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<html>
<body>
<p>
<strong>MAVLink Include Files:</strong>
<a href="common.md">common.xml</a>
</p>
<h2>MAVLink Type Enumerations</h2>
<h3 id="MAV_CMD">
<a href="#MAV_CMD">MAV_CMD</a>
</h3>
<p>
</p>
<table class="sortable">
<thead>
<tr>
<th>Value</th>
<th>Field Name</th>
<th>Description</th>
</tr>
</thead>
<tbody>
<tr id="MAV_CMD_RESET_MPPT">
<td>40001</td>
<td>
<a href="#MAV_CMD_RESET_MPPT">MAV_CMD_RESET_MPPT</a>
</td>
<td>Mission command to reset Maximum Power Point Tracker (MPPT)</td>
</tr>
<tr>
<td>
</td>
</tr>
<tr>
<td>
</td>
<td>Mission Param #1</td>
<td>MPPT number</td>
</tr>
<tr>
<td>
</td>
<td>Mission Param #2</td>
<td>Empty</td>
</tr>
<tr>
<td>
</td>
<td>Mission Param #3</td>
<td>Empty</td>
</tr>
<tr>
<td>
</td>
<td>Mission Param #4</td>
<td>Empty</td>
</tr>
<tr>
<td>
</td>
<td>Mission Param #5</td>
<td>Empty</td>
</tr>
<tr>
<td>
</td>
<td>Mission Param #6</td>
<td>Empty</td>
</tr>
<tr>
<td>
</td>
<td>Mission Param #7</td>
<td>Empty</td>
</tr>
<tr>
<td colspan="3">
<br/>
</td>
</tr>
<tr id="MAV_CMD_PAYLOAD_CONTROL">
<td>40002</td>
<td>
<a href="#MAV_CMD_PAYLOAD_CONTROL">MAV_CMD_PAYLOAD_CONTROL</a>
</td>
<td>Mission command to perform a power cycle on payload</td>
</tr>
<tr>
<td>
</td>
</tr>
<tr>
<td>
</td>
<td>Mission Param #1</td>
<td>Complete power cycle</td>
</tr>
<tr>
<td>
</td>
<td>Mission Param #2</td>
<td>VISensor power cycle</td>
</tr>
<tr>
<td>
</td>
<td>Mission Param #3</td>
<td>Empty</td>
</tr>
<tr>
<td>
</td>
<td>Mission Param #4</td>
<td>Empty</td>
</tr>
<tr>
<td>
</td>
<td>Mission Param #5</td>
<td>Empty</td>
</tr>
<tr>
<td>
</td>
<td>Mission Param #6</td>
<td>Empty</td>
</tr>
<tr>
<td>
</td>
<td>Mission Param #7</td>
<td>Empty</td>
</tr>
<tr>
<td colspan="3">
<br/>
</td>
</tr>
</tbody>
</table>
<h2>MAVLink Messages</h2>
<h3 id="COMMAND_INT_STAMPED">COMMAND_INT_STAMPED (<a href="#COMMAND_INT_STAMPED">
#78
</a>
)
</h3>
<p>Message encoding a command with parameters as scaled integers and additional metadata. Scaling depends on the actual command value.</p>
<table class="sortable">
<thead>
<tr>
<th>Field Name</th>
<th>Type</th>
<th>Values</th>
<th>Description</th>
</tr>
</thead>
<tbody>
<tr>
<td>utc_time</td>
<td>uint32_t</td>
<td>
<a href="#">
</a>
</td>
<td>UTC time, seconds elapsed since 01.01.1970</td>
</tr>
<tr>
<td>vehicle_timestamp</td>
<td>uint64_t</td>
<td>
<a href="#">
</a>
</td>
<td>Microseconds elapsed since vehicle boot</td>
</tr>
<tr>
<td>target_system</td>
<td>uint8_t</td>
<td>
<a href="#">
</a>
</td>
<td>System ID</td>
</tr>
<tr>
<td>target_component</td>
<td>uint8_t</td>
<td>
<a href="#">
</a>
</td>
<td>Component ID</td>
</tr>
<tr>
<td>frame</td>
<td>uint8_t</td>
<td>
<a href="#MAV_FRAME">MAV_FRAME</a>
</td>
<td>The coordinate system of the COMMAND, as defined by MAV_FRAME enum</td>
</tr>
<tr>
<td>command</td>
<td>uint16_t</td>
<td>
<a href="#MAV_CMD">MAV_CMD</a>
</td>
<td>The scheduled action for the mission item, as defined by MAV_CMD enum</td>
</tr>
<tr>
<td>current</td>
<td>uint8_t</td>
<td>
<a href="#">
</a>
</td>
<td>false:0, true:1</td>
</tr>
<tr>
<td>autocontinue</td>
<td>uint8_t</td>
<td>
<a href="#">
</a>
</td>
<td>autocontinue to next wp</td>
</tr>
<tr>
<td>param1</td>
<td>float</td>
<td>
<a href="#">
</a>
</td>
<td>PARAM1, see MAV_CMD enum</td>
</tr>
<tr>
<td>param2</td>
<td>float</td>
<td>
<a href="#">
</a>
</td>
<td>PARAM2, see MAV_CMD enum</td>
</tr>
<tr>
<td>param3</td>
<td>float</td>
<td>
<a href="#">
</a>
</td>
<td>PARAM3, see MAV_CMD enum</td>
</tr>
<tr>
<td>param4</td>
<td>float</td>
<td>
<a href="#">
</a>
</td>
<td>PARAM4, see MAV_CMD enum</td>
</tr>
<tr>
<td>x</td>
<td>int32_t</td>
<td>
<a href="#">
</a>
</td>
<td>PARAM5 / local: x position in meters * 1e4, global: latitude in degrees * 10^7</td>
</tr>
<tr>
<td>y</td>
<td>int32_t</td>
<td>
<a href="#">
</a>
</td>
<td>PARAM6 / local: y position in meters * 1e4, global: longitude in degrees * 10^7</td>
</tr>
<tr>
<td>z</td>
<td>float</td>
<td>
<a href="#">
</a>
</td>
<td>PARAM7 / z position: global: altitude in meters (relative or absolute, depending on frame.</td>
</tr>
</tbody>
</table>
<h3 id="COMMAND_LONG_STAMPED">COMMAND_LONG_STAMPED (<a href="#COMMAND_LONG_STAMPED">
#79
</a>
)
</h3>
<p>Send a command with up to seven parameters to the MAV and additional metadata</p>
<table class="sortable">
<thead>
<tr>
<th>Field Name</th>
<th>Type</th>
<th>Values</th>
<th>Description</th>
</tr>
</thead>
<tbody>
<tr>
<td>utc_time</td>
<td>uint32_t</td>
<td>
<a href="#">
</a>
</td>
<td>UTC time, seconds elapsed since 01.01.1970</td>
</tr>
<tr>
<td>vehicle_timestamp</td>
<td>uint64_t</td>
<td>
<a href="#">
</a>
</td>
<td>Microseconds elapsed since vehicle boot</td>
</tr>
<tr>
<td>target_system</td>
<td>uint8_t</td>
<td>
<a href="#">
</a>
</td>
<td>System which should execute the command</td>
</tr>
<tr>
<td>target_component</td>
<td>uint8_t</td>
<td>
<a href="#">
</a>
</td>
<td>Component which should execute the command, 0 for all components</td>
</tr>
<tr>
<td>command</td>
<td>uint16_t</td>
<td>
<a href="#MAV_CMD">MAV_CMD</a>
</td>
<td>Command ID, as defined by MAV_CMD enum.</td>
</tr>
<tr>
<td>confirmation</td>
<td>uint8_t</td>
<td>
<a href="#">
</a>
</td>
<td>0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)</td>
</tr>
<tr>
<td>param1</td>
<td>float</td>
<td>
<a href="#">
</a>
</td>
<td>Parameter 1, as defined by MAV_CMD enum.</td>
</tr>
<tr>
<td>param2</td>
<td>float</td>
<td>
<a href="#">
</a>
</td>
<td>Parameter 2, as defined by MAV_CMD enum.</td>
</tr>
<tr>
<td>param3</td>
<td>float</td>
<td>
<a href="#">
</a>
</td>
<td>Parameter 3, as defined by MAV_CMD enum.</td>
</tr>
<tr>
<td>param4</td>
<td>float</td>
<td>
<a href="#">
</a>
</td>
<td>Parameter 4, as defined by MAV_CMD enum.</td>
</tr>
<tr>
<td>param5</td>
<td>float</td>
<td>
<a href="#">
</a>
</td>
<td>Parameter 5, as defined by MAV_CMD enum.</td>
</tr>
<tr>
<td>param6</td>
<td>float</td>
<td>
<a href="#">
</a>
</td>
<td>Parameter 6, as defined by MAV_CMD enum.</td>
</tr>
<tr>
<td>param7</td>
<td>float</td>
<td>
<a href="#">
</a>
</td>
<td>Parameter 7, as defined by MAV_CMD enum.</td>
</tr>
</tbody>
</table>
<h3 id="SENS_POWER">SENS_POWER (<a href="#SENS_POWER">
#201
</a>
)
</h3>
<p>Voltage and current sensor data</p>
<table class="sortable">
<thead>
<tr>
<th>Field Name</th>
<th>Type</th>
<th>Units</th>
<th>Description</th>
</tr>
</thead>
<tbody>
<tr>
<td>adc121_vspb_volt</td>
<td>float</td>
<td>V</td>
<td>Power board voltage sensor reading</td>
</tr>
<tr>
<td>adc121_cspb_amp</td>
<td>float</td>
<td>A</td>
<td>Power board current sensor reading</td>
</tr>
<tr>
<td>adc121_cs1_amp</td>
<td>float</td>
<td>A</td>
<td>Board current sensor 1 reading</td>
</tr>
<tr>
<td>adc121_cs2_amp</td>
<td>float</td>
<td>A</td>
<td>Board current sensor 2 reading</td>
</tr>
</tbody>
</table>
<h3 id="SENS_MPPT">SENS_MPPT (<a href="#SENS_MPPT">
#202
</a>
)
</h3>
<p>Maximum Power Point Tracker (MPPT) sensor data for solar module power performance tracking</p>
<table class="sortable">
<thead>
<tr>
<th>Field Name</th>
<th>Type</th>
<th>Units</th>
<th>Description</th>
</tr>
</thead>
<tbody>
<tr>
<td>mppt_timestamp</td>
<td>uint64_t</td>
<td>us</td>
<td>MPPT last timestamp</td>
</tr>
<tr>
<td>mppt1_volt</td>
<td>float</td>
<td>V</td>
<td>MPPT1 voltage</td>
</tr>
<tr>
<td>mppt1_amp</td>
<td>float</td>
<td>A</td>
<td>MPPT1 current</td>
</tr>
<tr>
<td>mppt1_pwm</td>
<td>uint16_t</td>
<td>us</td>
<td>MPPT1 pwm</td>
</tr>
<tr>
<td>mppt1_status</td>
<td>uint8_t</td>
<td>
</td>
<td>MPPT1 status</td>
</tr>
<tr>
<td>mppt2_volt</td>
<td>float</td>
<td>V</td>
<td>MPPT2 voltage</td>
</tr>
<tr>
<td>mppt2_amp</td>
<td>float</td>
<td>A</td>
<td>MPPT2 current</td>
</tr>
<tr>
<td>mppt2_pwm</td>
<td>uint16_t</td>
<td>us</td>
<td>MPPT2 pwm</td>
</tr>
<tr>
<td>mppt2_status</td>
<td>uint8_t</td>
<td>
</td>
<td>MPPT2 status</td>
</tr>
<tr>
<td>mppt3_volt</td>
<td>float</td>
<td>V</td>
<td>MPPT3 voltage</td>
</tr>
<tr>
<td>mppt3_amp</td>
<td>float</td>
<td>A</td>
<td>MPPT3 current</td>
</tr>
<tr>
<td>mppt3_pwm</td>
<td>uint16_t</td>
<td>us</td>
<td>MPPT3 pwm</td>
</tr>
<tr>
<td>mppt3_status</td>
<td>uint8_t</td>
<td>
</td>
<td>MPPT3 status</td>
</tr>
</tbody>
</table>
<h3 id="ASLCTRL_DATA">ASLCTRL_DATA (<a href="#ASLCTRL_DATA">
#203
</a>
)
</h3>
<p>ASL-fixed-wing controller data</p>
<table class="sortable">
<thead>
<tr>
<th>Field Name</th>
<th>Type</th>
<th>Units</th>
<th>Description</th>
</tr>
</thead>
<tbody>
<tr>
<td>timestamp</td>
<td>uint64_t</td>
<td>us</td>
<td>Timestamp</td>
</tr>
<tr>
<td>aslctrl_mode</td>
<td>uint8_t</td>
<td>
</td>
<td>ASLCTRL control-mode (manual, stabilized, auto, etc...)</td>
</tr>
<tr>
<td>h</td>
<td>float</td>
<td>
</td>
<td>See sourcecode for a description of these values...</td>
</tr>
<tr>
<td>hRef</td>
<td>float</td>
<td>
</td>
<td>
</td>
</tr>
<tr>
<td>hRef_t</td>
<td>float</td>
<td>
</td>
<td>
</td>
</tr>
<tr>
<td>PitchAngle</td>
<td>float</td>
<td>deg</td>
<td>Pitch angle</td>
</tr>
<tr>
<td>PitchAngleRef</td>
<td>float</td>
<td>deg</td>
<td>Pitch angle reference</td>
</tr>
<tr>
<td>q</td>
<td>float</td>
<td>
</td>
<td>
</td>
</tr>
<tr>
<td>qRef</td>
<td>float</td>
<td>
</td>
<td>
</td>
</tr>
<tr>
<td>uElev</td>
<td>float</td>
<td>
</td>
<td>
</td>
</tr>
<tr>
<td>uThrot</td>
<td>float</td>
<td>
</td>
<td>
</td>
</tr>
<tr>
<td>uThrot2</td>
<td>float</td>
<td>
</td>
<td>
</td>
</tr>
<tr>
<td>nZ</td>
<td>float</td>
<td>
</td>
<td>
</td>
</tr>
<tr>
<td>AirspeedRef</td>
<td>float</td>
<td>m/s</td>
<td>Airspeed reference</td>
</tr>
<tr>
<td>SpoilersEngaged</td>
<td>uint8_t</td>
<td>
</td>
<td>
</td>
</tr>
<tr>
<td>YawAngle</td>
<td>float</td>
<td>deg</td>
<td>Yaw angle</td>
</tr>
<tr>
<td>YawAngleRef</td>
<td>float</td>
<td>deg</td>
<td>Yaw angle reference</td>
</tr>
<tr>
<td>RollAngle</td>
<td>float</td>
<td>deg</td>
<td>Roll angle</td>
</tr>
<tr>
<td>RollAngleRef</td>
<td>float</td>
<td>deg</td>
<td>Roll angle reference</td>
</tr>
<tr>
<td>p</td>
<td>float</td>
<td>
</td>
<td>
</td>
</tr>
<tr>
<td>pRef</td>
<td>float</td>
<td>
</td>
<td>
</td>
</tr>
<tr>
<td>r</td>
<td>float</td>
<td>
</td>
<td>
</td>
</tr>
<tr>
<td>rRef</td>
<td>float</td>
<td>
</td>
<td>
</td>
</tr>
<tr>
<td>uAil</td>
<td>float</td>
<td>
</td>
<td>
</td>
</tr>
<tr>
<td>uRud</td>
<td>float</td>
<td>
</td>
<td>
</td>
</tr>
</tbody>
</table>
<h3 id="ASLCTRL_DEBUG">ASLCTRL_DEBUG (<a href="#ASLCTRL_DEBUG">
#204
</a>
)
</h3>
<p>ASL-fixed-wing controller debug data</p>
<table class="sortable">
<thead>
<tr>
<th>Field Name</th>
<th>Type</th>
<th>Description</th>
</tr>
</thead>
<tbody>
<tr>
<td>i32_1</td>
<td>uint32_t</td>
<td>Debug data</td>
</tr>
<tr>
<td>i8_1</td>
<td>uint8_t</td>
<td>Debug data</td>
</tr>
<tr>
<td>i8_2</td>
<td>uint8_t</td>
<td>Debug data</td>
</tr>
<tr>
<td>f_1</td>
<td>float</td>
<td>Debug data</td>
</tr>
<tr>
<td>f_2</td>
<td>float</td>
<td>Debug data</td>
</tr>
<tr>
<td>f_3</td>
<td>float</td>
<td>Debug data</td>
</tr>
<tr>
<td>f_4</td>
<td>float</td>
<td>Debug data</td>
</tr>
<tr>
<td>f_5</td>
<td>float</td>
<td>Debug data</td>
</tr>
<tr>
<td>f_6</td>
<td>float</td>
<td>Debug data</td>
</tr>
<tr>
<td>f_7</td>
<td>float</td>
<td>Debug data</td>
</tr>
<tr>
<td>f_8</td>
<td>float</td>
<td>Debug data</td>
</tr>
</tbody>
</table>
<h3 id="ASLUAV_STATUS">ASLUAV_STATUS (<a href="#ASLUAV_STATUS">
#205
</a>
)
</h3>
<p>Extended state information for ASLUAVs</p>
<table class="sortable">
<thead>
<tr>
<th>Field Name</th>
<th>Type</th>
<th>Description</th>
</tr>
</thead>
<tbody>
<tr>
<td>LED_status</td>
<td>uint8_t</td>
<td>Status of the position-indicator LEDs</td>
</tr>
<tr>
<td>SATCOM_status</td>
<td>uint8_t</td>
<td>Status of the IRIDIUM satellite communication system</td>
</tr>
<tr>
<td>Servo_status</td>
<td>uint8_t[8]</td>
<td>Status vector for up to 8 servos</td>
</tr>
<tr>
<td>Motor_rpm</td>
<td>float</td>
<td>Motor RPM</td>
</tr>
</tbody>
</table>
<h3 id="EKF_EXT">EKF_EXT (<a href="#EKF_EXT">
#206
</a>
)
</h3>
<p>Extended EKF state estimates for ASLUAVs</p>
<table class="sortable">
<thead>
<tr>
<th>Field Name</th>
<th>Type</th>
<th>Units</th>
<th>Description</th>
</tr>
</thead>
<tbody>
<tr>
<td>timestamp</td>
<td>uint64_t</td>
<td>us</td>
<td>Time since system start</td>
</tr>
<tr>
<td>Windspeed</td>
<td>float</td>
<td>m/s</td>
<td>Magnitude of wind velocity (in lateral inertial plane)</td>
</tr>
<tr>
<td>WindDir</td>
<td>float</td>
<td>rad</td>
<td>Wind heading angle from North</td>
</tr>
<tr>
<td>WindZ</td>
<td>float</td>
<td>m/s</td>
<td>Z (Down) component of inertial wind velocity</td>
</tr>
<tr>
<td>Airspeed</td>
<td>float</td>
<td>m/s</td>
<td>Magnitude of air velocity</td>
</tr>
<tr>
<td>beta</td>
<td>float</td>
<td>rad</td>
<td>Sideslip angle</td>
</tr>
<tr>
<td>alpha</td>
<td>float</td>
<td>rad</td>
<td>Angle of attack</td>
</tr>
</tbody>
</table>
<h3 id="ASL_OBCTRL">ASL_OBCTRL (<a href="#ASL_OBCTRL">
#207
</a>
)
</h3>
<p>Off-board controls/commands for ASLUAVs</p>
<table class="sortable">
<thead>
<tr>
<th>Field Name</th>
<th>Type</th>
<th>Units</th>
<th>Description</th>
</tr>
</thead>
<tbody>
<tr>
<td>timestamp</td>
<td>uint64_t</td>
<td>us</td>
<td>Time since system start</td>
</tr>
<tr>
<td>uElev</td>
<td>float</td>
<td>
</td>
<td>Elevator command [~]</td>
</tr>
<tr>
<td>uThrot</td>
<td>float</td>
<td>
</td>
<td>Throttle command [~]</td>
</tr>
<tr>
<td>uThrot2</td>
<td>float</td>
<td>
</td>
<td>Throttle 2 command [~]</td>
</tr>
<tr>
<td>uAilL</td>
<td>float</td>
<td>
</td>
<td>Left aileron command [~]</td>
</tr>
<tr>
<td>uAilR</td>
<td>float</td>
<td>
</td>
<td>Right aileron command [~]</td>
</tr>
<tr>
<td>uRud</td>
<td>float</td>
<td>
</td>
<td>Rudder command [~]</td>
</tr>
<tr>
<td>obctrl_status</td>
<td>uint8_t</td>
<td>
</td>
<td>Off-board computer status</td>
</tr>
</tbody>
</table>
<h3 id="SENS_ATMOS">SENS_ATMOS (<a href="#SENS_ATMOS">
#208
</a>
)
</h3>
<p>Atmospheric sensors (temperature, humidity, ...)</p>
<table class="sortable">
<thead>
<tr>
<th>Field Name</th>
<th>Type</th>
<th>Units</th>
<th>Description</th>
</tr>
</thead>
<tbody>
<tr>
<td>TempAmbient</td>
<td>float</td>
<td>degC</td>
<td>Ambient temperature</td>
</tr>
<tr>
<td>Humidity</td>
<td>float</td>
<td>
%
</td>
<td>Relative humidity</td>
</tr>
</tbody>
</table>
<h3 id="SENS_BATMON">SENS_BATMON (<a href="#SENS_BATMON">
#209
</a>
)
</h3>
<p>Battery pack monitoring data for Li-Ion batteries</p>
<table class="sortable">
<thead>
<tr>
<th>Field Name</th>
<th>Type</th>
<th>Units</th>
<th>Description</th>
</tr>
</thead>
<tbody>
<tr>
<td>batmon_timestamp</td>
<td>uint64_t</td>
<td>us</td>
<td>Time since system start</td>
</tr>
<tr>
<td>temperature</td>
<td>float</td>
<td>degC</td>
<td>Battery pack temperature</td>
</tr>
<tr>
<td>voltage</td>
<td>uint16_t</td>
<td>mV</td>
<td>Battery pack voltage</td>
</tr>
<tr>
<td>current</td>
<td>int16_t</td>
<td>mA</td>
<td>Battery pack current</td>
</tr>
<tr>
<td>SoC</td>
<td>uint8_t</td>
<td>
</td>
<td>Battery pack state-of-charge</td>
</tr>
<tr>
<td>batterystatus</td>
<td>uint16_t</td>
<td>
</td>
<td>Battery monitor status report bits in Hex</td>
</tr>
<tr>
<td>serialnumber</td>
<td>uint16_t</td>
<td>
</td>
<td>Battery monitor serial number in Hex</td>
</tr>
<tr>
<td>safetystatus</td>
<td>uint32_t</td>
<td>
</td>
<td>Battery monitor safetystatus report bits in Hex</td>
</tr>
<tr>
<td>operationstatus</td>
<td>uint32_t</td>
<td>
</td>
<td>Battery monitor operation status report bits in Hex</td>
</tr>
<tr>
<td>cellvoltage1</td>
<td>uint16_t</td>
<td>mV</td>
<td>Battery pack cell 1 voltage</td>
</tr>
<tr>
<td>cellvoltage2</td>
<td>uint16_t</td>
<td>mV</td>
<td>Battery pack cell 2 voltage</td>
</tr>
<tr>
<td>cellvoltage3</td>
<td>uint16_t</td>
<td>mV</td>
<td>Battery pack cell 3 voltage</td>
</tr>
<tr>
<td>cellvoltage4</td>
<td>uint16_t</td>
<td>mV</td>
<td>Battery pack cell 4 voltage</td>
</tr>
<tr>
<td>cellvoltage5</td>
<td>uint16_t</td>
<td>mV</td>
<td>Battery pack cell 5 voltage</td>
</tr>
<tr>
<td>cellvoltage6</td>
<td>uint16_t</td>
<td>mV</td>
<td>Battery pack cell 6 voltage</td>
</tr>
</tbody>
</table>
<h3 id="FW_SOARING_DATA">FW_SOARING_DATA (<a href="#FW_SOARING_DATA">
#210
</a>
)
</h3>
<p>Fixed-wing soaring (i.e. thermal seeking) data</p>
<table class="sortable">
<thead>
<tr>
<th>Field Name</th>
<th>Type</th>
<th>Units</th>
<th>Description</th>
</tr>
</thead>
<tbody>
<tr>
<td>timestamp</td>
<td>uint64_t</td>
<td>ms</td>
<td>Timestamp</td>
</tr>
<tr>
<td>timestampModeChanged</td>
<td>uint64_t</td>
<td>ms</td>
<td>Timestamp since last mode change</td>
</tr>
<tr>
<td>xW</td>
<td>float</td>
<td>m/s</td>
<td>Thermal core updraft strength</td>
</tr>
<tr>
<td>xR</td>
<td>float</td>
<td>m</td>
<td>Thermal radius</td>
</tr>
<tr>
<td>xLat</td>
<td>float</td>
<td>deg</td>
<td>Thermal center latitude</td>
</tr>
<tr>
<td>xLon</td>
<td>float</td>
<td>deg</td>
<td>Thermal center longitude</td>
</tr>
<tr>
<td>VarW</td>
<td>float</td>
<td>
</td>
<td>Variance W</td>
</tr>
<tr>
<td>VarR</td>
<td>float</td>
<td>
</td>
<td>Variance R</td>
</tr>
<tr>
<td>VarLat</td>
<td>float</td>
<td>
</td>
<td>Variance Lat</td>
</tr>
<tr>
<td>VarLon</td>
<td>float</td>
<td>
</td>
<td>Variance Lon</td>
</tr>
<tr>
<td>LoiterRadius</td>
<td>float</td>
<td>m</td>
<td>Suggested loiter radius</td>
</tr>
<tr>
<td>LoiterDirection</td>
<td>float</td>
<td>
</td>
<td>Suggested loiter direction</td>
</tr>
<tr>
<td>DistToSoarPoint</td>
<td>float</td>
<td>m</td>
<td>Distance to soar point</td>
</tr>
<tr>
<td>vSinkExp</td>
<td>float</td>
<td>m/s</td>
<td>Expected sink rate at current airspeed, roll and throttle</td>
</tr>
<tr>
<td>z1_LocalUpdraftSpeed</td>
<td>float</td>
<td>m/s</td>
<td>Measurement / updraft speed at current/local airplane position</td>
</tr>
<tr>
<td>z2_DeltaRoll</td>
<td>float</td>
<td>deg</td>
<td>Measurement / roll angle tracking error</td>
</tr>
<tr>
<td>z1_exp</td>
<td>float</td>
<td>
</td>
<td>Expected measurement 1</td>
</tr>
<tr>
<td>z2_exp</td>
<td>float</td>
<td>
</td>
<td>Expected measurement 2</td>
</tr>
<tr>
<td>ThermalGSNorth</td>
<td>float</td>
<td>m/s</td>
<td>Thermal drift (from estimator prediction step only)</td>
</tr>
<tr>
<td>ThermalGSEast</td>
<td>float</td>
<td>m/s</td>
<td>Thermal drift (from estimator prediction step only)</td>
</tr>
<tr>
<td>TSE_dot</td>
<td>float</td>
<td>m/s</td>
<td>Total specific energy change (filtered)</td>
</tr>
<tr>
<td>DebugVar1</td>
<td>float</td>
<td>
</td>
<td>Debug variable 1</td>
</tr>
<tr>
<td>DebugVar2</td>
<td>float</td>
<td>
</td>
<td>Debug variable 2</td>
</tr>
<tr>
<td>ControlMode</td>
<td>uint8_t</td>
<td>
</td>
<td>Control Mode [-]</td>
</tr>
<tr>
<td>valid</td>
<td>uint8_t</td>
<td>
</td>
<td>Data valid [-]</td>
</tr>
</tbody>
</table>
<h3 id="SENSORPOD_STATUS">SENSORPOD_STATUS (<a href="#SENSORPOD_STATUS">
#211
</a>
)
</h3>
<p>Monitoring of sensorpod status</p>
<table class="sortable">
<thead>
<tr>
<th>Field Name</th>
<th>Type</th>
<th>Units</th>
<th>Description</th>
</tr>
</thead>
<tbody>
<tr>
<td>timestamp</td>
<td>uint64_t</td>
<td>ms</td>
<td>Timestamp in linuxtime (since 1.1.1970)</td>
</tr>
<tr>
<td>visensor_rate_1</td>
<td>uint8_t</td>
<td>
</td>
<td>Rate of ROS topic 1</td>
</tr>
<tr>
<td>visensor_rate_2</td>
<td>uint8_t</td>
<td>
</td>
<td>Rate of ROS topic 2</td>
</tr>
<tr>
<td>visensor_rate_3</td>
<td>uint8_t</td>
<td>
</td>
<td>Rate of ROS topic 3</td>
</tr>
<tr>
<td>visensor_rate_4</td>
<td>uint8_t</td>
<td>
</td>
<td>Rate of ROS topic 4</td>
</tr>
<tr>
<td>recording_nodes_count</td>
<td>uint8_t</td>
<td>
</td>
<td>Number of recording nodes</td>
</tr>
<tr>
<td>cpu_temp</td>
<td>uint8_t</td>
<td>degC</td>
<td>Temperature of sensorpod CPU in</td>
</tr>
<tr>
<td>free_space</td>
<td>uint16_t</td>
<td>
</td>
<td>Free space available in recordings directory in [Gb] * 1e2</td>
</tr>
</tbody>
</table>
<h3 id="SENS_POWER_BOARD">SENS_POWER_BOARD (<a href="#SENS_POWER_BOARD">
#212
</a>
)
</h3>
<p>Monitoring of power board status</p>
<table class="sortable">
<thead>
<tr>
<th>Field Name</th>
<th>Type</th>
<th>Units</th>
<th>Description</th>
</tr>
</thead>
<tbody>
<tr>
<td>timestamp</td>
<td>uint64_t</td>
<td>us</td>
<td>Timestamp</td>
</tr>
<tr>
<td>pwr_brd_status</td>
<td>uint8_t</td>
<td>
</td>
<td>Power board status register</td>
</tr>
<tr>
<td>pwr_brd_led_status</td>
<td>uint8_t</td>
<td>
</td>
<td>Power board leds status</td>
</tr>
<tr>
<td>pwr_brd_system_volt</td>
<td>float</td>
<td>V</td>
<td>Power board system voltage</td>
</tr>
<tr>
<td>pwr_brd_servo_volt</td>
<td>float</td>
<td>V</td>
<td>Power board servo voltage</td>
</tr>
<tr>
<td>pwr_brd_digital_volt</td>
<td>float</td>
<td>V</td>
<td>Power board digital voltage</td>
</tr>
<tr>
<td>pwr_brd_mot_l_amp</td>
<td>float</td>
<td>A</td>
<td>Power board left motor current sensor</td>
</tr>
<tr>
<td>pwr_brd_mot_r_amp</td>
<td>float</td>
<td>A</td>
<td>Power board right motor current sensor</td>
</tr>
<tr>
<td>pwr_brd_analog_amp</td>
<td>float</td>
<td>A</td>
<td>Power board analog current sensor</td>
</tr>
<tr>
<td>pwr_brd_digital_amp</td>
<td>float</td>
<td>A</td>
<td>Power board digital current sensor</td>
</tr>
<tr>
<td>pwr_brd_ext_amp</td>
<td>float</td>
<td>A</td>
<td>Power board extension current sensor</td>
</tr>
<tr>
<td>pwr_brd_aux_amp</td>
<td>float</td>
<td>A</td>
<td>Power board aux current sensor</td>
</tr>
</tbody>
</table>
</body>
</html>
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