| Message | Description | Log rate | LOG_BITMASK field name | bit | value |
|---|---|---|---|---|---|
| ACC | IMU accelerometer data | SCHED_LOOP_RATE | IMU_RAW | 19 | 524288 |
| AHR2 | Backup AHRS data | 25Hz if ATTITUDE_FAST is set, else 10Hz | - | - | - |
| ATSC | Scale factors for attitude controller | SCHED_LOOP_RATE / 1 | ATTITUDE_FAST and ATTITUDE_MED | 1 and 0 | 3 |
| ATSC | Scale factors for attitude controller | SCHED_LOOP_RATE / 2 | ATTITUDE_FAST | 0 | 2 |
| ATSC | Scale factors for attitude controller | SCHED_LOOP_RATE / 4 | ATTITUDE_MED | 0 | 1 |
| ATSC | Scale factors for attitude controller | SCHED_LOOP_RATE / 8 | - | - | 0 |
| ATT | Canonical vehicle attitude | SCHED_LOOP_RATE | ATTITUDE_FAST | 0 | 1 |
| ATT | Canonical vehicle attitude | 10 Hz | ATTITUDE_MED | 1 | 2 |
| BAT | Gathered battery data | ?? | CURRENT | 9 | 512 |
| BCL | Battery cell voltage information | ?? | CURRENT | 9 | 512 |
| BCN | Beacon information | 10Hz | CTUN | 4 | 16 |
| CAM | Camera shutter information | on event | CAMERA | 15 | 32768 |
| CMD | Executed mission command information | on event | CMD | 8 | 256 |
| CTRL | Attitude Control oscillation monitor diagnostics | 10Hz | CTUN | 4 | 16 |
| FTN | Filter Tuning Message - per motor | SCHED_LOOP_RATE | FTN_FAST | 21 | 2097152 |
| FTN1 | FFT Filter Tuning | 25 Hz | FTN_FAST | 21 | 2097152 |
| FTNS | Filter Tuning Message | SCHED_LOOP_RATE | FTN_FAST | 21 | 2097152 |
| GPA | GPS accuracy information | ~ 5 Hz | GPS | 2 | 4 |
| GPS | Information received from GNSS systems attached to the autopilot | ~ 5 Hz | GPS | 2 | 4 |
| GRAW | Raw uBlox datas | ~ 5 Hz | GPS | 2 | 4 |
| GRXH | Raw uBlox data - header | ~ 5 Hz | GPS | 2 | 4 |
| GRXS | Raw uBlox data - space-vehicle data | ~ 5 Hz | GPS | 2 | 4 |
| GYR | IMU gyroscope data | SCHED_LOOP_RATE | IMU_RAW | 19 | 524288 |
| IMU | Inertial Measurement Unit data | SCHED_LOOP_RATE | IMU_FAST and ATTITUDE_FAST | 18 and 0 | 262145 |
| IMU | Inertial Measurement Unit data | 25 Hz | IMU | 7 | 128 |
| MAG | Information received from compasses | ?? | COMPASS | 13 | 8192 |
| MAVC | MAVLink command we have just executed | on event | CMD | 8 | 256 |
| MCU | MCU voltage and temperature monitoring | ?? | CURRENT | 9 | 512 |
| MOTB | Motor mixer information | 10Hz | MOTBAT | 17 | 131072 |
| OF | Optical flow sensor data | ?? | OPTFLOW | 11 | 2048 |
| PIDA | Proportional/Integral/Derivative gain values for Altitude | SCHED_LOOP_RATE if ATTITUDE_FAST is set else 10Hz | PID | 12 | 4096 |
| PIDE | Proportional/Integral/Derivative gain values for East | SCHED_LOOP_RATE if ATTITUDE_FAST is set else 10Hz | NTUN and PID | 12 and 5 | 4128 |
| PIDN | Proportional/Integral/Derivative gain values for North | SCHED_LOOP_RATE if ATTITUDE_FAST is set else 10Hz | NTUN and PID | 12 and 5 | 4128 |
| PIDP | Proportional/Integral/Derivative gain values for Pitch | SCHED_LOOP_RATE if ATTITUDE_FAST is set else 10Hz | PID | 12 | 4096 |
| PIDR | Proportional/Integral/Derivative gain values for Roll | SCHED_LOOP_RATE if ATTITUDE_FAST is set else 10Hz | PID | 12 | 4096 |
| PIDY | Proportional/Integral/Derivative gain values for Yaw | SCHED_LOOP_RATE if ATTITUDE_FAST is set else 10Hz | PID | 12 | 4096 |
| PM | autopilot system performance and general data dumping ground | 1 Hz | PM | 3 | 8 |
| POS | Canonical vehicle position | 25Hz if ATTITUDE_FAST is set, else 10Hz | - | - | - |
| POWR | System power information | ?? | CURRENT | 9 | 512 |
| PRX | Proximity Filtered sensor data | 10Hz | CTUN | 4 | 16 |
| PRXR | Proximity Raw sensor data | 10Hz | CTUN | 4 | 16 |
| PSCD | Position Control Down | 10Hz | NTUN | 5 | 32 |
| PSCE | Position Control East | 10Hz | NTUN | 5 | 32 |
| PSCN | Position Control North | 10Hz | NTUN | 5 | 32 |
| RATE | Desired and achieved vehicle attitude rates | SCHED_LOOP_RATE / 1 | ATTITUDE_FAST and ATTITUDE_MED | 1 and 0 | 3 |
| RATE | Desired and achieved vehicle attitude rates | SCHED_LOOP_RATE / 2 | ATTITUDE_FAST | 0 | 2 |
| RATE | Desired and achieved vehicle attitude rates | SCHED_LOOP_RATE / 4 | ATTITUDE_MED | 0 | 1 |
| RATE | Desired and achieved vehicle attitude rates | SCHED_LOOP_RATE / 8 | - | - | 0 |
| RCIN | RC input channels to vehicle | 10Hz | RCIN | 6 | 64 |
| RCI2 | (More) RC input channels to vehicle | 10Hz | RCIN | 6 | 64 |
| RCO2 | Servo channel output values 15 to 18 | 10Hz | RCOUT | 10 | 1024 |
| RCO3 | Servo channel output values 19 to 32 | 10Hz | RCOUT | 10 | 1024 |
| RCOU | Servo channel output values 1 to 14 | 10Hz | RCOUT | 10 | 1024 |
| RFND | Rangefinder sensor information | 10Hz | CTUN | 4 | 16 |
| RSSI | Received Signal Strength Indicator for RC receiver | 10Hz | RCIN | 6 | 64 |
| SIDD | System ID data | SCHED_LOOP_RATE / 1 | ATTITUDE_FAST and ATTITUDE_MED | 1 and 0 | 3 |
| SIDD | System ID data | SCHED_LOOP_RATE / 2 | ATTITUDE_FAST | 0 | 2 |
| SIDD | System ID data | SCHED_LOOP_RATE / 4 | ATTITUDE_MED | 0 | 1 |
| SIDD | System ID data | SCHED_LOOP_RATE / 8 | - | - | 0 |
| SIDS | System ID settings | SCHED_LOOP_RATE / 1 | ATTITUDE_FAST and ATTITUDE_MED | 1 and 0 | 3 |
| SIDS | System ID settings | SCHED_LOOP_RATE / 2 | ATTITUDE_FAST | 0 | 2 |
| SIDS | System ID settings | SCHED_LOOP_RATE / 4 | ATTITUDE_MED | 0 | 1 |
| SIDS | System ID settings | SCHED_LOOP_RATE / 8 | - | - | 0 |
| TERR | Terrain database information | ~ 5 Hz | GPS | 2 | 4 |
| TRIG | Camera shutter information | on event | CAMERA | 15 | 32768 |
| UBX1 | uBlox-specific GPS information (part 1) | ~ 5 Hz | GPS | 2 | 4 |
| UBX2 | uBlox-specific GPS information (part 2) | ~ 5 Hz | GPS | 2 | 4 |
| VIBE | Processed (acceleration) vibration information | 10Hz | IMU or IMU_FAST or IMU_RAW | 19 or 18 or 7 | - |
| VSTB | Motor mixer information | SCHED_LOOP_RATE | VIDEO_STABILISATION | 20 | 1048576 |
| WINC | Winch | 10Hz | Any | any | any |
| XKF0 | EKF3 beacon sensor diagnostics | 25Hz if ATTITUDE_FAST is set, else 10Hz | - | - | - |
| XKF1 | EKF3 estimator outputs | 25Hz if ATTITUDE_FAST is set, else 10Hz | - | - | - |
| XKF2 | EKF3 estimator secondary outputs | 25Hz if ATTITUDE_FAST is set, else 10Hz | - | - | - |
| XKF3 | EKF3 innovations | 25Hz if ATTITUDE_FAST is set, else 10Hz | - | - | - |
| XKF4 | EKF3 variances | 25Hz if ATTITUDE_FAST is set, else 10Hz | - | - | - |
| XKF5 | EKF3 Sensor innovations (primary core) and general dumping ground | 25Hz if ATTITUDE_FAST is set, else 10Hz | - | - | - |
| XKFS | EKF3 sensor selection | 25Hz if ATTITUDE_FAST is set, else 10Hz | - | - | - |
| XKQ | EKF3 quaternion defining the rotation from NED to XYZ (autopilot) axes | 25Hz if ATTITUDE_FAST is set, else 10Hz | - | - | - |
| XKT | EKF3 timing information | 25Hz if ATTITUDE_FAST is set, else 10Hz | - | - | - |
| XKV1 | EKF3 State variances (primary core) | 25Hz if ATTITUDE_FAST is set, else 10Hz | - | - | - |
| XKV2 | more EKF3 State Variances (primary core) | 25Hz if ATTITUDE_FAST is set, else 10Hz | - | - | - |
4 Likes