Hello. Im working in an app that need to process the UAV telemtry.
I made an script that stores the mavlink messages received from the mavfowarding port of qgroundcontrol. Basically stores every message like this:
0.145#SYSTEM_TIME {time_unix_usec : 1721322141713396, time_boot_ms : 151119}
Saving the time of reception and the msg with the data.
I specifically want to determinate were is the uav looking at so i can see the flight in a web.
Something like this:
(IN this case the gps position is correctly but the orientation goes crazy. Not coresponding to the real one.
I used the latitude and longitude to draw the marker.
BUt i cant find a value that represet the orientation. I already tried using the yaw of ATTITUDE and the HDG of GLOBAL_POSITION_INT. But in both cases the line does’t match with the reality (Not even close)
Maybe theres a parameter that im missing? Or have to make something with the two parameters to get the orientation?
This are a few lines of the file.
0.000#STATUSTEXT {severity : 6, text : Mission: 1 Takeoff, id : 0, chunk_seq : 0}
0.145#GLOBAL_POSITION_INT {time_boot_ms : 151119, lat : -248223497, lon : -654656089, alt : 1214680, relative_alt : -35, vx : 0, vy : 0, vz : 1, hdg : 19382}
0.145#SYSTEM_TIME {time_unix_usec : 1721322141713396, time_boot_ms : 151119}
0.146#AHRS {omegaIx : -5.781927757197991e-05, omegaIy : 0.001270061475224793, omegaIz : 0.0003072524559684098, accel_weight : 0.0, renorm_val : 0.0, error_rp : 0.0055777207016944885, error_yaw : 0.0029811363201588392}
0.146#WIND {direction : -180.0, speed : 0.0, speed_z : 0.0}
0.146#TERRAIN_REPORT {lat : -248223497, lon : -654656089, spacing : 100, terrain_height : 1214.7203369140625, current_height : -0.040364064276218414, pending : 0, loaded : 504}
0.146#GIMBAL_DEVICE_ATTITUDE_STATUS {target_system : 0, target_component : 0, time_boot_ms : 151119, flags : 12, q : [1.0, 0.0, 0.0, 0.0], angular_velocity_x : nan, angular_velocity_y : nan, angular_velocity_z : nan, failure_flags : 0, delta_yaw : nan, delta_yaw_velocity : nan, gimbal_device_id : 1}
0.147#EKF_STATUS_REPORT {flags : 831, velocity_variance : 0.02792874351143837, pos_horiz_variance : 0.0008946782909333706, pos_vert_variance : 0.014039915055036545, compass_variance : 0.0034269867464900017, terrain_alt_variance : 0.0, airspeed_variance : 0.0}
0.147#LOCAL_POSITION_NED {time_boot_ms : 151119, x : 1.4107686281204224, y : 0.43365779519081116, z : -0.7840991020202637, vx : 0.007232893258333206, vy : -0.008774572052061558, vz : 0.014655286446213722}
0.147#VIBRATION {time_usec : 151119732, vibration_x : 0.254734069108963, vibration_y : 0.15753096342086792, vibration_z : 0.25059473514556885, clipping_0 : 0, clipping_1 : 0, clipping_2 : 0}
0.147#BATTERY_STATUS {id : 0, battery_function : 0, type : 0, temperature : 32767, voltages : [65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535], current_battery : 0, current_consumed : 0, energy_consumed : 0, battery_remaining : 100, time_remaining : 0, charge_state : 1, voltages_ext : [0, 0, 0, 0], mode : 0, fault_bitmask : 0}
0.148#ATTITUDE {time_boot_ms : 151126, roll : 0.04134735092520714, pitch : 0.04320533946156502, yaw : -2.9005141258239746, rollspeed : -0.00060767971444875, pitchspeed : -0.00012203992810100317, yawspeed : 0.0002497794048395008}
0.148#VFR_HUD {airspeed : 0.0186335239559412, groundspeed : 0.011396334506571293, heading : 193, throttle : 0, alt : 1214.679931640625, climb : -0.014742176048457623}
0.148#AHRS2 {roll : 0.04827441647648811, pitch : 0.03840623050928116, yaw : -2.891028642654419, altitude : 1214.97998046875, lat : -248223497, lng : -654656089}
0.148#SYS_STATUS {onboard_control_sensors_present : 1399979055, onboard_control_sensors_enabled : 1398930479, onboard_control_sensors_health : 1467087919, load : 278, voltage_battery : 0, current_battery : 0, battery_remaining : 100, drop_rate_comm : 0, errors_comm : 0, errors_count1 : 0, errors_count2 : 0, errors_count3 : 0, errors_count4 : 0}
0.229#POWER_STATUS {Vcc : 4969, Vservo : 0, flags : 1}
0.229#MEMINFO {brkval : 0, freemem : 65535, freemem32 : 558176}
0.229#NAV_CONTROLLER_OUTPUT {nav_roll : 0.00013633030175697058, nav_pitch : 0.0003125464136246592, nav_bearing : -166, target_bearing : 292, wp_dist : 0, alt_error : 0.0, aspd_error : 0.0, xtrack_error : 0.0}
0.230#MISSION_CURRENT {seq : 1, total : 36, mission_state : 3, mission_mode : 1}
0.230#SERVO_OUTPUT_RAW {time_usec : 151179575, port : 0, servo1_raw : 1000, servo2_raw : 1000, servo3_raw : 1000, servo4_raw : 1000, servo5_raw : 0, servo6_raw : 0, servo7_raw : 0, servo8_raw : 0, servo9_raw : 0, servo10_raw : 0, servo11_raw : 0, servo12_raw : 0, servo13_raw : 0, servo14_raw : 0, servo15_raw : 0, servo16_raw : 0}
0.230#RC_CHANNELS {time_boot_ms : 151179, chancount : 16, chan1_raw : 1493, chan2_raw : 1495, chan3_raw : 982, chan4_raw : 1497, chan5_raw : 982, chan6_raw : 982, chan7_raw : 1495, chan8_raw : 1495, chan9_raw : 1495, chan10_raw : 1495, chan11_raw : 1495, chan12_raw : 1495, chan13_raw : 1495, chan14_raw : 1495, chan15_raw : 1495, chan16_raw : 1495, chan17_raw : 0, chan18_raw : 0, rssi : 255}
0.230#RADIO_STATUS {rssi : 128, remrssi : 129, txbuf : 100, noise : 52, remnoise : 30, rxerrors : 13, fixed : 0}
0.231#RAW_IMU {time_usec : 151179604, xacc : 42, yacc : 24, zacc : -1002, xgyro : 0, ygyro : -1, zgyro : 0, xmag : -190, ymag : 81, zmag : -89, id : 0, temperature : 4480}
0.231#SCALED_IMU2 {time_boot_ms : 151179, xacc : 37, yacc : 15, zacc : -1003, xgyro : 0, ygyro : -3, zgyro : -1, xmag : -185, ymag : 82, zmag : -126, temperature : 4475}
0.231#SCALED_IMU3 {time_boot_ms : 151179, xacc : 44, yacc : 32, zacc : -993, xgyro : 0, ygyro : -2, zgyro : 0, xmag : 0, ymag : 0, zmag : 0, temperature : 4200}
0.231#SCALED_PRESSURE {time_boot_ms : 151179, press_abs : 876.969482421875, press_diff : 0.0, temperature : 4157, temperature_press_diff : 0}
0.231#SCALED_PRESSURE2 {time_boot_ms : 151179, press_abs : 876.5421142578125, press_diff : 0.0, temperature : 4774, temperature_press_diff : 0}
0.232#GPS_RAW_INT {time_usec : 150998000, fix_type : 4, lat : -248223497, lon : -654656089, alt : 1216280, eph : 46, epv : 89, vel : 2, cog : 32853, satellites_visible : 29, alt_ellipsoid : 1244285, h_acc : 532, v_acc : 1044, vel_acc : 183, hdg_acc : 0, yaw : 0}
0.232#MCU_STATUS {id : 0, MCU_temperature : 4329, MCU_voltage : 3303, MCU_voltage_min : 3287, MCU_voltage_max : 3318}
0.232#ATTITUDE {time_boot_ms : 151226, roll : 0.0413685142993927, pitch : 0.04322914034128189, yaw : -2.900527000427246, rollspeed : -0.00024435538216494024, pitchspeed : -0.00010268727783113718, yawspeed : -0.00015113622066564858}
0.232#VFR_HUD {airspeed : 0.020191380754113197, groundspeed : 0.013849057257175446, heading : 193, throttle : 0, alt : 1214.679931640625, climb : -0.014693381264805794}
0.233#AHRS2 {roll : 0.04833686351776123, pitch : 0.038377679884433746, yaw : -2.8910694122314453, altitude : 1215.1300048828125, lat : -248223497, lng : -654656089}
0.262#ATTITUDE {time_boot_ms : 151326, roll : 0.0413677841424942, pitch : 0.0432329960167408, yaw : -2.9005143642425537, rollspeed : 1.1517910024849698e-05, pitchspeed : -0.0005064019933342934, yawspeed : -0.0001773345284163952}
0.263#VFR_HUD {airspeed : 0.02170938439667225, groundspeed : 0.016600053757429123, heading : 193, throttle : 0, alt : 1214.679931640625, climb : -0.01399055402725935}
0.263#AHRS2 {roll : 0.048283688724040985, pitch : 0.03833353891968727, yaw : -2.8911142349243164, altitude : 1215.5499267578125, lat : -248223496, lng : -654656089}
0.454#ATTITUDE {time_boot_ms : 151426, roll : 0.04135410860180855, pitch : 0.04323349893093109, yaw : -2.900524616241455, rollspeed : 0.0003002472221851349, pitchspeed : -0.00046842359006404877, yawspeed : -0.0004005690570920706}
0.454#VFR_HUD {airspeed : 0.02361982874572277, groundspeed : 0.01919965073466301, heading : 193, throttle : 0, alt : 1214.679931640625, climb : -0.013757533393800259}
0.455#AHRS2 {roll : 0.04820406436920166, pitch : 0.03829224407672882, yaw : -2.891120433807373, altitude : 1215.0899658203125, lat : -248223496, lng : -654656089}
0.455#GLOBAL_POSITION_INT {time_boot_ms : 151451, lat : -248223497, lon : -654656089, alt : 1214680, relative_alt : -37, vx : 1, vy : 0, vz : 1, hdg : 19382}
0.455#SYSTEM_TIME {time_unix_usec : 1721322142045537, time_boot_ms : 151451}
0.455#AHRS {omegaIx : -5.7819557696348056e-05, omegaIy : 0.0012699896469712257, omegaIz : 0.0003080586902797222, accel_weight : 0.0, renorm_val : 0.0, error_rp : 0.006178591400384903, error_yaw : 0.0022871310357004404}
0.455#WIND {direction : -180.0, speed : 0.0, speed_z : 0.0}
0.455#TERRAIN_REPORT {lat : -248223497, lon : -654656089, spacing : 100, terrain_height : 1214.7203369140625, current_height : -0.040364064276218414, pending : 0, loaded : 504}
0.455#GIMBAL_DEVICE_ATTITUDE_STATUS {target_system : 0, target_component : 0, time_boot_ms : 151451, flags : 12, q : [1.0, 0.0, 0.0, 0.0], angular_velocity_x : nan, angular_velocity_y : nan, angular_velocity_z : nan, failure_flags : 0, delta_yaw : nan, delta_yaw_velocity : nan, gimbal_device_id : 1}
0.455#EKF_STATUS_REPORT {flags : 831, velocity_variance : 0.025891581550240517, pos_horiz_variance : 0.0011004706611856818, pos_vert_variance : 0.0016597240464761853, compass_variance : 0.004440502263605595, terrain_alt_variance : 0.0, airspeed_variance : 0.0}
0.455#LOCAL_POSITION_NED {time_boot_ms : 151451, x : 1.4204533100128174, y : 0.4305720627307892, z : -0.7825483083724976, vx : 0.016952812671661377, vy : -0.009746079333126545, vz : 0.013272513635456562}
0.455#VIBRATION {time_usec : 151451895, vibration_x : 0.2551039457321167, vibration_y : 0.15811662375926971, vibration_z : 0.24908876419067383, clipping_0 : 0, clipping_1 : 0, clipping_2 : 0}
0.594#BATTERY_STATUS {id : 0, battery_function : 0, type : 0, temperature : 32767, voltages : [65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535], current_battery : 0, current_consumed : 0, energy_consumed : 0, battery_remaining : 100, time_remaining : 0, charge_state : 1, voltages_ext : [0, 0, 0, 0], mode : 0, fault_bitmask : 0}
0.594#ATTITUDE {time_boot_ms : 151526, roll : 0.041337497532367706, pitch : 0.043264441192150116, yaw : -2.900538444519043, rollspeed : -0.0001638780813664198, pitchspeed : 0.0007263298612087965, yawspeed : -0.0004262102593202144}
0.594#VFR_HUD {airspeed : 0.02357342652976513, groundspeed : 0.019817093387246132, heading : 193, throttle : 0, alt : 1214.679931640625, climb : -0.012766721658408642}
0.594#AHRS2 {roll : 0.04806193336844444, pitch : 0.03819340094923973, yaw : -2.8911521434783936, altitude : 1215.3900146484375, lat : -248223496, lng : -654656089}
0.595#HOME_POSITION {latitude : -248223497, longitude : -654656087, altitude : 1214720, x : 1.41374933719635, y : 0.45465531945228577, z : -0.8199999928474426, q : [nan, nan, nan, nan], approach_x : 0.0, approach_y : 0.0, approach_z : 0.0, time_usec : 151549209}
0.595#ATTITUDE {time_boot_ms : 151626, roll : 0.04133182764053345, pitch : 0.04325467348098755, yaw : -2.9005141258239746, rollspeed : -0.00023084372514858842, pitchspeed : -0.0004373615374788642, yawspeed : 1.7044454580172896e-05}
0.595#VFR_HUD {airspeed : 0.02353801392018795, groundspeed : 0.020135995000600815, heading : 193, throttle : 0, alt : 1214.679931640625, climb : -0.012189330533146858}
0.595#AHRS2 {roll : 0.047919586300849915, pitch : 0.03803684189915657, yaw : -2.891179084777832, altitude : 1215.52001953125, lat : -248223496, lng : -654656089}
0.595#SYS_STATUS {onboard_control_sensors_present : 1399979055, onboard_control_sensors_enabled : 1398930479, onboard_control_sensors_health : 1467087919, load : 288, voltage_battery : 0, current_battery : 0, battery_remaining : 100, drop_rate_comm : 0, errors_comm : 0, errors_count1 : 0, errors_count2 : 0, errors_count3 : 0, errors_count4 : 0}
0.595#POWER_STATUS {Vcc : 4992, Vservo : 0, flags : 1}
0.595#MEMINFO {brkval : 0, freemem : 65535, freemem32 : 558216}
0.595#NAV_CONTROLLER_OUTPUT {nav_roll : 0.00013633024354930967, nav_pitch : 0.00031254644272848964, nav_bearing : -166, target_bearing : 197, wp_dist : 0, alt_error : 0.0, aspd_error : 0.0, xtrack_error : 0.0}
0.595#MISSION_CURRENT {seq : 1, total : 36, mission_state : 3, mission_mode : 1}
0.595#SERVO_OUTPUT_RAW {time_usec : 151679512, port : 0, servo1_raw : 1000, servo2_raw : 1000, servo3_raw : 1000, servo4_raw : 1000, servo5_raw : 0, servo6_raw : 0, servo7_raw : 0, servo8_raw : 0, servo9_raw : 0, servo10_raw : 0, servo11_raw : 0, servo12_raw : 0, servo13_raw : 0, servo14_raw : 0, servo15_raw : 0, servo16_raw : 0}
0.612#RC_CHANNELS {time_boot_ms : 151679, chancount : 16, chan1_raw : 1495, chan2_raw : 1496, chan3_raw : 982, chan4_raw : 1497, chan5_raw : 982, chan6_raw : 982, chan7_raw : 1495, chan8_raw : 1495, chan9_raw : 1495, chan10_raw : 1495, chan11_raw : 1495, chan12_raw : 1495, chan13_raw : 1495, chan14_raw : 1495, chan15_raw : 1495, chan16_raw : 1495, chan17_raw : 0, chan18_raw : 0, rssi : 255}
0.612#RAW_IMU {time_usec : 151679599, xacc : 41, yacc : 23, zacc : -1002, xgyro : 0, ygyro : -1, zgyro : 0, xmag : -190, ymag : 82, zmag : -90, id : 0, temperature : 4480}
0.612#SCALED_IMU2 {time_boot_ms : 151679, xacc : 37, yacc : 15, zacc : -1000, xgyro : 1, ygyro : -1, zgyro : -2, xmag : -183, ymag : 84, zmag : -126, temperature : 4475}
0.709#SCALED_IMU3 {time_boot_ms : 151681, xacc : 44, yacc : 32, zacc : -994, xgyro : 0, ygyro : -2, zgyro : 0, xmag : 0, ymag : 0, zmag : 0, temperature : 4200}
0.709#SCALED_PRESSURE {time_boot_ms : 151681, press_abs : 876.916259765625, press_diff : 0.0, temperature : 4155, temperature_press_diff : 0}
0.709#SCALED_PRESSURE2 {time_boot_ms : 151681, press_abs : 876.519775390625, press_diff : 0.0, temperature : 4775, temperature_press_diff : 0}
0.709#GPS_RAW_INT {time_usec : 151598000, fix_type : 4, lat : -248223496, lon : -654656090, alt : 1216290, eph : 46, epv : 89, vel : 4, cog : 32853, satellites_visible : 29, alt_ellipsoid : 1244296, h_acc : 532, v_acc : 1045, vel_acc : 112, hdg_acc : 0, yaw : 0}
0.709#MCU_STATUS {id : 0, MCU_temperature : 4329, MCU_voltage : 3303, MCU_voltage_min : 3287, MCU_voltage_max : 3318}
0.709#ATTITUDE {time_boot_ms : 151726, roll : 0.04134172201156616, pitch : 0.043249428272247314, yaw : -2.900498151779175, rollspeed : -0.000493038387503475, pitchspeed : 0.0002603620523586869, yawspeed : -5.536255775950849e-05}
0.709#VFR_HUD {airspeed : 0.0235417690128088, groundspeed : 0.02051740512251854, heading : 193, throttle : 0, alt : 1214.679931640625, climb : -0.01154344156384468}
0.709#AHRS2 {roll : 0.047965824604034424, pitch : 0.03801838308572769, yaw : -2.8911705017089844, altitude : 1215.659912109375, lat : -248223496, lng : -654656090}
0.709#HEARTBEAT {type : 2, autopilot : 3, base_mode : 217, custom_mode : 3, system_status : 3, mavlink_version : 3}
0.709#GLOBAL_POSITION_INT {time_boot_ms : 151784, lat : -248223497, lon : -654656089, alt : 1214680, relative_alt : -37, vx : 1, vy : -1, vz : 1, hdg : 19382}
0.709#SYSTEM_TIME {time_unix_usec : 1721322142377993, time_boot_ms : 151784}
0.709#AHRS {omegaIx : -5.687996599590406e-05, omegaIy : 0.001269604777917266, omegaIz : 0.0003088519733864814, accel_weight : 0.0, renorm_val : 0.0, error_rp : 0.005688878241926432, error_yaw : 0.0035271714441478252}
0.709#WIND {direction : -180.0, speed : 0.0, speed_z : 0.0}
0.709#TERRAIN_REPORT {lat : -248223497, lon : -654656089, spacing : 100, terrain_height : 1214.7203369140625, current_height : -0.040364064276218414, pending : 0, loaded : 504}
0.774#GIMBAL_DEVICE_ATTITUDE_STATUS {target_system : 0, target_component : 0, time_boot_ms : 151784, flags : 12, q : [1.0, 0.0, 0.0, 0.0], angular_velocity_x : nan, angular_velocity_y : nan, angular_velocity_z : nan, failure_flags : 0, delta_yaw : nan, delta_yaw_velocity : nan, gimbal_device_id : 1}
0.774#EKF_STATUS_REPORT {flags : 831, velocity_variance : 0.013829418458044529, pos_horiz_variance : 0.00219287583604455, pos_vert_variance : 0.0036432603374123573, compass_variance : 0.0023722380865365267, terrain_alt_variance : 0.0, airspeed_variance : 0.0}
0.774#LOCAL_POSITION_NED {time_boot_ms : 151784, x : 1.4248331785202026, y : 0.4249710142612457, z : -0.7825162410736084, vx : 0.015414279885590076, vy : -0.014556881971657276, vz : 0.010714537464082241}
0.774#VIBRATION {time_usec : 151784289, vibration_x : 0.2517070472240448, vibration_y : 0.15528954565525055, vibration_z : 0.2488945871591568, clipping_0 : 0, clipping_1 : 0, clipping_2 : 0}
0.774#BATTERY_STATUS {id : 0, battery_function : 0, type : 0, temperature : 32767, voltages : [65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535], current_battery : 0, current_consumed : 0, energy_consumed : 0, battery_remaining : 100, time_remaining : 0, charge_state : 1, voltages_ext : [0, 0, 0, 0], mode : 0, fault_bitmask : 0}
0.774#ATTITUDE {time_boot_ms : 151826, roll : 0.04135309159755707, pitch : 0.04324429854750633, yaw : -2.9004788398742676, rollspeed : -8.27736803330481e-05, pitchspeed : 0.0003929726080968976, yawspeed : 0.00016553144087083638}
0.774#VFR_HUD {airspeed : 0.024039251729846, groundspeed : 0.02149271033704281, heading : 193, throttle : 0, alt : 1214.679931640625, climb : -0.010767960920929909}
0.774#AHRS2 {roll : 0.048039961606264114, pitch : 0.038019441068172455, yaw : -2.8912365436553955, altitude : 1215.3599853515625, lat : -248223496, lng : -654656091}
0.872#ATTITUDE {time_boot_ms : 151926, roll : 0.04136533662676811, pitch : 0.04323793575167656, yaw : -2.9005143642425537, rollspeed : -0.00036266594543121755, pitchspeed : -5.7745957747101784e-05, yawspeed : -0.0003787594032473862}
0.872#VFR_HUD {airspeed : 0.027607478201389313, groundspeed : 0.02554621361196041, heading : 193, throttle : 0, alt : 1214.679931640625, climb : -0.010467277839779854}
0.872#AHRS2 {roll : 0.048139434307813644, pitch : 0.03835280239582062, yaw : -2.891343355178833, altitude : 1215.6400146484375, lat : -248223496, lng : -654656091}
0.969#ATTITUDE {time_boot_ms : 152026, roll : 0.04137887805700302, pitch : 0.043201446533203125, yaw : -2.9005517959594727, rollspeed : 0.0001221345883095637, pitchspeed : -0.0004617067752406001, yawspeed : -0.00019673150382004678}
0.969#VFR_HUD {airspeed : 0.030892223119735718, groundspeed : 0.029218634590506554, heading : 193, throttle : 0, alt : 1214.679931640625, climb : -0.010030005127191544}
0.969#AHRS2 {roll : 0.04824671521782875, pitch : 0.03871333226561546, yaw : -2.891446352005005, altitude : 1215.2899169921875, lat : -248223496, lng : -654656092}
0.986#HEARTBEAT {type : 6, autopilot : 8, base_mode : 192, custom_mode : 0, system_status : 4, mavlink_version : 3}
1.053#RADIO_STATUS {rssi : 128, remrssi : 130, txbuf : 100, noise : 44, remnoise : 31, rxerrors : 13, fixed : 0}
1.133#GLOBAL_POSITION_INT {time_boot_ms : 152119, lat : -248223496, lon : -654656091, alt : 1214680, relative_alt : -38, vx : 1, vy : -2, vz : 0, hdg : 19381}
1.133#SYSTEM_TIME {time_unix_usec : 1721322142713394, time_boot_ms : 152119}
1.133#AHRS {omegaIx : -5.622482785838656e-05, omegaIy : 0.0012693911558017135, omegaIz : 0.0003079563321080059, accel_weight : 0.0, renorm_val : 0.0, error_rp : 0.008830656297504902, error_yaw : 0.005813355091959238}
1.133#WIND {direction : -180.0, speed : 0.0, speed_z : 0.0}
1.133#TERRAIN_REPORT {lat : -248223496, lon : -654656091, spacing : 100, terrain_height : 1214.720458984375, current_height : -0.040486134588718414, pending : 0, loaded : 504}
1.215#GIMBAL_DEVICE_ATTITUDE_STATUS {target_system : 0, target_component : 0, time_boot_ms : 152119, flags : 12, q : [1.0, 0.0, 0.0, 0.0], angular_velocity_x : nan, angular_velocity_y : nan, angular_velocity_z : nan, failure_flags : 0, delta_yaw : nan, delta_yaw_velocity : nan, gimbal_device_id : 1}
1.216#EKF_STATUS_REPORT {flags : 831, velocity_variance : 0.01519289705902338, pos_horiz_variance : 0.0007665579905733466, pos_vert_variance : 0.014890692196786404, compass_variance : 0.0012976241996511817, terrain_alt_variance : 0.0, airspeed_variance : 0.0}
1.216#LOCAL_POSITION_NED {time_boot_ms : 152119, x : 1.4312973022460938, y : 0.41146141290664673, z : -0.7812564969062805, vx : 0.019533641636371613, vy : -0.025305120274424553, vz : 0.009754973463714123}
1.216#VIBRATION {time_usec : 152121668, vibration_x : 0.25506487488746643, vibration_y : 0.1570746898651123, vibration_z : 0.2549603581428528, clipping_0 : 0, clipping_1 : 0, clipping_2 : 0}
1.216#BATTERY_STATUS {id : 0, battery_function : 0, type : 0, temperature : 32767, voltages : [65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535], current_battery : 0, current_consumed : 0, energy_consumed : 0, battery_remaining : 100, time_remaining : 0, charge_state : 1, voltages_ext : [0, 0, 0, 0], mode : 0, fault_bitmask : 0}
1.216#ATTITUDE {time_boot_ms : 152126, roll : 0.0413883700966835, pitch : 0.043218523263931274, yaw : -2.9005911350250244, rollspeed : 8.323424845002592e-05, pitchspeed : -0.00010048632975667715, yawspeed : 1.191330375149846e-05}
1.216#VFR_HUD {airspeed : 0.033466774970293045, groundspeed : 0.032077912241220474, heading : 193, throttle : 0, alt : 1214.679931640625, climb : -0.009541094303131104}
1.216#AHRS2 {roll : 0.04813254252076149, pitch : 0.03870527446269989, yaw : -2.8915364742279053, altitude : 1215.8099365234375, lat : -248223496, lng : -654656091}
1.216#SYS_STATUS {onboard_control_sensors_present : 1399979055, onboard_control_sensors_enabled : 1398930479, onboard_control_sensors_health : 1467087919, load : 279, voltage_battery : 0, current_battery : 0, battery_remaining : 100, drop_rate_comm : 0, errors_comm : 0, errors_count1 : 0, errors_count2 : 0, errors_count3 : 0, errors_count4 : 0}
1.216#POWER_STATUS {Vcc : 5006, Vservo : 0, flags : 1}
1.216#MEMINFO {brkval : 0, freemem : 65535, freemem32 : 551416}
1.216#NAV_CONTROLLER_OUTPUT {nav_roll : 0.00013633030175697058, nav_pitch : 0.0003125464136246592, nav_bearing : -166, target_bearing : 136, wp_dist : 0, alt_error : 0.0, aspd_error : 0.0, xtrack_error : 0.0}
1.216#MISSION_CURRENT {seq : 1, total : 36, mission_state : 3, mission_mode : 1}
1.216#SERVO_OUTPUT_RAW {time_usec : 152179528, port : 0, servo1_raw : 1000, servo2_raw : 1000, servo3_raw : 1000, servo4_raw : 1000, servo5_raw : 0, servo6_raw : 0, servo7_raw : 0, servo8_raw : 0, servo9_raw : 0, servo10_raw : 0, servo11_raw : 0, servo12_raw : 0, servo13_raw : 0, servo14_raw : 0, servo15_raw : 0, servo16_raw : 0}
1.312#RAW_IMU {time_usec : 152179558, xacc : 42, yacc : 24, zacc : -1001, xgyro : 0, ygyro : 0, zgyro : 0, xmag : -192, ymag : 80, zmag : -112, id : 0, temperature : 4480}
1.312#SCALED_IMU2 {time_boot_ms : 152179, xacc : 36, yacc : 16, zacc : -1002, xgyro : 1, ygyro : 1, zgyro : -1, xmag : -181, ymag : 95, zmag : -124, temperature : 4475}
1.312#SCALED_IMU3 {time_boot_ms : 152179, xacc : 44, yacc : 33, zacc : -993, xgyro : 0, ygyro : -1, zgyro : 0, xmag : 0, ymag : 0, zmag : 0, temperature : 4200}
1.312#SCALED_PRESSURE {time_boot_ms : 152179, press_abs : 876.8868408203125, press_diff : 0.0, temperature : 4158, temperature_press_diff : 0}
1.312#SCALED_PRESSURE2 {time_boot_ms : 152179, press_abs : 876.526611328125, press_diff : 0.0, temperature : 4774, temperature_press_diff : 0}
1.312#GPS_RAW_INT {time_usec : 151998000, fix_type : 4, lat : -248223496, lon : -654656091, alt : 1216280, eph : 46, epv : 89, vel : 3, cog : 32853, satellites_visible : 29, alt_ellipsoid : 1244285, h_acc : 532, v_acc : 1046, vel_acc : 152, hdg_acc : 0, yaw : 0}
1.313#MCU_STATUS {id : 0, MCU_temperature : 4329, MCU_voltage : 3303, MCU_voltage_min : 3287, MCU_voltage_max : 3318}
1.313#ATTITUDE {time_boot_ms : 152226, roll : 0.041384853422641754, pitch : 0.04324842989444733, yaw : -2.9005889892578125, rollspeed : -0.0001681109715718776, pitchspeed : 0.000350833754055202, yawspeed : -1.8184073269367218e-07}
1.313#VFR_HUD {airspeed : 0.03601716086268425, groundspeed : 0.0348464660346508, heading : 193, throttle : 0, alt : 1214.679931640625, climb : -0.009108217433094978}
1.313#AHRS2 {roll : 0.047966357320547104, pitch : 0.03863370791077614, yaw : -2.891616106033325, altitude : 1215.43994140625, lat : -248223496, lng : -654656091}
1.313#ATTITUDE {time_boot_ms : 152326, roll : 0.04139547795057297, pitch : 0.04326222464442253, yaw : -2.9006025791168213, rollspeed : -3.857442061416805e-05, pitchspeed : -4.308647476136684e-06, yawspeed : 1.534423790872097e-05}
1.313#VFR_HUD {airspeed : 0.03637024760246277, groundspeed : 0.0352802611887455, heading : 193, throttle : 0, alt : 1214.679931640625, climb : -0.008837312459945679}
1.313#AHRS2 {roll : 0.04776778444647789, pitch : 0.03861024230718613, yaw : -2.8916563987731934, altitude : 1215.5399169921875, lat : -248223496, lng : -654656091}
1.394#ATTITUDE {time_boot_ms : 152426, roll : 0.04133867099881172, pitch : 0.04331338405609131, yaw : -2.901050090789795, rollspeed : -0.0045197210274636745, pitchspeed : 0.002322921995073557, yawspeed : -0.04437468200922012}
1.394#VFR_HUD {airspeed : 0.039477359503507614, groundspeed : 0.038452714681625366, heading : 193, throttle : 0, alt : 1214.679931640625, climb : -0.008935920894145966}
1.394#AHRS2 {roll : 0.04749118909239769, pitch : 0.038636792451143265, yaw : -2.8921732902526855, altitude : 1215.489990234375, lat : -248223496, lng : -654656091}
1.394#GLOBAL_POSITION_INT {time_boot_ms : 152451, lat : -248223495, lon : -654656092, alt : 1214680, relative_alt : -38, vx : 2, vy : -2, vz : 0, hdg : 19379}
1.394#SYSTEM_TIME {time_unix_usec : 1721322143045473, time_boot_ms : 152451}
1.394#AHRS {omegaIx : -5.641129246214405e-05, omegaIy : 0.0012693367898464203, omegaIz : 0.00030746872653253376, accel_weight : 0.0, renorm_val : 0.0, error_rp : 0.00850124191492796, error_yaw : 0.007760703098028898}
1.394#WIND {direction : -180.0, speed : 0.0, speed_z : 0.0}
1.394#TERRAIN_REPORT {lat : -248223495, lon : -654656092, spacing : 100, terrain_height : 1214.7205810546875, current_height : -0.040608204901218414, pending : 0, loaded : 504}
1.394#GIMBAL_DEVICE_ATTITUDE_STATUS {target_system : 0, target_component : 0, time_boot_ms : 152451, flags : 12, q : [1.0, 0.0, 0.0, 0.0], angular_velocity_x : nan, angular_velocity_y : nan, angular_velocity_z : nan, failure_flags : 0, delta_yaw : nan, delta_yaw_velocity : nan, gimbal_device_id : 1}
1.394#EKF_STATUS_REPORT {flags : 831, velocity_variance : 0.014218415133655071, pos_horiz_variance : 0.002641690196469426, pos_vert_variance : 0.0018674448365345597, compass_variance : 0.0014068859163671732, terrain_alt_variance : 0.0, airspeed_variance : 0.0}
1.394#LOCAL_POSITION_NED {time_boot_ms : 152451, x : 1.4379793405532837, y : 0.4020492136478424, z : -0.781585156917572, vx : 0.021135417744517326, vy : -0.025480208918452263, vz : 0.00899268127977848}
1.394#VIBRATION {time_usec : 152451826, vibration_x : 0.32375141978263855, vibration_y : 0.3324134647846222, vibration_z : 0.31057485938072205, clipping_0 : 0, clipping_1 : 0, clipping_2 : 0}
1.394#BATTERY_STATUS {id : 0, battery_function : 0, type : 0, temperature : 32767, voltages : [65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535], current_battery : 0, current_consumed : 0, energy_consumed : 0, battery_remaining : 100, time_remaining : 0, charge_state : 1, voltages_ext : [0, 0, 0, 0], mode : 0, fault_bitmask : 0}
1.394#ATTITUDE {time_boot_ms : 152526, roll : 0.041392430663108826, pitch : 0.04334701597690582, yaw : -2.9010674953460693, rollspeed : 0.003757252125069499, pitchspeed : 0.004372757859528065, yawspeed : -0.01563824713230133}
1.411#VFR_HUD {airspeed : 0.03617529198527336, groundspeed : 0.03499964252114296, heading : 193, throttle : 0, alt : 1214.679931640625, climb : -0.00914748664945364}
1.411#AHRS2 {roll : 0.04752922058105469, pitch : 0.03857329487800598, yaw : -2.892289400100708, altitude : 1215.18994140625, lat : -248223496, lng : -654656092}
1.411#HOME_POSITION {latitude : -248223497, longitude : -654656087, altitude : 1214720, x : 1.41374933719635, y : 0.45465531945228577, z : -0.8199999928474426, q : [nan, nan, nan, nan], approach_x : 0.0, approach_y : 0.0, approach_z : 0.0, time_usec : 152549152}
1.639#ATTITUDE {time_boot_ms : 152626, roll : 0.0415181964635849, pitch : 0.043396759778261185, yaw : -2.9005613327026367, rollspeed : 0.007323659490793943, pitchspeed : 0.0007577112992294133, yawspeed : 0.01801353320479393}
1.639#VFR_HUD {airspeed : 0.03718849644064903, groundspeed : 0.03617807477712631, heading : 193, throttle : 0, alt : 1214.679931640625, climb : -0.008609961718320847}
1.639#AHRS2 {roll : 0.047676876187324524, pitch : 0.03851168230175972, yaw : -2.891770839691162, altitude : 1215.409912109375, lat : -248223496, lng : -654656092}
1.639#SYS_STATUS {onboard_control_sensors_present : 1399979055, onboard_control_sensors_enabled : 1398930479, onboard_control_sensors_health : 1467087919, load : 289, voltage_battery : 0, current_battery : 0, battery_remaining : 100, drop_rate_comm : 0, errors_comm : 0, errors_count1 : 0, errors_count2 : 0, errors_count3 : 0, errors_count4 : 0}
1.639#POWER_STATUS {Vcc : 5004, Vservo : 0, flags : 1}
1.639#MEMINFO {brkval : 0, freemem : 65535, freemem32 : 551416}
1.639#NAV_CONTROLLER_OUTPUT {nav_roll : 0.0001363303599646315, nav_pitch : 0.0003125464718323201, nav_bearing : -166, target_bearing : 129, wp_dist : 0, alt_error : 0.0, aspd_error : 0.0, xtrack_error : 0.0}
1.639#MISSION_CURRENT {seq : 1, total : 36, mission_state : 3, mission_mode : 1}
1.639#SERVO_OUTPUT_RAW {time_usec : 152679533, port : 0, servo1_raw : 1143, servo2_raw : 1143, servo3_raw : 1143, servo4_raw : 1143, servo5_raw : 0, servo6_raw : 0, servo7_raw : 0, servo8_raw : 0, servo9_raw : 0, servo10_raw : 0, servo11_raw : 0, servo12_raw : 0, servo13_raw : 0, servo14_raw : 0, servo15_raw : 0, servo16_raw : 0}
1.639#RC_CHANNELS {time_boot_ms : 152679, chancount : 16, chan1_raw : 1495, chan2_raw : 1495, chan3_raw : 982, chan4_raw : 1497, chan5_raw : 982, chan6_raw : 982, chan7_raw : 1495, chan8_raw : 1495, chan9_raw : 1495, chan10_raw : 1495, chan11_raw : 1495, chan12_raw : 1495, chan13_raw : 1495, chan14_raw : 1495, chan15_raw : 1495, chan16_raw : 1495, chan17_raw : 0, chan18_raw : 0, rssi : 255}
1.640#RAW_IMU {time_usec : 152679563, xacc : 37, yacc : 11, zacc : -1002, xgyro : -3, ygyro : 1, zgyro : -13, xmag : -190, ymag : 80, zmag : -113, id : 0, temperature : 4480}
1.640#SCALED_IMU2 {time_boot_ms : 152679, xacc : 35, yacc : 6, zacc : -1005, xgyro : -2, ygyro : 4, zgyro : -13, xmag : -178, ymag : 65, zmag : -128, temperature : 4462}
1.640#SCALED_IMU3 {time_boot_ms : 152679, xacc : 39, yacc : 19, zacc : -994, xgyro : -2, ygyro : 1, zgyro : -10, xmag : 0, ymag : 0, zmag : 0, temperature : 4200}
1.640#SCALED_PRESSURE {time_boot_ms : 152679, press_abs : 876.9273071289062, press_diff : 0.0, temperature : 4157, temperature_press_diff : 0}
1.640#SCALED_PRESSURE2 {time_boot_ms : 152679, press_abs : 876.5059204101562, press_diff : 0.0, temperature : 4775, temperature_press_diff : 0}
1.640#GPS_RAW_INT {time_usec : 152598000, fix_type : 4, lat : -248223496, lon : -654656092, alt : 1216280, eph : 46, epv : 89, vel : 0, cog : 32853, satellites_visible : 29, alt_ellipsoid : 1244285, h_acc : 534, v_acc : 1048, vel_acc : 196, hdg_acc : 0, yaw : 0}
1.640#MCU_STATUS {id : 0, MCU_temperature : 4329, MCU_voltage : 3303, MCU_voltage_min : 3287, MCU_voltage_max : 3318}
1.640#ATTITUDE {time_boot_ms : 152726, roll : 0.04124574363231659, pitch : 0.04317609220743179, yaw : -2.9005115032196045, rollspeed : -0.01328650675714016, pitchspeed : -0.01137438602745533, yawspeed : 0.003574173431843519}
1.740#VFR_HUD {airspeed : 0.03755100071430206, groundspeed : 0.0362522229552269, heading : 193, throttle : 1, alt : 1214.669921875, climb : -0.009790509939193726}
1.740#AHRS2 {roll : 0.04719194024801254, pitch : 0.0383024699985981, yaw : -2.8918111324310303, altitude : 1215.8299560546875, lat : -248223496, lng : -654656092}
1.740#HEARTBEAT {type : 2, autopilot : 3, base_mode : 217, custom_mode : 3, system_status : 3, mavlink_version : 3}
1.740#GLOBAL_POSITION_INT {time_boot_ms : 152784, lat : -248223495, lon : -654656092, alt : 1214670, relative_alt : -42, vx : 1, vy : -2, vz : 0, hdg : 19381}
1.740#SYSTEM_TIME {time_unix_usec : 1721322143377971, time_boot_ms : 152784}
1.740#AHRS {omegaIx : -5.632868851535022e-05, omegaIy : 0.0012695855693891644, omegaIz : 0.0003065349883399904, accel_weight : 0.0, renorm_val : 0.0, error_rp : 0.009260504506528378, error_yaw : 0.007343305740505457}
1.740#WIND {direction : -180.0, speed : 0.0, speed_z : 0.0}
1.740#TERRAIN_REPORT {lat : -248223495, lon : -654656092, spacing : 100, terrain_height : 1214.7205810546875, current_height : -0.05060820281505585, pending : 0, loaded : 504}
1.741#GIMBAL_DEVICE_ATTITUDE_STATUS {target_system : 0, target_component : 0, time_boot_ms : 152784, flags : 12, q : [1.0, 0.0, 0.0, 0.0], angular_velocity_x : nan, angular_velocity_y : nan, angular_velocity_z : nan, failure_flags : 0, delta_yaw : nan, delta_yaw_velocity : nan, gimbal_device_id : 1}
1.741#EKF_STATUS_REPORT {flags : 831, velocity_variance : 0.012581607326865196, pos_horiz_variance : 0.002325657522305846, pos_vert_variance : 0.012609380297362804, compass_variance : 0.00249279267154634, terrain_alt_variance : 0.0, airspeed_variance : 0.0}
1.741#LOCAL_POSITION_NED {time_boot_ms : 152784, x : 1.438661813735962, y : 0.3957558274269104, z : -0.7779499292373657, vx : 0.01849265769124031, vy : -0.02677425555884838, vz : 0.008440864272415638}
1.741#VIBRATION {time_usec : 152786649, vibration_x : 0.74409019947052, vibration_y : 0.7597215175628662, vibration_z : 0.7097615599632263, clipping_0 : 0, clipping_1 : 0, clipping_2 : 0}
1.741#BATTERY_STATUS {id : 0, battery_function : 0, type : 0, temperature : 32767, voltages : [65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535], current_battery : 0, current_consumed : 0, energy_consumed : 0, battery_remaining : 100, time_remaining : 0, charge_state : 1, voltages_ext : [0, 0, 0, 0], mode : 0, fault_bitmask : 0}
1.741#ATTITUDE {time_boot_ms : 152827, roll : 0.041060224175453186, pitch : 0.04249819740653038, yaw : -2.9007787704467773, rollspeed : -0.0022688827011734247, pitchspeed : 0.0002776080509647727, yawspeed : -0.009606200270354748}
1.741#VFR_HUD {airspeed : 0.03666487708687782, groundspeed : 0.03512085601687431, heading : 193, throttle : 6, alt : 1214.669921875, climb : -0.01052799541503191}
1.741#AHRS2 {roll : 0.046758171170949936, pitch : 0.037658922374248505, yaw : -2.892155408859253, altitude : 1215.5799560546875, lat : -248223496, lng : -654656092}
1.902#ATTITUDE {time_boot_ms : 152926, roll : 0.04093289375305176, pitch : 0.04278668388724327, yaw : -2.9007997512817383, rollspeed : -0.0034352773800492287, pitchspeed : 0.010863939300179482, yawspeed : 0.0007449851837009192}
1.902#VFR_HUD {airspeed : 0.03422870114445686, groundspeed : 0.033072832971811295, heading : 193, throttle : 11, alt : 1214.669921875, climb : -0.008819949813187122}
1.902#AHRS2 {roll : 0.04669957980513573, pitch : 0.0381181463599205, yaw : -2.892224073410034, altitude : 1216.1199951171875, lat : -248223495, lng : -654656092}
1.902#ATTITUDE {time_boot_ms : 153026, roll : 0.040654443204402924, pitch : 0.04347338527441025, yaw : -2.9009926319122314, rollspeed : -0.0033446666784584522, pitchspeed : 0.0075268493965268135, yawspeed : 0.0005815348122268915}
1.903#VFR_HUD {airspeed : 0.032045330852270126, groundspeed : 0.030527159571647644, heading : 193, throttle : 16, alt : 1214.669921875, climb : -0.009746581315994263}
1.903#AHRS2 {roll : 0.04654644802212715, pitch : 0.03899935632944107, yaw : -2.892460823059082, altitude : 1215.7099609375, lat : -248223495, lng : -654656092}
1.965#HEARTBEAT {type : 6, autopilot : 8, base_mode : 192, custom_mode : 0, system_status : 4, mavlink_version : 3}
2.019#GLOBAL_POSITION_INT {time_boot_ms : 153116, lat : -248223495, lon : -654656093, alt : 1214680, relative_alt : -36, vx : 2, vy : 0, vz : 0, hdg : 19375}
2.019#SYSTEM_TIME {time_unix_usec : 1721322143710742, time_boot_ms : 153116}
2.019#AHRS {omegaIx : -5.6622422562213615e-05, omegaIy : 0.001270167762413621, omegaIz : 0.00030629889806732535, accel_weight : 0.0, renorm_val : 0.0, error_rp : 0.012371149845421314, error_yaw : 0.006612270604819059}
2.019#WIND {direction : -180.0, speed : 0.0, speed_z : 0.0}
2.019#TERRAIN_REPORT {lat : -248223495, lon : -654656093, spacing : 100, terrain_height : 1214.720703125, current_height : -0.040730275213718414, pending : 0, loaded : 504}
2.189#GIMBAL_DEVICE_ATTITUDE_STATUS {target_system : 0, target_component : 0, time_boot_ms : 153117, flags : 12, q : [1.0, 0.0, 0.0, 0.0], angular_velocity_x : nan, angular_velocity_y : nan, angular_velocity_z : nan, failure_flags : 0, delta_yaw : nan, delta_yaw_velocity : nan, gimbal_device_id : 1}
2.189#EKF_STATUS_REPORT {flags : 831, velocity_variance : 0.03469530865550041, pos_horiz_variance : 0.0011779669439420104, pos_vert_variance : 0.005692417733371258, compass_variance : 0.0008580227149650455, terrain_alt_variance : 0.0, airspeed_variance : 0.0}
2.189#LOCAL_POSITION_NED {time_boot_ms : 153117, x : 1.4446099996566772, y : 0.39300239086151123, z : -0.7836567163467407, vx : 0.020115720108151436, vy : -0.006414598319679499, vz : 0.006934020202606916}
2.189#VIBRATION {time_usec : 153117105, vibration_x : 3.018984079360962, vibration_y : 3.5547678470611572, vibration_z : 2.712759494781494, clipping_0 : 0, clipping_1 : 0, clipping_2 : 0}
2.189#BATTERY_STATUS {id : 0, battery_function : 0, type : 0, temperature : 32767, voltages : [65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535], current_battery : 0, current_consumed : 0, energy_consumed : 0, battery_remaining : 100, time_remaining : 0, charge_state : 1, voltages_ext : [0, 0, 0, 0], mode : 0, fault_bitmask : 0}
2.189#ATTITUDE {time_boot_ms : 153127, roll : 0.03973337262868881, pitch : 0.0447709783911705, yaw : -2.901826858520508, rollspeed : -0.012004819698631763, pitchspeed : 0.01146665122359991, yawspeed : -0.011916037648916245}
2.189#VFR_HUD {airspeed : 0.02108651213347912, groundspeed : 0.020043522119522095, heading : 193, throttle : 21, alt : 1214.679931640625, climb : -0.0065496754832565784}
2.189#AHRS2 {roll : 0.045806460082530975, pitch : 0.040688641369342804, yaw : -2.8933026790618896, altitude : 1215.449951171875, lat : -248223494, lng : -654656092}
2.189#SYS_STATUS {onboard_control_sensors_present : 1399979055, onboard_control_sensors_enabled : 1398930479, onboard_control_sensors_health : 1467087919, load : 283, voltage_battery : 0, current_battery : 0, battery_remaining : 100, drop_rate_comm : 0, errors_comm : 0, errors_count1 : 0, errors_count2 : 0, errors_count3 : 0, errors_count4 : 0}
2.189#POWER_STATUS {Vcc : 4969, Vservo : 0, flags : 1}
2.189#MEMINFO {brkval : 0, freemem : 65535, freemem32 : 551416}
2.191#NAV_CONTROLLER_OUTPUT {nav_roll : 0.0001363303599646315, nav_pitch : 0.00031254644272848964, nav_bearing : -166, target_bearing : 133, wp_dist : 0, alt_error : 0.0, aspd_error : 0.0, xtrack_error : 0.0}
2.191#MISSION_CURRENT {seq : 1, total : 36, mission_state : 3, mission_mode : 1}
2.191#SERVO_OUTPUT_RAW {time_usec : 153179533, port : 0, servo1_raw : 1501, servo2_raw : 1500, servo3_raw : 1468, servo4_raw : 1526, servo5_raw : 0, servo6_raw : 0, servo7_raw : 0, servo8_raw : 0, servo9_raw : 0, servo10_raw : 0, servo11_raw : 0, servo12_raw : 0, servo13_raw : 0, servo14_raw : 0, servo15_raw : 0, servo16_raw : 0}
2.275#RC_CHANNELS {time_boot_ms : 153179, chancount : 16, chan1_raw : 1495, chan2_raw : 1495, chan3_raw : 982, chan4_raw : 1497, chan5_raw : 982, chan6_raw : 982, chan7_raw : 1495, chan8_raw : 1495, chan9_raw : 1495, chan10_raw : 1495, chan11_raw : 1495, chan12_raw : 1495, chan13_raw : 1495, chan14_raw : 1495, chan15_raw : 1495, chan16_raw : 1495, chan17_raw : 0, chan18_raw : 0, rssi : 255}
2.275#RAW_IMU {time_usec : 153179566, xacc : 43, yacc : 2, zacc : -1004, xgyro : -9, ygyro : 22, zgyro : -3, xmag : -195, ymag : 81, zmag : -115, id : 0, temperature : 4480}
2.275#SCALED_IMU2 {time_boot_ms : 153179, xacc : 49, yacc : 3, zacc : -1005, xgyro : -7, ygyro : 20, zgyro : -4, xmag : -189, ymag : -94, zmag : -150, temperature : 4462}
2.275#SCALED_IMU3 {time_boot_ms : 153179, xacc : 49, yacc : 15, zacc : -996, xgyro : -8, ygyro : 21, zgyro : -3, xmag : 0, ymag : 0, zmag : 0, temperature : 4200}
2.275#SCALED_PRESSURE {time_boot_ms : 153179, press_abs : 876.9224853515625, press_diff : 0.0, temperature : 4158, temperature_press_diff : 0}
2.276#SCALED_PRESSURE2 {time_boot_ms : 153179, press_abs : 876.5179443359375, press_diff : 0.0, temperature : 4776, temperature_press_diff : 0}
2.276#RADIO_STATUS {rssi : 128, remrssi : 126, txbuf : 100, noise : 54, remnoise : 30, rxerrors : 13, fixed : 0}
2.276#GPS_RAW_INT {time_usec : 152998000, fix_type : 4, lat : -248223495, lon : -654656092, alt : 1216300, eph : 46, epv : 89, vel : 6, cog : 32853, satellites_visible : 29, alt_ellipsoid : 1244305, h_acc : 534, v_acc : 1050, vel_acc : 166, hdg_acc : 0, yaw : 0}
2.276#MCU_STATUS {id : 0, MCU_temperature : 4335, MCU_voltage : 3303, MCU_voltage_min : 3287, MCU_voltage_max : 3318}
2.276#ATTITUDE {time_boot_ms : 153226, roll : 0.03879866749048233, pitch : 0.04689084738492966, yaw : -2.9028477668762207, rollspeed : -0.00967428833246231, pitchspeed : 0.034133344888687134, yawspeed : -0.012875068001449108}
2.276#VFR_HUD {airspeed : 0.02655843459069729, groundspeed : 0.02606714516878128, heading : 193, throttle : 26, alt : 1214.679931640625, climb : -0.005084725562483072}
2.276#AHRS2 {roll : 0.045058514922857285, pitch : 0.04323218762874603, yaw : -2.8943846225738525, altitude : 1215.969970703125, lat : -248223494, lng : -654656092}
2.276#ATTITUDE {time_boot_ms : 153326, roll : 0.03834676742553711, pitch : 0.052545372396707535, yaw : -2.9052419662475586, rollspeed : -0.025917937979102135, pitchspeed : 0.07496418803930283, yawspeed : -0.02651198022067547}
2.276#VFR_HUD {airspeed : 0.05054142326116562, groundspeed : 0.04901775345206261, heading : 193, throttle : 31, alt : 1214.68994140625, climb : 0.012316483072936535}
2.290#AHRS2 {roll : 0.04446762427687645, pitch : 0.048542629927396774, yaw : -2.8967697620391846, altitude : 1215.530029296875, lat : -248223494, lng : -654656093}
2.419#ATTITUDE {time_boot_ms : 153426, roll : 0.033433541655540466, pitch : 0.061414361000061035, yaw : -2.9080915451049805, rollspeed : -0.11833763867616653, pitchspeed : 0.08032462745904922, yawspeed : -0.038566406816244125}
2.419#VFR_HUD {airspeed : 0.11701441556215286, groundspeed : 0.08306063711643219, heading : 193, throttle : 33, alt : 1214.699951171875, climb : 0.08242150396108627}
2.419#AHRS2 {roll : 0.03935699164867401, pitch : 0.05693113058805466, yaw : -2.899629592895508, altitude : 1215.3299560546875, lat : -248223494, lng : -654656093}
2.419#GLOBAL_POSITION_INT {time_boot_ms : 153449, lat : -248223493, lon : -654656093, alt : 1214700, relative_alt : -12, vx : 9, vy : 0, vz : -8, hdg : 19333}
2.419#SYSTEM_TIME {time_unix_usec : 1721322144043018, time_boot_ms : 153449}
2.419#AHRS {omegaIx : -5.6823591876309365e-05, omegaIy : 0.001269437139853835, omegaIz : 0.0003056102432310581, accel_weight : 0.0, renorm_val : 0.0, error_rp : 0.017015181481838226, error_yaw : 0.00599799957126379}
2.419#WIND {direction : -180.0, speed : 0.0, speed_z : 0.0}
2.419#TERRAIN_REPORT {lat : -248223493, lon : -654656093, spacing : 100, terrain_height : 1214.7205810546875, current_height : -0.02060820534825325, pending : 0, loaded : 504}
2.419#GIMBAL_DEVICE_ATTITUDE_STATUS {target_system : 0, target_component : 0, time_boot_ms : 153449, flags : 12, q : [1.0, 0.0, 0.0, 0.0], angular_velocity_x : nan, angular_velocity_y : nan, angular_velocity_z : nan, failure_flags : 0, delta_yaw : nan, delta_yaw_velocity : nan, gimbal_device_id : 1}
2.420#EKF_STATUS_REPORT {flags : 831, velocity_variance : 0.015289516188204288, pos_horiz_variance : 0.0016581359086558223, pos_vert_variance : 0.0037424955517053604, compass_variance : 0.0025224348064512014, terrain_alt_variance : 0.0, airspeed_variance : 0.0}
2.420#LOCAL_POSITION_NED {time_boot_ms : 153449, x : 1.4609142541885376, y : 0.3900658190250397, z : -0.8073655962944031, vx : 0.09632477909326553, vy : -0.000845686299726367, vz : -0.08322469145059586}
2.420#VIBRATION {time_usec : 153449312, vibration_x : 5.778928756713867, vibration_y : 7.289006233215332, vibration_z : 6.329729080200195, clipping_0 : 0, clipping_1 : 0, clipping_2 : 0}
2.521#BATTERY_STATUS {id : 0, battery_function : 0, type : 0, temperature : 32767, voltages : [65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535], current_battery : 0, current_consumed : 0, energy_consumed : 0, battery_remaining : 100, time_remaining : 0, charge_state : 1, voltages_ext : [0, 0, 0, 0], mode : 0, fault_bitmask : 0}
2.521#ATTITUDE {time_boot_ms : 153526, roll : 0.022558405995368958, pitch : 0.0557670071721077, yaw : -2.9101619720458984, rollspeed : -0.13549961149692535, pitchspeed : -0.17236226797103882, yawspeed : -0.002185871358960867}
2.521#VFR_HUD {airspeed : 0.20335379242897034, groundspeed : 0.12495724856853485, heading : 193, throttle : 34, alt : 1214.7099609375, climb : 0.16043208539485931}
2.521#AHRS2 {roll : 0.028115326538681984, pitch : 0.05144461244344711, yaw : -2.901744842529297, altitude : 1215.6199951171875, lat : -248223494, lng : -654656093}
2.521#HOME_POSITION {latitude : -248223497, longitude : -654656087, altitude : 1214720, x : 1.41374933719635, y : 0.45465531945228577, z : -0.8199999928474426, q : [nan, nan, nan, nan], approach_x : 0.0, approach_y : 0.0, approach_z : 0.0, time_usec : 153549223}
2.522#ATTITUDE {time_boot_ms : 153626, roll : 0.016994576901197433, pitch : 0.03272715210914612, yaw : -2.9085400104522705, rollspeed : 0.028980914503335953, pitchspeed : -0.2715185880661011, yawspeed : 0.011382917873561382}
2.522#VFR_HUD {airspeed : 0.2974493205547333, groundspeed : 0.1735268086194992, heading : 193, throttle : 35, alt : 1214.739990234375, climb : 0.2415875494480133}
2.522#AHRS2 {roll : 0.022132128477096558, pitch : 0.028659740462899208, yaw : -2.9003489017486572, altitude : 1214.7899169921875, lat : -248223494, lng : -654656093}
2.649#SYS_STATUS {onboard_control_sensors_present : 1399979055, onboard_control_sensors_enabled : 1398930479, onboard_control_sensors_health : 1467087919, load : 294, voltage_battery : 0, current_battery : 0, battery_remaining : 100, drop_rate_comm : 0, errors_comm : 0, errors_count1 : 0, errors_count2 : 0, errors_count3 : 0, errors_count4 : 0}
2.649#POWER_STATUS {Vcc : 4959, Vservo : 0, flags : 1}
2.650#MEMINFO {brkval : 0, freemem : 65535, freemem32 : 558432}
2.650#NAV_CONTROLLER_OUTPUT {nav_roll : 0.4259248375892639, nav_pitch : -2.8238747119903564, nav_bearing : -166, target_bearing : 162, wp_dist : 0, alt_error : -0.0043000029399991035, aspd_error : 0.0, xtrack_error : 0.016162684187293053}
2.650#MISSION_CURRENT {seq : 1, total : 36, mission_state : 3, mission_mode : 1}
2.650#SERVO_OUTPUT_RAW {time_usec : 153679484, port : 0, servo1_raw : 1630, servo2_raw : 1628, servo3_raw : 1590, servo4_raw : 1655, servo5_raw : 0, servo6_raw : 0, servo7_raw : 0, servo8_raw : 0, servo9_raw : 0, servo10_raw : 0, servo11_raw : 0, servo12_raw : 0, servo13_raw : 0, servo14_raw : 0, servo15_raw : 0, servo16_raw : 0}
2.650#RC_CHANNELS {time_boot_ms : 153679, chancount : 16, chan1_raw : 1495, chan2_raw : 1495, chan3_raw : 982, chan4_raw : 1497, chan5_raw : 982, chan6_raw : 982, chan7_raw : 1495, chan8_raw : 1495, chan9_raw : 1495, chan10_raw : 1495, chan11_raw : 1495, chan12_raw : 1495, chan13_raw : 1495, chan14_raw : 1495, chan15_raw : 1495, chan16_raw : 1495, chan17_raw : 0, chan18_raw : 0, rssi : 255}
2.650#RAW_IMU {time_usec : 153679518, xacc : -6, yacc : 28, zacc : -1086, xgyro : 157, ygyro : -282, zgyro : 29, xmag : -195, ymag : 85, zmag : -118, id : 0, temperature : 4480}
2.650#SCALED_IMU2 {time_boot_ms : 153679, xacc : -9, yacc : 24, zacc : -1076, xgyro : 158, ygyro : -281, zgyro : 32, xmag : -185, ymag : -190, zmag : -174, temperature : 4462}
2.650#SCALED_IMU3 {time_boot_ms : 153679, xacc : -4, yacc : 35, zacc : -1074, xgyro : 160, ygyro : -282, zgyro : 31, xmag : 0, ymag : 0, zmag : 0, temperature : 4200}
2.650#SCALED_PRESSURE {time_boot_ms : 153679, press_abs : 876.9887084960938, press_diff : 0.0, temperature : 4161, temperature_press_diff : 0}
2.650#SCALED_PRESSURE2 {time_boot_ms : 153679, press_abs : 876.4749755859375, press_diff : 0.0, temperature : 4776, temperature_press_diff : 0}
2.650#GPS_RAW_INT {time_usec : 153598000, fix_type : 4, lat : -248223493, lon : -654656093, alt : 1216310, eph : 46, epv : 89, vel : 9, cog : 32853, satellites_visible : 29, alt_ellipsoid : 1244316, h_acc : 536, v_acc : 1053, vel_acc : 200, hdg_acc : 0, yaw : 0}
2.776#MCU_STATUS {id : 0, MCU_temperature : 4337, MCU_voltage : 3303, MCU_voltage_min : 3287, MCU_voltage_max : 3318}
2.776#ATTITUDE {time_boot_ms : 153726, roll : 0.02793148159980774, pitch : 0.005534936208277941, yaw : -2.9040167331695557, rollspeed : 0.060166504234075546, pitchspeed : -0.25215110182762146, yawspeed : 0.04192686825990677}
2.777#VFR_HUD {airspeed : 0.3613681495189667, groundspeed : 0.19893430173397064, heading : 193, throttle : 36, alt : 1214.760009765625, climb : 0.30168208479881287}
2.777#AHRS2 {roll : 0.03282030671834946, pitch : 0.001624832395464182, yaw : -2.8959829807281494, altitude : 1215.4000244140625, lat : -248223492, lng : -654656092}
2.777#HEARTBEAT {type : 2, autopilot : 3, base_mode : 217, custom_mode : 3, system_status : 4, mavlink_version : 3}
2.777#GLOBAL_POSITION_INT {time_boot_ms : 153784, lat : -248223490, lon : -654656092, alt : 1214780, relative_alt : 68, vx : 18, vy : 8, vz : -35, hdg : 19381}
2.777#SYSTEM_TIME {time_unix_usec : 1721322144377972, time_boot_ms : 153784}
2.777#WIND {direction : -180.0, speed : 0.0, speed_z : 0.0}