PID controller target desired velocity z [m/s].

Note: Same as stabilizer log

posCtl.targetX

src/modules/src/controller/position_controller_pid.c (L318)

PID controller target desired body-yaw-aligned position x [m].

Note: Same as stabilizer log

posCtl.targetY

src/modules/src/controller/position_controller_pid.c (L324)

PID controller target desired body-yaw-aligned position y [m].

Note: Same as stabilizer log

posCtl.targetZ

src/modules/src/controller/position_controller_pid.c (L330)

PID controller target desired global position z [m].

Note: Same as stabilizer log

posCtl.bodyVX

src/modules/src/controller/position_controller_pid.c (L336)

PID state body-yaw-aligned velocity x [m/s].

posCtl.bodyVY

src/modules/src/controller/position_controller_pid.c (L341)

PID state body-yaw-aligned velocity y [m/s].

posCtl.bodyX

src/modules/src/controller/position_controller_pid.c (L346)

PID state body-yaw-aligned position x [m].

posCtl.bodyY

src/modules/src/controller/position_controller_pid.c (L351)

PID state body-yaw-aligned position y [m].

posCtl.Xp

src/modules/src/controller/position_controller_pid.c (L356)

PID proportional output position x.

posCtl.Xi

src/modules/src/controller/position_controller_pid.c (L360)

PID integral output position x.

posCtl.Xd

src/modules/src/controller/position_controller_pid.c (L364)

PID derivative output position x.

posCtl.Xff

src/modules/src/controller/position_controller_pid.c (L368)

PID feedforward output position x.

posCtl.Yp

src/modules/src/controller/position_controller_pid.c (L373)

PID proportional output position y.

posCtl.Yi

src/modules/src/controller/position_controller_pid.c (L377)

PID integral output position y.

posCtl.Yd

src/modules/src/controller/position_controller_pid.c (L381)

PID derivative output position y.

posCtl.Yff

src/modules/src/controller/position_controller_pid.c (L385)

PID feedforward output position y.

posCtl.Zp

src/modules/src/controller/position_controller_pid.c (L390)

PID proportional output position z.

posCtl.Zi

src/modules/src/controller/position_controller_pid.c (L394)

PID integral output position z.

posCtl.Zd

src/modules/src/controller/position_controller_pid.c (L398)

PID derivative output position z.

posCtl.Zff

src/modules/src/controller/position_controller_pid.c (L402)

PID feedforward output position z.

posCtl.VXp

src/modules/src/controller/position_controller_pid.c (L407)

PID proportional output velocity x.

posCtl.VXi

src/modules/src/controller/position_controller_pid.c (L411)

PID integral output velocity x.

posCtl.VXd

src/modules/src/controller/position_controller_pid.c (L415)

PID derivative output velocity x.

posCtl.VXff

src/modules/src/controller/position_controller_pid.c (L419)

PID feedforward output velocity x.

posCtl.VYp

src/modules/src/controller/position_controller_pid.c (L424)

PID proportional output velocity y.

posCtl.VYi

src/modules/src/controller/position_controller_pid.c (L428)

PID integral output velocity y.

posCtl.VYd

src/modules/src/controller/position_controller_pid.c (L432)

PID derivative output velocity y.

posCtl.VYff

src/modules/src/controller/position_controller_pid.c (L436)

PID feedforward output velocity y.

posCtl.VZp

src/modules/src/controller/position_controller_pid.c (L441)

PID proportional output velocity z.

posCtl.VZi

src/modules/src/controller/position_controller_pid.c (L445)

PID integral output velocity z.

posCtl.VZd

src/modules/src/controller/position_controller_pid.c (L449)

PID integral output velocity z.

posCtl.VZff

src/modules/src/controller/position_controller_pid.c (L453)

PID feedforward output velocity z.

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posCtrlIndi

Variables

Name	Core	Type	Description
posCtrlIndi.posRef_x		LOG_FLOAT	INDI position reference input x [m].
posCtrlIndi.posRef_y		LOG_FLOAT	INDI position reference input y [m].
posCtrlIndi.posRef_z		LOG_FLOAT	INDI position reference input z [m].
posCtrlIndi.velS_x		LOG_FLOAT	INDI current velocity x [m/s].
posCtrlIndi.velS_y		LOG_FLOAT	INDI current velocity y [m/s].
posCtrlIndi.velS_z		LOG_FLOAT	INDI current velocity z [m/s].
posCtrlIndi.velRef_x		LOG_FLOAT	INDI velocity reference input x [m/s].
posCtrlIndi.velRef_y		LOG_FLOAT	INDI velocity reference input y [m/s].
posCtrlIndi.velRef_z		LOG_FLOAT	INDI velocity reference input z [m/s].
posCtrlIndi.angS_roll		LOG_FLOAT	INDI current attitude roll angle [rad].
posCtrlIndi.angS_pitch		LOG_FLOAT	INDI current attitude pitch angle [rad].
posCtrlIndi.angS_yaw		LOG_FLOAT	INDI current attitude yaw angle [rad].
posCtrlIndi.angF_roll		LOG_FLOAT	INDI current attitude roll angle filtered (8 Hz low-pass) [rad].
posCtrlIndi.angF_pitch		LOG_FLOAT	INDI current attitude pitch angle filtered (8 Hz low-pass) [rad].
posCtrlIndi.angF_yaw		LOG_FLOAT	INDI current attitude yaw angle filtered (8 Hz low-pass) [rad].
posCtrlIndi.accRef_x		LOG_FLOAT	INDI linear acceleration reference input x [m/s^2], NED frame.
posCtrlIndi.accRef_y		LOG_FLOAT	INDI linear acceleration reference input y [m/s^2], NED frame.
posCtrlIndi.accRef_z		LOG_FLOAT	INDI linear acceleration reference input z [m/s^2], NED frame.
posCtrlIndi.accS_x		LOG_FLOAT	INDI current linear acceleration measurement x [m/s^2], body frame.
posCtrlIndi.accS_y		LOG_FLOAT	INDI current linear acceleration measurement z [m/s^2], body frame.
posCtrlIndi.accS_z		LOG_FLOAT	INDI current linear acceleration measurement z [m/s^2], body frame.
posCtrlIndi.accF_x		LOG_FLOAT	INDI current linear acceleration measurement filtered (8 Hz low-pass) x [m/s^2], body frame.
posCtrlIndi.accF_y		LOG_FLOAT	INDI current linear acceleration measurement filtered (8 Hz low-pass) y [m/s^2], body frame.
posCtrlIndi.accF_z		LOG_FLOAT	INDI current linear acceleration measurement filtered (8 Hz low-pass) z [m/s^2], body frame.
posCtrlIndi.accFT_x		LOG_FLOAT	INDI current linear acceleration measurement filtered (8 Hz low-pass) and rotated x [m/s^2], NED frame.
posCtrlIndi.accFT_y		LOG_FLOAT	INDI current linear acceleration measurement filtered (8 Hz low-pass) and rotated y [m/s^2], NED frame.
posCtrlIndi.accFT_z		LOG_FLOAT	INDI current linear acceleration measurement filtered (8 Hz low-pass) and rotated z [m/s^2], NED frame.
posCtrlIndi.accErr_x		LOG_FLOAT	INDI linear acceleration error x [m/s^2], NED frame.
posCtrlIndi.accErr_y		LOG_FLOAT	INDI linear acceleration error y [m/s^2], NED frame.
posCtrlIndi.accErr_z		LOG_FLOAT	INDI linear acceleration error z [m/s^2], NED frame.
posCtrlIndi.phi_tilde		LOG_FLOAT	INDI roll angle command increment [rad].
posCtrlIndi.theta_tilde		LOG_FLOAT	INDI pitch angle command increment [rad].
posCtrlIndi.T_tilde		LOG_FLOAT	INDI thrust command increment [motor units].
posCtrlIndi.T_inner		LOG_FLOAT	INDI final previous thrust command, filtered with low-pass and passed through actuator dynamics.
posCtrlIndi.T_inner_f		LOG_FLOAT	INDI previous thrust command filtered (8 Hz low-pass) [motor units].
posCtrlIndi.T_incremented		LOG_FLOAT	INDI motor thrust command provided to inner loop [motor units].
posCtrlIndi.cmd_phi		LOG_FLOAT	INDI roll angle command to inner loop [rad].
posCtrlIndi.cmd_theta		LOG_FLOAT	INDI pitch angle command to inner loop [rad].

Detailed Variable Information

posCtrlIndi.posRef_x

src/modules/src/controller/position_controller_indi.c (L317)

INDI position reference input x [m].

posCtrlIndi.posRef_y

src/modules/src/controller/position_controller_indi.c (L321)

INDI position reference input y [m].

posCtrlIndi.posRef_z

src/modules/src/controller/position_controller_indi.c (L325)

INDI position reference input z [m].

posCtrlIndi.velS_x

src/modules/src/controller/position_controller_indi.c (L330)

INDI current velocity x [m/s].

posCtrlIndi.velS_y

src/modules/src/controller/position_controller_indi.c (L334)

INDI current velocity y [m/s].

posCtrlIndi.velS_z

src/modules/src/controller/position_controller_indi.c (L338)

INDI current velocity z [m/s].

posCtrlIndi.velRef_x

src/modules/src/controller/position_controller_indi.c (L343)

INDI velocity reference input x [m/s].

posCtrlIndi.velRef_y

src/modules/src/controller/position_controller_indi.c (L347)

INDI velocity reference input y [m/s].

posCtrlIndi.velRef_z

src/modules/src/controller/position_controller_indi.c (L351)

INDI velocity reference input z [m/s].

posCtrlIndi.angS_roll

src/modules/src/controller/position_controller_indi.c (L356)

INDI current attitude roll angle [rad].

posCtrlIndi.angS_pitch

src/modules/src/controller/position_controller_indi.c (L360)

INDI current attitude pitch angle [rad].

posCtrlIndi.angS_yaw

src/modules/src/controller/position_controller_indi.c (L364)

INDI current attitude yaw angle [rad].

posCtrlIndi.angF_roll

src/modules/src/controller/position_controller_indi.c (L369)

INDI current attitude roll angle filtered (8 Hz low-pass) [rad].

posCtrlIndi.angF_pitch

src/modules/src/controller/position_controller_indi.c (L373)

INDI current attitude pitch angle filtered (8 Hz low-pass) [rad].

posCtrlIndi.angF_yaw

src/modules/src/controller/position_controller_indi.c (L377)

INDI current attitude yaw angle filtered (8 Hz low-pass) [rad].

posCtrlIndi.accRef_x

src/modules/src/controller/position_controller_indi.c (L382)

INDI linear acceleration reference input x [m/s^2], NED frame.

posCtrlIndi.accRef_y

src/modules/src/controller/position_controller_indi.c (L386)

INDI linear acceleration reference input y [m/s^2], NED frame.

posCtrlIndi.accRef_z

src/modules/src/controller/position_controller_indi.c (L390)

INDI linear acceleration reference input z [m/s^2], NED frame.

posCtrlIndi.accS_x

src/modules/src/controller/position_controller_indi.c (L395)

INDI current linear acceleration measurement x [m/s^2], body frame.

posCtrlIndi.accS_y

src/modules/src/controller/position_controller_indi.c (L399)

INDI current linear acceleration measurement z [m/s^2], body frame.

posCtrlIndi.accS_z

src/modules/src/controller/position_controller_indi.c (L403)

INDI current linear acceleration measurement z [m/s^2], body frame.

posCtrlIndi.accF_x

src/modules/src/controller/position_controller_indi.c (L408)

INDI current linear acceleration measurement filtered (8 Hz low-pass) x [m/s^2], body frame.

posCtrlIndi.accF_y

src/modules/src/controller/position_controller_indi.c (L412)

INDI current linear acceleration measurement filtered (8 Hz low-pass) y [m/s^2], body frame.

posCtrlIndi.accF_z

src/modules/src/controller/position_controller_indi.c (L416)

INDI current linear acceleration measurement filtered (8 Hz low-pass) z [m/s^2], body frame.

posCtrlIndi.accFT_x

src/modules/src/controller/position_controller_indi.c (L421)

INDI current linear acceleration measurement filtered (8 Hz low-pass) and rotated x [m/s^2], NED frame.

posCtrlIndi.accFT_y

src/modules/src/controller/position_controller_indi.c (L425)

INDI current linear acceleration measurement filtered (8 Hz low-pass) and rotated y [m/s^2], NED frame.

posCtrlIndi.accFT_z

src/modules/src/controller/position_controller_indi.c (L429)

INDI current linear acceleration measurement filtered (8 Hz low-pass) and rotated z [m/s^2], NED frame.

posCtrlIndi.accErr_x

src/modules/src/controller/position_controller_indi.c (L434)

INDI linear acceleration error x [m/s^2], NED frame.

posCtrlIndi.accErr_y

src/modules/src/controller/position_controller_indi.c (L438)

INDI linear acceleration error y [m/s^2], NED frame.

posCtrlIndi.accErr_z

src/modules/src/controller/position_controller_indi.c (L442)

INDI linear acceleration error z [m/s^2], NED frame.

posCtrlIndi.phi_tilde

src/modules/src/controller/position_controller_indi.c (L447)

INDI roll angle command increment [rad].

posCtrlIndi.theta_tilde

src/modules/src/controller/position_controller_indi.c (L451)

INDI pitch angle command increment [rad].

posCtrlIndi.T_tilde

src/modules/src/controller/position_controller_indi.c (L455)

INDI thrust command increment [motor units].

posCtrlIndi.T_inner

src/modules/src/controller/position_controller_indi.c (L460)

INDI final previous thrust command, filtered with low-pass and passed through actuator dynamics.

posCtrlIndi.T_inner_f

src/modules/src/controller/position_controller_indi.c (L465)

INDI previous thrust command filtered (8 Hz low-pass) [motor units].

posCtrlIndi.T_incremented

src/modules/src/controller/position_controller_indi.c (L469)

INDI motor thrust command provided to inner loop [motor units].

posCtrlIndi.cmd_phi

src/modules/src/controller/position_controller_indi.c (L473)

INDI roll angle command to inner loop [rad].

posCtrlIndi.cmd_theta

src/modules/src/controller/position_controller_indi.c (L477)

INDI pitch angle command to inner loop [rad].

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posEstAlt

Variables

Name	Core	Type	Description
posEstAlt.estimatedZ		LOG_FLOAT
posEstAlt.estVZ		LOG_FLOAT
posEstAlt.velocityZ		LOG_FLOAT

Detailed Variable Information

posEstAlt.estimatedZ

src/modules/src/estimator/position_estimator_altitude.c (L125)

posEstAlt.estVZ

src/modules/src/estimator/position_estimator_altitude.c (L126)

posEstAlt.velocityZ

src/modules/src/estimator/position_estimator_altitude.c (L127)

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radio

Radio link log variables.

Variables

Name	Core	Type	Description
radio.rssi	Core	LOG_UINT8	Radio Signal Strength Indicator [dBm].
radio.isConnected	Core	LOG_UINT8	Indicator if a packet was received from the radio within the last RADIO_ACTIVITY_TIMEOUT_MS.
radio.numRxBc	Core	LOG_UINT16	Number of broadcast packets received.
radio.numRxUc	Core	LOG_UINT16	Number of unicast packets received.

Detailed Variable Information

radio.rssi

src/hal/src/radiolink.c (L276)

Radio Signal Strength Indicator [dBm].

radio.isConnected

src/hal/src/radiolink.c (L280)

Indicator if a packet was received from the radio within the last RADIO_ACTIVITY_TIMEOUT_MS.

radio.numRxBc

src/hal/src/radiolink.c (L286)

Number of broadcast packets received.

Note that this is only 16 bits and overflows. Use overflow correction on the client side.

radio.numRxUc

src/hal/src/radiolink.c (L292)

Number of unicast packets received.

Note that this is only 16 bits and overflows. Use overflow correction on the client side.

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range

Log group for the multi ranger and Z-ranger decks

Variables

Name	Core	Type	Description
range.front	Core	LOG_UINT16	Distance from the front sensor to an obstacle [mm].
range.back	Core	LOG_UINT16	Distance from the back sensor to an obstacle [mm].
range.up	Core	LOG_UINT16	Distance from the top sensor to an obstacle [mm].
range.left	Core	LOG_UINT16	Distance from the left sensor to an obstacle [mm].
range.right	Core	LOG_UINT16	Distance from the right sensor to an obstacle [mm].
range.zrange	Core	LOG_UINT16	Distance from the Z-ranger (bottom) sensor to an obstacle [mm].

Detailed Variable Information

range.front

src/modules/src/range.c (L66)

Distance from the front sensor to an obstacle [mm].

range.back

src/modules/src/range.c (L71)

Distance from the back sensor to an obstacle [mm].

range.up

src/modules/src/range.c (L76)

Distance from the top sensor to an obstacle [mm].

range.left

src/modules/src/range.c (L81)

Distance from the left sensor to an obstacle [mm].

range.right

src/modules/src/range.c (L86)

Distance from the right sensor to an obstacle [mm].

range.zrange

src/modules/src/range.c (L91)

Distance from the Z-ranger (bottom) sensor to an obstacle [mm].

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ranging

Log group for distances (ranges) to anchors aquired by Two Way Ranging (TWR)

Variables

Name	Core	Type	Description
ranging.state		LOG_UINT16
ranging.distance0		LOG_FLOAT	Distance to anchor 0 [m].
ranging.distance1		LOG_FLOAT	Distance to anchor 1 [m].
ranging.distance2		LOG_FLOAT	Distance to anchor 2 [m].
ranging.distance3		LOG_FLOAT	Distance to anchor 3 [m].
ranging.distance4		LOG_FLOAT	Distance to anchor 4 [m].
ranging.distance5		LOG_FLOAT	Distance to anchor 5 [m].
ranging.distance6		LOG_FLOAT	Distance to anchor 6 [m].
ranging.distance7		LOG_FLOAT	Distance to anchor 7 [m].
ranging.pressure0		LOG_FLOAT	ASL of anchor 0 [m].
ranging.pressure1		LOG_FLOAT	ASL of anchor 1 [m].
ranging.pressure2		LOG_FLOAT	ASL of anchor 2 [m].
ranging.pressure3		LOG_FLOAT	ASL of anchor 3 [m].
ranging.pressure4		LOG_FLOAT	ASL of anchor 4 [m].
ranging.pressure5		LOG_FLOAT	ASL of anchor 5 [m].
ranging.pressure6		LOG_FLOAT	ASL of anchor 6 [m].
ranging.pressure7		LOG_FLOAT	ASL of anchor 7 [m].

Detailed Variable Information

ranging.state

src/deck/drivers/src/locodeck.c (L618)

ranging.distance0

src/deck/drivers/src/lpsTwrTag.c (L625)

Distance to anchor 0 [m].

ranging.distance1

src/deck/drivers/src/lpsTwrTag.c (L629)

Distance to anchor 1 [m].

ranging.distance2

src/deck/drivers/src/lpsTwrTag.c (L633)

Distance to anchor 2 [m].

ranging.distance3

src/deck/drivers/src/lpsTwrTag.c (L637)

Distance to anchor 3 [m].

ranging.distance4

src/deck/drivers/src/lpsTwrTag.c (L641)

Distance to anchor 4 [m].

ranging.distance5

src/deck/drivers/src/lpsTwrTag.c (L645)

Distance to anchor 5 [m].

ranging.distance6

src/deck/drivers/src/lpsTwrTag.c (L649)

Distance to anchor 6 [m].

ranging.distance7

src/deck/drivers/src/lpsTwrTag.c (L653)

Distance to anchor 7 [m].

ranging.pressure0

src/deck/drivers/src/lpsTwrTag.c (L657)

ASL of anchor 0 [m].

ranging.pressure1

src/deck/drivers/src/lpsTwrTag.c (L661)

ASL of anchor 1 [m].

ranging.pressure2

src/deck/drivers/src/lpsTwrTag.c (L665)

ASL of anchor 2 [m].

ranging.pressure3

src/deck/drivers/src/lpsTwrTag.c (L669)

ASL of anchor 3 [m].

ranging.pressure4

src/deck/drivers/src/lpsTwrTag.c (L673)

ASL of anchor 4 [m].

ranging.pressure5

src/deck/drivers/src/lpsTwrTag.c (L677)

ASL of anchor 5 [m].

ranging.pressure6

src/deck/drivers/src/lpsTwrTag.c (L681)

ASL of anchor 6 [m].

ranging.pressure7

src/deck/drivers/src/lpsTwrTag.c (L685)

ASL of anchor 7 [m].

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ring

The logs for the LED ring expansion deck contains two powerful front-facing white LEDs and 12 bottom-facing RGB individually addressable LEDs (it uses the same LEDs as used in the NeoPixel products by Adafruit).

The deck is designed to be installed as the last deck on the bottom of the quad. It does not have pass-through holes for the expansion port connector.

Variables

Name	Core	Type	Description
ring.fadeTime		LOG_FLOAT	Current fade time of fade color effect.

Detailed Variable Information

ring.fadeTime

src/deck/drivers/src/ledring12.c (L694)

Current fade time of fade color effect.

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rpm

Variables

Name	Core	Type	Description
rpm.m1		LOG_UINT16
rpm.m2		LOG_UINT16
rpm.m3		LOG_UINT16
rpm.m4		LOG_UINT16

Detailed Variable Information

rpm.m1

src/deck/drivers/src/rpm.c (L323)

rpm.m2

src/deck/drivers/src/rpm.c (L324)

rpm.m3

src/deck/drivers/src/rpm.c (L325)

rpm.m4

src/deck/drivers/src/rpm.c (L326)

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sensfusion6

Sensor fusion is the process of combining sensory data or data derived from disparate sources such that the resulting information has less uncertainty than would be possible when these sources were used individually.

The sensfusion6 module uses an 3 axis accelerometer and a 3 axis gyro to get accurate attitude measurements.

Variables

Name	Core	Type	Description
sensfusion6.qw		LOG_FLOAT	W quaternion.
sensfusion6.qx		LOG_FLOAT	X quaternion.
sensfusion6.qy		LOG_FLOAT	y quaternion
sensfusion6.qz		LOG_FLOAT	z quaternion
sensfusion6.gravityX		LOG_FLOAT	Gravity vector X.
sensfusion6.gravityY		LOG_FLOAT	Gravity vector Y.
sensfusion6.gravityZ		LOG_FLOAT	Gravity vector Z.
sensfusion6.accZbase		LOG_FLOAT	Gravity scale factor after calibration.
sensfusion6.isInit		LOG_UINT8	Nonzero if complimentary filter been initialized.
sensfusion6.isCalibrated		LOG_UINT8	Nonzero if gravity scale been calibrated.

Detailed Variable Information

sensfusion6.qw

src/modules/src/sensfusion6.c (L322)

W quaternion.

sensfusion6.qx

src/modules/src/sensfusion6.c (L326)

X quaternion.

sensfusion6.qy

src/modules/src/sensfusion6.c (L330)

y quaternion

sensfusion6.qz

src/modules/src/sensfusion6.c (L334)

z quaternion

sensfusion6.gravityX

src/modules/src/sensfusion6.c (L338)

Gravity vector X.

sensfusion6.gravityY

src/modules/src/sensfusion6.c (L342)

Gravity vector Y.

sensfusion6.gravityZ

src/modules/src/sensfusion6.c (L346)

Gravity vector Z.

sensfusion6.accZbase

src/modules/src/sensfusion6.c (L350)

Gravity scale factor after calibration.

sensfusion6.isInit

src/modules/src/sensfusion6.c (L354)

Nonzero if complimentary filter been initialized.

sensfusion6.isCalibrated

src/modules/src/sensfusion6.c (L358)

Nonzero if gravity scale been calibrated.

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sensorFilter

Log groups for error-state Unscented Kalman Filter (experimental)

Variables

Name	Core	Type	Description
sensorFilter.dxPx		LOG_FLOAT
sensorFilter.dyPx		LOG_FLOAT
sensorFilter.dxPxPred		LOG_FLOAT
sensorFilter.dyPxPred		LOG_FLOAT
sensorFilter.distPred		LOG_FLOAT
sensorFilter.distMeas		LOG_FLOAT
sensorFilter.baroHeight		LOG_FLOAT
sensorFilter.innoChFlow_x		LOG_FLOAT
sensorFilter.innoChFlow_y		LOG_FLOAT
sensorFilter.innoChTof		LOG_FLOAT
sensorFilter.distTWR		LOG_FLOAT

Detailed Variable Information

sensorFilter.dxPx

src/modules/src/estimator/estimator_ukf.c (L1570)

sensorFilter.dyPx

src/modules/src/estimator/estimator_ukf.c (L1571)

sensorFilter.dxPxPred

src/modules/src/estimator/estimator_ukf.c (L1572)

sensorFilter.dyPxPred

src/modules/src/estimator/estimator_ukf.c (L1573)

sensorFilter.distPred

src/modules/src/estimator/estimator_ukf.c (L1574)

sensorFilter.distMeas

src/modules/src/estimator/estimator_ukf.c (L1575)

sensorFilter.baroHeight

src/modules/src/estimator/estimator_ukf.c (L1576)

sensorFilter.innoChFlow_x

src/modules/src/estimator/estimator_ukf.c (L1577)

sensorFilter.innoChFlow_y

src/modules/src/estimator/estimator_ukf.c (L1578)

sensorFilter.innoChTof

src/modules/src/estimator/estimator_ukf.c (L1579)

sensorFilter.distTWR

src/modules/src/estimator/estimator_ukf.c (L1580)

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stabilizer

Logs to set the estimator and controller type for the stabilizer module

Variables

Name	Core	Type	Description
stabilizer.roll		LOG_FLOAT	Estimated roll Note: Same as stateEstimate.roll.
stabilizer.pitch		LOG_FLOAT	Estimated pitch Note: Same as stateEstimate.pitch.
stabilizer.yaw		LOG_FLOAT	Estimated yaw Note: same as stateEstimate.yaw.
stabilizer.thrust		LOG_FLOAT	Current thrust.
stabilizer.rtStab		LOG_FLOAT	Rate of stabilizer loop.
stabilizer.intToOut		LOG_UINT32	Latency from sampling of sensor to motor output Note: Used for debugging but could also be used as a system test.

Detailed Variable Information

stabilizer.roll

src/modules/src/stabilizer.c (L531)

Estimated roll Note: Same as stateEstimate.roll.

stabilizer.pitch

src/modules/src/stabilizer.c (L536)

Estimated pitch Note: Same as stateEstimate.pitch.

stabilizer.yaw

src/modules/src/stabilizer.c (L541)

Estimated yaw Note: same as stateEstimate.yaw.

stabilizer.thrust

src/modules/src/stabilizer.c (L545)

Current thrust.

stabilizer.rtStab

src/modules/src/stabilizer.c (L549)

Rate of stabilizer loop.

stabilizer.intToOut

src/modules/src/stabilizer.c (L554)

Latency from sampling of sensor to motor output Note: Used for debugging but could also be used as a system test.

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stateEstimate

Log group for the state estimator, the currently estimated state of the platform.

Note: all values may not be updated depending on which estimator that is used.

Variables

Name	Core	Type	Description
stateEstimate.x	Core	LOG_FLOAT	The estimated position of the platform in the global reference frame, X [m].
stateEstimate.y	Core	LOG_FLOAT	The estimated position of the platform in the global reference frame, Y [m].
stateEstimate.z	Core	LOG_FLOAT	The estimated position of the platform in the global reference frame, Z [m].
stateEstimate.vx	Core	LOG_FLOAT	The velocity of the Crazyflie in the global reference frame, X [m/s].
stateEstimate.vy	Core	LOG_FLOAT	The velocity of the Crazyflie in the global reference frame, Y [m/s].
stateEstimate.vz	Core	LOG_FLOAT	The velocity of the Crazyflie in the global reference frame, Z [m/s].
stateEstimate.ax	Core	LOG_FLOAT	The acceleration of the Crazyflie in the global reference frame, X [Gs].
stateEstimate.ay	Core	LOG_FLOAT	The acceleration of the Crazyflie in the global reference frame, Y [Gs].
stateEstimate.az	Core	LOG_FLOAT	The acceleration of the Crazyflie in the global reference frame, without considering gravity, Z [Gs].
stateEstimate.roll	Core	LOG_FLOAT	Attitude, roll angle [deg].
stateEstimate.pitch	Core	LOG_FLOAT	Attitude, pitch angle (legacy CF2 body coordinate system, where pitch is inverted) [deg].
stateEstimate.yaw	Core	LOG_FLOAT	Attitude, yaw angle [deg].
stateEstimate.qx	Core	LOG_FLOAT	Attitude as a quaternion, x.
stateEstimate.qy	Core	LOG_FLOAT	Attitude as a quaternion, y.
stateEstimate.qz	Core	LOG_FLOAT	Attitude as a quaternion, z.
stateEstimate.qw	Core	LOG_FLOAT	Attitude as a quaternion, w.

Detailed Variable Information

stateEstimate.x

src/modules/src/stabilizer.c (L686)

The estimated position of the platform in the global reference frame, X [m].

stateEstimate.y

src/modules/src/stabilizer.c (L691)

The estimated position of the platform in the global reference frame, Y [m].

stateEstimate.z

src/modules/src/stabilizer.c (L696)

The estimated position of the platform in the global reference frame, Z [m].

stateEstimate.vx

src/modules/src/stabilizer.c (L701)

The velocity of the Crazyflie in the global reference frame, X [m/s].

stateEstimate.vy

src/modules/src/stabilizer.c (L706)

The velocity of the Crazyflie in the global reference frame, Y [m/s].

stateEstimate.vz

src/modules/src/stabilizer.c (L711)

The velocity of the Crazyflie in the global reference frame, Z [m/s].

stateEstimate.ax

src/modules/src/stabilizer.c (L716)

The acceleration of the Crazyflie in the global reference frame, X [Gs].

stateEstimate.ay

src/modules/src/stabilizer.c (L721)

The acceleration of the Crazyflie in the global reference frame, Y [Gs].

stateEstimate.az

src/modules/src/stabilizer.c (L726)

The acceleration of the Crazyflie in the global reference frame, without considering gravity, Z [Gs].

stateEstimate.roll

src/modules/src/stabilizer.c (L731)

Attitude, roll angle [deg].

stateEstimate.pitch

src/modules/src/stabilizer.c (L736)

Attitude, pitch angle (legacy CF2 body coordinate system, where pitch is inverted) [deg].

stateEstimate.yaw

src/modules/src/stabilizer.c (L741)

Attitude, yaw angle [deg].

stateEstimate.qx

src/modules/src/stabilizer.c (L746)

Attitude as a quaternion, x.

stateEstimate.qy

src/modules/src/stabilizer.c (L751)

Attitude as a quaternion, y.

stateEstimate.qz

src/modules/src/stabilizer.c (L756)

Attitude as a quaternion, z.

stateEstimate.qw

src/modules/src/stabilizer.c (L761)

Attitude as a quaternion, w.

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stateEstimateZ

Log group for the state estimator, compressed format. This flavour of the estimator logs are defined with types that use less space and makes it possible to add more logs to a log configuration.

Note: all values may not be updated depending on which estimator that is used.

Variables

Name	Core	Type	Description
stateEstimateZ.x		LOG_INT16	The position of the Crazyflie in the global reference frame, X [mm].
stateEstimateZ.y		LOG_INT16	The position of the Crazyflie in the global reference frame, Y [mm].
stateEstimateZ.z		LOG_INT16	The position of the Crazyflie in the global reference frame, Z [mm].
stateEstimateZ.vx		LOG_INT16	The velocity of the Crazyflie in the global reference frame, X [mm/s].
stateEstimateZ.vy		LOG_INT16	The velocity of the Crazyflie in the global reference frame, Y [mm/s].
stateEstimateZ.vz		LOG_INT16	The velocity of the Crazyflie in the global reference frame, Z [mm/s].
stateEstimateZ.ax		LOG_INT16	The acceleration of the Crazyflie in the global reference frame, X [mm/s].
stateEstimateZ.ay		LOG_INT16	The acceleration of the Crazyflie in the global reference frame, Y [mm/s].
stateEstimateZ.az		LOG_INT16	The acceleration of the Crazyflie in the global reference frame, including gravity, Z [mm/s].
stateEstimateZ.quat		LOG_UINT32	Attitude as a compressed quaternion, see see
stateEstimateZ.rateRoll		LOG_INT16	Roll rate (angular velocity) [milliradians / sec].
stateEstimateZ.ratePitch		LOG_INT16	Pitch rate (angular velocity) [milliradians / sec].
stateEstimateZ.rateYaw		LOG_INT16	Yaw rate (angular velocity) [milliradians / sec].

Detailed Variable Information

stateEstimateZ.x

src/modules/src/stabilizer.c (L776)

The position of the Crazyflie in the global reference frame, X [mm].

stateEstimateZ.y

src/modules/src/stabilizer.c (L781)

The position of the Crazyflie in the global reference frame, Y [mm].

stateEstimateZ.z

src/modules/src/stabilizer.c (L786)

The position of the Crazyflie in the global reference frame, Z [mm].

stateEstimateZ.vx

src/modules/src/stabilizer.c (L791)

The velocity of the Crazyflie in the global reference frame, X [mm/s].

stateEstimateZ.vy

src/modules/src/stabilizer.c (L796)

The velocity of the Crazyflie in the global reference frame, Y [mm/s].

stateEstimateZ.vz

src/modules/src/stabilizer.c (L801)

The velocity of the Crazyflie in the global reference frame, Z [mm/s].

stateEstimateZ.ax

src/modules/src/stabilizer.c (L806)

The acceleration of the Crazyflie in the global reference frame, X [mm/s].

stateEstimateZ.ay

src/modules/src/stabilizer.c (L811)

The acceleration of the Crazyflie in the global reference frame, Y [mm/s].

stateEstimateZ.az

src/modules/src/stabilizer.c (L816)

The acceleration of the Crazyflie in the global reference frame, including gravity, Z [mm/s].

stateEstimateZ.quat

src/modules/src/stabilizer.c (L821)

Attitude as a compressed quaternion, see see

stateEstimateZ.rateRoll

src/modules/src/stabilizer.c (L826)

Roll rate (angular velocity) [milliradians / sec].

stateEstimateZ.ratePitch

src/modules/src/stabilizer.c (L831)

Pitch rate (angular velocity) [milliradians / sec].

stateEstimateZ.rateYaw

src/modules/src/stabilizer.c (L836)

Yaw rate (angular velocity) [milliradians / sec].

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supervisor

The purpose of the supervisor is to monitor the system and its state. Depending on the situation, the supervisor can enable/disable functionality as well as take action to protect the system or humans close by.

Variables

Name	Core	Type	Description
supervisor.info		LOG_UINT16	Bitfield containing information about the supervisor status Bit 0 = Can be armed - the system can be armed and will accept an arming command Bit 1 = is armed - the system is armed Bit 2 = auto arm - the system is configured to automatically arm Bit 3 = can fly - the Crazyflie is ready to fly Bit 4 = is flying - the Crazyflie is flying. Bit 5 = is tumbled - the Crazyflie is up side down. Bit 6 = is locked - the Crazyflie is in the locked state and must be restarted.

Detailed Variable Information

supervisor.info

src/modules/src/supervisor.c (L531)

Bitfield containing information about the supervisor status Bit 0 = Can be armed - the system can be armed and will accept an arming command Bit 1 = is armed - the system is armed Bit 2 = auto arm - the system is configured to automatically arm Bit 3 = can fly - the Crazyflie is ready to fly Bit 4 = is flying - the Crazyflie is flying. Bit 5 = is tumbled - the Crazyflie is up side down. Bit 6 = is locked - the Crazyflie is in the locked state and must be restarted.

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sys

System loggable variables to check different system states.

Variables

Name	Core	Type	Description
sys.canfly	Core	LOG_UINT8	Nonzero if system is ready to fly.
sys.isFlying	Core	LOG_UINT8	Nonzero if the system thinks it is flying.
sys.isTumbled	Core	LOG_UINT8	Nonzero if the system thinks it is tumbled/crashed.
sys.testLogParam		LOG_INT8	Test util for log and param. The value is set through the system.testLogParam parameter.

Detailed Variable Information

sys.canfly

src/modules/src/supervisor.c (L492)

Nonzero if system is ready to fly.

Deprecated, will be removed after 2024-06-01. Use supervisor.info instead

sys.isFlying

src/modules/src/supervisor.c (L498)

Nonzero if the system thinks it is flying.

Deprecated, will be removed after 2024-06-01. Use supervisor.info instead

sys.isTumbled

src/modules/src/supervisor.c (L504)

Nonzero if the system thinks it is tumbled/crashed.

Deprecated, will be removed after 2024-06-01. Use supervisor.info instead

sys.testLogParam

src/modules/src/system.c (L482)

Test util for log and param. The value is set through the system.testLogParam parameter.

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tdoa2

Variables

Name	Core	Type	Description
tdoa2.d7		LOG_FLOAT
tdoa2.d0		LOG_FLOAT
tdoa2.d1		LOG_FLOAT
tdoa2.d2		LOG_FLOAT
tdoa2.d3		LOG_FLOAT
tdoa2.d4		LOG_FLOAT
tdoa2.d5		LOG_FLOAT
tdoa2.d6		LOG_FLOAT
tdoa2.cc0		LOG_FLOAT
tdoa2.cc1		LOG_FLOAT
tdoa2.cc2		LOG_FLOAT
tdoa2.cc3		LOG_FLOAT
tdoa2.cc4		LOG_FLOAT
tdoa2.cc5		LOG_FLOAT
tdoa2.cc6		LOG_FLOAT
tdoa2.cc7		LOG_FLOAT
tdoa2.dist7		LOG_UINT16
tdoa2.dist0		LOG_UINT16
tdoa2.dist1		LOG_UINT16
tdoa2.dist2		LOG_UINT16
tdoa2.dist3		LOG_UINT16
tdoa2.dist4		LOG_UINT16
tdoa2.dist5		LOG_UINT16
tdoa2.dist6		LOG_UINT16

Detailed Variable Information

tdoa2.d7

src/deck/drivers/src/lpsTdoa2Tag.c (L371)

tdoa2.d0

src/deck/drivers/src/lpsTdoa2Tag.c (L372)

tdoa2.d1

src/deck/drivers/src/lpsTdoa2Tag.c (L373)

tdoa2.d2

src/deck/drivers/src/lpsTdoa2Tag.c (L374)

tdoa2.d3

src/deck/drivers/src/lpsTdoa2Tag.c (L375)

tdoa2.d4

src/deck/drivers/src/lpsTdoa2Tag.c (L376)

tdoa2.d5

src/deck/drivers/src/lpsTdoa2Tag.c (L377)

tdoa2.d6

src/deck/drivers/src/lpsTdoa2Tag.c (L378)

tdoa2.cc0

src/deck/drivers/src/lpsTdoa2Tag.c (L380)

tdoa2.cc1

src/deck/drivers/src/lpsTdoa2Tag.c (L381)

tdoa2.cc2

src/deck/drivers/src/lpsTdoa2Tag.c (L382)

tdoa2.cc3

src/deck/drivers/src/lpsTdoa2Tag.c (L383)

tdoa2.cc4

src/deck/drivers/src/lpsTdoa2Tag.c (L384)

tdoa2.cc5

src/deck/drivers/src/lpsTdoa2Tag.c (L385)

tdoa2.cc6

src/deck/drivers/src/lpsTdoa2Tag.c (L386)

tdoa2.cc7

src/deck/drivers/src/lpsTdoa2Tag.c (L387)

tdoa2.dist7

src/deck/drivers/src/lpsTdoa2Tag.c (L389)

tdoa2.dist0

src/deck/drivers/src/lpsTdoa2Tag.c (L390)

tdoa2.dist1

src/deck/drivers/src/lpsTdoa2Tag.c (L391)

tdoa2.dist2

src/deck/drivers/src/lpsTdoa2Tag.c (L392)

tdoa2.dist3

src/deck/drivers/src/lpsTdoa2Tag.c (L393)

tdoa2.dist4

src/deck/drivers/src/lpsTdoa2Tag.c (L394)

tdoa2.dist5

src/deck/drivers/src/lpsTdoa2Tag.c (L395)

tdoa2.dist6

src/deck/drivers/src/lpsTdoa2Tag.c (L396)

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tdoaEngine

Log group for the TDoA engine module.

Some of the logs in this group use the parameters tdoaEngine.logId and tdoaEngine.logOthrId as selectors for which anchors to log.

Variables

Name	Core	Type	Description
tdoaEngine.stRx		LOG_FLOAT	UWB packet receive rate [1/s]. This is the raw receive rate before data has been examined and possibly discarded.
tdoaEngine.stEst		LOG_FLOAT	Rate of data sent to the state estimator [1/s]. This is the rate of useful data after all checks.
tdoaEngine.stTime		LOG_FLOAT	Rate of packets with a time stamp that seems to be reasonable [1/s].
tdoaEngine.stFound		LOG_FLOAT	Rate of packets that could be matched with an anchor to calculate a TDoA value [1/s].
tdoaEngine.stCc		LOG_FLOAT	Rate of packets where the time stamp is used to update the clock correction factor for an anchor [1/s].
tdoaEngine.stHit		LOG_FLOAT	Rate of hits when looking up anchor contexts for packets [1/s].
tdoaEngine.stMiss		LOG_FLOAT	Rate of misses when looking up anchor contexts for packets [1/s].
tdoaEngine.cc		LOG_FLOAT	The clock correction factor for the anchor with the id selected by the tdoaEngine.logId parameter.
tdoaEngine.tof		LOG_UINT16	The Time Of Flight from anchor A to anchor B (including antenna delay), as measured by anchor A [UWB radio ticks].
tdoaEngine.tdoa		LOG_FLOAT	The difference in distance to anchor A and B, as measured by the Crazyflie [m].

Detailed Variable Information

tdoaEngine.stRx

src/modules/src/tdoaEngineInstance.c (L46)

UWB packet receive rate [1/s]. This is the raw receive rate before data has been examined and possibly discarded.

tdoaEngine.stEst

src/modules/src/tdoaEngineInstance.c (L51)

Rate of data sent to the state estimator [1/s]. This is the rate of useful data after all checks.

tdoaEngine.stTime

src/modules/src/tdoaEngineInstance.c (L56)

Rate of packets with a time stamp that seems to be reasonable [1/s].

tdoaEngine.stFound

src/modules/src/tdoaEngineInstance.c (L61)

Rate of packets that could be matched with an anchor to calculate a TDoA value [1/s].

tdoaEngine.stCc

src/modules/src/tdoaEngineInstance.c (L66)

Rate of packets where the time stamp is used to update the clock correction factor for an anchor [1/s].

tdoaEngine.stHit

src/modules/src/tdoaEngineInstance.c (L71)

Rate of hits when looking up anchor contexts for packets [1/s].

tdoaEngine.stMiss

src/modules/src/tdoaEngineInstance.c (L78)

Rate of misses when looking up anchor contexts for packets [1/s].

If this number is high, the CF is receiving packets from more anchors than can be stored in the TDoA storage.

tdoaEngine.cc

src/modules/src/tdoaEngineInstance.c (L83)

The clock correction factor for the anchor with the id selected by the tdoaEngine.logId parameter.

tdoaEngine.tof

src/modules/src/tdoaEngineInstance.c (L90)

The Time Of Flight from anchor A to anchor B (including antenna delay), as measured by anchor A [UWB radio ticks].

A is selected using the tdoaEngine.logId parameter and B is selected by tdoaEngine.logOthrId.

tdoaEngine.tdoa

src/modules/src/tdoaEngineInstance.c (L97)

The difference in distance to anchor A and B, as measured by the Crazyflie [m].

A is selected using the tdoaEngine.logId parameter and B is selected by tdoaEngine.logOthrId.

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twr

Log group for Two Way Ranging data

Variables

Name	Core	Type	Description
twr.rangingSuccessRate0		LOG_UINT8	Successful ranging ratio with anchor 0 [%].
twr.rangingPerSec0		LOG_UINT8	Ranging attempt rate with anchor 0 [1/s].
twr.rangingSuccessRate1		LOG_UINT8	Successful ranging ratio with anchor 1 [%].
twr.rangingPerSec1		LOG_UINT8	Ranging attempt rate with anchor 1 [1/s].
twr.rangingSuccessRate2		LOG_UINT8	Successful ranging ratio with anchor 2 [%].
twr.rangingPerSec2		LOG_UINT8	Ranging attempt rate with anchor 2 [1/s].
twr.rangingSuccessRate3		LOG_UINT8	Successful ranging ratio with anchor 3 [%].
twr.rangingPerSec3		LOG_UINT8	Ranging attempt rate with anchor 3 [1/s].
twr.rangingSuccessRate4		LOG_UINT8	Successful ranging ratio with anchor 4 [%].
twr.rangingPerSec4		LOG_UINT8	Ranging attempt rate with anchor 4 [1/s].
twr.rangingSuccessRate5		LOG_UINT8	Successful ranging ratio with anchor 5 [%].
twr.rangingPerSec5		LOG_UINT8	Ranging attempt rate with anchor 5 [1/s].

Detailed Variable Information

twr.rangingSuccessRate0

src/deck/drivers/src/lpsTwrTag.c (L560)

Successful ranging ratio with anchor 0 [%].

twr.rangingPerSec0

src/deck/drivers/src/lpsTwrTag.c (L565)

Ranging attempt rate with anchor 0 [1/s].

twr.rangingSuccessRate1

src/deck/drivers/src/lpsTwrTag.c (L570)

Successful ranging ratio with anchor 1 [%].

twr.rangingPerSec1

src/deck/drivers/src/lpsTwrTag.c (L575)

Ranging attempt rate with anchor 1 [1/s].

twr.rangingSuccessRate2

src/deck/drivers/src/lpsTwrTag.c (L580)

Successful ranging ratio with anchor 2 [%].

twr.rangingPerSec2

src/deck/drivers/src/lpsTwrTag.c (L585)

Ranging attempt rate with anchor 2 [1/s].

twr.rangingSuccessRate3

src/deck/drivers/src/lpsTwrTag.c (L590)

Successful ranging ratio with anchor 3 [%].

twr.rangingPerSec3

src/deck/drivers/src/lpsTwrTag.c (L595)

Ranging attempt rate with anchor 3 [1/s].

twr.rangingSuccessRate4

src/deck/drivers/src/lpsTwrTag.c (L600)

Successful ranging ratio with anchor 4 [%].

twr.rangingPerSec4

src/deck/drivers/src/lpsTwrTag.c (L605)

Ranging attempt rate with anchor 4 [1/s].

twr.rangingSuccessRate5

src/deck/drivers/src/lpsTwrTag.c (L610)

Successful ranging ratio with anchor 5 [%].

twr.rangingPerSec5

src/deck/drivers/src/lpsTwrTag.c (L615)

Ranging attempt rate with anchor 5 [1/s].

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ukf

Log groups different rates for the UKF (experimental)

Variables

Name	Core	Type	Description
ukf.rtUpdate		LOG_FLOAT
ukf.rtPred		LOG_FLOAT
ukf.rtBaro		LOG_FLOAT
ukf.rtFinal		LOG_FLOAT
ukf.rtApnd		LOG_FLOAT
ukf.rtRej		LOG_FLOAT

Detailed Variable Information

ukf.rtUpdate

src/modules/src/estimator/estimator_ukf.c (L1587)

ukf.rtPred

src/modules/src/estimator/estimator_ukf.c (L1588)

ukf.rtBaro

src/modules/src/estimator/estimator_ukf.c (L1589)

ukf.rtFinal

src/modules/src/estimator/estimator_ukf.c (L1590)

ukf.rtApnd

src/modules/src/estimator/estimator_ukf.c (L1591)

ukf.rtRej

src/modules/src/estimator/estimator_ukf.c (L1592)

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usd

Micro-SD related log variables for debug purposes mainly.

Variables

Name	Core	Type	Description
usd.spiWrBps		LOG_FLOAT	SPI write rate (includes overhead) [bytes/s].
usd.spiReBps		LOG_FLOAT	SPI read rate (includes overhead) [bytes/s].
usd.fatWrBps		LOG_FLOAT	Data write rate to the SD card [bytes/s].

Detailed Variable Information

usd.spiWrBps

src/deck/drivers/src/usddeck.c (L1119)

SPI write rate (includes overhead) [bytes/s].

usd.spiReBps

src/deck/drivers/src/usddeck.c (L1123)

SPI read rate (includes overhead) [bytes/s].

usd.fatWrBps

src/deck/drivers/src/usddeck.c (L1127)

Data write rate to the SD card [bytes/s].