VFR_HUD.groundspeed VFR_HUD.airspeed GPS[0].Spd GPS[1].Spd CTUN.As ARSP.Airspeed GPS.Spd CTUN.As ARSP.Airspeed GPS.Spd ARSP.Airspeed This shows the ground speed of the vehicle versus its air speed GPS[0].Spd GPS[1].Spd CTUN.As*CTUN.E2T GPS.Spd CTUN.As*CTUN.E2T Airspeed correction VFR_HUD.groundspeed GPS.Spd This shows the ground speed of the vehicle Roll and Pitch degrees(ATTITUDE.roll) degrees(ATTITUDE.pitch) ATT.Roll ATT.Pitch Roll and pitch comparison between primary and secondary attitude estimator degrees(ATTITUDE.roll) degrees(ATTITUDE.pitch) degrees(AHRS2.roll) degrees(AHRS2.pitch) ATT.Roll ATT.Pitch AHR2.Roll AHR2.Pitch Desired versus achieved roll and pitch. This shows you how well the attitude controller are for your aircraft. In a well tuned aircraft the desired and achieved roll and pitch should match to within a couple of degrees for any portion of the flight where stabilisation is enabled. NAV_CONTROLLER_OUTPUT.nav_roll NAV_CONTROLLER_OUTPUT.nav_pitch degrees(ATTITUDE.roll) degrees(ATTITUDE.pitch) ATT.DesRoll ATT.Roll ATT.DesPitch ATT.Pitch CTUN.NavRoll CTUN.Roll CTUN.NavPitch CTUN.Pitch Total circular angle, as limited by ANGLE_MAX in Copter. sqrt(ATT.Roll*ATT.Roll+ATT.Pitch*ATT.Pitch) sqrt(CTUN.Roll*CTUN.Roll+CTUN.Pitch*CTUN.Pitch) degrees(sqrt(ATTITUDE.roll*ATTITUDE.roll+ATTITUDE.pitch*ATTITUDE.Pitch)) Difference between total circular angle, as limited by ANGLE_MAX in Copter, and desired circular angle. sqrt(((ATT.Roll-ATT.DesRoll)**2)+((ATT.Pitch-ATT.DesPitch)**2)) Accelerometer Output RAW_IMU.xacc*9.81*0.001 RAW_IMU.yacc*9.81*0.001 RAW_IMU.zacc*9.81*0.001 gravity(RAW_IMU) IMU[0].AccX IMU[0].AccY IMU[0].AccZ sqrt(IMU[0].AccX**2+IMU[0].AccY**2+IMU[0].AccZ**2) IMU.AccX IMU.AccY IMU.AccZ sqrt(IMU.AccX**2+IMU.AccY**2+IMU.AccZ**2) Accelerometer Two Output SCALED_IMU2.xacc*9.81*0.001 SCALED_IMU2.yacc*9.81*0.001 SCALED_IMU2.zacc*9.81*0.001 IMU[1].AccX IMU[1].AccY IMU[1].AccZ sqrt(IMU[1].AccX**2+IMU[1].AccY**2+IMU[1].AccZ**2) IMU2.AccX IMU2.AccY IMU2.AccZ sqrt(IMU2.AccX**2+IMU2.AccY**2+IMU2.AccZ**2) Accelerometer Three Output SCALED_IMU3.xacc*9.81*0.001 SCALED_IMU3.yacc*9.81*0.001 SCALED_IMU3.zacc*9.81*0.001 IMU[2].AccX IMU[2].AccY IMU[2].AccZ sqrt(IMU[2].AccX**2+IMU[2].AccY**2+IMU[2].AccZ**2) IMU3.AccX IMU3.AccY IMU3.AccZ sqrt(IMU3.AccX**2+IMU3.AccY**2+IMU3.AccZ**2) Accelerometer Comparison RAW_IMU.xacc*9.81*0.001 RAW_IMU.yacc*9.81*0.001 RAW_IMU.zacc*9.81*0.001 SCALED_IMU2.xacc*9.81*0.001 SCALED_IMU2.yacc*9.81*0.001 SCALED_IMU2.zacc*9.81*0.001 SCALED_IMU3.xacc*9.81*0.001 SCALED_IMU3.yacc*9.81*0.001 SCALED_IMU3.zacc*9.81*0.001 RAW_IMU.xacc*9.81*0.001 RAW_IMU.yacc*9.81*0.001 RAW_IMU.zacc*9.81*0.001 SCALED_IMU2.xacc*9.81*0.001 SCALED_IMU2.yacc*9.81*0.001 SCALED_IMU2.zacc*9.81*0.001 IMU[0].AccX IMU[0].AccY IMU[0].AccZ IMU[1].AccX IMU[1].AccY IMU[1].AccZ IMU[2].AccX IMU[2].AccY IMU[2].AccZ IMU[0].AccX IMU[0].AccY IMU[0].AccZ IMU[1].AccX IMU[1].AccY IMU[1].AccZ IMU.AccX IMU.AccY IMU.AccZ IMU2.AccX IMU2.AccY IMU2.AccZ IMU3.AccX IMU3.AccY IMU3.AccZ IMU.AccX IMU.AccY IMU.AccZ IMU2.AccX IMU2.AccY IMU2.AccZ Gyroscope Output degrees(RAW_IMU.xgyro*0.001) degrees(RAW_IMU.ygyro*0.001) degrees(RAW_IMU.zgyro*0.001) IMU[0].GyrX IMU[0].GyrY IMU[0].GyrZ IMU.GyrX IMU.GyrY IMU.GyrZ Gyroscope Two Output degrees(SCALED_IMU2.xgyro*0.001) degrees(SCALED_IMU2.ygyro*0.001) degrees(SCALED_IMU2.zgyro*0.001) IMU[1].GyrX IMU[1].GyrY IMU[1].GyrZ IMU2.GyrX IMU2.GyrY IMU2.GyrZ Gyroscope Three Output degrees(SCALED_IMU3.xgyro*0.001) degrees(SCALED_IMU3.ygyro*0.001) degrees(SCALED_IMU3.zgyro*0.001) IMU[2].GyrX IMU[2].GyrY IMU[2].GyrZ IMU3.GyrX IMU3.GyrY IMU3.GyrZ Gyroscope Comparison degrees(RAW_IMU.xgyro*0.001) degrees(RAW_IMU.ygyro*0.001) degrees(RAW_IMU.zgyro*0.001) degrees(SCALED_IMU2.xgyro*0.001) degrees(SCALED_IMU2.ygyro*0.001) degrees(SCALED_IMU2.zgyro*0.001) degrees(SCALED_IMU3.xgyro*0.001) degrees(SCALED_IMU3.ygyro*0.001) degrees(SCALED_IMU3.zgyro*0.001) degrees(RAW_IMU.xgyro*0.001) degrees(RAW_IMU.ygyro*0.001) degrees(RAW_IMU.zgyro*0.001) degrees(SCALED_IMU2.xgyro*0.001) degrees(SCALED_IMU2.ygyro*0.001) degrees(SCALED_IMU2.zgyro*0.001) IMU[0].GyrX IMU[0].GyrY IMU[0].GyrZ IMU[1].GyrX IMU[1].GyrY IMU[1].GyrZ IMU[2].GyrX IMU[2].GyrY IMU[2].GyrZ IMU[0].GyrX IMU[0].GyrY IMU[0].GyrZ IMU[1].GyrX IMU[1].GyrY IMU[1].GyrZ IMU.GyrX IMU.GyrY IMU.GyrZ IMU2.GyrX IMU2.GyrY IMU2.GyrZ IMU3.GyrX IMU3.GyrY IMU3.GyrZ IMU.GyrX IMU.GyrY IMU.GyrZ IMU2.GyrX IMU2.GyrY IMU2.GyrZ Barometer altitude(SCALED_PRESSURE) SCALED_PRESSURE.temperature*0.01:2 BARO[0].Alt BARO[0].Temp:2 BARO.Alt BARO.Temp:2 Barometric Altitude altitude(SCALED_PRESSURE2) SCALED_PRESSURE2.temperature*0.01:2 BARO[1].Alt BARO[1].Temp:2 BAR2.Alt BAR2.Temp:2 Barometric Altitude altitude(SCALED_PRESSURE3) SCALED_PRESSURE3.temperature*0.01:2 BARO[2].Alt BARO[2].Temp:2 BAR3.Alt BAR3.Temp:2 Barometer Comparison altitude(SCALED_PRESSURE) SCALED_PRESSURE.temperature*0.01:2 altitude(SCALED_PRESSURE2) SCALED_PRESSURE2.temperature*0.01:2 altitude(SCALED_PRESSURE3) SCALED_PRESSURE3.temperature*0.01:2 altitude(SCALED_PRESSURE) SCALED_PRESSURE.temperature*0.01:2 altitude(SCALED_PRESSURE2) SCALED_PRESSURE2.temperature*0.01:2 BARO[0].Alt BARO[0].Temp:2 BARO[1].Alt BARO[1].Temp:2 BARO[2].Alt BARO[2].Temp:2 BARO[0].Alt BARO[0].Temp:2 BARO[1].Alt BARO[1].Temp:2 BARO.Alt BARO.Temp:2 BAR2.Alt BAR2.Temp:2 BAR3.Alt BAR3.Temp:2 BARO.Alt BARO.Temp:2 BAR2.Alt BAR2.Temp:2 Barometric Pressure SCALED_PRESSURE.press_abs BARO.Press Primary Compass RAW_IMU.xmag RAW_IMU.ymag RAW_IMU.zmag mag_field(RAW_IMU) MAG[0].MagX MAG[0].MagY MAG[0].MagZ sqrt(MAG[0].MagX**2+MAG[0].MagY**2+MAG[0].MagZ**2) MAG.MagX MAG.MagY MAG.MagZ sqrt(MAG.MagX**2+MAG.MagY**2+MAG.MagZ**2) Second Compass SCALED_IMU2.xmag SCALED_IMU2.ymag SCALED_IMU2.zmag mag_field(SCALED_IMU2) MAG[1].MagX MAG[1].MagY MAG[1].MagZ sqrt(MAG[1].MagX**2+MAG[1].MagY**2+MAG[1].MagZ**2) MAG2.MagX MAG2.MagY MAG2.MagZ sqrt(MAG2.MagX**2+MAG2.MagY**2+MAG2.MagZ**2) Third Compass SCALED_IMU3.xmag SCALED_IMU3.ymag SCALED_IMU3.zmag mag_field(SCALED_IMU3) MAG[2].MagX MAG[2].MagY MAG[2].MagZ sqrt(MAG[2].MagX**2+MAG[2].MagY**2+MAG[2].MagZ**2) MAG3.MagX MAG3.MagY MAG3.MagZ sqrt(MAG3.MagX**2+MAG3.MagY**2+MAG3.MagZ**2) Primary Compass vs Yaw mag_heading(RAW_IMU,ATTITUDE) degrees(ATTITUDE.yaw) mag_heading_df(MAG,ATT) ATT.Yaw First 4 servo outputs SERVO_OUTPUT_RAW.servo1_raw SERVO_OUTPUT_RAW.servo2_raw SERVO_OUTPUT_RAW.servo3_raw SERVO_OUTPUT_RAW.servo4_raw RCOU.Ch1 RCOU.Ch2 RCOU.Ch3 RCOU.Ch4 RCOU.C1 RCOU.C2 RCOU.C3 RCOU.C4 First 8 servo outputs SERVO_OUTPUT_RAW.servo1_raw SERVO_OUTPUT_RAW.servo2_raw SERVO_OUTPUT_RAW.servo3_raw SERVO_OUTPUT_RAW.servo4_raw SERVO_OUTPUT_RAW.servo5_raw SERVO_OUTPUT_RAW.servo6_raw SERVO_OUTPUT_RAW.servo7_raw SERVO_OUTPUT_RAW.servo8_raw RCOU.Ch1 RCOU.Ch2 RCOU.Ch3 RCOU.Ch4 RCOU.Ch5 RCOU.Ch6 RCOU.Ch7 RCOU.Ch8 RCOU.C1 RCOU.C2 RCOU.C3 RCOU.C4 RCOU.C5 RCOU.C6 RCOU.C7 RCOU.C8 RCOU.C5 RCOU.C6 RCOU.C7 RCOU.C8 RCOU.C9 RCOU.C10 RCOU.C11 RCOU.C12 First 4 RC inputs RC_CHANNELS.chan1_raw RC_CHANNELS.chan2_raw RC_CHANNELS.chan3_raw RC_CHANNELS.chan4_raw RC_CHANNELS_RAW.chan1_raw RC_CHANNELS_RAW.chan2_raw RC_CHANNELS_RAW.chan3_raw RC_CHANNELS_RAW.chan4_raw RCIN.C1 RCIN.C2 RCIN.C3 RCIN.C4 RC inputs 5-12 RCIN.C5 RCIN.C6 RCIN.C7 RCIN.C8 RCIN.C9 RCIN.C10 RCIN.C11 RCIN.C12 First 8 RC inputs RC_CHANNELS.chan1_raw RC_CHANNELS.chan2_raw RC_CHANNELS.chan3_raw RC_CHANNELS.chan4_raw RC_CHANNELS.chan5_raw RC_CHANNELS.chan6_raw RC_CHANNELS.chan7_raw RC_CHANNELS.chan8_raw RC_CHANNELS_RAW.chan1_raw RC_CHANNELS_RAW.chan2_raw RC_CHANNELS_RAW.chan3_raw RC_CHANNELS_RAW.chan4_raw RC_CHANNELS_RAW.chan5_raw RC_CHANNELS_RAW.chan6_raw RC_CHANNELS_RAW.chan7_raw RC_CHANNELS_RAW.chan8_raw RCIN.C1 RCIN.C2 RCIN.C3 RCIN.C4 RCIN.C5 RCIN.C6 RCIN.C7 RCIN.C8 Rangefinders vs Barometric Altitude BARO.Alt RFND.Dist1 RFND.Dist2 BARO.Alt RFND.Dist[0] MAG[0].MagX expected_mag(GPS,ATT).x MAG[0].MagY expected_mag(GPS,ATT).y MAG[0].MagZ expected_mag(GPS,ATT).z MAG.MagX expected_mag(GPS,ATT).x MAG.MagY expected_mag(GPS,ATT).y MAG.MagZ expected_mag(GPS,ATT).z RAW_IMU.xmag expected_mag(GPS_RAW_INT,ATTITUDE).x RAW_IMU.ymag expected_mag(GPS_RAW_INT,ATTITUDE).y RAW_IMU.zmag expected_mag(GPS_RAW_INT,ATTITUDE).z MAG[1].MagX expected_mag(GPS,ATT).x MAG[1].MagY expected_mag(GPS,ATT).y MAG[1].MagZ expected_mag(GPS,ATT).z MAG2.MagX expected_mag(GPS,ATT).x MAG2.MagY expected_mag(GPS,ATT).y MAG2.MagZ expected_mag(GPS,ATT).z SCALED_IMU2.xmag expected_mag(GPS_RAW_INT,ATTITUDE).x SCALED_IMU2.ymag expected_mag(GPS_RAW_INT,ATTITUDE).y SCALED_IMU2.zmag expected_mag(GPS_RAW_INT,ATTITUDE).z MAG[2].MagX expected_mag(GPS,ATT).x MAG[2].MagY expected_mag(GPS,ATT).y MAG[2].MagZ expected_mag(GPS,ATT).z MAG3.MagX expected_mag(GPS,ATT).x MAG3.MagY expected_mag(GPS,ATT).y MAG3.MagZ expected_mag(GPS,ATT).z SCALED_IMU3.xmag expected_mag(GPS_RAW_INT,ATTITUDE).x SCALED_IMU3.ymag expected_mag(GPS_RAW_INT,ATTITUDE).y SCALED_IMU3.zmag expected_mag(GPS_RAW_INT,ATTITUDE).z MAG[0].MagX expected_mag_yaw(GPS,ATT,MAG[0]).x MAG[0].MagY expected_mag_yaw(GPS,ATT,MAG[0]).y MAG[0].MagZ expected_mag_yaw(GPS,ATT,MAG[0]).z MAG.MagX expected_mag_yaw(GPS,ATT,MAG).x MAG.MagY expected_mag_yaw(GPS,ATT,MAG).y MAG.MagZ expected_mag_yaw(GPS,ATT,MAG).z MAG[1].MagX expected_mag_yaw(GPS,ATT,MAG[1]).x MAG[1].MagY expected_mag_yaw(GPS,ATT,MAG[1]).y MAG[1].MagZ expected_mag_yaw(GPS,ATT,MAG[1]).z MAG2.MagX expected_mag_yaw(GPS,ATT,MAG2).x MAG2.MagY expected_mag_yaw(GPS,ATT,MAG2).y MAG2.MagZ expected_mag_yaw(GPS,ATT,MAG2).z MAG[2].MagX expected_mag_yaw(GPS,ATT,MAG[2]).x MAG[2].MagY expected_mag_yaw(GPS,ATT,MAG[2]).y MAG[2].MagZ expected_mag_yaw(GPS,ATT,MAG[2]).z MAG3.MagX expected_mag_yaw(GPS,ATT,MAG3).x MAG3.MagY expected_mag_yaw(GPS,ATT,MAG3).y MAG3.MagZ expected_mag_yaw(GPS,ATT,MAG3).z MAG[0].MagX expected_mag_yaw(GPS,NKF1,MAG[0]).x MAG[0].MagY expected_mag_yaw(GPS,NKF1,MAG[0]).y MAG[0].MagZ expected_mag_yaw(GPS,NKF1,MAG[0]).z MAG.MagX expected_mag_yaw(GPS,NKF1,MAG).x MAG.MagY expected_mag_yaw(GPS,NKF1,MAG).y MAG.MagZ expected_mag_yaw(GPS,NKF1,MAG).z MAG[1].MagX expected_mag_yaw(GPS,NKF1,MAG[1]).x MAG[1].MagY expected_mag_yaw(GPS,NKF1,MAG[1]).y MAG[1].MagZ expected_mag_yaw(GPS,NKF1,MAG[1]).z MAG2.MagX expected_mag_yaw(GPS,NKF1,MAG2).x MAG2.MagY expected_mag_yaw(GPS,NKF1,MAG2).y MAG2.MagZ expected_mag_yaw(GPS,NKF1,MAG2).z MAG[2].MagX expected_mag_yaw(GPS,NKF1,MAG[2]).x MAG[2].MagY expected_mag_yaw(GPS,NKF1,MAG[2]).y MAG[2].MagZ expected_mag_yaw(GPS,NKF1,MAG[2]).z MAG3.MagX expected_mag_yaw(GPS,NKF1,MAG3).x MAG3.MagY expected_mag_yaw(GPS,NKF1,MAG3).y MAG3.MagZ expected_mag_yaw(GPS,NKF1,MAG3).z MAG[0].MagX expected_mag_yaw(GPS,XKF1,MAG[0]).x MAG[0].MagY expected_mag_yaw(GPS,XKF1,MAG[0]).y MAG[0].MagZ expected_mag_yaw(GPS,XKF1,MAG[0]).z MAG.MagX expected_mag_yaw(GPS,XKF1,MAG).x MAG.MagY expected_mag_yaw(GPS,XKF1,MAG).y MAG.MagZ expected_mag_yaw(GPS,XKF1,MAG).z MAG[1].MagX expected_mag_yaw(GPS,XKF1,MAG[1]).x MAG[1].MagY expected_mag_yaw(GPS,XKF1,MAG[1]).y MAG[1].MagZ expected_mag_yaw(GPS,XKF1,MAG[1]).z MAG2.MagX expected_mag_yaw(GPS,XKF1,MAG2).x MAG2.MagY expected_mag_yaw(GPS,XKF1,MAG2).y MAG2.MagZ expected_mag_yaw(GPS,XKF1,MAG2).z MAG[2].MagX expected_mag_yaw(GPS,XKF1,MAG[2]).x MAG[2].MagY expected_mag_yaw(GPS,XKF1,MAG[2]).y MAG[2].MagZ expected_mag_yaw(GPS,XKF1,MAG[2]).z MAG3.MagX expected_mag_yaw(GPS,XKF1,MAG3).x MAG3.MagY expected_mag_yaw(GPS,XKF1,MAG3).y MAG3.MagZ expected_mag_yaw(GPS,XKF1,MAG3).z earth_field_error(GPS,NKF2[0]).x earth_field_error(GPS,NKF2[0]).y earth_field_error(GPS,NKF2[0]).z earth_field_error(GPS,NKF2).x earth_field_error(GPS,NKF2).y earth_field_error(GPS,NKF2).z earth_field_error(GPS,NKF2[1]).x earth_field_error(GPS,NKF2[1]).y earth_field_error(GPS,NKF2[1]).z earth_field_error(GPS,NKF7).x earth_field_error(GPS,NKF7).y earth_field_error(GPS,NKF7).z earth_field_error(GPS,XKF2[0]).x earth_field_error(GPS,XKF2[0]).y earth_field_error(GPS,XKF2[0]).z earth_field_error(GPS,XKF2).x earth_field_error(GPS,XKF2).y earth_field_error(GPS,XKF2).z earth_field_error(GPS,XKF2[1]).x earth_field_error(GPS,XKF2[1]).y earth_field_error(GPS,XKF2[1]).z earth_field_error(GPS,XKF7).x earth_field_error(GPS,XKF7).y earth_field_error(GPS,XKF7).z PIDP.P PIDP.I PIDP.D PIDR.P PIDR.I PIDR.D PIDY.P PIDY.I PIDY.D PIDA.P PIDA.I PIDA.D IMU[0].GyrX sim_body_rates(SIM).x IMU.GyrX sim_body_rates(SIM).x IMU[0].GyrY sim_body_rates(SIM).y IMU.GyrY sim_body_rates(SIM).y IMU[0].GyrZ sim_body_rates(SIM).z IMU.GyrZ sim_body_rates(SIM).z GPA[0].HAcc GPA[0].SAcc GPA[0].VAcc GPS[0].NSats:2 GPA.HAcc GPA.SAcc GPA.VAcc GPS.NSats:2 GPA[1].HAcc GPA[1].SAcc GPA[1].VAcc GPS[1].NSats:2 GPA2.HAcc GPA2.SAcc GPA2.VAcc GPS2.NSats:2 GPS[0].Spd*sin(radians(GPS[0].GCrs)) GPS[0].Spd*cos(radians(GPS[0].GCrs)) GPS.Spd*sin(radians(GPS.GCrs)) GPS.Spd*cos(radians(GPS.GCrs)) GPS[1].Spd*sin(radians(GPS[1].GCrs)) GPS[1].Spd*cos(radians(GPS[1].GCrs)) GPS2.Spd*sin(radians(GPS2.GCrs)) GPS2.Spd*cos(radians(GPS2.GCrs)) GPS[0].Spd*sin(radians(GPS[0].GCrs)) GPS[0].Spd*cos(radians(GPS[0].GCrs)) GPS[1].Spd*sin(radians(GPS[1].GCrs)) GPS[1].Spd*cos(radians(GPS[1].GCrs)) GPS.Spd*sin(radians(GPS.GCrs)) GPS.Spd*cos(radians(GPS.GCrs)) GPS2.Spd*sin(radians(GPS2.GCrs)) GPS2.Spd*cos(radians(GPS2.GCrs)) distance_two(GPS,GPS2){GPS2.GMS==GPS.GMS} GPS2.Alt-GPS.Alt{GPS2.GMS==GPS.GMS} XKY0[0].Y0 XKY0[0].Y1 XKY0[0].Y2 XKY0[0].Y3 XKY0[0].Y4 XKY0[0].YC XKY0[1].Y0 XKY0[1].Y1 XKY0[1].Y2 XKY0[1].Y3 XKY0[1].Y4 XKY0[1].YC sqrt(XKY1[0].IVN0**2+XKY1[0].IVE0**2) sqrt(XKY1[0].IVN1**2+XKY1[0].IVE1**2) sqrt(XKY1[0].IVN2**2+XKY1[0].IVE2**2) sqrt(XKY1[0].IVN3**2+XKY1[0].IVE3**2) sqrt(XKY1[0].IVN4**2+XKY1[0].IVE4**2) ATT.Yaw:2 XKY0[0].W0 XKY0[0].W1 XKY0[0].W2 XKY0[0].W3 XKY0[0].W4 XKY0[1].W0 XKY0[1].W1 XKY0[1].W2 XKY0[1].W3 XKY0[1].W4 XKF1[0].VN-XKF1[100].VN{XKF1.C==100} XKF1[0].VE-XKF1[100].VE{XKF1.C==100} XKF1[0].Pitch-XKF1[100].Pitch{XKF1.C==100} XKF1[0].Roll-XKF1[100].Roll{XKF1.C==100} NKF1[0].Pitch-NKF1[100].Pitch{NKF1.C==100} NKF1[0].Roll-NKF1[100].Roll{NKF1.C==100} NKF1[0].Yaw-NKF1[100].Yaw{NKF1.C==100} XKF1[0].PN-XKF1[100].PN{XKF1.C==100} XKF1[0].PE-XKF1[100].PE{XKF1.C==100} NKF1[0].PN-NKF1[100].PN{NKF1.C==100} NKF1[0].PE-NKF1[100].PE{NKF1.C==100} NKF1[0].PD-NKF1[100].PD{NKF1.C==100} XKF1[0].PD-XKF1[100].PD{XKF1.C==100} lowpass(IMU[0].AccX,0,0.9) lowpass(IMU[1].AccX,1,0.9) lowpass(IMU[2].AccX,2,0.9) lowpass(IMU[0].AccX,0,0.9) lowpass(IMU[1].AccX,1,0.9) lowpass(IMU.AccX,0,0.9) lowpass(IMU2.AccX,1,0.9) lowpass(IMU3.AccX,2,0.9) lowpass(IMU.AccX,0,0.9) lowpass(IMU2.AccX,1,0.9) lowpass(IMU[0].AccY,0,0.9) lowpass(IMU[1].AccY,1,0.9) lowpass(IMU[2].AccY,2,0.9) lowpass(IMU[0].AccY,0,0.9) lowpass(IMU[1].AccY,1,0.9) lowpass(IMU.AccY,0,0.9) lowpass(IMU2.AccY,1,0.9) lowpass(IMU3.AccY,2,0.9) lowpass(IMU.AccY,0,0.9) lowpass(IMU2.AccY,1,0.9) lowpass(IMU[0].AccZ,0,0.9) lowpass(IMU[1].AccZ,1,0.9) lowpass(IMU[2].AccZ,2,0.9) lowpass(IMU[0].AccZ,0,0.9) lowpass(IMU[1].AccZ,1,0.9) lowpass(IMU.AccZ,0,0.9) lowpass(IMU2.AccZ,1,0.9) lowpass(IMU3.AccZ,2,0.9) lowpass(IMU.AccZ,0,0.9) lowpass(IMU2.AccZ,1,0.9) sqrt(PSCN.DVN**2+PSCE.DVE**2) sqrt(PSCN.VN**2+PSCE.VE**2) PSCN.VN PSCN.DVN PSCN.TVN PSCE.VE PSCE.DVE PSCE.TVE PSCN.TPN PSCN.PN PSCE.TPE PSCE.PE sqrt(PSCN.DAN**2+PSCE.DAE**2) sqrt(PSCN.TAN**2+PSCE.TAE**2) sqrt(PSCN.AN**2+PSCE.AE**2) sqrt(PSCN.DVN**2+PSCE.DVE**2) sqrt(PSCN.VN**2+PSCE.VE**2) QPOS.TSpd PSCZ.AZ PSCZ.DAZ PSCZ.TAZ PSCZ.VZ PSCZ.TVZ PSCZ.PZ PSCZ.TPZ XKF4[100].SV XKF4[100].SP XKF4[100].SH XKF4[100].SM XKF4[100].SVT XKF4[101].SV XKF4[101].SP XKF4[101].SH XKF4[101].SM XKF4[101].SVT PIDR.Dmod PIDR.SRate:2 PIDP.Dmod PIDP.SRate:2 PIDY.Dmod PIDY.SRate:2 RCOU.C1 RCOU.C2 RCOU.C3 RCOU.C4 RCOU.C5 RCOU.C6 PIDP.Tar PIDP.Act PIDR.Act PIDR.Tar lowpass(degrees(IMU[0].GyrX),0,0.9) lowpass(degrees(IMU[1].GyrX),1,0.9) lowpass(degrees(IMU[2].GyrX),2,0.9) IMU[0].T:2 IMU[1].T:2 IMU[3].T:2 lowpass(degrees(IMU[0].GyrX),0,0.9) lowpass(degrees(IMU[1].GyrX),1,0.9) IMU[0].T:2 IMU[1].T:2 lowpass(degrees(IMU[0].GyrX),0,0.9) IMU[0].T:2 lowpass(degrees(IMU[0].GyrY),0,0.9) lowpass(degrees(IMU[1].GyrY),1,0.9) lowpass(degrees(IMU[2].GyrY),2,0.9) IMU[0].T:2 IMU[1].T:2 IMU[3].T:2 lowpass(degrees(IMU[0].GyrY),0,0.9) lowpass(degrees(IMU[1].GyrY),1,0.9) IMU[0].T:2 IMU[1].T:2 lowpass(degrees(IMU[0].GyrY),0,0.9) IMU[0].T:2 lowpass(degrees(IMU[0].GyrZ),0,0.9) lowpass(degrees(IMU[1].GyrZ),1,0.9) lowpass(degrees(IMU[2].GyrZ),2,0.9) IMU[0].T:2 IMU[1].T:2 IMU[3].T:2 lowpass(degrees(IMU[0].GyrZ),0,0.9) lowpass(degrees(IMU[1].GyrZ),1,0.9) IMU[0].T:2 IMU[1].T:2 lowpass(degrees(IMU[0].GyrZ),0,0.9) IMU[0].T:2 lowpass(IMU[0].AccX,0,0.9) lowpass(IMU[1].AccX),1,0.9) lowpass(IMU[2].AccX),2,0.9) IMU[0].T:2 IMU[1].T:2 IMU[3].T:2 lowpass(IMU[0].AccX,0,0.9) lowpass(IMU[1].AccX),1,0.9) IMU[0].T:2 IMU[1].T:2 lowpass(IMU[0].AccX,0,0.9) IMU[0].T:2 lowpass(IMU[0].AccY,0,0.9) lowpass(IMU[1].AccY),1,0.9) lowpass(IMU[2].AccY),2,0.9) IMU[0].T:2 IMU[1].T:2 IMU[3].T:2 lowpass(IMU[0].AccY,0,0.9) lowpass(IMU[1].AccY),1,0.9) IMU[0].T:2 IMU[1].T:2 lowpass(IMU[0].AccY,0,0.9) IMU[0].T:2 lowpass(IMU[0].AccZ,0,0.9) lowpass(IMU[1].AccZ),1,0.9) lowpass(IMU[2].AccZ),2,0.9) IMU[0].T:2 IMU[1].T:2 IMU[3].T:2 lowpass(IMU[0].AccZ,0,0.9) lowpass(IMU[1].AccZ),1,0.9) IMU[0].T:2 IMU[1].T:2 lowpass(IMU[0].AccZ,0,0.9) IMU[0].T:2 0.3*PIDR.Act*AETR.SSx AETR.Ail*0.01 0.3*PIDR.Act*AETR.SS AETR.Ail*0.01 0.3*PIDP.Act*AETR.SSy AETR.Elev*0.01 0.3*PIDP.Act*AETR.SS AETR.Elev*0.01 0.3*PIDY.Act*AETR.SSz AETR.Rudd*0.01 0.3*PIDY.Act*AETR.SS AETR.Rudd*0.01 lowpass(degrees(IMU[0].GyrX),0,0.9) lowpass(degrees(IMU[1].GyrX),1,0.9) lowpass(degrees(IMU[2].GyrX),2,0.9) lowpass(degrees(IMU[0].GyrX),0,0.9) lowpass(degrees(IMU[1].GyrX),1,0.9) lowpass(degrees(IMU[0].GyrX),0,0.9) lowpass(degrees(IMU.GyrX),0,0.9) lowpass(degrees(IMU[0].GyrY),0,0.9) lowpass(degrees(IMU[1].GyrY),1,0.9) lowpass(degrees(IMU[2].GyrY),2,0.9) lowpass(degrees(IMU[0].GyrY),0,0.9) lowpass(degrees(IMU[1].GyrY),1,0.9) lowpass(degrees(IMU[0].GyrY),0,0.9) lowpass(degrees(IMU.GyrY),0,0.9) lowpass(degrees(IMU[0].GyrZ),0,0.9) lowpass(degrees(IMU[1].GyrZ),1,0.9) lowpass(degrees(IMU[2].GyrZ),2,0.9) lowpass(degrees(IMU[0].GyrZ),0,0.9) lowpass(degrees(IMU[1].GyrZ),1,0.9) lowpass(degrees(IMU[0].GyrZ),0,0.9) lowpass(degrees(IMU.GyrZ),0,0.9) RATE.R RATE.RDes ATT.Roll:2 ATT.DesRoll:2 RATE.P RATE.PDes ATT.Pitch:2 ATT.DesPitch:2 RATE.Y RATE.YDes ATT.Yaw:2 ATT.DesYaw:2