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Logging groups and variables

Index

a

b

c

D

e

f

g

h

k

l

m

n

o

p

r

s

t

u


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   Acceleration in X [Gs].
acc.y Core   Acceleration in Y [Gs].
acc.z Core   Acceleration in Z [Gs].

Detailed Variable Information

acc.x

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

Acceleration in X [Gs].

acc.y

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

Acceleration in Y [Gs].

acc.z

src/modules/src/stabilizer.c (L586)

Acceleration in Z [Gs].


back to group index

activeMarker

Variables

Name Core Type Description
activeMarker.btSns      
activeMarker.i2cOk      

Detailed Variable Information

activeMarker.btSns

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

activeMarker.i2cOk

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


back to group index

aidecktest

Variables

Name Core Type Description
aidecktest.testresult      
aidecktest.done      

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      

Detailed Variable Information

amarkUartTest.passed

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


back to group index

asc37800

Variables

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

Detailed Variable Information

asc37800.v

src/deck/drivers/src/acs37800.c (L336)

asc37800.vRMS

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

asc37800.v_mV

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

asc37800.i

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

asc37800.iRMS

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

asc37800.i_avg

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

asc37800.i_mA

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

asc37800.p

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

asc37800.p_avg

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

asc37800.p_mW

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


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   Altitude above Sea Level [m].
baro.temp     Temperature [degrees Celsius].
baro.pressure Core   Air preassure [mbar].

Detailed Variable Information

baro.asl

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

Altitude above Sea Level [m].

baro.temp

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

Temperature [degrees Celsius].

baro.pressure

src/modules/src/stabilizer.c (L620)

Air preassure [mbar].


back to group index

colAv

Variables

Name Core Type Description
colAv.latency      

Detailed Variable Information

colAv.latency

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


back to group index

controller

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

Variables

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

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 (L678)


back to group index

crtp

Variables

Name Core Type Description
crtp.rxRate      
crtp.txRate      

Detailed Variable Information

crtp.rxRate

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

crtp.txRate

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


back to group index

ctrlINDI

Variables

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


back to group index

ctrlMel

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

Variables

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

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)


back to group index

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

Detailed Variable Information

ctrltarget.x

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

Desired position X [m].

ctrltarget.y

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

Desired position Y [m].

ctrltarget.z

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

Desired position X [m].

ctrltarget.vx

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

Desired velocity X [m/s].

ctrltarget.vy

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

Desired velocity Y [m/s].

ctrltarget.vz

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

Desired velocity Z [m/s].

ctrltarget.ax

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

Desired acceleration X [m/s^2].

ctrltarget.ay

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

Desired acceleration Y [m/s^2].

ctrltarget.az

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

Desired acceleration Z [m/s^2].

ctrltarget.roll

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

Desired attitude, roll [deg].

ctrltarget.pitch

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

Desired attitude, pitch [deg].

ctrltarget.yaw

src/modules/src/stabilizer.c (L468)

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


back to group index

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

Detailed Variable Information

ctrltargetZ.x

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

Desired position X [mm].

ctrltargetZ.y

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

Desired position Y [mm].

ctrltargetZ.z

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

Desired position Z [mm].

ctrltargetZ.vx

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

Desired velocity X [mm/s].

ctrltargetZ.vy

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

Desired velocity Y [mm/s].

ctrltargetZ.vz

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

Desired velocity Z [mm/s].

ctrltargetZ.ax

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

Desired acceleration X [mm/s^2].

ctrltargetZ.ay

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

Desired acceleration Y [mm/s^2].

ctrltargetZ.az

src/modules/src/stabilizer.c (L524)

Desired acceleration Z [mm/s^2].


back to group index

DTR_P2P

Variables

Name Core Type Description
DTR_P2P.rx_state      
DTR_P2P.tx_state      

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)


back to group index

estimator

Variables

Name Core Type Description
estimator.rtApnd      
estimator.rtRej      

Detailed Variable Information

estimator.rtApnd

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

estimator.rtRej

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


back to group index

ext_pos

Variables

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

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)


back to group index

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     External RX thrust.
extrx.roll     External RX roll setpoint.
extrx.pitch     External RX pitch setpoint.
extrx.rollRate     External RX roll rate setpoint.
extrx.pitchRate     External RX pitch rate setpoint.
extrx.yawRate     External RX yaw rate setpoint.
extrx.zVel     External RX z-velocity setpoint.
extrx.AltHold     External RX Altitude Hold signal.
extrx.Arm     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.


back to group index

extrx_raw

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

Variables

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

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      
gps.lon      
gps.hMSL      
gps.hAcc      
gps.nsat      
gps.fix      

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

Detailed Variable Information

gyro.xRaw

src/hal/src/sensors_bmi088_bmp3xx.c (L1010)

gyro.yRaw

src/hal/src/sensors_bmi088_bmp3xx.c (L1011)

gyro.zRaw

src/hal/src/sensors_bmi088_bmp3xx.c (L1012)

gyro.xVariance

src/hal/src/sensors_bmi088_bmp3xx.c (L1013)

gyro.yVariance

src/hal/src/sensors_bmi088_bmp3xx.c (L1014)

gyro.zVariance

src/hal/src/sensors_bmi088_bmp3xx.c (L1015)

gyro.x

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

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

gyro.y

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

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

gyro.z

src/modules/src/stabilizer.c (L646)

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


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health

Logging of the result from the health checks.

Variables

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

Detailed Variable Information

health.motorVarXM1

src/modules/src/health.c (L378)

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

health.motorVarYM1

src/modules/src/health.c (L382)

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

health.motorVarXM2

src/modules/src/health.c (L386)

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

health.motorVarYM2

src/modules/src/health.c (L390)

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

health.motorVarXM3

src/modules/src/health.c (L394)

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

health.motorVarYM3

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

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

health.motorVarXM4

src/modules/src/health.c (L402)

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

health.motorVarYM4

src/modules/src/health.c (L406)

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

health.motorPass

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

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

health.batterySag

src/modules/src/health.c (L414)

Battery voltage sag test result. [V].

health.batteryPass

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

Battery test result. Nonzero if OK.

health.motorTestCount

src/modules/src/health.c (L420)


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kalman

Variables and results from the Extended Kalman Filter

Variables

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

Detailed Variable Information

kalman.stateX

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

State position in the global frame x.

Note: This is similar to stateEstimate.x.

kalman.stateY

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

State position in the global frame y.

Note: This is similar to stateEstimate.y

kalman.stateZ

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

State position in the global frame z.

Note: This is similar to stateEstimate.z

kalman.statePX

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

State velocity in its body frame x.

Note: This should be part of stateEstimate

kalman.statePY

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

State velocity in its body frame y.

Note: This should be part of stateEstimate

kalman.statePZ

src/modules/src/estimator/estimator_kalman.c (L431)

State velocity in its body frame z.

Note: This should be part of stateEstimate

kalman.stateD0

src/modules/src/estimator/estimator_kalman.c (L435)

State attitude error roll.

kalman.stateD1

src/modules/src/estimator/estimator_kalman.c (L439)

State attitude error pitch.

kalman.stateD2

src/modules/src/estimator/estimator_kalman.c (L443)

State attitude error yaw.

kalman.varX

src/modules/src/estimator/estimator_kalman.c (L447)

Covariance matrix position x.

kalman.varY

src/modules/src/estimator/estimator_kalman.c (L451)

Covariance matrix position y.

kalman.varZ

src/modules/src/estimator/estimator_kalman.c (L455)

Covariance matrix position z.

kalman.varPX

src/modules/src/estimator/estimator_kalman.c (L459)

Covariance matrix velocity x.

kalman.varPY

src/modules/src/estimator/estimator_kalman.c (L463)

Covariance matrix velocity y.

kalman.varPZ

src/modules/src/estimator/estimator_kalman.c (L467)

Covariance matrix velocity z.

kalman.varD0

src/modules/src/estimator/estimator_kalman.c (L471)

Covariance matrix attitude error roll.

kalman.varD1

src/modules/src/estimator/estimator_kalman.c (L475)

Covariance matrix attitude error pitch.

kalman.varD2

src/modules/src/estimator/estimator_kalman.c (L479)

Covariance matrix attitude error yaw.

kalman.q0

src/modules/src/estimator/estimator_kalman.c (L483)

Estimated Attitude quarternion w.

kalman.q1

src/modules/src/estimator/estimator_kalman.c (L487)

Estimated Attitude quarternion x.

kalman.q2

src/modules/src/estimator/estimator_kalman.c (L491)

Estimated Attitude quarternion y.

kalman.q3

src/modules/src/estimator/estimator_kalman.c (L495)

Estimated Attitude quarternion z.

kalman.rtUpdate

src/modules/src/estimator/estimator_kalman.c (L499)

Statistics rate of update step.

kalman.rtPred

src/modules/src/estimator/estimator_kalman.c (L503)

Statistics rate of prediction step.

kalman.rtFinal

src/modules/src/estimator/estimator_kalman.c (L507)

Statistics rate full estimation step.


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kalman_pred

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

Variables

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


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lhFlasher

Variables

Name Core Type Description
lhFlasher.done      
lhFlasher.code      

Detailed Variable Information

lhFlasher.done

src/drivers/src/lh_flasher.c (L394)

lhFlasher.code

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


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lighthouse

Log group for the lighthouse positioning system

Variables

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

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      
loadcell.weight      
loadcell.rate      

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)


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loco

Log group for basic information about the Loco Positioning System

Variables

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

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)


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locSrv

Logging variables for (external) positioning data stream through ctrp

Variables

Name Core Type Description
locSrv.x Core   Position X measurement from external system.
locSrv.y Core   Position Y measurement from external system.
locSrv.z Core   Position Z measurement from external system.
locSrv.qx Core   Quaternion x meas from an external system.
locSrv.qy Core   Quaternion y meas from an external system.
locSrv.qz Core   Quaternion z meas from an external system.
locSrv.qw Core   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   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   Magnetometer X axis, after filtering [gauss].
mag.y Core   Magnetometer Y axis, after filtering [gauss].
mag.z Core   Magnetometer Z axis, after filtering [gauss].

Detailed Variable Information

mag.x

src/modules/src/stabilizer.c (L666)

Magnetometer X axis, after filtering [gauss].

mag.y

src/modules/src/stabilizer.c (L670)

Magnetometer Y axis, after filtering [gauss].

mag.z

src/modules/src/stabilizer.c (L674)

Magnetometer Z axis, after filtering [gauss].


back to group index

memTst

Variables

Name Core Type Description
memTst.errCntW      

Detailed Variable Information

memTst.errCntW

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


back to group index

motion

Logging variables of the motion sensor of the flowdeck

Variables

Name Core Type Description
motion.motion     True if motion occurred since the last measurement.
motion.deltaX     Flow X measurement [flow/fr].
motion.deltaY     Flow Y measurement [flow/fr].
motion.shutter     Shutter time [clock cycles].
motion.maxRaw     Maximum raw data value in frame.
motion.minRaw     Minimum raw data value in frame.
motion.Rawsum     Average raw data value.
motion.outlierCount     Counted flow outliers excluded from the estimator.
motion.squal     Count of surface feature.
motion.std     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   Motor power (PWM value) for M1 [0 - UINT16_MAX].
motor.m2 Core   Motor power (PWM value) for M2 [0 - UINT16_MAX].
motor.m3 Core   Motor power (PWM value) for M3 [0 - UINT16_MAX].
motor.m4 Core   Motor power (PWM value) for M4 [0 - UINT16_MAX].
motor.m1req     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     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     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     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 (L757)

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

motor.m2

src/drivers/src/motors.c (L761)

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

motor.m3

src/drivers/src/motors.c (L765)

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

motor.m4

src/drivers/src/motors.c (L769)

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

motor.m1req

src/modules/src/stabilizer.c (L851)

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 (L857)

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 (L863)

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 (L869)

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

Variables

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

Detailed Variable Information

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

src/modules/src/estimator/estimator_ukf.c (L1564)

src/modules/src/estimator/estimator_ukf.c (L1565)


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oa

Variables

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

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)


back to group index

outlierf

Variables

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

Detailed Variable Information

outlierf.lhWin

src/modules/src/estimator/estimator_kalman.c (L511)

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     Proportional output roll.
pid_attitude.roll_outI     Integral output roll.
pid_attitude.roll_outD     Derivative output roll.
pid_attitude.roll_outFF     Feedforward output roll.
pid_attitude.pitch_outP     Proportional output pitch.
pid_attitude.pitch_outI     Integral output pitch.
pid_attitude.pitch_outD     Derivative output pitch.
pid_attitude.pitch_outFF     Feedforward output pitch.
pid_attitude.yaw_outP     Proportional output yaw.
pid_attitude.yaw_outI     Intergal output yaw.
pid_attitude.yaw_outD     Derivative output yaw.
pid_attitude.yaw_outFF     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     Proportional output roll rate.
pid_rate.roll_outI     Integral output roll rate.
pid_rate.roll_outD     Derivative output roll rate.
pid_rate.roll_outFF     Feedforward output roll rate.
pid_rate.pitch_outP     Proportional output pitch rate.
pid_rate.pitch_outI     Integral output pitch rate.
pid_rate.pitch_outD     Derivative output pitch rate.
pid_rate.pitch_outFF     Feedforward output pitch rate.
pid_rate.yaw_outP     Proportional output yaw rate.
pid_rate.yaw_outI     Integral output yaw rate.
pid_rate.yaw_outD     Derivative output yaw rate.
pid_rate.yaw_outFF     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   Battery voltage [V].
pm.vbatMV     Battery voltage [mV].
pm.extVbat     BigQuad external voltage measurement [V].
pm.extVbatMV     BigQuad external voltage measurement [mV].
pm.extCurr     BigQuad external current measurement [V].
pm.chargeCurrent     Battery charge current [A].
pm.state Core   State of power management.
pm.batteryLevel Core   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 [%].


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posCtl

Log variables of the PID position controller

Note: rename to posCtrlPID ?

Variables

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


back to group index

posCtrlIndi

Variables

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


back to group index

posEstAlt

Variables

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

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)


back to group index

radio

Radio link log variables.

Variables

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


back to group index

range

Log group for the multi ranger and Z-ranger decks

Variables

Name Core Type Description
range.front Core   Distance from the front sensor to an obstacle [mm].
range.back Core   Distance from the back sensor to an obstacle [mm].
range.up Core   Distance from the top sensor to an obstacle [mm].
range.left Core   Distance from the left sensor to an obstacle [mm].
range.right Core   Distance from the right sensor to an obstacle [mm].
range.zrange Core   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].


back to group index

ranging

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

Variables

Name Core Type Description
ranging.state      
ranging.distance0     Distance to anchor 0 [m].
ranging.distance1     Distance to anchor 1 [m].
ranging.distance2     Distance to anchor 2 [m].
ranging.distance3     Distance to anchor 3 [m].
ranging.pressure0     ASL of anchor 0 [m].
ranging.pressure1     ASL of anchor 1 [m].
ranging.pressure2     ASL of anchor 2 [m].
ranging.pressure3     ASL of anchor 3 [m].

Detailed Variable Information

ranging.state

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

ranging.distance0

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

Distance to anchor 0 [m].

ranging.distance1

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

Distance to anchor 1 [m].

ranging.distance2

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

Distance to anchor 2 [m].

ranging.distance3

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

Distance to anchor 3 [m].

ranging.pressure0

src/deck/drivers/src/lpsTwrTag.c (L702)

ASL of anchor 0 [m].

ranging.pressure1

src/deck/drivers/src/lpsTwrTag.c (L706)

ASL of anchor 1 [m].

ranging.pressure2

src/deck/drivers/src/lpsTwrTag.c (L710)

ASL of anchor 2 [m].

ranging.pressure3

src/deck/drivers/src/lpsTwrTag.c (L714)

ASL of anchor 3 [m].


back to group index

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     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.


back to group index

rpm

Variables

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

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)


back to group index

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     W quaternion.
sensfusion6.qx     X quaternion.
sensfusion6.qy     y quaternion
sensfusion6.qz     z quaternion
sensfusion6.gravityX     Gravity vector X.
sensfusion6.gravityY     Gravity vector Y.
sensfusion6.gravityZ     Gravity vector Z.
sensfusion6.accZbase     Gravity scale factor after calibration.
sensfusion6.isInit     Nonzero if complimentary filter been initialized.
sensfusion6.isCalibrated     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.


back to group index

sensorFilter

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

Variables

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

Detailed Variable Information

sensorFilter.dxPx

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

sensorFilter.dyPx

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

sensorFilter.dxPxPred

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

sensorFilter.dyPxPred

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

sensorFilter.distPred

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

sensorFilter.distMeas

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

sensorFilter.baroHeight

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

sensorFilter.innoChFlow_x

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

sensorFilter.innoChFlow_y

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

sensorFilter.innoChTof

src/modules/src/estimator/estimator_ukf.c (L1581)

sensorFilter.distTWR

src/modules/src/estimator/estimator_ukf.c (L1582)


back to group index

stabilizer

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

Variables

Name Core Type Description
stabilizer.roll     Estimated roll Note: Same as stateEstimate.roll.
stabilizer.pitch     Estimated pitch Note: Same as stateEstimate.pitch.
stabilizer.yaw     Estimated yaw Note: same as stateEstimate.yaw.
stabilizer.thrust     Current thrust.
stabilizer.rtStab     Rate of stabilizer loop.
stabilizer.intToOut     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 (L536)

Estimated roll Note: Same as stateEstimate.roll.

stabilizer.pitch

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

Estimated pitch Note: Same as stateEstimate.pitch.

stabilizer.yaw

src/modules/src/stabilizer.c (L546)

Estimated yaw Note: same as stateEstimate.yaw.

stabilizer.thrust

src/modules/src/stabilizer.c (L550)

Current thrust.

stabilizer.rtStab

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

Rate of stabilizer loop.

stabilizer.intToOut

src/modules/src/stabilizer.c (L559)

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


back to group index

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

Detailed Variable Information

stateEstimate.x

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

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

stateEstimate.y

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

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

stateEstimate.z

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

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

stateEstimate.vx

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

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

stateEstimate.vy

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

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

stateEstimate.vz

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

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

stateEstimate.ax

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

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

stateEstimate.ay

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

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

stateEstimate.az

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

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

stateEstimate.roll

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

Attitude, roll angle [deg].

stateEstimate.pitch

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

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

stateEstimate.yaw

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

Attitude, yaw angle [deg].

stateEstimate.qx

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

Attitude as a quaternion, x.

stateEstimate.qy

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

Attitude as a quaternion, y.

stateEstimate.qz

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

Attitude as a quaternion, z.

stateEstimate.qw

src/modules/src/stabilizer.c (L766)

Attitude as a quaternion, w.


back to group index

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

Detailed Variable Information

stateEstimateZ.x

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

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

stateEstimateZ.y

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

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

stateEstimateZ.z

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

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

stateEstimateZ.vx

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

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

stateEstimateZ.vy

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

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

stateEstimateZ.vz

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

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

stateEstimateZ.ax

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

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

stateEstimateZ.ay

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

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

stateEstimateZ.az

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

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

stateEstimateZ.quat

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

Attitude as a compressed quaternion, see see

stateEstimateZ.rateRoll

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

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

stateEstimateZ.ratePitch

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

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

stateEstimateZ.rateYaw

src/modules/src/stabilizer.c (L841)

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


back to group index

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     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. Bit 7 = is crashed - the Crazyflie has crashed. Bit 8 = high level control is actively flying the drone Bit 9 = high level trajectory has finished Bit 10 = high level control is disabled and not producing setpoints.

Detailed Variable Information

supervisor.info

src/modules/src/supervisor.c (L550)

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. Bit 7 = is crashed - the Crazyflie has crashed. Bit 8 = high level control is actively flying the drone Bit 9 = high level trajectory has finished Bit 10 = high level control is disabled and not producing setpoints.


back to group index

sys

System loggable variables to check different system states.

Variables

Name Core Type Description
sys.canfly Core   Nonzero if system is ready to fly.
sys.isFlying Core   Nonzero if the system thinks it is flying.
sys.isTumbled Core   Nonzero if the system thinks it is tumbled/crashed.
sys.testLogParam     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 (L507)

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 (L513)

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 (L519)

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.


back to group index

tdoa2

Variables

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

Detailed Variable Information

tdoa2.d7

src/deck/drivers/src/lpsTdoa2Tag.c (L379)

tdoa2.d0

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

tdoa2.d1

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

tdoa2.d2

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

tdoa2.d3

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

tdoa2.d4

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

tdoa2.d5

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

tdoa2.d6

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

tdoa2.cc0

src/deck/drivers/src/lpsTdoa2Tag.c (L388)

tdoa2.cc1

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

tdoa2.cc2

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

tdoa2.cc3

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

tdoa2.cc4

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

tdoa2.cc5

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

tdoa2.cc6

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

tdoa2.cc7

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

tdoa2.dist7

src/deck/drivers/src/lpsTdoa2Tag.c (L397)

tdoa2.dist0

src/deck/drivers/src/lpsTdoa2Tag.c (L398)

tdoa2.dist1

src/deck/drivers/src/lpsTdoa2Tag.c (L399)

tdoa2.dist2

src/deck/drivers/src/lpsTdoa2Tag.c (L400)

tdoa2.dist3

src/deck/drivers/src/lpsTdoa2Tag.c (L401)

tdoa2.dist4

src/deck/drivers/src/lpsTdoa2Tag.c (L402)

tdoa2.dist5

src/deck/drivers/src/lpsTdoa2Tag.c (L403)

tdoa2.dist6

src/deck/drivers/src/lpsTdoa2Tag.c (L404)


back to group index

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     UWB packet receive rate [1/s]. This is the raw receive rate before data has been examined and possibly discarded.
tdoaEngine.stEst     Rate of data sent to the state estimator [1/s]. This is the rate of useful data after all checks.
tdoaEngine.stTime     Rate of packets with a time stamp that seems to be reasonable [1/s].
tdoaEngine.stFound     Rate of packets that could be matched with an anchor to calculate a TDoA value [1/s].
tdoaEngine.stCc     Rate of packets where the time stamp is used to update the clock correction factor for an anchor [1/s].
tdoaEngine.stHit     Rate of hits when looking up anchor contexts for packets [1/s].
tdoaEngine.stMiss     Rate of misses when looking up anchor contexts for packets [1/s].
tdoaEngine.cc     The clock correction factor for the anchor with the id selected by the tdoaEngine.logId parameter.
tdoaEngine.tof     The Time Of Flight from anchor A to anchor B (including antenna delay), as measured by anchor A [UWB radio ticks].
tdoaEngine.tdoa     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     Successful ranging ratio with anchor 0 [%].
twr.rangingPerSec0     Ranging attempt rate with anchor 0 [1/s].
twr.rangingSuccessRate1     Successful ranging ratio with anchor 1 [%].
twr.rangingPerSec1     Ranging attempt rate with anchor 1 [1/s].
twr.rangingSuccessRate2     Successful ranging ratio with anchor 2 [%].
twr.rangingPerSec2     Ranging attempt rate with anchor 2 [1/s].
twr.rangingSuccessRate3     Successful ranging ratio with anchor 3 [%].
twr.rangingPerSec3     Ranging attempt rate with anchor 3 [1/s].

Detailed Variable Information

twr.rangingSuccessRate0

src/deck/drivers/src/lpsTwrTag.c (L564)

Successful ranging ratio with anchor 0 [%].

twr.rangingPerSec0

src/deck/drivers/src/lpsTwrTag.c (L569)

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

twr.rangingSuccessRate1

src/deck/drivers/src/lpsTwrTag.c (L574)

Successful ranging ratio with anchor 1 [%].

twr.rangingPerSec1

src/deck/drivers/src/lpsTwrTag.c (L579)

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

twr.rangingSuccessRate2

src/deck/drivers/src/lpsTwrTag.c (L584)

Successful ranging ratio with anchor 2 [%].

twr.rangingPerSec2

src/deck/drivers/src/lpsTwrTag.c (L589)

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

twr.rangingSuccessRate3

src/deck/drivers/src/lpsTwrTag.c (L594)

Successful ranging ratio with anchor 3 [%].

twr.rangingPerSec3

src/deck/drivers/src/lpsTwrTag.c (L599)

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


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ukf

Log groups different rates for the UKF (experimental)

Variables

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

Detailed Variable Information

ukf.rtUpdate

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

ukf.rtPred

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

ukf.rtBaro

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

ukf.rtFinal

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

ukf.rtApnd

src/modules/src/estimator/estimator_ukf.c (L1593)

ukf.rtRej

src/modules/src/estimator/estimator_ukf.c (L1594)


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usd

Micro-SD related log variables for debug purposes mainly.

Variables

Name Core Type Description
usd.spiWrBps     SPI write rate (includes overhead) [bytes/s].
usd.spiReBps     SPI read rate (includes overhead) [bytes/s].
usd.fatWrBps     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].