Logging groups and variables

Index

a

b

c

e

g

h

k

l

m

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

Detailed Variable Information

acc.x

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

Acceleration in X [Gs].

acc.y

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

Acceleration in Y [Gs].

acc.z

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

Acceleration in Z [Gs].


back to group index

activeMarker

Variables

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

Detailed Variable Information

activeMarker.btSns

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

activeMarker.i2cOk

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


back to group index

aideck

Variables

Name Core Type Description
aideck.receivebyte   LOG_UINT8  

Detailed Variable Information

aideck.receivebyte

src/deck/drivers/src/aideck.c (L145)


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aidecktest

Variables

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

Detailed Variable Information

aidecktest.testresult

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

aidecktest.done

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


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amarkUartTest

Variables

Name Core Type Description
amarkUartTest.passed   LOG_UINT8  

Detailed Variable Information

amarkUartTest.passed

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


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baro

Log group for the barometer.

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

Variables

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

Detailed Variable Information

baro.asl

src/modules/src/stabilizer.c (L543)

Altitude above Sea Level [m].

baro.temp

src/modules/src/stabilizer.c (L548)

Temperature [degrees Celsius].

baro.pressure

src/modules/src/stabilizer.c (L553)

Air preassure [mbar].


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

Detailed Variable Information

controller.cmd_thrust

src/modules/src/controller_pid.c (L163)

Thrust command.

controller.cmd_roll

src/modules/src/controller_pid.c (L167)

Roll command.

controller.cmd_pitch

src/modules/src/controller_pid.c (L171)

Pitch command.

controller.cmd_yaw

src/modules/src/controller_pid.c (L175)

yaw command

controller.r_roll

src/modules/src/controller_pid.c (L179)

Gyro roll measurement in radians.

controller.r_pitch

src/modules/src/controller_pid.c (L183)

Gyro pitch measurement in radians.

controller.r_yaw

src/modules/src/controller_pid.c (L187)

Yaw measurement in radians.

controller.accelz

src/modules/src/controller_pid.c (L191)

Acceleration in the zaxis in G-force.

controller.actuatorThrust

src/modules/src/controller_pid.c (L195)

Thrust command without (tilt)compensation.

controller.roll

src/modules/src/controller_pid.c (L199)

Desired roll setpoint.

controller.pitch

src/modules/src/controller_pid.c (L203)

Desired pitch setpoint.

controller.yaw

src/modules/src/controller_pid.c (L207)

Desired yaw setpoint.

controller.rollRate

src/modules/src/controller_pid.c (L211)

Desired roll rate setpoint.

controller.pitchRate

src/modules/src/controller_pid.c (L215)

Desired pitch rate setpoint.

controller.yawRate

src/modules/src/controller_pid.c (L219)

Desired yaw rate setpoint.

controller.ctr_yaw

src/modules/src/stabilizer.c (L611)


back to group index

crtp

Variables

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

Detailed Variable Information

crtp.rxRate

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

crtp.txRate

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


back to group index

ctrlINDI

Variables

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

Detailed Variable Information

ctrlINDI.cmd_thrust

src/modules/src/controller_indi.c (L426)

INDI Thrust motor command [motor units].

ctrlINDI.cmd_roll

src/modules/src/controller_indi.c (L430)

INDI Roll motor command [motor units].

ctrlINDI.cmd_pitch

src/modules/src/controller_indi.c (L434)

INDI Pitch motor command [motor units].

ctrlINDI.cmd_yaw

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

INDI Yaw motor command [motor units].

ctrlINDI.r_roll

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

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

ctrlINDI.r_pitch

src/modules/src/controller_indi.c (L447)

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

ctrlINDI.r_yaw

src/modules/src/controller_indi.c (L451)

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_indi.c (L456)

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

ctrlINDI.u_act_dyn_q

src/modules/src/controller_indi.c (L460)

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

ctrlINDI.u_act_dyn_r

src/modules/src/controller_indi.c (L464)

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

ctrlINDI.du_p

src/modules/src/controller_indi.c (L469)

INDI roll motor command increment [motor units].

ctrlINDI.du_q

src/modules/src/controller_indi.c (L473)

INDI pitch motor command increment [motor units].

ctrlINDI.du_r

src/modules/src/controller_indi.c (L477)

INDI yaw motor command increment [motor units].

ctrlINDI.ang_accel_ref_p

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

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

ctrlINDI.ang_accel_ref_q

src/modules/src/controller_indi.c (L486)

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

ctrlINDI.ang_accel_ref_r

src/modules/src/controller_indi.c (L490)

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

ctrlINDI.rate_d

src/modules/src/controller_indi.c (L495)

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_indi.c (L508)

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

ctrlINDI.uf_q

src/modules/src/controller_indi.c (L512)

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

ctrlINDI.uf_r

src/modules/src/controller_indi.c (L516)

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

ctrlINDI.Omega_f_p

src/modules/src/controller_indi.c (L521)

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

ctrlINDI.Omega_f_q

src/modules/src/controller_indi.c (L525)

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

ctrlINDI.Omega_f_r

src/modules/src/controller_indi.c (L529)

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

ctrlINDI.n_p

src/modules/src/controller_indi.c (L534)

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

ctrlINDI.n_q

src/modules/src/controller_indi.c (L538)

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

ctrlINDI.n_r

src/modules/src/controller_indi.c (L542)

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


back to group index

ctrlMel

Variables

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

Detailed Variable Information

ctrlMel.cmd_thrust

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

ctrlMel.cmd_roll

src/modules/src/controller_mellinger.c (L348)

ctrlMel.cmd_pitch

src/modules/src/controller_mellinger.c (L349)

ctrlMel.cmd_yaw

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

ctrlMel.r_roll

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

ctrlMel.r_pitch

src/modules/src/controller_mellinger.c (L352)

ctrlMel.r_yaw

src/modules/src/controller_mellinger.c (L353)

ctrlMel.accelz

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

ctrlMel.zdx

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

ctrlMel.zdy

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

ctrlMel.zdz

src/modules/src/controller_mellinger.c (L357)

ctrlMel.i_err_x

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

ctrlMel.i_err_y

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

ctrlMel.i_err_z

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


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

Detailed Variable Information

ctrltarget.x

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

Desired position X [m].

ctrltarget.y

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

Desired position Y [m].

ctrltarget.z

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

Desired position X [m].

ctrltarget.vx

src/modules/src/stabilizer.c (L361)

Desired velocity X [m/s].

ctrltarget.vy

src/modules/src/stabilizer.c (L366)

Desired velocity Y [m/s].

ctrltarget.vz

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

Desired velocity Z [m/s].

ctrltarget.ax

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

Desired acceleration X [m/s^2].

ctrltarget.ay

src/modules/src/stabilizer.c (L381)

Desired acceleration Y [m/s^2].

ctrltarget.az

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

Desired acceleration Z [m/s^2].

ctrltarget.roll

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

Desired attitude, roll [deg].

ctrltarget.pitch

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

Desired attitude, pitch [deg].

ctrltarget.yaw

src/modules/src/stabilizer.c (L401)

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

Detailed Variable Information

ctrltargetZ.x

src/modules/src/stabilizer.c (L417)

Desired position X [mm].

ctrltargetZ.y

src/modules/src/stabilizer.c (L422)

Desired position Y [mm].

ctrltargetZ.z

src/modules/src/stabilizer.c (L427)

Desired position Z [mm].

ctrltargetZ.vx

src/modules/src/stabilizer.c (L432)

Desired velocity X [mm/s].

ctrltargetZ.vy

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

Desired velocity Y [mm/s].

ctrltargetZ.vz

src/modules/src/stabilizer.c (L442)

Desired velocity Z [mm/s].

ctrltargetZ.ax

src/modules/src/stabilizer.c (L447)

Desired acceleration X [mm/s^2].

ctrltargetZ.ay

src/modules/src/stabilizer.c (L452)

Desired acceleration Y [mm/s^2].

ctrltargetZ.az

src/modules/src/stabilizer.c (L457)

Desired acceleration Z [mm/s^2].


back to group index

estimator

Variables

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

Detailed Variable Information

estimator.rtApnd

src/modules/src/estimator.c (L240)

estimator.rtRej

src/modules/src/estimator.c (L241)


back to group index

ext_pos

Variables

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

Detailed Variable Information

ext_pos.X

src/modules/src/crtp_localization_service.c (L379)

ext_pos.Y

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

ext_pos.Z

src/modules/src/crtp_localization_service.c (L381)


back to group index

extrx

External receiver (RX) log group. This contains received raw channel data as well as RPTY data after it has been converted.

Variables

Name Core Type Description
extrx.ch0   LOG_UINT16 External RX received channel 0 value.
extrx.ch1   LOG_UINT16 External RX received channel 1 value.
extrx.ch2   LOG_UINT16 External RX received channel 2 value.
extrx.ch3   LOG_UINT16 External RX received channel 3 value.
extrx.thrust   LOG_UINT16 External RX channel converted to thrust.
extrx.roll   LOG_FLOAT External RX channel converted to roll.
extrx.pitch   LOG_FLOAT External RX channel converted to pitch.
extrx.yaw   LOG_FLOAT External RX channel converted to yaw.

Detailed Variable Information

extrx.ch0

src/modules/src/extrx.c (L188)

External RX received channel 0 value.

extrx.ch1

src/modules/src/extrx.c (L192)

External RX received channel 1 value.

extrx.ch2

src/modules/src/extrx.c (L196)

External RX received channel 2 value.

extrx.ch3

src/modules/src/extrx.c (L200)

External RX received channel 3 value.

extrx.thrust

src/modules/src/extrx.c (L204)

External RX channel converted to thrust.

extrx.roll

src/modules/src/extrx.c (L208)

External RX channel converted to roll.

extrx.pitch

src/modules/src/extrx.c (L212)

External RX channel converted to pitch.

extrx.yaw

src/modules/src/extrx.c (L216)

External RX channel converted to yaw.


back to group index

gps

Variables

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

Detailed Variable Information

gps.lat

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

gps.lon

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

gps.hMSL

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

gps.hAcc

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

gps.nsat

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

gps.fix

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


back to group index

gyro

Log group for gyroscopes.

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

Variables

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

Detailed Variable Information

gyro.xRaw

src/hal/src/sensors_bmi088_bmp388.c (L944)

gyro.yRaw

src/hal/src/sensors_bmi088_bmp388.c (L945)

gyro.zRaw

src/hal/src/sensors_bmi088_bmp388.c (L946)

gyro.xVariance

src/hal/src/sensors_bmi088_bmp388.c (L947)

gyro.yVariance

src/hal/src/sensors_bmi088_bmp388.c (L948)

gyro.zVariance

src/hal/src/sensors_bmi088_bmp388.c (L949)

gyro.x

src/modules/src/stabilizer.c (L569)

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

gyro.y

src/modules/src/stabilizer.c (L574)

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

gyro.z

src/modules/src/stabilizer.c (L579)

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


back to group index

health

Logging of the result from the health checks.

Variables

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

Detailed Variable Information

health.motorVarXM1

src/modules/src/health.c (L335)

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

health.motorVarYM1

src/modules/src/health.c (L339)

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

health.motorVarXM2

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

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

health.motorVarYM2

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

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

health.motorVarXM3

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

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

health.motorVarYM3

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

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

health.motorVarXM4

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

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

health.motorVarYM4

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

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

health.motorPass

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

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

health.batterySag

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

Battery voltage sag test result. [V].

health.batteryPass

src/modules/src/health.c (L375)

Battery test result. Nonzero if OK.

health.motorTestCount

src/modules/src/health.c (L377)


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kalman

Variables and results from the Extended Kalman Filter

Variables

Name Core Type Description
kalman.inFlight   LOG_UINT8 Nonzero if the drone is in flight.
kalman.stateX   LOG_FLOAT State position in the global frame x.
kalman.stateY   LOG_FLOAT State position in the global frame y.
kalman.stateZ   LOG_FLOAT State position in the global frame z.
kalman.statePX   LOG_FLOAT State position in the global frame PX.
kalman.statePY   LOG_FLOAT State velocity in its body frame y.
kalman.statePZ   LOG_FLOAT State velocity in its body frame z.
kalman.stateD0   LOG_FLOAT State attitude error roll.
kalman.stateD1   LOG_FLOAT State attitude error pitch.
kalman.stateD2   LOG_FLOAT State attitude error yaw.
kalman.varX   LOG_FLOAT Covariance matrix position x.
kalman.varY   LOG_FLOAT Covariance matrix position y.
kalman.varZ   LOG_FLOAT Covariance matrix position z.
kalman.varPX   LOG_FLOAT Covariance matrix velocity x.
kalman.varPY   LOG_FLOAT Covariance matrix velocity y.
kalman.varPZ   LOG_FLOAT Covariance matrix velocity z.
kalman.varD0   LOG_FLOAT Covariance matrix attitude error roll.
kalman.varD1   LOG_FLOAT Covariance matrix attitude error pitch.
kalman.varD2   LOG_FLOAT Covariance matrix attitude error yaw.
kalman.q0   LOG_FLOAT Estimated Attitude quarternion w.
kalman.q1   LOG_FLOAT Estimated Attitude quarternion x.
kalman.q2   LOG_FLOAT Estimated Attitude quarternion y.
kalman.q3   LOG_FLOAT Estimated Attitude quarternion z.
kalman.rtUpdate   LOG_FLOAT Statistics rate of update step.
kalman.rtPred   LOG_FLOAT Statistics rate of prediction step.
kalman.rtFinal   LOG_FLOAT Statistics rate full estimation step.

Detailed Variable Information

kalman.inFlight

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

Nonzero if the drone is in flight.

Note: This is the same as sys.flying. Perhaps remove this one?

kalman.stateX

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

State position in the global frame x.

Note: This is similar to stateEstimate.x.

kalman.stateY

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

State position in the global frame y.

Note: This is similar to stateEstimate.y

kalman.stateZ

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

State position in the global frame z.

Note: This is similar to stateEstimate.z

kalman.statePX

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

State position in the global frame PX.

Note: This is similar to stateEstimate.x

kalman.statePY

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

State velocity in its body frame y.

Note: This should be part of stateEstimate

kalman.statePZ

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

State velocity in its body frame z.

Note: This should be part of stateEstimate

kalman.stateD0

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

State attitude error roll.

kalman.stateD1

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

State attitude error pitch.

kalman.stateD2

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

State attitude error yaw.

kalman.varX

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

Covariance matrix position x.

kalman.varY

src/modules/src/estimator_kalman.c (L515)

Covariance matrix position y.

kalman.varZ

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

Covariance matrix position z.

kalman.varPX

src/modules/src/estimator_kalman.c (L523)

Covariance matrix velocity x.

kalman.varPY

src/modules/src/estimator_kalman.c (L527)

Covariance matrix velocity y.

kalman.varPZ

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

Covariance matrix velocity z.

kalman.varD0

src/modules/src/estimator_kalman.c (L535)

Covariance matrix attitude error roll.

kalman.varD1

src/modules/src/estimator_kalman.c (L539)

Covariance matrix attitude error pitch.

kalman.varD2

src/modules/src/estimator_kalman.c (L543)

Covariance matrix attitude error yaw.

kalman.q0

src/modules/src/estimator_kalman.c (L547)

Estimated Attitude quarternion w.

kalman.q1

src/modules/src/estimator_kalman.c (L551)

Estimated Attitude quarternion x.

kalman.q2

src/modules/src/estimator_kalman.c (L555)

Estimated Attitude quarternion y.

kalman.q3

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

Estimated Attitude quarternion z.

kalman.rtUpdate

src/modules/src/estimator_kalman.c (L563)

Statistics rate of update step.

kalman.rtPred

src/modules/src/estimator_kalman.c (L567)

Statistics rate of prediction step.

kalman.rtFinal

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

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   LOG_FLOAT Flow sensor predicted dx [pixels/frame].
kalman_pred.predNY   LOG_FLOAT Flow sensor predicted dy [pixels/frame].
kalman_pred.measNX   LOG_FLOAT Flow sensor measured dx [pixels/frame].
kalman_pred.measNY   LOG_FLOAT Flow sensor measured dy [pixels/frame].

Detailed Variable Information

kalman_pred.predNX

src/modules/src/kalman_core/mm_flow.c (L112)

Flow sensor predicted dx [pixels/frame].

note: rename to kalmanMM.flowX?

kalman_pred.predNY

src/modules/src/kalman_core/mm_flow.c (L118)

Flow sensor predicted dy [pixels/frame].

note: rename to kalmanMM.flowY?

kalman_pred.measNX

src/modules/src/kalman_core/mm_flow.c (L124)

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 (L130)

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   LOG_UINT8  
lhFlasher.code   LOG_UINT32  

Detailed Variable Information

lhFlasher.done

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

lhFlasher.code

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


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lighthouse

Log group for the lighthouse positioning system

Variables

Name Core Type Description
lighthouse.validAngles   LOG_UINT8  
lighthouse.rawAngle0x   LOG_FLOAT The raw V1 angle received by sensor 0 [rad].
lighthouse.rawAngle0y   LOG_FLOAT The raw V1 angle received by sensor 0 [rad].
lighthouse.rawAngle1x   LOG_FLOAT The raw V1 angle received by sensor 0 [rad].
lighthouse.rawAngle1y   LOG_FLOAT The raw V1 angle received by sensor 0 [rad].
lighthouse.angle0x   LOG_FLOAT The V1 angle received by sensor 0, corrected using calibration data [rad].
lighthouse.angle0y   LOG_FLOAT The V1 angle received by sensor 0, corrected using calibration data [rad].
lighthouse.angle1x   LOG_FLOAT The angle received by sensor 0, corrected using calibration data [rad].
lighthouse.angle1y   LOG_FLOAT The angle received by sensor 0, corrected using calibration data [rad].
lighthouse.angle0x_1   LOG_FLOAT The angle received by sensor 1, corrected using calibration data [rad].
lighthouse.angle0y_1   LOG_FLOAT The V1 angle received by sensor 1, corrected using calibration data [rad].
lighthouse.angle1x_1   LOG_FLOAT The V1 angle received by sensor 1, corrected using calibration data [rad].
lighthouse.angle1y_1   LOG_FLOAT The V1 angle received by sensor 1, corrected using calibration data [rad].
lighthouse.angle0x_2   LOG_FLOAT  
lighthouse.angle0y_2   LOG_FLOAT  
lighthouse.angle1x_2   LOG_FLOAT  
lighthouse.angle1y_2   LOG_FLOAT  
lighthouse.angle0x_3   LOG_FLOAT  
lighthouse.angle0y_3   LOG_FLOAT  
lighthouse.angle1x_3   LOG_FLOAT  
lighthouse.angle1y_3   LOG_FLOAT  
lighthouse.rawAngle0xlh2   LOG_FLOAT The raw V2 angle received by sensor 0 [rad].
lighthouse.rawAngle0ylh2   LOG_FLOAT The raw V2 angle received by sensor 0 [rad].
lighthouse.rawAngle1xlh2   LOG_FLOAT The raw V2 angle received by sensor 0 [rad].
lighthouse.rawAngle1ylh2   LOG_FLOAT The raw V2 angle received by sensor 0 [rad].
lighthouse.angle0x_0lh2   LOG_FLOAT The V2 angle received by sensor 0, corrected using calibration data [rad].
lighthouse.angle0y_0lh2   LOG_FLOAT The V2 angle received by sensor 0, corrected using calibration data [rad].
lighthouse.angle1x_0lh2   LOG_FLOAT The V2 angle received by sensor 0, corrected using calibration data [rad].
lighthouse.angle1y_0lh2   LOG_FLOAT The V2 angle received by sensor 0, corrected using calibration data [rad].
lighthouse.serRt   LOG_FLOAT Rate of frames from the Lighthouse deck on the serial buss [1/s].
lighthouse.frmRt   LOG_FLOAT Rate of frames from the Lighthouse deck that contains sweep data [1/s].
lighthouse.cycleRt   LOG_FLOAT  
lighthouse.bs0Rt   LOG_FLOAT  
lighthouse.bs1Rt   LOG_FLOAT  
lighthouse.width0   LOG_UINT16  
lighthouse.width1   LOG_UINT16  
lighthouse.width2   LOG_UINT16  
lighthouse.width3   LOG_UINT16  
lighthouse.comSync   LOG_UINT8  
lighthouse.bsReceive Core LOG_UINT16 Bit field indicating which base stations that are received by the lighthouse deck.
lighthouse.bsActive Core LOG_UINT16 Bit field indicating which base stations that are providing useful data to the estimator.
lighthouse.bsCalUd Core LOG_UINT16 Bit field that indicates which base stations that have received calibration data that was different to what was stored in memory.
lighthouse.bsCalCon Core LOG_UINT16 Bit field that indicates which base stations that have received calibration data over the air.
lighthouse.status Core LOG_UINT8 Overall status of the lighthouse system.
lighthouse.posRt   LOG_FLOAT  
lighthouse.estBs0Rt   LOG_FLOAT  
lighthouse.estBs1Rt   LOG_FLOAT  
lighthouse.x Core LOG_FLOAT  
lighthouse.y Core LOG_FLOAT  
lighthouse.z Core LOG_FLOAT  
lighthouse.delta   LOG_FLOAT  
lighthouse.bsGeoVal Core LOG_UINT16  
lighthouse.bsCalVal Core LOG_UINT16  

Detailed Variable Information

lighthouse.validAngles

src/modules/src/lighthouse/lighthouse_core.c (L523)

lighthouse.rawAngle0x

src/modules/src/lighthouse/lighthouse_core.c (L533)

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 (L543)

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 (L553)

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 (L563)

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 (L575)

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 (L587)

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 (L599)

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 (L611)

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.angle0x_1

src/modules/src/lighthouse/lighthouse_core.c (L623)

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.

lighthouse.angle0y_1

src/modules/src/lighthouse/lighthouse_core.c (L635)

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.

lighthouse.angle1x_1

src/modules/src/lighthouse/lighthouse_core.c (L647)

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.

lighthouse.angle1y_1

src/modules/src/lighthouse/lighthouse_core.c (L659)

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.

lighthouse.angle0x_2

src/modules/src/lighthouse/lighthouse_core.c (L661)

lighthouse.angle0y_2

src/modules/src/lighthouse/lighthouse_core.c (L662)

lighthouse.angle1x_2

src/modules/src/lighthouse/lighthouse_core.c (L663)

lighthouse.angle1y_2

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

lighthouse.angle0x_3

src/modules/src/lighthouse/lighthouse_core.c (L666)

lighthouse.angle0y_3

src/modules/src/lighthouse/lighthouse_core.c (L667)

lighthouse.angle1x_3

src/modules/src/lighthouse/lighthouse_core.c (L668)

lighthouse.angle1y_3

src/modules/src/lighthouse/lighthouse_core.c (L669)

lighthouse.rawAngle0xlh2

src/modules/src/lighthouse/lighthouse_core.c (L679)

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 (L689)

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 (L699)

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 (L709)

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 (L719)

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 (L729)

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 (L739)

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 (L749)

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

 Base station type  V2
Channel 2
Sweep  2
Sensor 0

lighthouse.serRt

src/modules/src/lighthouse/lighthouse_core.c (L754)

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

lighthouse.frmRt

src/modules/src/lighthouse/lighthouse_core.c (L759)

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

lighthouse.cycleRt

src/modules/src/lighthouse/lighthouse_core.c (L761)

lighthouse.bs0Rt

src/modules/src/lighthouse/lighthouse_core.c (L763)

lighthouse.bs1Rt

src/modules/src/lighthouse/lighthouse_core.c (L764)

lighthouse.width0

src/modules/src/lighthouse/lighthouse_core.c (L766)

lighthouse.width1

src/modules/src/lighthouse/lighthouse_core.c (L767)

lighthouse.width2

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

lighthouse.width3

src/modules/src/lighthouse/lighthouse_core.c (L769)

lighthouse.comSync

src/modules/src/lighthouse/lighthouse_core.c (L771)

lighthouse.bsReceive

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

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

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

lighthouse.bsActive

src/modules/src/lighthouse/lighthouse_core.c (L787)

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 mapps to base station channel 1 and the highest to channel 16.

lighthouse.bsCalUd

src/modules/src/lighthouse/lighthouse_core.c (L794)

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

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

lighthouse.bsCalCon

src/modules/src/lighthouse/lighthouse_core.c (L801)

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

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

lighthouse.status

src/modules/src/lighthouse/lighthouse_core.c (L813)

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 (L460)

lighthouse.estBs0Rt

src/modules/src/lighthouse/lighthouse_position_est.c (L461)

lighthouse.estBs1Rt

src/modules/src/lighthouse/lighthouse_position_est.c (L462)

lighthouse.x

src/modules/src/lighthouse/lighthouse_position_est.c (L464)

lighthouse.y

src/modules/src/lighthouse/lighthouse_position_est.c (L465)

lighthouse.z

src/modules/src/lighthouse/lighthouse_position_est.c (L466)

lighthouse.delta

src/modules/src/lighthouse/lighthouse_position_est.c (L468)

lighthouse.bsGeoVal

src/modules/src/lighthouse/lighthouse_position_est.c (L470)

lighthouse.bsCalVal

src/modules/src/lighthouse/lighthouse_position_est.c (L471)


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loco

Log group for basic information about the Loco Positioning System

Variables

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

Detailed Variable Information

loco.mode

src/deck/drivers/src/locodeck.c (L612)

The current mode of the Loco Positionning system.

Value Mode
1 TWR
2 TDoA 2
3 TDoA 3

loco.spiWr

src/deck/drivers/src/locodeck.c (L614)

loco.spiRe

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


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locSrv

Logging variables for (external) positioning data stream through ctrp

Variables

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

Detailed Variable Information

locSrv.x

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

Position X measurement from external system.

locSrv.y

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

Position Y measurement from external system.

locSrv.z

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

Position Z measurement from external system.

locSrv.qx

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

Quaternion x meas from an external system.

locSrv.qy

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

Quaternion y meas from an external system.

locSrv.qz

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

Quaternion z meas from an external system.

locSrv.qw

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

Quaternion w meas from an external system.


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locSrvZ

Logging variables for (external) positioning data stream through Compressed

Variables

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

Detailed Variable Information

locSrvZ.tick

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

time when data was received last (ms/ticks)


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mag

Log group for magnetometer.

Currently only present on Crazyflie 2.0

Variables

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

Detailed Variable Information

mag.x

src/modules/src/stabilizer.c (L599)

Magnetometer X axis, after filtering [gauss].

mag.y

src/modules/src/stabilizer.c (L603)

Magnetometer Y axis, after filtering [gauss].

mag.z

src/modules/src/stabilizer.c (L607)

Magnetometer Z axis, after filtering [gauss].


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memTst

Variables

Name Core Type Description
memTst.errCntW   LOG_UINT32  

Detailed Variable Information

memTst.errCntW

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


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motion

Logging variables of the motion sensor of the flowdeck

Variables

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

Detailed Variable Information

motion.motion

src/deck/drivers/src/flowdeck_v1v2.c (L263)

True if motion occured since the last measurement.

motion.deltaX

src/deck/drivers/src/flowdeck_v1v2.c (L267)

Flow X measurment [flow/fr].

motion.deltaY

src/deck/drivers/src/flowdeck_v1v2.c (L271)

Flow Y measurement [flow/fr].

motion.shutter

src/deck/drivers/src/flowdeck_v1v2.c (L275)

Shutter time [clock cycles].

motion.maxRaw

src/deck/drivers/src/flowdeck_v1v2.c (L279)

Maximum raw data value in frame.

motion.minRaw

src/deck/drivers/src/flowdeck_v1v2.c (L283)

Minimum raw data value in frame.

motion.Rawsum

src/deck/drivers/src/flowdeck_v1v2.c (L287)

Avarage raw data value.

motion.outlierCount

src/deck/drivers/src/flowdeck_v1v2.c (L291)

Counted flow outliers exluded from the estimator.

motion.squal

src/deck/drivers/src/flowdeck_v1v2.c (L295)

Count of surface feature.

motion.std

src/deck/drivers/src/flowdeck_v1v2.c (L299)

Standard deviation of flow measurement.


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motor

Motor output related log variables.

Variables

Name Core Type Description
motor.m1 Core LOG_UINT32 Motor power (PWM value) for M1 [0 - UINT16_MAX].
motor.m2 Core LOG_UINT32 Motor power (PWM value) for M2 [0 - UINT16_MAX].
motor.m3 Core LOG_UINT32 Motor power (PWM value) for M3 [0 - UINT16_MAX].
motor.m4 Core LOG_UINT32 Motor power (PWM value) for M4 [0 - UINT16_MAX].

Detailed Variable Information

motor.m1

src/modules/src/power_distribution_stock.c (L186)

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

motor.m2

src/modules/src/power_distribution_stock.c (L190)

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

motor.m3

src/modules/src/power_distribution_stock.c (L194)

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

motor.m4

src/modules/src/power_distribution_stock.c (L198)

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


back to group index

oa

Variables

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

Detailed Variable Information

oa.front

src/deck/drivers/src/oa.c (L186)

oa.back

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

oa.up

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

oa.left

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

oa.right

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


back to group index

outlierf

Variables

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

Detailed Variable Information

outlierf.lhWin

src/modules/src/estimator_kalman.c (L575)

outlierf.bucket0

src/modules/src/outlierFilter.c (L193)

outlierf.bucket1

src/modules/src/outlierFilter.c (L194)

outlierf.bucket2

src/modules/src/outlierFilter.c (L195)

outlierf.bucket3

src/modules/src/outlierFilter.c (L196)

outlierf.bucket4

src/modules/src/outlierFilter.c (L197)

outlierf.accLev

src/modules/src/outlierFilter.c (L198)

outlierf.errD

src/modules/src/outlierFilter.c (L199)


back to group index

pid_attitude

Log variables of attitude PID controller

Variables

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

Detailed Variable Information

pid_attitude.roll_outP

src/modules/src/attitude_pid_controller.c (L172)

Proportional output roll.

pid_attitude.roll_outI

src/modules/src/attitude_pid_controller.c (L176)

Integral output roll.

pid_attitude.roll_outD

src/modules/src/attitude_pid_controller.c (L180)

Derivative output roll.

pid_attitude.pitch_outP

src/modules/src/attitude_pid_controller.c (L184)

Proportional output pitch.

pid_attitude.pitch_outI

src/modules/src/attitude_pid_controller.c (L188)

Integral output pitch.

pid_attitude.pitch_outD

src/modules/src/attitude_pid_controller.c (L192)

Derivative output pitch.

pid_attitude.yaw_outP

src/modules/src/attitude_pid_controller.c (L196)

Proportional output yaw.

pid_attitude.yaw_outI

src/modules/src/attitude_pid_controller.c (L200)

Intergal output yaw.

pid_attitude.yaw_outD

src/modules/src/attitude_pid_controller.c (L204)

Derivative output yaw.


back to group index

pid_rate

Log variables of attitude rate PID controller

Variables

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

Detailed Variable Information

pid_rate.roll_outP

src/modules/src/attitude_pid_controller.c (L214)

Proportional output roll rate.

pid_rate.roll_outI

src/modules/src/attitude_pid_controller.c (L218)

Integral output roll rate.

pid_rate.roll_outD

src/modules/src/attitude_pid_controller.c (L222)

Derivative output roll rate.

pid_rate.pitch_outP

src/modules/src/attitude_pid_controller.c (L226)

Proportional output pitch rate.

pid_rate.pitch_outI

src/modules/src/attitude_pid_controller.c (L230)

Integral output pitch rate.

pid_rate.pitch_outD

src/modules/src/attitude_pid_controller.c (L234)

Derivative output pitch rate.

pid_rate.yaw_outP

src/modules/src/attitude_pid_controller.c (L238)

Proportional output yaw rate.

pid_rate.yaw_outI

src/modules/src/attitude_pid_controller.c (L242)

Integral output yaw rate.

pid_rate.yaw_outD

src/modules/src/attitude_pid_controller.c (L246)

Derivative output yaw rate.


back to group index

pm

Power management log variables.

Variables

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

Detailed Variable Information

pm.vbat

src/hal/src/pm_stm32f4.c (L417)

Battery voltage [V].

pm.vbatMV

src/hal/src/pm_stm32f4.c (L421)

Battery voltage [mV].

pm.extVbat

src/hal/src/pm_stm32f4.c (L425)

BigQuad external voltage measurement [V].

pm.extVbatMV

src/hal/src/pm_stm32f4.c (L429)

BigQuad external voltage measurement [mV].

pm.extCurr

src/hal/src/pm_stm32f4.c (L433)

BigQuad external current measurement [V].

pm.chargeCurrent

src/hal/src/pm_stm32f4.c (L437)

Battery charge current [A].

pm.state

src/hal/src/pm_stm32f4.c (L449)

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 (L453)

Battery charge level [%].


back to group index

posCtl

Log variables of the PID position controller

Note: rename to posCtrlPID ?

Variables

Name Core Type Description
posCtl.targetVX   LOG_FLOAT PID controller target desired velocity x [m/s].
posCtl.targetVY   LOG_FLOAT PID controller target desired velocity y [m/s].
posCtl.targetVZ   LOG_FLOAT PID controller target desired velocity z [m/s].
posCtl.targetX   LOG_FLOAT PID controller target desired position x [m].
posCtl.targetY   LOG_FLOAT PID controller target desired position y [m].
posCtl.targetZ   LOG_FLOAT PID controller target desired position z [m].
posCtl.Xp   LOG_FLOAT PID proportional output position x.
posCtl.Xi   LOG_FLOAT PID Integral output position x.
posCtl.Xd   LOG_FLOAT PID Derivative output position x.
posCtl.Yp   LOG_FLOAT PID proportional output position y.
posCtl.Yi   LOG_FLOAT PID Integral output position y.
posCtl.Yd   LOG_FLOAT PID Derivative output position y.
posCtl.Zp   LOG_FLOAT PID proportional output position z.
posCtl.Zi   LOG_FLOAT PID Integral output position z.
posCtl.Zd   LOG_FLOAT PID derivative output position z.
posCtl.VXp   LOG_FLOAT PID proportional output velocity x.
posCtl.VXi   LOG_FLOAT PID integral output velocity x.
posCtl.VXd   LOG_FLOAT PID derivative output velocity x.
posCtl.VZp   LOG_FLOAT PID proportional output velocity z.
posCtl.VZi   LOG_FLOAT PID integral output velocity z.
posCtl.VZd   LOG_FLOAT PID intrgral output velocity z.

Detailed Variable Information

posCtl.targetVX

src/modules/src/position_controller_pid.c (L248)

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

Note: Same as stabilizer log

posCtl.targetVY

src/modules/src/position_controller_pid.c (L254)

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

Note: Same as stabilizer log

posCtl.targetVZ

src/modules/src/position_controller_pid.c (L260)

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

Note: Same as stabilizer log

posCtl.targetX

src/modules/src/position_controller_pid.c (L266)

PID controller target desired position x [m].

Note: Same as stabilizer log

posCtl.targetY

src/modules/src/position_controller_pid.c (L272)

PID controller target desired position y [m].

Note: Same as stabilizer log

posCtl.targetZ

src/modules/src/position_controller_pid.c (L278)

PID controller target desired position z [m].

Note: Same as stabilizer log

posCtl.Xp

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

PID proportional output position x.

posCtl.Xi

src/modules/src/position_controller_pid.c (L287)

PID Integral output position x.

posCtl.Xd

src/modules/src/position_controller_pid.c (L291)

PID Derivative output position x.

posCtl.Yp

src/modules/src/position_controller_pid.c (L296)

PID proportional output position y.

posCtl.Yi

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

PID Integral output position y.

posCtl.Yd

src/modules/src/position_controller_pid.c (L304)

PID Derivative output position y.

posCtl.Zp

src/modules/src/position_controller_pid.c (L309)

PID proportional output position z.

posCtl.Zi

src/modules/src/position_controller_pid.c (L313)

PID Integral output position z.

posCtl.Zd

src/modules/src/position_controller_pid.c (L317)

PID derivative output position z.

posCtl.VXp

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

PID proportional output velocity x.

posCtl.VXi

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

PID integral output velocity x.

posCtl.VXd

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

PID derivative output velocity x.

posCtl.VZp

src/modules/src/position_controller_pid.c (L335)

PID proportional output velocity z.

posCtl.VZi

src/modules/src/position_controller_pid.c (L339)

PID integral output velocity z.

posCtl.VZd

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

PID intrgral output velocity z.


back to group index

posCtrlIndi

Variables

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

Detailed Variable Information

posCtrlIndi.posRef_x

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

INDI position reference input x [m].

posCtrlIndi.posRef_y

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

INDI position reference input y [m].

posCtrlIndi.posRef_z

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

INDI position reference input z [m].

posCtrlIndi.velS_x

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

INDI current velocity x [m/s].

posCtrlIndi.velS_y

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

INDI current velocity y [m/s].

posCtrlIndi.velS_z

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

INDI current velocity z [m/s].

posCtrlIndi.velRef_x

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

INDI velocity reference input x [m/s].

posCtrlIndi.velRef_y

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

INDI velocity reference input y [m/s].

posCtrlIndi.velRef_z

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

INDI velocity reference input z [m/s].

posCtrlIndi.angS_roll

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

INDI current attitude roll angle [rad].

posCtrlIndi.angS_pitch

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

INDI current attitude pitch angle [rad].

posCtrlIndi.angS_yaw

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

INDI current attitude yaw angle [rad].

posCtrlIndi.angF_roll

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

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

posCtrlIndi.angF_pitch

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

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

posCtrlIndi.angF_yaw

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

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

posCtrlIndi.accRef_x

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

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

posCtrlIndi.accRef_y

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

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

posCtrlIndi.accRef_z

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

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

posCtrlIndi.accS_x

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

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

posCtrlIndi.accS_y

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

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

posCtrlIndi.accS_z

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

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

posCtrlIndi.accF_x

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

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

posCtrlIndi.accErr_y

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

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

posCtrlIndi.accErr_z

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

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

posCtrlIndi.phi_tilde

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

INDI roll angle command increment [rad].

posCtrlIndi.theta_tilde

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

INDI pitch angle command increment [rad].

posCtrlIndi.T_tilde

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

INDI thrust command increment [motor units].

posCtrlIndi.T_inner

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

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

posCtrlIndi.T_incremented

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

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

posCtrlIndi.cmd_phi

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

INDI roll angle command to inner loop [rad].

posCtrlIndi.cmd_theta

src/modules/src/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   LOG_FLOAT  
posEstAlt.estVZ   LOG_FLOAT  
posEstAlt.velocityZ   LOG_FLOAT  

Detailed Variable Information

posEstAlt.estimatedZ

src/modules/src/position_estimator_altitude.c (L121)

posEstAlt.estVZ

src/modules/src/position_estimator_altitude.c (L122)

posEstAlt.velocityZ

src/modules/src/position_estimator_altitude.c (L123)


back to group index

pwm

Logging variables of the motors PWM output

Variables

Name Core Type Description
pwm.m1_pwm   LOG_UINT32 Current motor 1 PWM output.
pwm.m2_pwm   LOG_UINT32 Current motor 2 PWM output.
pwm.m3_pwm   LOG_UINT32 Current motor 3 PWM output.
pwm.m4_pwm   LOG_UINT32 Current motor 4 PWM output.

Detailed Variable Information

pwm.m1_pwm

src/drivers/src/motors.c (L384)

Current motor 1 PWM output.

pwm.m2_pwm

src/drivers/src/motors.c (L388)

Current motor 2 PWM output.

pwm.m3_pwm

src/drivers/src/motors.c (L392)

Current motor 3 PWM output.

pwm.m4_pwm

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

Current motor 4 PWM output.


back to group index

radio

Variables

Name Core Type Description
radio.rssi Core LOG_UINT8  
radio.isConnected Core LOG_UINT8  

Detailed Variable Information

radio.rssi

src/hal/src/radiolink.c (L259)

radio.isConnected

src/hal/src/radiolink.c (L260)


back to group index

range

Log group for the multi ranger and Z-ranger decks

Variables

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

Detailed Variable Information

range.front

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

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

range.back

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

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

range.up

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

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

range.left

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

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

range.right

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

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

range.zrange

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

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


back to group index

ranging

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

Variables

Name Core Type Description
ranging.state   LOG_UINT16  

Detailed Variable Information

ranging.state

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


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ring

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

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

Variables

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

Detailed Variable Information

ring.fadeTime

src/deck/drivers/src/ledring12.c (L688)

Current fade time of fade color effect.


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

Detailed Variable Information

sensfusion6.qw

src/modules/src/sensfusion6.c (L329)

W quaternion.

sensfusion6.qx

src/modules/src/sensfusion6.c (L333)

X quaternion.

sensfusion6.qy

src/modules/src/sensfusion6.c (L337)

y quaternion

sensfusion6.qz

src/modules/src/sensfusion6.c (L341)

z quaternion

sensfusion6.gravityX

src/modules/src/sensfusion6.c (L345)

Gravity vector X.

sensfusion6.gravityY

src/modules/src/sensfusion6.c (L349)

Gravity vector Y.

sensfusion6.gravityZ

src/modules/src/sensfusion6.c (L353)

Gravity vector Z.

sensfusion6.accZbase

src/modules/src/sensfusion6.c (L357)

Gravity scale factor after calibration.

sensfusion6.isInit

src/modules/src/sensfusion6.c (L361)

Nonzero if complimentary filter been initialized.

sensfusion6.isCalibrated

src/modules/src/sensfusion6.c (L365)

Nonzero if gravity scale been calibrated.


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stabilizer

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

Variables

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

Detailed Variable Information

stabilizer.roll

src/modules/src/stabilizer.c (L469)

Estimated roll Note: Same as stateEstimate.roll.

stabilizer.pitch

src/modules/src/stabilizer.c (L474)

Estimated pitch Note: Same as stateEstimate.pitch.

stabilizer.yaw

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

Estimated yaw Note: same as stateEstimate.yaw.

stabilizer.thrust

src/modules/src/stabilizer.c (L483)

Current thrust.

stabilizer.rtStab

src/modules/src/stabilizer.c (L487)

Rate of stabilizer loop.

stabilizer.intToOut

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

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


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stateEstimate

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

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

Variables

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

Detailed Variable Information

stateEstimate.x

src/modules/src/stabilizer.c (L624)

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

stateEstimate.y

src/modules/src/stabilizer.c (L629)

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

stateEstimate.z

src/modules/src/stabilizer.c (L634)

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

stateEstimate.vx

src/modules/src/stabilizer.c (L639)

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

stateEstimate.vy

src/modules/src/stabilizer.c (L644)

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

stateEstimate.vz

src/modules/src/stabilizer.c (L649)

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

stateEstimate.ax

src/modules/src/stabilizer.c (L654)

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

stateEstimate.ay

src/modules/src/stabilizer.c (L659)

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

stateEstimate.az

src/modules/src/stabilizer.c (L664)

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

stateEstimate.roll

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

Attitude, roll angle [deg].

stateEstimate.pitch

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

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

stateEstimate.yaw

src/modules/src/stabilizer.c (L679)

Attitude, yaw angle [deg].

stateEstimate.qx

src/modules/src/stabilizer.c (L684)

Attitude as a quaternion, x.

stateEstimate.qy

src/modules/src/stabilizer.c (L689)

Attitude as a quaternion, y.

stateEstimate.qz

src/modules/src/stabilizer.c (L694)

Attitude as a quaternion, z.

stateEstimate.qw

src/modules/src/stabilizer.c (L699)

Attitude as a quaternion, w.


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stateEstimateZ

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

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

Variables

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

Detailed Variable Information

stateEstimateZ.x

src/modules/src/stabilizer.c (L714)

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

stateEstimateZ.y

src/modules/src/stabilizer.c (L719)

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

stateEstimateZ.z

src/modules/src/stabilizer.c (L724)

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

stateEstimateZ.vx

src/modules/src/stabilizer.c (L729)

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

stateEstimateZ.vy

src/modules/src/stabilizer.c (L734)

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

stateEstimateZ.vz

src/modules/src/stabilizer.c (L739)

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

stateEstimateZ.ax

src/modules/src/stabilizer.c (L744)

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

stateEstimateZ.ay

src/modules/src/stabilizer.c (L749)

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

stateEstimateZ.az

src/modules/src/stabilizer.c (L754)

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

stateEstimateZ.quat

src/modules/src/stabilizer.c (L759)

Attitude as a compressed quaternion, see see

stateEstimateZ.rateRoll

src/modules/src/stabilizer.c (L764)

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

stateEstimateZ.ratePitch

src/modules/src/stabilizer.c (L769)

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

stateEstimateZ.rateYaw

src/modules/src/stabilizer.c (L774)

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


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sys

System loggable variables to check different system states.

Variables

Name Core Type Description
sys.canfly Core LOG_UINT8 If nonzero if system is ready to fly.
sys.isFlying Core LOG_UINT8 Nonzero if the system thinks it is flying.
sys.isTumbled Core LOG_UINT8 Nonzero if the system thinks it is tumbled/crashed.
sys.armed   LOG_INT8 If zero, arming system is preventing motors to start.

Detailed Variable Information

sys.canfly

src/modules/src/supervisor.c (L134)

If nonzero if system is ready to fly.

sys.isFlying

src/modules/src/supervisor.c (L138)

Nonzero if the system thinks it is flying.

sys.isTumbled

src/modules/src/supervisor.c (L142)

Nonzero if the system thinks it is tumbled/crashed.

sys.armed

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

If zero, arming system is preventing motors to start.


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tdoa2

Variables

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

Detailed Variable Information

tdoa2.d7

src/deck/drivers/src/lpsTdoa2Tag.c (L368)

tdoa2.d0

src/deck/drivers/src/lpsTdoa2Tag.c (L369)

tdoa2.d1

src/deck/drivers/src/lpsTdoa2Tag.c (L370)

tdoa2.d2

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

tdoa2.d3

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

tdoa2.d4

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

tdoa2.d5

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

tdoa2.d6

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

tdoa2.cc0

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

tdoa2.cc1

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

tdoa2.cc2

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

tdoa2.cc3

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

tdoa2.cc4

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

tdoa2.cc5

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

tdoa2.cc6

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

tdoa2.cc7

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

tdoa2.dist7

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

tdoa2.dist0

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

tdoa2.dist1

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

tdoa2.dist2

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

tdoa2.dist3

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

tdoa2.dist4

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

tdoa2.dist5

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

tdoa2.dist6

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


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tdoaEngine

Log group for the TDoA engine module.

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

Variables

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

Detailed Variable Information

tdoaEngine.stRx

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

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

tdoaEngine.stEst

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

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

tdoaEngine.stTime

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

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

tdoaEngine.stFound

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

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

tdoaEngine.stCc

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

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

tdoaEngine.stHit

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

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

tdoaEngine.stMiss

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

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

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

tdoaEngine.cc

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

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

tdoaEngine.tof

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

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

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

tdoaEngine.tdoa

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

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

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


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twr

Log group for Two Way Ranging data

Variables

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

Detailed Variable Information

twr.rangingSuccessRate0

src/deck/drivers/src/lpsTwrTag.c (L562)

Successful ranging ratio with anchor 0 [%].

twr.rangingPerSec0

src/deck/drivers/src/lpsTwrTag.c (L567)

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

twr.rangingSuccessRate1

src/deck/drivers/src/lpsTwrTag.c (L572)

Successful ranging ratio with anchor 1 [%].

twr.rangingPerSec1

src/deck/drivers/src/lpsTwrTag.c (L577)

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

twr.rangingSuccessRate2

src/deck/drivers/src/lpsTwrTag.c (L582)

Successful ranging ratio with anchor 2 [%].

twr.rangingPerSec2

src/deck/drivers/src/lpsTwrTag.c (L587)

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

twr.rangingSuccessRate3

src/deck/drivers/src/lpsTwrTag.c (L592)

Successful ranging ratio with anchor 3 [%].

twr.rangingPerSec3

src/deck/drivers/src/lpsTwrTag.c (L597)

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

twr.rangingSuccessRate4

src/deck/drivers/src/lpsTwrTag.c (L602)

Successful ranging ratio with anchor 4 [%].

twr.rangingPerSec4

src/deck/drivers/src/lpsTwrTag.c (L607)

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

twr.rangingSuccessRate5

src/deck/drivers/src/lpsTwrTag.c (L612)

Successful ranging ratio with anchor 5 [%].

twr.rangingPerSec5

src/deck/drivers/src/lpsTwrTag.c (L617)

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


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usd

Micro-SD related log variables for debug purposes mainly.

Variables

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

Detailed Variable Information

usd.spiWrBps

src/deck/drivers/src/usddeck.c (L1075)

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

usd.spiReBps

src/deck/drivers/src/usddeck.c (L1079)

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

usd.fatWrBps

src/deck/drivers/src/usddeck.c (L1083)

Data write rate to the SD card [bytes/s].