The table below explains which bit is responsible for which .bin
dataflash log message(s):
LOG_BITMASK | |||||
---|---|---|---|---|---|
Message | description | Log rate | field name | bit | value |
SIDD | System ID data | SCHED_LOOP_RATE / 1 | ATTITUDE_FAST and ATTITUDE_MED | 1 and 0 | 3 |
SCHED_LOOP_RATE / 2 | ATTITUDE_FAST | 0 | 2 | ||
SCHED_LOOP_RATE / 4 | ATTITUDE_MED | 0 | 1 | ||
SCHED_LOOP_RATE / 8 | - | - | 0 | ||
SIDS | System ID settings | SCHED_LOOP_RATE / 1 | ATTITUDE_FAST and ATTITUDE_MED | 1 and 0 | 3 |
SCHED_LOOP_RATE / 2 | ATTITUDE_FAST | 0 | 2 | ||
SCHED_LOOP_RATE / 4 | ATTITUDE_MED | 0 | 1 | ||
SCHED_LOOP_RATE / 8 | - | - | 0 | ||
RATE | Desired and achieved vehicle attitude rates | SCHED_LOOP_RATE / 1 | ATTITUDE_FAST and ATTITUDE_MED | 1 and 0 | 3 |
SCHED_LOOP_RATE / 2 | ATTITUDE_FAST | 0 | 2 | ||
SCHED_LOOP_RATE / 4 | ATTITUDE_MED | 0 | 1 | ||
SCHED_LOOP_RATE / 8 | - | - | 0 | ||
ATSC | Scale factors for attitude controller | SCHED_LOOP_RATE / 1 | ATTITUDE_FAST and ATTITUDE_MED | 1 and 0 | 3 |
SCHED_LOOP_RATE / 2 | ATTITUDE_FAST | 0 | 2 | ||
SCHED_LOOP_RATE / 4 | ATTITUDE_MED | 0 | 1 | ||
SCHED_LOOP_RATE / 8 | - | - | 0 | ||
ATT | Canonical vehicle attitude | SCHED_LOOP_RATE | ATTITUDE_FAST | 0 | 1 |
10 Hz | ATTITUDE_MED | 1 | 2 | ||
IMU | Inertial Measurement Unit data | SCHED_LOOP_RATE | IMU_FAST and ATTITUDE_FAST | 18 and 0 | 262145 |
25 Hz | IMU | 7 | 128 | ||
GPS | Information received from GNSS systems attached to the autopilot | ~ 5 Hz | GPS | 2 | 4 |
GPA | GPS accuracy information | ||||
UBX1 | uBlox-specific GPS information (part 1) | ||||
UBX2 | uBlox-specific GPS information (part 2) | ||||
GRAW | Raw uBlox datas | ||||
GRXH | Raw uBlox data - header | ||||
GRXS | Raw uBlox data - space-vehicle data | ||||
TERR | Terrain database information | ||||
PM | autopilot system performance and general data dumping ground | 1 Hz | PM | 3 | 8 |
XKF0 | EKF3 beacon sensor diagnostics | 25Hz if ATTITUDE_FAST is set, else 10Hz | - | - | - |
XKF1 | EKF3 estimator outputs | ||||
XKF2 | EKF3 estimator secondary outputs | ||||
XKF3 | EKF3 innovations | ||||
XKF4 | EKF3 variances | ||||
XKF5 | EKF3 Sensor innovations (primary core) and general dumping ground | ||||
XKFS | EKF3 sensor selection | ||||
XKQ | EKF3 quaternion defining the rotation from NED to XYZ (autopilot) axes | ||||
XKV1 | EKF3 State variances (primary core) | ||||
XKV2 | more EKF3 State Variances (primary core) | ||||
XKT | EKF3 timing information | ||||
AHR2 | Backup AHRS data | ||||
POS | Canonical vehicle position | ||||
CTRL | Attitude Control oscillation monitor diagnostics | 10Hz | CTUN | 4 | 16 |
RFND | Rangefinder sensor information | ||||
PRX | Proximity Filtered sensor data | ||||
PRXR | Proximity Raw sensor data | ||||
BCN | Beacon information | ||||
CTUN | Control Tuning information | 100Hz | |||
PSCN | Position Control North | 10Hz | NTUN | 5 | 32 |
PSCD | Position Control Down | ||||
PSCE | Position Control East | ||||
RCIN | RC input channels to vehicle | 10Hz | RCIN | 6 | 64 |
RCI2 | (More) RC input channels to vehicle | ||||
RSSI | Received Signal Strength Indicator for RC receiver | ||||
VIBE | Processed (acceleration) vibration information | 10Hz | IMU or IMU_FAST or IMU_RAW | 19 or 18 or 7 | - |
CMD | Executed mission command information | on event | CMD | 8 | 256 |
MAVC | MAVLink command we have just executed | ||||
BAT | Gathered battery data | ?? | CURRENT | 9 | 512 |
BCL | Battery cell voltage information | ||||
MCU | MCU voltage and temperature monitoring | ||||
POWR | System power information | ||||
RCOU | Servo channel output values 1 to 14 | 10Hz | RCOUT | 10 | 1024 |
RCO2 | Servo channel output values 15 to 18 | ||||
RCO3 | Servo channel output values 19 to 32 | ||||
OF | Optical flow sensor data | ?? | OPTFLOW | 11 | 2048 |
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 |
PIDE | Proportional/Integral/Derivative gain values for East | ||||
PIDR | Proportional/Integral/Derivative gain values for Roll | SCHED_LOOP_RATE if ATTITUDE_FAST is set else 10Hz | PID | 12 | 4096 |
PIDP | Proportional/Integral/Derivative gain values for Pitch | ||||
PIDY | Proportional/Integral/Derivative gain values for Yaw | ||||
PIDA | Proportional/Integral/Derivative gain values for Altitude | ||||
MAG | Information received from compasses | ?? | COMPASS | 13 | 8192 |
CAM | Camera shutter information | on event | CAMERA | 15 | 32768 |
TRIG | Camera shutter information | ||||
MOTB | Motor mixer information | 10Hz | MOTBAT | 17 | 131072 |
ACC | IMU accelerometer data | SCHED_LOOP_RATE | IMU_RAW | 19 | 524288 |
GYR | IMU gyroscope data | ||||
VSTB | Motor mixer information | SCHED_LOOP_RATE | VIDEO_STABILISATION | 20 | 1048576 |
FTN | Filter Tuning Message - per motor | SCHED_LOOP_RATE | FTN_FAST | 21 | 2097152 |
FTNS | Filter Tuning Message | ||||
FTN1 | FFT Filter Tuning | 25 Hz | |||
WINC | Winch | 10Hz | Any | any | any |