Arduplane dataflow/var names

ArduPlane
1

Hi,
I’m currently going deeper into log analysis with arduplane.
To effectively analyze logs I have to learn:

  1. what the arduplane data flow is. I mean what are the inputs/outputs of each control loop and how those loops/modules are put together
  2. What are the relevant variables in the log corresponding to the relevant in/out identified at point 1.

I was looking for a detailed diagram showing the overall architecture in detail. Is there anything similar around?
I’m also open to any advice useful to get the learning curve steeper.

Thanks!

2

The log messages are described on the wiki, there also is a schematic of the control cascade albeit without variable names.

Of the top of my head

  • PID(P|R|Y) are pitch roll and yaw rate PIDs’ states
  • CTUN is attitude control (YPR actual and desired)
  • NTUN is lateral navigation
  • TEC* is vertical navigation.
3

Ok, where the schematic is? I scrolled the whole plane wiki without finding it. There are a couple of partial diagrams under “tuning”, but not an overall overview? Is maybe somewhere in the developer wiki?