diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_1/experiment_1_trianglular_no_formation_crazyflie_1_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_1/experiment_1_trianglular_no_formation_crazyflie_1_logdata.bag
new file mode 100644
index 0000000000000000000000000000000000000000..aea77291a260268a21dd3d4e01658d30775fcf9e
Binary files /dev/null and b/real_robot/coordination_formation_control_pkg/results/experiment_1/experiment_1_trianglular_no_formation_crazyflie_1_logdata.bag differ
diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_1/experiment_1_trianglular_no_formation_crazyflie_2_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_1/experiment_1_trianglular_no_formation_crazyflie_2_logdata.bag
new file mode 100644
index 0000000000000000000000000000000000000000..f41744a13b4775950038e4e976e6c824bf68bef8
Binary files /dev/null and b/real_robot/coordination_formation_control_pkg/results/experiment_1/experiment_1_trianglular_no_formation_crazyflie_2_logdata.bag differ
diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_1/experiment_1_trianglular_no_formation_crazyflie_3_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_1/experiment_1_trianglular_no_formation_crazyflie_3_logdata.bag
new file mode 100644
index 0000000000000000000000000000000000000000..066de6cdf4fafcde646ef9a033fc8f61c329ccfb
Binary files /dev/null and b/real_robot/coordination_formation_control_pkg/results/experiment_1/experiment_1_trianglular_no_formation_crazyflie_3_logdata.bag differ
diff --git a/real_robot/coordination_formation_control_pkg/scripts/autonomy_test.py b/real_robot/coordination_formation_control_pkg/scripts/autonomy_test.py
new file mode 100644
index 0000000000000000000000000000000000000000..0acc3aeefc5c88a344e88d7251f373f1f7fe9322
--- /dev/null
+++ b/real_robot/coordination_formation_control_pkg/scripts/autonomy_test.py
@@ -0,0 +1,191 @@
+# -*- coding: utf-8 -*-
+#
+# || ____ _ __
+# +------+ / __ )(_) /_______________ _____ ___
+# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
+# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
+# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
+#
+# Copyright (C) 2018 Bitcraze AB
+#
+# This program is free software; you can redistribute it and/or
+# modify it under the terms of the GNU General Public License
+# as published by the Free Software Foundation; either version 2
+# of the License, or (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see <https://www.gnu.org/licenses/>.
+"""
+Simple example that connects to one crazyflie (check the address at the top
+and update it to your crazyflie address) and uses the high level commander
+to send setpoints and trajectory to fly a figure 8.
+This example is intended to work with any positioning system (including LPS).
+It aims at documenting how to set the Crazyflie in position control mode
+and how to send setpoints using the high level commander.
+"""
+import sys
+import time
+
+import cflib.crtp
+from cflib.crazyflie import Crazyflie
+from cflib.crazyflie.high_level_commander import HighLevelCommander
+from cflib.crazyflie.log import LogConfig
+from cflib.crazyflie.mem import CompressedSegment
+from cflib.crazyflie.mem import CompressedStart
+from cflib.crazyflie.mem import MemoryElement
+from cflib.crazyflie.syncCrazyflie import SyncCrazyflie
+from cflib.crazyflie.syncLogger import SyncLogger
+from cflib.utils import uri_helper
+
+# URI to the Crazyflie to connect to
+uri = uri_helper.uri_from_env(default='radio://0/90/2M/E7E7E7E701')
+
+# The trajectory to fly
+a = 0.9
+b = 0.5
+c = 0.5
+trajectory = [
+ CompressedStart(0.0, 0.0, 0.0, 0.0),
+ CompressedSegment(2.0, [0.0, 1.0, 1.0], [0.0, a, 0.0], [], []),
+ CompressedSegment(2.0, [1.0, b, 0.0], [-a, -c, 0.0], [], []),
+ CompressedSegment(2.0, [-b, -1.0, -1.0], [c, a, 0.0], [], []),
+ CompressedSegment(2.0, [-1.0, 0.0, 0.0], [-a, 0.0, 0.0], [], []),
+]
+
+
+class Uploader:
+ def __init__(self):
+ self._is_done = False
+ self._sucess = True
+
+ def upload(self, trajectory_mem):
+ print('Uploading data')
+ trajectory_mem.write_data(self._upload_done,
+ write_failed_cb=self._upload_failed)
+
+ while not self._is_done:
+ time.sleep(0.2)
+
+ return self._sucess
+
+ def _upload_done(self, mem, addr):
+ print('Data uploaded')
+ self._is_done = True
+ self._sucess = True
+
+ def _upload_failed(self, mem, addr):
+ print('Data upload failed')
+ self._is_done = True
+ self._sucess = False
+
+
+def wait_for_position_estimator(scf):
+ print('Waiting for estimator to find position...')
+
+ log_config = LogConfig(name='Kalman Variance', period_in_ms=500)
+ log_config.add_variable('kalman.varPX', 'float')
+ log_config.add_variable('kalman.varPY', 'float')
+ log_config.add_variable('kalman.varPZ', 'float')
+
+ var_y_history = [1000] * 10
+ var_x_history = [1000] * 10
+ var_z_history = [1000] * 10
+
+ threshold = 0.001
+
+ with SyncLogger(scf, log_config) as logger:
+ for log_entry in logger:
+ data = log_entry[1]
+
+ var_x_history.append(data['kalman.varPX'])
+ var_x_history.pop(0)
+ var_y_history.append(data['kalman.varPY'])
+ var_y_history.pop(0)
+ var_z_history.append(data['kalman.varPZ'])
+ var_z_history.pop(0)
+
+ min_x = min(var_x_history)
+ max_x = max(var_x_history)
+ min_y = min(var_y_history)
+ max_y = max(var_y_history)
+ min_z = min(var_z_history)
+ max_z = max(var_z_history)
+
+ # print("{} {} {}".
+ # format(max_x - min_x, max_y - min_y, max_z - min_z))
+
+ if (max_x - min_x) < threshold and (
+ max_y - min_y) < threshold and (
+ max_z - min_z) < threshold:
+ break
+
+
+def reset_estimator(cf):
+ cf.param.set_value('kalman.resetEstimation', '1')
+ time.sleep(0.1)
+ cf.param.set_value('kalman.resetEstimation', '0')
+
+ wait_for_position_estimator(cf)
+
+
+def activate_high_level_commander(cf):
+ cf.param.set_value('commander.enHighLevel', '1')
+
+
+def activate_mellinger_controller(cf):
+ cf.param.set_value('stabilizer.controller', '2')
+
+
+def upload_trajectory(cf, trajectory_id, trajectory):
+ trajectory_mem = cf.mem.get_mems(MemoryElement.TYPE_TRAJ)[0]
+
+ trajectory_mem.trajectory = trajectory
+
+ upload_result = Uploader().upload(trajectory_mem)
+ if not upload_result:
+ print('Upload failed, aborting!')
+ sys.exit(1)
+ cf.high_level_commander.define_trajectory(
+ trajectory_id,
+ 0,
+ len(trajectory),
+ type=HighLevelCommander.TRAJECTORY_TYPE_POLY4D_COMPRESSED)
+
+ total_duration = 0
+ # Skip the start element
+ for segment in trajectory[1:]:
+ total_duration += segment.duration
+
+ return total_duration
+
+
+def run_sequence(cf, trajectory_id, duration):
+ commander = cf.high_level_commander
+
+ commander.takeoff(1.0, 2.0)
+ time.sleep(3.0)
+ relative = True
+ commander.start_trajectory(trajectory_id, 1.0, relative)
+ time.sleep(duration)
+ commander.land(0.0, 2.0)
+ time.sleep(2)
+ commander.stop()
+
+
+if __name__ == '__main__':
+ cflib.crtp.init_drivers()
+
+ with SyncCrazyflie(uri, cf=Crazyflie(rw_cache='./cache')) as scf:
+ cf = scf.cf
+ trajectory_id = 1
+
+ activate_high_level_commander(cf)
+ # activate_mellinger_controller(cf)
+ duration = upload_trajectory(cf, trajectory_id, trajectory)
+ print('The sequence is {:.1f} seconds long'.format(duration))
+ reset_estimator(cf)
+ run_sequence(cf, trajectory_id, duration)
diff --git a/real_robot/coordination_formation_control_pkg/scripts/cache/D29D12CF.json b/real_robot/coordination_formation_control_pkg/scripts/cache/D29D12CF.json
new file mode 100644
index 0000000000000000000000000000000000000000..f41c02cb7aa532eafb9f993d927e5a760effc809
--- /dev/null
+++ b/real_robot/coordination_formation_control_pkg/scripts/cache/D29D12CF.json
@@ -0,0 +1,4366 @@
+{
+ "activeMarker": {
+ "btSns": {
+ "__class__": "LogTocElement",
+ "ident": 0,
+ "group": "activeMarker",
+ "name": "btSns",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0
+ },
+ "i2cOk": {
+ "__class__": "LogTocElement",
+ "ident": 1,
+ "group": "activeMarker",
+ "name": "i2cOk",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0
+ }
+ },
+ "aideck": {
+ "receivebyte": {
+ "__class__": "LogTocElement",
+ "ident": 2,
+ "group": "aideck",
+ "name": "receivebyte",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0
+ }
+ },
+ "motion": {
+ "motion": {
+ "__class__": "LogTocElement",
+ "ident": 3,
+ "group": "motion",
+ "name": "motion",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0
+ },
+ "deltaX": {
+ "__class__": "LogTocElement",
+ "ident": 4,
+ "group": "motion",
+ "name": "deltaX",
+ "ctype": "int16_t",
+ "pytype": "<h",
+ "access": 0
+ },
+ "deltaY": {
+ "__class__": "LogTocElement",
+ "ident": 5,
+ "group": "motion",
+ "name": "deltaY",
+ "ctype": "int16_t",
+ "pytype": "<h",
+ "access": 0
+ },
+ "shutter": {
+ "__class__": "LogTocElement",
+ "ident": 6,
+ "group": "motion",
+ "name": "shutter",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0
+ },
+ "maxRaw": {
+ "__class__": "LogTocElement",
+ "ident": 7,
+ "group": "motion",
+ "name": "maxRaw",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0
+ },
+ "minRaw": {
+ "__class__": "LogTocElement",
+ "ident": 8,
+ "group": "motion",
+ "name": "minRaw",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0
+ },
+ "Rawsum": {
+ "__class__": "LogTocElement",
+ "ident": 9,
+ "group": "motion",
+ "name": "Rawsum",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0
+ },
+ "outlierCount": {
+ "__class__": "LogTocElement",
+ "ident": 10,
+ "group": "motion",
+ "name": "outlierCount",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0
+ },
+ "squal": {
+ "__class__": "LogTocElement",
+ "ident": 11,
+ "group": "motion",
+ "name": "squal",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0
+ },
+ "std": {
+ "__class__": "LogTocElement",
+ "ident": 12,
+ "group": "motion",
+ "name": "std",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ }
+ },
+ "ring": {
+ "fadeTime": {
+ "__class__": "LogTocElement",
+ "ident": 13,
+ "group": "ring",
+ "name": "fadeTime",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ }
+ },
+ "loco": {
+ "mode": {
+ "__class__": "LogTocElement",
+ "ident": 14,
+ "group": "loco",
+ "name": "mode",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0
+ },
+ "spiWr": {
+ "__class__": "LogTocElement",
+ "ident": 15,
+ "group": "loco",
+ "name": "spiWr",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "spiRe": {
+ "__class__": "LogTocElement",
+ "ident": 16,
+ "group": "loco",
+ "name": "spiRe",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ }
+ },
+ "ranging": {
+ "state": {
+ "__class__": "LogTocElement",
+ "ident": 17,
+ "group": "ranging",
+ "name": "state",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0
+ },
+ "distance0": {
+ "__class__": "LogTocElement",
+ "ident": 18,
+ "group": "ranging",
+ "name": "distance0",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "distance1": {
+ "__class__": "LogTocElement",
+ "ident": 19,
+ "group": "ranging",
+ "name": "distance1",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "distance2": {
+ "__class__": "LogTocElement",
+ "ident": 20,
+ "group": "ranging",
+ "name": "distance2",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "distance3": {
+ "__class__": "LogTocElement",
+ "ident": 21,
+ "group": "ranging",
+ "name": "distance3",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "distance4": {
+ "__class__": "LogTocElement",
+ "ident": 22,
+ "group": "ranging",
+ "name": "distance4",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "distance5": {
+ "__class__": "LogTocElement",
+ "ident": 23,
+ "group": "ranging",
+ "name": "distance5",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "distance6": {
+ "__class__": "LogTocElement",
+ "ident": 24,
+ "group": "ranging",
+ "name": "distance6",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "distance7": {
+ "__class__": "LogTocElement",
+ "ident": 25,
+ "group": "ranging",
+ "name": "distance7",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "pressure0": {
+ "__class__": "LogTocElement",
+ "ident": 26,
+ "group": "ranging",
+ "name": "pressure0",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "pressure1": {
+ "__class__": "LogTocElement",
+ "ident": 27,
+ "group": "ranging",
+ "name": "pressure1",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "pressure2": {
+ "__class__": "LogTocElement",
+ "ident": 28,
+ "group": "ranging",
+ "name": "pressure2",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "pressure3": {
+ "__class__": "LogTocElement",
+ "ident": 29,
+ "group": "ranging",
+ "name": "pressure3",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "pressure4": {
+ "__class__": "LogTocElement",
+ "ident": 30,
+ "group": "ranging",
+ "name": "pressure4",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "pressure5": {
+ "__class__": "LogTocElement",
+ "ident": 31,
+ "group": "ranging",
+ "name": "pressure5",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "pressure6": {
+ "__class__": "LogTocElement",
+ "ident": 32,
+ "group": "ranging",
+ "name": "pressure6",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "pressure7": {
+ "__class__": "LogTocElement",
+ "ident": 33,
+ "group": "ranging",
+ "name": "pressure7",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ }
+ },
+ "tdoa2": {
+ "d7-0": {
+ "__class__": "LogTocElement",
+ "ident": 34,
+ "group": "tdoa2",
+ "name": "d7-0",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "d0-1": {
+ "__class__": "LogTocElement",
+ "ident": 35,
+ "group": "tdoa2",
+ "name": "d0-1",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "d1-2": {
+ "__class__": "LogTocElement",
+ "ident": 36,
+ "group": "tdoa2",
+ "name": "d1-2",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "d2-3": {
+ "__class__": "LogTocElement",
+ "ident": 37,
+ "group": "tdoa2",
+ "name": "d2-3",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "d3-4": {
+ "__class__": "LogTocElement",
+ "ident": 38,
+ "group": "tdoa2",
+ "name": "d3-4",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "d4-5": {
+ "__class__": "LogTocElement",
+ "ident": 39,
+ "group": "tdoa2",
+ "name": "d4-5",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "d5-6": {
+ "__class__": "LogTocElement",
+ "ident": 40,
+ "group": "tdoa2",
+ "name": "d5-6",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "d6-7": {
+ "__class__": "LogTocElement",
+ "ident": 41,
+ "group": "tdoa2",
+ "name": "d6-7",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "cc0": {
+ "__class__": "LogTocElement",
+ "ident": 42,
+ "group": "tdoa2",
+ "name": "cc0",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "cc1": {
+ "__class__": "LogTocElement",
+ "ident": 43,
+ "group": "tdoa2",
+ "name": "cc1",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "cc2": {
+ "__class__": "LogTocElement",
+ "ident": 44,
+ "group": "tdoa2",
+ "name": "cc2",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "cc3": {
+ "__class__": "LogTocElement",
+ "ident": 45,
+ "group": "tdoa2",
+ "name": "cc3",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "cc4": {
+ "__class__": "LogTocElement",
+ "ident": 46,
+ "group": "tdoa2",
+ "name": "cc4",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "cc5": {
+ "__class__": "LogTocElement",
+ "ident": 47,
+ "group": "tdoa2",
+ "name": "cc5",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "cc6": {
+ "__class__": "LogTocElement",
+ "ident": 48,
+ "group": "tdoa2",
+ "name": "cc6",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "cc7": {
+ "__class__": "LogTocElement",
+ "ident": 49,
+ "group": "tdoa2",
+ "name": "cc7",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "dist7-0": {
+ "__class__": "LogTocElement",
+ "ident": 50,
+ "group": "tdoa2",
+ "name": "dist7-0",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0
+ },
+ "dist0-1": {
+ "__class__": "LogTocElement",
+ "ident": 51,
+ "group": "tdoa2",
+ "name": "dist0-1",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0
+ },
+ "dist1-2": {
+ "__class__": "LogTocElement",
+ "ident": 52,
+ "group": "tdoa2",
+ "name": "dist1-2",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0
+ },
+ "dist2-3": {
+ "__class__": "LogTocElement",
+ "ident": 53,
+ "group": "tdoa2",
+ "name": "dist2-3",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0
+ },
+ "dist3-4": {
+ "__class__": "LogTocElement",
+ "ident": 54,
+ "group": "tdoa2",
+ "name": "dist3-4",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0
+ },
+ "dist4-5": {
+ "__class__": "LogTocElement",
+ "ident": 55,
+ "group": "tdoa2",
+ "name": "dist4-5",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0
+ },
+ "dist5-6": {
+ "__class__": "LogTocElement",
+ "ident": 56,
+ "group": "tdoa2",
+ "name": "dist5-6",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0
+ },
+ "dist6-7": {
+ "__class__": "LogTocElement",
+ "ident": 57,
+ "group": "tdoa2",
+ "name": "dist6-7",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0
+ }
+ },
+ "twr": {
+ "rangingSuccessRate0": {
+ "__class__": "LogTocElement",
+ "ident": 58,
+ "group": "twr",
+ "name": "rangingSuccessRate0",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0
+ },
+ "rangingPerSec0": {
+ "__class__": "LogTocElement",
+ "ident": 59,
+ "group": "twr",
+ "name": "rangingPerSec0",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0
+ },
+ "rangingSuccessRate1": {
+ "__class__": "LogTocElement",
+ "ident": 60,
+ "group": "twr",
+ "name": "rangingSuccessRate1",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0
+ },
+ "rangingPerSec1": {
+ "__class__": "LogTocElement",
+ "ident": 61,
+ "group": "twr",
+ "name": "rangingPerSec1",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0
+ },
+ "rangingSuccessRate2": {
+ "__class__": "LogTocElement",
+ "ident": 62,
+ "group": "twr",
+ "name": "rangingSuccessRate2",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0
+ },
+ "rangingPerSec2": {
+ "__class__": "LogTocElement",
+ "ident": 63,
+ "group": "twr",
+ "name": "rangingPerSec2",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0
+ },
+ "rangingSuccessRate3": {
+ "__class__": "LogTocElement",
+ "ident": 64,
+ "group": "twr",
+ "name": "rangingSuccessRate3",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0
+ },
+ "rangingPerSec3": {
+ "__class__": "LogTocElement",
+ "ident": 65,
+ "group": "twr",
+ "name": "rangingPerSec3",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0
+ },
+ "rangingSuccessRate4": {
+ "__class__": "LogTocElement",
+ "ident": 66,
+ "group": "twr",
+ "name": "rangingSuccessRate4",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0
+ },
+ "rangingPerSec4": {
+ "__class__": "LogTocElement",
+ "ident": 67,
+ "group": "twr",
+ "name": "rangingPerSec4",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0
+ },
+ "rangingSuccessRate5": {
+ "__class__": "LogTocElement",
+ "ident": 68,
+ "group": "twr",
+ "name": "rangingSuccessRate5",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0
+ },
+ "rangingPerSec5": {
+ "__class__": "LogTocElement",
+ "ident": 69,
+ "group": "twr",
+ "name": "rangingPerSec5",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0
+ }
+ },
+ "oa": {
+ "front": {
+ "__class__": "LogTocElement",
+ "ident": 70,
+ "group": "oa",
+ "name": "front",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0
+ },
+ "back": {
+ "__class__": "LogTocElement",
+ "ident": 71,
+ "group": "oa",
+ "name": "back",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0
+ },
+ "up": {
+ "__class__": "LogTocElement",
+ "ident": 72,
+ "group": "oa",
+ "name": "up",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0
+ },
+ "left": {
+ "__class__": "LogTocElement",
+ "ident": 73,
+ "group": "oa",
+ "name": "left",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0
+ },
+ "right": {
+ "__class__": "LogTocElement",
+ "ident": 74,
+ "group": "oa",
+ "name": "right",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0
+ }
+ },
+ "usd": {
+ "spiWrBps": {
+ "__class__": "LogTocElement",
+ "ident": 75,
+ "group": "usd",
+ "name": "spiWrBps",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "spiReBps": {
+ "__class__": "LogTocElement",
+ "ident": 76,
+ "group": "usd",
+ "name": "spiReBps",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "fatWrBps": {
+ "__class__": "LogTocElement",
+ "ident": 77,
+ "group": "usd",
+ "name": "fatWrBps",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ }
+ },
+ "pwm": {
+ "m1_pwm": {
+ "__class__": "LogTocElement",
+ "ident": 78,
+ "group": "pwm",
+ "name": "m1_pwm",
+ "ctype": "uint32_t",
+ "pytype": "<L",
+ "access": 0
+ },
+ "m2_pwm": {
+ "__class__": "LogTocElement",
+ "ident": 79,
+ "group": "pwm",
+ "name": "m2_pwm",
+ "ctype": "uint32_t",
+ "pytype": "<L",
+ "access": 0
+ },
+ "m3_pwm": {
+ "__class__": "LogTocElement",
+ "ident": 80,
+ "group": "pwm",
+ "name": "m3_pwm",
+ "ctype": "uint32_t",
+ "pytype": "<L",
+ "access": 0
+ },
+ "m4_pwm": {
+ "__class__": "LogTocElement",
+ "ident": 81,
+ "group": "pwm",
+ "name": "m4_pwm",
+ "ctype": "uint32_t",
+ "pytype": "<L",
+ "access": 0
+ }
+ },
+ "pm": {
+ "vbat": {
+ "__class__": "LogTocElement",
+ "ident": 82,
+ "group": "pm",
+ "name": "vbat",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "vbatMV": {
+ "__class__": "LogTocElement",
+ "ident": 83,
+ "group": "pm",
+ "name": "vbatMV",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0
+ },
+ "extVbat": {
+ "__class__": "LogTocElement",
+ "ident": 84,
+ "group": "pm",
+ "name": "extVbat",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "extVbatMV": {
+ "__class__": "LogTocElement",
+ "ident": 85,
+ "group": "pm",
+ "name": "extVbatMV",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0
+ },
+ "extCurr": {
+ "__class__": "LogTocElement",
+ "ident": 86,
+ "group": "pm",
+ "name": "extCurr",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "chargeCurrent": {
+ "__class__": "LogTocElement",
+ "ident": 87,
+ "group": "pm",
+ "name": "chargeCurrent",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "state": {
+ "__class__": "LogTocElement",
+ "ident": 88,
+ "group": "pm",
+ "name": "state",
+ "ctype": "int8_t",
+ "pytype": "<b",
+ "access": 0
+ },
+ "batteryLevel": {
+ "__class__": "LogTocElement",
+ "ident": 89,
+ "group": "pm",
+ "name": "batteryLevel",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0
+ }
+ },
+ "radio": {
+ "rssi": {
+ "__class__": "LogTocElement",
+ "ident": 90,
+ "group": "radio",
+ "name": "rssi",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0
+ },
+ "isConnected": {
+ "__class__": "LogTocElement",
+ "ident": 91,
+ "group": "radio",
+ "name": "isConnected",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0
+ }
+ },
+ "gyro": {
+ "xRaw": {
+ "__class__": "LogTocElement",
+ "ident": 92,
+ "group": "gyro",
+ "name": "xRaw",
+ "ctype": "int16_t",
+ "pytype": "<h",
+ "access": 0
+ },
+ "yRaw": {
+ "__class__": "LogTocElement",
+ "ident": 93,
+ "group": "gyro",
+ "name": "yRaw",
+ "ctype": "int16_t",
+ "pytype": "<h",
+ "access": 0
+ },
+ "zRaw": {
+ "__class__": "LogTocElement",
+ "ident": 94,
+ "group": "gyro",
+ "name": "zRaw",
+ "ctype": "int16_t",
+ "pytype": "<h",
+ "access": 0
+ },
+ "xVariance": {
+ "__class__": "LogTocElement",
+ "ident": 95,
+ "group": "gyro",
+ "name": "xVariance",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "yVariance": {
+ "__class__": "LogTocElement",
+ "ident": 96,
+ "group": "gyro",
+ "name": "yVariance",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "zVariance": {
+ "__class__": "LogTocElement",
+ "ident": 97,
+ "group": "gyro",
+ "name": "zVariance",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "x": {
+ "__class__": "LogTocElement",
+ "ident": 98,
+ "group": "gyro",
+ "name": "x",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "y": {
+ "__class__": "LogTocElement",
+ "ident": 99,
+ "group": "gyro",
+ "name": "y",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "z": {
+ "__class__": "LogTocElement",
+ "ident": 100,
+ "group": "gyro",
+ "name": "z",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ }
+ },
+ "pid_attitude": {
+ "roll_outP": {
+ "__class__": "LogTocElement",
+ "ident": 101,
+ "group": "pid_attitude",
+ "name": "roll_outP",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "roll_outI": {
+ "__class__": "LogTocElement",
+ "ident": 102,
+ "group": "pid_attitude",
+ "name": "roll_outI",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "roll_outD": {
+ "__class__": "LogTocElement",
+ "ident": 103,
+ "group": "pid_attitude",
+ "name": "roll_outD",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "pitch_outP": {
+ "__class__": "LogTocElement",
+ "ident": 104,
+ "group": "pid_attitude",
+ "name": "pitch_outP",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "pitch_outI": {
+ "__class__": "LogTocElement",
+ "ident": 105,
+ "group": "pid_attitude",
+ "name": "pitch_outI",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "pitch_outD": {
+ "__class__": "LogTocElement",
+ "ident": 106,
+ "group": "pid_attitude",
+ "name": "pitch_outD",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "yaw_outP": {
+ "__class__": "LogTocElement",
+ "ident": 107,
+ "group": "pid_attitude",
+ "name": "yaw_outP",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "yaw_outI": {
+ "__class__": "LogTocElement",
+ "ident": 108,
+ "group": "pid_attitude",
+ "name": "yaw_outI",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "yaw_outD": {
+ "__class__": "LogTocElement",
+ "ident": 109,
+ "group": "pid_attitude",
+ "name": "yaw_outD",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ }
+ },
+ "pid_rate": {
+ "roll_outP": {
+ "__class__": "LogTocElement",
+ "ident": 110,
+ "group": "pid_rate",
+ "name": "roll_outP",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "roll_outI": {
+ "__class__": "LogTocElement",
+ "ident": 111,
+ "group": "pid_rate",
+ "name": "roll_outI",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "roll_outD": {
+ "__class__": "LogTocElement",
+ "ident": 112,
+ "group": "pid_rate",
+ "name": "roll_outD",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "pitch_outP": {
+ "__class__": "LogTocElement",
+ "ident": 113,
+ "group": "pid_rate",
+ "name": "pitch_outP",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "pitch_outI": {
+ "__class__": "LogTocElement",
+ "ident": 114,
+ "group": "pid_rate",
+ "name": "pitch_outI",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "pitch_outD": {
+ "__class__": "LogTocElement",
+ "ident": 115,
+ "group": "pid_rate",
+ "name": "pitch_outD",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "yaw_outP": {
+ "__class__": "LogTocElement",
+ "ident": 116,
+ "group": "pid_rate",
+ "name": "yaw_outP",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "yaw_outI": {
+ "__class__": "LogTocElement",
+ "ident": 117,
+ "group": "pid_rate",
+ "name": "yaw_outI",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "yaw_outD": {
+ "__class__": "LogTocElement",
+ "ident": 118,
+ "group": "pid_rate",
+ "name": "yaw_outD",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ }
+ },
+ "colAv": {
+ "latency": {
+ "__class__": "LogTocElement",
+ "ident": 119,
+ "group": "colAv",
+ "name": "latency",
+ "ctype": "uint32_t",
+ "pytype": "<L",
+ "access": 0
+ }
+ },
+ "ctrlINDI": {
+ "cmd_thrust": {
+ "__class__": "LogTocElement",
+ "ident": 120,
+ "group": "ctrlINDI",
+ "name": "cmd_thrust",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "cmd_roll": {
+ "__class__": "LogTocElement",
+ "ident": 121,
+ "group": "ctrlINDI",
+ "name": "cmd_roll",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "cmd_pitch": {
+ "__class__": "LogTocElement",
+ "ident": 122,
+ "group": "ctrlINDI",
+ "name": "cmd_pitch",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "cmd_yaw": {
+ "__class__": "LogTocElement",
+ "ident": 123,
+ "group": "ctrlINDI",
+ "name": "cmd_yaw",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "r_roll": {
+ "__class__": "LogTocElement",
+ "ident": 124,
+ "group": "ctrlINDI",
+ "name": "r_roll",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "r_pitch": {
+ "__class__": "LogTocElement",
+ "ident": 125,
+ "group": "ctrlINDI",
+ "name": "r_pitch",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "r_yaw": {
+ "__class__": "LogTocElement",
+ "ident": 126,
+ "group": "ctrlINDI",
+ "name": "r_yaw",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "u_act_dyn_p": {
+ "__class__": "LogTocElement",
+ "ident": 127,
+ "group": "ctrlINDI",
+ "name": "u_act_dyn_p",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "u_act_dyn_q": {
+ "__class__": "LogTocElement",
+ "ident": 128,
+ "group": "ctrlINDI",
+ "name": "u_act_dyn_q",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "u_act_dyn_r": {
+ "__class__": "LogTocElement",
+ "ident": 129,
+ "group": "ctrlINDI",
+ "name": "u_act_dyn_r",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "du_p": {
+ "__class__": "LogTocElement",
+ "ident": 130,
+ "group": "ctrlINDI",
+ "name": "du_p",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "du_q": {
+ "__class__": "LogTocElement",
+ "ident": 131,
+ "group": "ctrlINDI",
+ "name": "du_q",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "du_r": {
+ "__class__": "LogTocElement",
+ "ident": 132,
+ "group": "ctrlINDI",
+ "name": "du_r",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "ang_accel_ref_p": {
+ "__class__": "LogTocElement",
+ "ident": 133,
+ "group": "ctrlINDI",
+ "name": "ang_accel_ref_p",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "ang_accel_ref_q": {
+ "__class__": "LogTocElement",
+ "ident": 134,
+ "group": "ctrlINDI",
+ "name": "ang_accel_ref_q",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "ang_accel_ref_r": {
+ "__class__": "LogTocElement",
+ "ident": 135,
+ "group": "ctrlINDI",
+ "name": "ang_accel_ref_r",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "rate_d[0]": {
+ "__class__": "LogTocElement",
+ "ident": 136,
+ "group": "ctrlINDI",
+ "name": "rate_d[0]",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "rate_d[1]": {
+ "__class__": "LogTocElement",
+ "ident": 137,
+ "group": "ctrlINDI",
+ "name": "rate_d[1]",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "rate_d[2]": {
+ "__class__": "LogTocElement",
+ "ident": 138,
+ "group": "ctrlINDI",
+ "name": "rate_d[2]",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "uf_p": {
+ "__class__": "LogTocElement",
+ "ident": 139,
+ "group": "ctrlINDI",
+ "name": "uf_p",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "uf_q": {
+ "__class__": "LogTocElement",
+ "ident": 140,
+ "group": "ctrlINDI",
+ "name": "uf_q",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "uf_r": {
+ "__class__": "LogTocElement",
+ "ident": 141,
+ "group": "ctrlINDI",
+ "name": "uf_r",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "Omega_f_p": {
+ "__class__": "LogTocElement",
+ "ident": 142,
+ "group": "ctrlINDI",
+ "name": "Omega_f_p",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "Omega_f_q": {
+ "__class__": "LogTocElement",
+ "ident": 143,
+ "group": "ctrlINDI",
+ "name": "Omega_f_q",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "Omega_f_r": {
+ "__class__": "LogTocElement",
+ "ident": 144,
+ "group": "ctrlINDI",
+ "name": "Omega_f_r",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "n_p": {
+ "__class__": "LogTocElement",
+ "ident": 145,
+ "group": "ctrlINDI",
+ "name": "n_p",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "n_q": {
+ "__class__": "LogTocElement",
+ "ident": 146,
+ "group": "ctrlINDI",
+ "name": "n_q",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "n_r": {
+ "__class__": "LogTocElement",
+ "ident": 147,
+ "group": "ctrlINDI",
+ "name": "n_r",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ }
+ },
+ "ctrlMel": {
+ "cmd_thrust": {
+ "__class__": "LogTocElement",
+ "ident": 148,
+ "group": "ctrlMel",
+ "name": "cmd_thrust",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "cmd_roll": {
+ "__class__": "LogTocElement",
+ "ident": 149,
+ "group": "ctrlMel",
+ "name": "cmd_roll",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "cmd_pitch": {
+ "__class__": "LogTocElement",
+ "ident": 150,
+ "group": "ctrlMel",
+ "name": "cmd_pitch",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "cmd_yaw": {
+ "__class__": "LogTocElement",
+ "ident": 151,
+ "group": "ctrlMel",
+ "name": "cmd_yaw",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "r_roll": {
+ "__class__": "LogTocElement",
+ "ident": 152,
+ "group": "ctrlMel",
+ "name": "r_roll",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "r_pitch": {
+ "__class__": "LogTocElement",
+ "ident": 153,
+ "group": "ctrlMel",
+ "name": "r_pitch",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "r_yaw": {
+ "__class__": "LogTocElement",
+ "ident": 154,
+ "group": "ctrlMel",
+ "name": "r_yaw",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "accelz": {
+ "__class__": "LogTocElement",
+ "ident": 155,
+ "group": "ctrlMel",
+ "name": "accelz",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "zdx": {
+ "__class__": "LogTocElement",
+ "ident": 156,
+ "group": "ctrlMel",
+ "name": "zdx",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "zdy": {
+ "__class__": "LogTocElement",
+ "ident": 157,
+ "group": "ctrlMel",
+ "name": "zdy",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "zdz": {
+ "__class__": "LogTocElement",
+ "ident": 158,
+ "group": "ctrlMel",
+ "name": "zdz",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "i_err_x": {
+ "__class__": "LogTocElement",
+ "ident": 159,
+ "group": "ctrlMel",
+ "name": "i_err_x",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "i_err_y": {
+ "__class__": "LogTocElement",
+ "ident": 160,
+ "group": "ctrlMel",
+ "name": "i_err_y",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "i_err_z": {
+ "__class__": "LogTocElement",
+ "ident": 161,
+ "group": "ctrlMel",
+ "name": "i_err_z",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ }
+ },
+ "controller": {
+ "cmd_thrust": {
+ "__class__": "LogTocElement",
+ "ident": 162,
+ "group": "controller",
+ "name": "cmd_thrust",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "cmd_roll": {
+ "__class__": "LogTocElement",
+ "ident": 163,
+ "group": "controller",
+ "name": "cmd_roll",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "cmd_pitch": {
+ "__class__": "LogTocElement",
+ "ident": 164,
+ "group": "controller",
+ "name": "cmd_pitch",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "cmd_yaw": {
+ "__class__": "LogTocElement",
+ "ident": 165,
+ "group": "controller",
+ "name": "cmd_yaw",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "r_roll": {
+ "__class__": "LogTocElement",
+ "ident": 166,
+ "group": "controller",
+ "name": "r_roll",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "r_pitch": {
+ "__class__": "LogTocElement",
+ "ident": 167,
+ "group": "controller",
+ "name": "r_pitch",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "r_yaw": {
+ "__class__": "LogTocElement",
+ "ident": 168,
+ "group": "controller",
+ "name": "r_yaw",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "accelz": {
+ "__class__": "LogTocElement",
+ "ident": 169,
+ "group": "controller",
+ "name": "accelz",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "actuatorThrust": {
+ "__class__": "LogTocElement",
+ "ident": 170,
+ "group": "controller",
+ "name": "actuatorThrust",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "roll": {
+ "__class__": "LogTocElement",
+ "ident": 171,
+ "group": "controller",
+ "name": "roll",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "pitch": {
+ "__class__": "LogTocElement",
+ "ident": 172,
+ "group": "controller",
+ "name": "pitch",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "yaw": {
+ "__class__": "LogTocElement",
+ "ident": 173,
+ "group": "controller",
+ "name": "yaw",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "rollRate": {
+ "__class__": "LogTocElement",
+ "ident": 174,
+ "group": "controller",
+ "name": "rollRate",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "pitchRate": {
+ "__class__": "LogTocElement",
+ "ident": 175,
+ "group": "controller",
+ "name": "pitchRate",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "yawRate": {
+ "__class__": "LogTocElement",
+ "ident": 176,
+ "group": "controller",
+ "name": "yawRate",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "ctr_yaw": {
+ "__class__": "LogTocElement",
+ "ident": 177,
+ "group": "controller",
+ "name": "ctr_yaw",
+ "ctype": "int16_t",
+ "pytype": "<h",
+ "access": 0
+ }
+ },
+ "ext_pos": {
+ "X": {
+ "__class__": "LogTocElement",
+ "ident": 178,
+ "group": "ext_pos",
+ "name": "X",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "Y": {
+ "__class__": "LogTocElement",
+ "ident": 179,
+ "group": "ext_pos",
+ "name": "Y",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "Z": {
+ "__class__": "LogTocElement",
+ "ident": 180,
+ "group": "ext_pos",
+ "name": "Z",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ }
+ },
+ "locSrv": {
+ "x": {
+ "__class__": "LogTocElement",
+ "ident": 181,
+ "group": "locSrv",
+ "name": "x",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "y": {
+ "__class__": "LogTocElement",
+ "ident": 182,
+ "group": "locSrv",
+ "name": "y",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "z": {
+ "__class__": "LogTocElement",
+ "ident": 183,
+ "group": "locSrv",
+ "name": "z",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "qx": {
+ "__class__": "LogTocElement",
+ "ident": 184,
+ "group": "locSrv",
+ "name": "qx",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "qy": {
+ "__class__": "LogTocElement",
+ "ident": 185,
+ "group": "locSrv",
+ "name": "qy",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "qz": {
+ "__class__": "LogTocElement",
+ "ident": 186,
+ "group": "locSrv",
+ "name": "qz",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "qw": {
+ "__class__": "LogTocElement",
+ "ident": 187,
+ "group": "locSrv",
+ "name": "qw",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ }
+ },
+ "locSrvZ": {
+ "tick": {
+ "__class__": "LogTocElement",
+ "ident": 188,
+ "group": "locSrvZ",
+ "name": "tick",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0
+ }
+ },
+ "crtp": {
+ "rxRate": {
+ "__class__": "LogTocElement",
+ "ident": 189,
+ "group": "crtp",
+ "name": "rxRate",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0
+ },
+ "txRate": {
+ "__class__": "LogTocElement",
+ "ident": 190,
+ "group": "crtp",
+ "name": "txRate",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0
+ }
+ },
+ "kalman": {
+ "inFlight": {
+ "__class__": "LogTocElement",
+ "ident": 191,
+ "group": "kalman",
+ "name": "inFlight",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0
+ },
+ "stateX": {
+ "__class__": "LogTocElement",
+ "ident": 192,
+ "group": "kalman",
+ "name": "stateX",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "stateY": {
+ "__class__": "LogTocElement",
+ "ident": 193,
+ "group": "kalman",
+ "name": "stateY",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "stateZ": {
+ "__class__": "LogTocElement",
+ "ident": 194,
+ "group": "kalman",
+ "name": "stateZ",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "statePX": {
+ "__class__": "LogTocElement",
+ "ident": 195,
+ "group": "kalman",
+ "name": "statePX",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "statePY": {
+ "__class__": "LogTocElement",
+ "ident": 196,
+ "group": "kalman",
+ "name": "statePY",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "statePZ": {
+ "__class__": "LogTocElement",
+ "ident": 197,
+ "group": "kalman",
+ "name": "statePZ",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "stateD0": {
+ "__class__": "LogTocElement",
+ "ident": 198,
+ "group": "kalman",
+ "name": "stateD0",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "stateD1": {
+ "__class__": "LogTocElement",
+ "ident": 199,
+ "group": "kalman",
+ "name": "stateD1",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "stateD2": {
+ "__class__": "LogTocElement",
+ "ident": 200,
+ "group": "kalman",
+ "name": "stateD2",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "varX": {
+ "__class__": "LogTocElement",
+ "ident": 201,
+ "group": "kalman",
+ "name": "varX",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "varY": {
+ "__class__": "LogTocElement",
+ "ident": 202,
+ "group": "kalman",
+ "name": "varY",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "varZ": {
+ "__class__": "LogTocElement",
+ "ident": 203,
+ "group": "kalman",
+ "name": "varZ",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "varPX": {
+ "__class__": "LogTocElement",
+ "ident": 204,
+ "group": "kalman",
+ "name": "varPX",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "varPY": {
+ "__class__": "LogTocElement",
+ "ident": 205,
+ "group": "kalman",
+ "name": "varPY",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "varPZ": {
+ "__class__": "LogTocElement",
+ "ident": 206,
+ "group": "kalman",
+ "name": "varPZ",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "varD0": {
+ "__class__": "LogTocElement",
+ "ident": 207,
+ "group": "kalman",
+ "name": "varD0",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "varD1": {
+ "__class__": "LogTocElement",
+ "ident": 208,
+ "group": "kalman",
+ "name": "varD1",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "varD2": {
+ "__class__": "LogTocElement",
+ "ident": 209,
+ "group": "kalman",
+ "name": "varD2",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "q0": {
+ "__class__": "LogTocElement",
+ "ident": 210,
+ "group": "kalman",
+ "name": "q0",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "q1": {
+ "__class__": "LogTocElement",
+ "ident": 211,
+ "group": "kalman",
+ "name": "q1",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "q2": {
+ "__class__": "LogTocElement",
+ "ident": 212,
+ "group": "kalman",
+ "name": "q2",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "q3": {
+ "__class__": "LogTocElement",
+ "ident": 213,
+ "group": "kalman",
+ "name": "q3",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "rtUpdate": {
+ "__class__": "LogTocElement",
+ "ident": 214,
+ "group": "kalman",
+ "name": "rtUpdate",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "rtPred": {
+ "__class__": "LogTocElement",
+ "ident": 215,
+ "group": "kalman",
+ "name": "rtPred",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "rtFinal": {
+ "__class__": "LogTocElement",
+ "ident": 216,
+ "group": "kalman",
+ "name": "rtFinal",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ }
+ },
+ "outlierf": {
+ "lhWin": {
+ "__class__": "LogTocElement",
+ "ident": 217,
+ "group": "outlierf",
+ "name": "lhWin",
+ "ctype": "int32_t",
+ "pytype": "<i",
+ "access": 0
+ },
+ "bucket0": {
+ "__class__": "LogTocElement",
+ "ident": 218,
+ "group": "outlierf",
+ "name": "bucket0",
+ "ctype": "int32_t",
+ "pytype": "<i",
+ "access": 0
+ },
+ "bucket1": {
+ "__class__": "LogTocElement",
+ "ident": 219,
+ "group": "outlierf",
+ "name": "bucket1",
+ "ctype": "int32_t",
+ "pytype": "<i",
+ "access": 0
+ },
+ "bucket2": {
+ "__class__": "LogTocElement",
+ "ident": 220,
+ "group": "outlierf",
+ "name": "bucket2",
+ "ctype": "int32_t",
+ "pytype": "<i",
+ "access": 0
+ },
+ "bucket3": {
+ "__class__": "LogTocElement",
+ "ident": 221,
+ "group": "outlierf",
+ "name": "bucket3",
+ "ctype": "int32_t",
+ "pytype": "<i",
+ "access": 0
+ },
+ "bucket4": {
+ "__class__": "LogTocElement",
+ "ident": 222,
+ "group": "outlierf",
+ "name": "bucket4",
+ "ctype": "int32_t",
+ "pytype": "<i",
+ "access": 0
+ },
+ "accLev": {
+ "__class__": "LogTocElement",
+ "ident": 223,
+ "group": "outlierf",
+ "name": "accLev",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "errD": {
+ "__class__": "LogTocElement",
+ "ident": 224,
+ "group": "outlierf",
+ "name": "errD",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ }
+ },
+ "estimator": {
+ "rtApnd": {
+ "__class__": "LogTocElement",
+ "ident": 225,
+ "group": "estimator",
+ "name": "rtApnd",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "rtRej": {
+ "__class__": "LogTocElement",
+ "ident": 226,
+ "group": "estimator",
+ "name": "rtRej",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ }
+ },
+ "extrx": {
+ "thrust": {
+ "__class__": "LogTocElement",
+ "ident": 227,
+ "group": "extrx",
+ "name": "thrust",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "roll": {
+ "__class__": "LogTocElement",
+ "ident": 228,
+ "group": "extrx",
+ "name": "roll",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "pitch": {
+ "__class__": "LogTocElement",
+ "ident": 229,
+ "group": "extrx",
+ "name": "pitch",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "yawRate": {
+ "__class__": "LogTocElement",
+ "ident": 230,
+ "group": "extrx",
+ "name": "yawRate",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "zVel": {
+ "__class__": "LogTocElement",
+ "ident": 231,
+ "group": "extrx",
+ "name": "zVel",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "AltHold": {
+ "__class__": "LogTocElement",
+ "ident": 232,
+ "group": "extrx",
+ "name": "AltHold",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0
+ },
+ "Arm": {
+ "__class__": "LogTocElement",
+ "ident": 233,
+ "group": "extrx",
+ "name": "Arm",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0
+ }
+ },
+ "extrx_raw": {
+ "ch0": {
+ "__class__": "LogTocElement",
+ "ident": 234,
+ "group": "extrx_raw",
+ "name": "ch0",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0
+ },
+ "ch1": {
+ "__class__": "LogTocElement",
+ "ident": 235,
+ "group": "extrx_raw",
+ "name": "ch1",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0
+ },
+ "ch2": {
+ "__class__": "LogTocElement",
+ "ident": 236,
+ "group": "extrx_raw",
+ "name": "ch2",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0
+ },
+ "ch3": {
+ "__class__": "LogTocElement",
+ "ident": 237,
+ "group": "extrx_raw",
+ "name": "ch3",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0
+ },
+ "ch4": {
+ "__class__": "LogTocElement",
+ "ident": 238,
+ "group": "extrx_raw",
+ "name": "ch4",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0
+ },
+ "ch5": {
+ "__class__": "LogTocElement",
+ "ident": 239,
+ "group": "extrx_raw",
+ "name": "ch5",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0
+ },
+ "ch6": {
+ "__class__": "LogTocElement",
+ "ident": 240,
+ "group": "extrx_raw",
+ "name": "ch6",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0
+ },
+ "ch7": {
+ "__class__": "LogTocElement",
+ "ident": 241,
+ "group": "extrx_raw",
+ "name": "ch7",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0
+ }
+ },
+ "health": {
+ "motorVarXM1": {
+ "__class__": "LogTocElement",
+ "ident": 242,
+ "group": "health",
+ "name": "motorVarXM1",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "motorVarYM1": {
+ "__class__": "LogTocElement",
+ "ident": 243,
+ "group": "health",
+ "name": "motorVarYM1",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "motorVarXM2": {
+ "__class__": "LogTocElement",
+ "ident": 244,
+ "group": "health",
+ "name": "motorVarXM2",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "motorVarYM2": {
+ "__class__": "LogTocElement",
+ "ident": 245,
+ "group": "health",
+ "name": "motorVarYM2",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "motorVarXM3": {
+ "__class__": "LogTocElement",
+ "ident": 246,
+ "group": "health",
+ "name": "motorVarXM3",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "motorVarYM3": {
+ "__class__": "LogTocElement",
+ "ident": 247,
+ "group": "health",
+ "name": "motorVarYM3",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "motorVarXM4": {
+ "__class__": "LogTocElement",
+ "ident": 248,
+ "group": "health",
+ "name": "motorVarXM4",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "motorVarYM4": {
+ "__class__": "LogTocElement",
+ "ident": 249,
+ "group": "health",
+ "name": "motorVarYM4",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "motorPass": {
+ "__class__": "LogTocElement",
+ "ident": 250,
+ "group": "health",
+ "name": "motorPass",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0
+ },
+ "batterySag": {
+ "__class__": "LogTocElement",
+ "ident": 251,
+ "group": "health",
+ "name": "batterySag",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "batteryPass": {
+ "__class__": "LogTocElement",
+ "ident": 252,
+ "group": "health",
+ "name": "batteryPass",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0
+ },
+ "motorTestCount": {
+ "__class__": "LogTocElement",
+ "ident": 253,
+ "group": "health",
+ "name": "motorTestCount",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0
+ }
+ },
+ "memTst": {
+ "errCntW": {
+ "__class__": "LogTocElement",
+ "ident": 254,
+ "group": "memTst",
+ "name": "errCntW",
+ "ctype": "uint32_t",
+ "pytype": "<L",
+ "access": 0
+ }
+ },
+ "posCtrlIndi": {
+ "posRef_x": {
+ "__class__": "LogTocElement",
+ "ident": 255,
+ "group": "posCtrlIndi",
+ "name": "posRef_x",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "posRef_y": {
+ "__class__": "LogTocElement",
+ "ident": 256,
+ "group": "posCtrlIndi",
+ "name": "posRef_y",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "posRef_z": {
+ "__class__": "LogTocElement",
+ "ident": 257,
+ "group": "posCtrlIndi",
+ "name": "posRef_z",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "velS_x": {
+ "__class__": "LogTocElement",
+ "ident": 258,
+ "group": "posCtrlIndi",
+ "name": "velS_x",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "velS_y": {
+ "__class__": "LogTocElement",
+ "ident": 259,
+ "group": "posCtrlIndi",
+ "name": "velS_y",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "velS_z": {
+ "__class__": "LogTocElement",
+ "ident": 260,
+ "group": "posCtrlIndi",
+ "name": "velS_z",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "velRef_x": {
+ "__class__": "LogTocElement",
+ "ident": 261,
+ "group": "posCtrlIndi",
+ "name": "velRef_x",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "velRef_y": {
+ "__class__": "LogTocElement",
+ "ident": 262,
+ "group": "posCtrlIndi",
+ "name": "velRef_y",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "velRef_z": {
+ "__class__": "LogTocElement",
+ "ident": 263,
+ "group": "posCtrlIndi",
+ "name": "velRef_z",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "angS_roll": {
+ "__class__": "LogTocElement",
+ "ident": 264,
+ "group": "posCtrlIndi",
+ "name": "angS_roll",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "angS_pitch": {
+ "__class__": "LogTocElement",
+ "ident": 265,
+ "group": "posCtrlIndi",
+ "name": "angS_pitch",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "angS_yaw": {
+ "__class__": "LogTocElement",
+ "ident": 266,
+ "group": "posCtrlIndi",
+ "name": "angS_yaw",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "angF_roll": {
+ "__class__": "LogTocElement",
+ "ident": 267,
+ "group": "posCtrlIndi",
+ "name": "angF_roll",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "angF_pitch": {
+ "__class__": "LogTocElement",
+ "ident": 268,
+ "group": "posCtrlIndi",
+ "name": "angF_pitch",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "angF_yaw": {
+ "__class__": "LogTocElement",
+ "ident": 269,
+ "group": "posCtrlIndi",
+ "name": "angF_yaw",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "accRef_x": {
+ "__class__": "LogTocElement",
+ "ident": 270,
+ "group": "posCtrlIndi",
+ "name": "accRef_x",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "accRef_y": {
+ "__class__": "LogTocElement",
+ "ident": 271,
+ "group": "posCtrlIndi",
+ "name": "accRef_y",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "accRef_z": {
+ "__class__": "LogTocElement",
+ "ident": 272,
+ "group": "posCtrlIndi",
+ "name": "accRef_z",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "accS_x": {
+ "__class__": "LogTocElement",
+ "ident": 273,
+ "group": "posCtrlIndi",
+ "name": "accS_x",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "accS_y": {
+ "__class__": "LogTocElement",
+ "ident": 274,
+ "group": "posCtrlIndi",
+ "name": "accS_y",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "accS_z": {
+ "__class__": "LogTocElement",
+ "ident": 275,
+ "group": "posCtrlIndi",
+ "name": "accS_z",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "accF_x": {
+ "__class__": "LogTocElement",
+ "ident": 276,
+ "group": "posCtrlIndi",
+ "name": "accF_x",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "accF_y": {
+ "__class__": "LogTocElement",
+ "ident": 277,
+ "group": "posCtrlIndi",
+ "name": "accF_y",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "accF_z": {
+ "__class__": "LogTocElement",
+ "ident": 278,
+ "group": "posCtrlIndi",
+ "name": "accF_z",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "accFT_x": {
+ "__class__": "LogTocElement",
+ "ident": 279,
+ "group": "posCtrlIndi",
+ "name": "accFT_x",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "accFT_y": {
+ "__class__": "LogTocElement",
+ "ident": 280,
+ "group": "posCtrlIndi",
+ "name": "accFT_y",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "accFT_z": {
+ "__class__": "LogTocElement",
+ "ident": 281,
+ "group": "posCtrlIndi",
+ "name": "accFT_z",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "accErr_x": {
+ "__class__": "LogTocElement",
+ "ident": 282,
+ "group": "posCtrlIndi",
+ "name": "accErr_x",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "accErr_y": {
+ "__class__": "LogTocElement",
+ "ident": 283,
+ "group": "posCtrlIndi",
+ "name": "accErr_y",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "accErr_z": {
+ "__class__": "LogTocElement",
+ "ident": 284,
+ "group": "posCtrlIndi",
+ "name": "accErr_z",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "phi_tilde": {
+ "__class__": "LogTocElement",
+ "ident": 285,
+ "group": "posCtrlIndi",
+ "name": "phi_tilde",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "theta_tilde": {
+ "__class__": "LogTocElement",
+ "ident": 286,
+ "group": "posCtrlIndi",
+ "name": "theta_tilde",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "T_tilde": {
+ "__class__": "LogTocElement",
+ "ident": 287,
+ "group": "posCtrlIndi",
+ "name": "T_tilde",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "T_inner": {
+ "__class__": "LogTocElement",
+ "ident": 288,
+ "group": "posCtrlIndi",
+ "name": "T_inner",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "T_inner_f": {
+ "__class__": "LogTocElement",
+ "ident": 289,
+ "group": "posCtrlIndi",
+ "name": "T_inner_f",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "T_incremented": {
+ "__class__": "LogTocElement",
+ "ident": 290,
+ "group": "posCtrlIndi",
+ "name": "T_incremented",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "cmd_phi": {
+ "__class__": "LogTocElement",
+ "ident": 291,
+ "group": "posCtrlIndi",
+ "name": "cmd_phi",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "cmd_theta": {
+ "__class__": "LogTocElement",
+ "ident": 292,
+ "group": "posCtrlIndi",
+ "name": "cmd_theta",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ }
+ },
+ "posCtl": {
+ "targetVX": {
+ "__class__": "LogTocElement",
+ "ident": 293,
+ "group": "posCtl",
+ "name": "targetVX",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "targetVY": {
+ "__class__": "LogTocElement",
+ "ident": 294,
+ "group": "posCtl",
+ "name": "targetVY",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "targetVZ": {
+ "__class__": "LogTocElement",
+ "ident": 295,
+ "group": "posCtl",
+ "name": "targetVZ",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "targetX": {
+ "__class__": "LogTocElement",
+ "ident": 296,
+ "group": "posCtl",
+ "name": "targetX",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "targetY": {
+ "__class__": "LogTocElement",
+ "ident": 297,
+ "group": "posCtl",
+ "name": "targetY",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "targetZ": {
+ "__class__": "LogTocElement",
+ "ident": 298,
+ "group": "posCtl",
+ "name": "targetZ",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "bodyVX": {
+ "__class__": "LogTocElement",
+ "ident": 299,
+ "group": "posCtl",
+ "name": "bodyVX",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "bodyVY": {
+ "__class__": "LogTocElement",
+ "ident": 300,
+ "group": "posCtl",
+ "name": "bodyVY",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "bodyX": {
+ "__class__": "LogTocElement",
+ "ident": 301,
+ "group": "posCtl",
+ "name": "bodyX",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "bodyY": {
+ "__class__": "LogTocElement",
+ "ident": 302,
+ "group": "posCtl",
+ "name": "bodyY",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "Yp": {
+ "__class__": "LogTocElement",
+ "ident": 303,
+ "group": "posCtl",
+ "name": "Yp",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "Yi": {
+ "__class__": "LogTocElement",
+ "ident": 304,
+ "group": "posCtl",
+ "name": "Yi",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "Yd": {
+ "__class__": "LogTocElement",
+ "ident": 305,
+ "group": "posCtl",
+ "name": "Yd",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "Zp": {
+ "__class__": "LogTocElement",
+ "ident": 306,
+ "group": "posCtl",
+ "name": "Zp",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "Zi": {
+ "__class__": "LogTocElement",
+ "ident": 307,
+ "group": "posCtl",
+ "name": "Zi",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "Zd": {
+ "__class__": "LogTocElement",
+ "ident": 308,
+ "group": "posCtl",
+ "name": "Zd",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "VXp": {
+ "__class__": "LogTocElement",
+ "ident": 309,
+ "group": "posCtl",
+ "name": "VXp",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "VXi": {
+ "__class__": "LogTocElement",
+ "ident": 310,
+ "group": "posCtl",
+ "name": "VXi",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "VXd": {
+ "__class__": "LogTocElement",
+ "ident": 311,
+ "group": "posCtl",
+ "name": "VXd",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "VZp": {
+ "__class__": "LogTocElement",
+ "ident": 312,
+ "group": "posCtl",
+ "name": "VZp",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "VZi": {
+ "__class__": "LogTocElement",
+ "ident": 313,
+ "group": "posCtl",
+ "name": "VZi",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "VZd": {
+ "__class__": "LogTocElement",
+ "ident": 314,
+ "group": "posCtl",
+ "name": "VZd",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ }
+ },
+ "posEstAlt": {
+ "estimatedZ": {
+ "__class__": "LogTocElement",
+ "ident": 315,
+ "group": "posEstAlt",
+ "name": "estimatedZ",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "estVZ": {
+ "__class__": "LogTocElement",
+ "ident": 316,
+ "group": "posEstAlt",
+ "name": "estVZ",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "velocityZ": {
+ "__class__": "LogTocElement",
+ "ident": 317,
+ "group": "posEstAlt",
+ "name": "velocityZ",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ }
+ },
+ "motor": {
+ "m1": {
+ "__class__": "LogTocElement",
+ "ident": 318,
+ "group": "motor",
+ "name": "m1",
+ "ctype": "uint32_t",
+ "pytype": "<L",
+ "access": 0
+ },
+ "m2": {
+ "__class__": "LogTocElement",
+ "ident": 319,
+ "group": "motor",
+ "name": "m2",
+ "ctype": "uint32_t",
+ "pytype": "<L",
+ "access": 0
+ },
+ "m3": {
+ "__class__": "LogTocElement",
+ "ident": 320,
+ "group": "motor",
+ "name": "m3",
+ "ctype": "uint32_t",
+ "pytype": "<L",
+ "access": 0
+ },
+ "m4": {
+ "__class__": "LogTocElement",
+ "ident": 321,
+ "group": "motor",
+ "name": "m4",
+ "ctype": "uint32_t",
+ "pytype": "<L",
+ "access": 0
+ }
+ },
+ "range": {
+ "front": {
+ "__class__": "LogTocElement",
+ "ident": 322,
+ "group": "range",
+ "name": "front",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0
+ },
+ "back": {
+ "__class__": "LogTocElement",
+ "ident": 323,
+ "group": "range",
+ "name": "back",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0
+ },
+ "up": {
+ "__class__": "LogTocElement",
+ "ident": 324,
+ "group": "range",
+ "name": "up",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0
+ },
+ "left": {
+ "__class__": "LogTocElement",
+ "ident": 325,
+ "group": "range",
+ "name": "left",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0
+ },
+ "right": {
+ "__class__": "LogTocElement",
+ "ident": 326,
+ "group": "range",
+ "name": "right",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0
+ },
+ "zrange": {
+ "__class__": "LogTocElement",
+ "ident": 327,
+ "group": "range",
+ "name": "zrange",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0
+ }
+ },
+ "sensfusion6": {
+ "qw": {
+ "__class__": "LogTocElement",
+ "ident": 328,
+ "group": "sensfusion6",
+ "name": "qw",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "qx": {
+ "__class__": "LogTocElement",
+ "ident": 329,
+ "group": "sensfusion6",
+ "name": "qx",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "qy": {
+ "__class__": "LogTocElement",
+ "ident": 330,
+ "group": "sensfusion6",
+ "name": "qy",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "qz": {
+ "__class__": "LogTocElement",
+ "ident": 331,
+ "group": "sensfusion6",
+ "name": "qz",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "gravityX": {
+ "__class__": "LogTocElement",
+ "ident": 332,
+ "group": "sensfusion6",
+ "name": "gravityX",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "gravityY": {
+ "__class__": "LogTocElement",
+ "ident": 333,
+ "group": "sensfusion6",
+ "name": "gravityY",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "gravityZ": {
+ "__class__": "LogTocElement",
+ "ident": 334,
+ "group": "sensfusion6",
+ "name": "gravityZ",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "accZbase": {
+ "__class__": "LogTocElement",
+ "ident": 335,
+ "group": "sensfusion6",
+ "name": "accZbase",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "isInit": {
+ "__class__": "LogTocElement",
+ "ident": 336,
+ "group": "sensfusion6",
+ "name": "isInit",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0
+ },
+ "isCalibrated": {
+ "__class__": "LogTocElement",
+ "ident": 337,
+ "group": "sensfusion6",
+ "name": "isCalibrated",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0
+ }
+ },
+ "acc": {
+ "x": {
+ "__class__": "LogTocElement",
+ "ident": 338,
+ "group": "acc",
+ "name": "x",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "y": {
+ "__class__": "LogTocElement",
+ "ident": 339,
+ "group": "acc",
+ "name": "y",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "z": {
+ "__class__": "LogTocElement",
+ "ident": 340,
+ "group": "acc",
+ "name": "z",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ }
+ },
+ "baro": {
+ "asl": {
+ "__class__": "LogTocElement",
+ "ident": 341,
+ "group": "baro",
+ "name": "asl",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "temp": {
+ "__class__": "LogTocElement",
+ "ident": 342,
+ "group": "baro",
+ "name": "temp",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "pressure": {
+ "__class__": "LogTocElement",
+ "ident": 343,
+ "group": "baro",
+ "name": "pressure",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ }
+ },
+ "ctrltarget": {
+ "x": {
+ "__class__": "LogTocElement",
+ "ident": 344,
+ "group": "ctrltarget",
+ "name": "x",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "y": {
+ "__class__": "LogTocElement",
+ "ident": 345,
+ "group": "ctrltarget",
+ "name": "y",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "z": {
+ "__class__": "LogTocElement",
+ "ident": 346,
+ "group": "ctrltarget",
+ "name": "z",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "vx": {
+ "__class__": "LogTocElement",
+ "ident": 347,
+ "group": "ctrltarget",
+ "name": "vx",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "vy": {
+ "__class__": "LogTocElement",
+ "ident": 348,
+ "group": "ctrltarget",
+ "name": "vy",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "vz": {
+ "__class__": "LogTocElement",
+ "ident": 349,
+ "group": "ctrltarget",
+ "name": "vz",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "ax": {
+ "__class__": "LogTocElement",
+ "ident": 350,
+ "group": "ctrltarget",
+ "name": "ax",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "ay": {
+ "__class__": "LogTocElement",
+ "ident": 351,
+ "group": "ctrltarget",
+ "name": "ay",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "az": {
+ "__class__": "LogTocElement",
+ "ident": 352,
+ "group": "ctrltarget",
+ "name": "az",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "roll": {
+ "__class__": "LogTocElement",
+ "ident": 353,
+ "group": "ctrltarget",
+ "name": "roll",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "pitch": {
+ "__class__": "LogTocElement",
+ "ident": 354,
+ "group": "ctrltarget",
+ "name": "pitch",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "yaw": {
+ "__class__": "LogTocElement",
+ "ident": 355,
+ "group": "ctrltarget",
+ "name": "yaw",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ }
+ },
+ "ctrltargetZ": {
+ "x": {
+ "__class__": "LogTocElement",
+ "ident": 356,
+ "group": "ctrltargetZ",
+ "name": "x",
+ "ctype": "int16_t",
+ "pytype": "<h",
+ "access": 0
+ },
+ "y": {
+ "__class__": "LogTocElement",
+ "ident": 357,
+ "group": "ctrltargetZ",
+ "name": "y",
+ "ctype": "int16_t",
+ "pytype": "<h",
+ "access": 0
+ },
+ "z": {
+ "__class__": "LogTocElement",
+ "ident": 358,
+ "group": "ctrltargetZ",
+ "name": "z",
+ "ctype": "int16_t",
+ "pytype": "<h",
+ "access": 0
+ },
+ "vx": {
+ "__class__": "LogTocElement",
+ "ident": 359,
+ "group": "ctrltargetZ",
+ "name": "vx",
+ "ctype": "int16_t",
+ "pytype": "<h",
+ "access": 0
+ },
+ "vy": {
+ "__class__": "LogTocElement",
+ "ident": 360,
+ "group": "ctrltargetZ",
+ "name": "vy",
+ "ctype": "int16_t",
+ "pytype": "<h",
+ "access": 0
+ },
+ "vz": {
+ "__class__": "LogTocElement",
+ "ident": 361,
+ "group": "ctrltargetZ",
+ "name": "vz",
+ "ctype": "int16_t",
+ "pytype": "<h",
+ "access": 0
+ },
+ "ax": {
+ "__class__": "LogTocElement",
+ "ident": 362,
+ "group": "ctrltargetZ",
+ "name": "ax",
+ "ctype": "int16_t",
+ "pytype": "<h",
+ "access": 0
+ },
+ "ay": {
+ "__class__": "LogTocElement",
+ "ident": 363,
+ "group": "ctrltargetZ",
+ "name": "ay",
+ "ctype": "int16_t",
+ "pytype": "<h",
+ "access": 0
+ },
+ "az": {
+ "__class__": "LogTocElement",
+ "ident": 364,
+ "group": "ctrltargetZ",
+ "name": "az",
+ "ctype": "int16_t",
+ "pytype": "<h",
+ "access": 0
+ }
+ },
+ "mag": {
+ "x": {
+ "__class__": "LogTocElement",
+ "ident": 365,
+ "group": "mag",
+ "name": "x",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "y": {
+ "__class__": "LogTocElement",
+ "ident": 366,
+ "group": "mag",
+ "name": "y",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "z": {
+ "__class__": "LogTocElement",
+ "ident": 367,
+ "group": "mag",
+ "name": "z",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ }
+ },
+ "stabilizer": {
+ "roll": {
+ "__class__": "LogTocElement",
+ "ident": 368,
+ "group": "stabilizer",
+ "name": "roll",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "pitch": {
+ "__class__": "LogTocElement",
+ "ident": 369,
+ "group": "stabilizer",
+ "name": "pitch",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "yaw": {
+ "__class__": "LogTocElement",
+ "ident": 370,
+ "group": "stabilizer",
+ "name": "yaw",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "thrust": {
+ "__class__": "LogTocElement",
+ "ident": 371,
+ "group": "stabilizer",
+ "name": "thrust",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "rtStab": {
+ "__class__": "LogTocElement",
+ "ident": 372,
+ "group": "stabilizer",
+ "name": "rtStab",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "intToOut": {
+ "__class__": "LogTocElement",
+ "ident": 373,
+ "group": "stabilizer",
+ "name": "intToOut",
+ "ctype": "uint32_t",
+ "pytype": "<L",
+ "access": 0
+ }
+ },
+ "stateEstimate": {
+ "x": {
+ "__class__": "LogTocElement",
+ "ident": 374,
+ "group": "stateEstimate",
+ "name": "x",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "y": {
+ "__class__": "LogTocElement",
+ "ident": 375,
+ "group": "stateEstimate",
+ "name": "y",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "z": {
+ "__class__": "LogTocElement",
+ "ident": 376,
+ "group": "stateEstimate",
+ "name": "z",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "vx": {
+ "__class__": "LogTocElement",
+ "ident": 377,
+ "group": "stateEstimate",
+ "name": "vx",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "vy": {
+ "__class__": "LogTocElement",
+ "ident": 378,
+ "group": "stateEstimate",
+ "name": "vy",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "vz": {
+ "__class__": "LogTocElement",
+ "ident": 379,
+ "group": "stateEstimate",
+ "name": "vz",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "ax": {
+ "__class__": "LogTocElement",
+ "ident": 380,
+ "group": "stateEstimate",
+ "name": "ax",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "ay": {
+ "__class__": "LogTocElement",
+ "ident": 381,
+ "group": "stateEstimate",
+ "name": "ay",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "az": {
+ "__class__": "LogTocElement",
+ "ident": 382,
+ "group": "stateEstimate",
+ "name": "az",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "roll": {
+ "__class__": "LogTocElement",
+ "ident": 383,
+ "group": "stateEstimate",
+ "name": "roll",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "pitch": {
+ "__class__": "LogTocElement",
+ "ident": 384,
+ "group": "stateEstimate",
+ "name": "pitch",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "yaw": {
+ "__class__": "LogTocElement",
+ "ident": 385,
+ "group": "stateEstimate",
+ "name": "yaw",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "qx": {
+ "__class__": "LogTocElement",
+ "ident": 386,
+ "group": "stateEstimate",
+ "name": "qx",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "qy": {
+ "__class__": "LogTocElement",
+ "ident": 387,
+ "group": "stateEstimate",
+ "name": "qy",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "qz": {
+ "__class__": "LogTocElement",
+ "ident": 388,
+ "group": "stateEstimate",
+ "name": "qz",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "qw": {
+ "__class__": "LogTocElement",
+ "ident": 389,
+ "group": "stateEstimate",
+ "name": "qw",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ }
+ },
+ "stateEstimateZ": {
+ "x": {
+ "__class__": "LogTocElement",
+ "ident": 390,
+ "group": "stateEstimateZ",
+ "name": "x",
+ "ctype": "int16_t",
+ "pytype": "<h",
+ "access": 0
+ },
+ "y": {
+ "__class__": "LogTocElement",
+ "ident": 391,
+ "group": "stateEstimateZ",
+ "name": "y",
+ "ctype": "int16_t",
+ "pytype": "<h",
+ "access": 0
+ },
+ "z": {
+ "__class__": "LogTocElement",
+ "ident": 392,
+ "group": "stateEstimateZ",
+ "name": "z",
+ "ctype": "int16_t",
+ "pytype": "<h",
+ "access": 0
+ },
+ "vx": {
+ "__class__": "LogTocElement",
+ "ident": 393,
+ "group": "stateEstimateZ",
+ "name": "vx",
+ "ctype": "int16_t",
+ "pytype": "<h",
+ "access": 0
+ },
+ "vy": {
+ "__class__": "LogTocElement",
+ "ident": 394,
+ "group": "stateEstimateZ",
+ "name": "vy",
+ "ctype": "int16_t",
+ "pytype": "<h",
+ "access": 0
+ },
+ "vz": {
+ "__class__": "LogTocElement",
+ "ident": 395,
+ "group": "stateEstimateZ",
+ "name": "vz",
+ "ctype": "int16_t",
+ "pytype": "<h",
+ "access": 0
+ },
+ "ax": {
+ "__class__": "LogTocElement",
+ "ident": 396,
+ "group": "stateEstimateZ",
+ "name": "ax",
+ "ctype": "int16_t",
+ "pytype": "<h",
+ "access": 0
+ },
+ "ay": {
+ "__class__": "LogTocElement",
+ "ident": 397,
+ "group": "stateEstimateZ",
+ "name": "ay",
+ "ctype": "int16_t",
+ "pytype": "<h",
+ "access": 0
+ },
+ "az": {
+ "__class__": "LogTocElement",
+ "ident": 398,
+ "group": "stateEstimateZ",
+ "name": "az",
+ "ctype": "int16_t",
+ "pytype": "<h",
+ "access": 0
+ },
+ "quat": {
+ "__class__": "LogTocElement",
+ "ident": 399,
+ "group": "stateEstimateZ",
+ "name": "quat",
+ "ctype": "uint32_t",
+ "pytype": "<L",
+ "access": 0
+ },
+ "rateRoll": {
+ "__class__": "LogTocElement",
+ "ident": 400,
+ "group": "stateEstimateZ",
+ "name": "rateRoll",
+ "ctype": "int16_t",
+ "pytype": "<h",
+ "access": 0
+ },
+ "ratePitch": {
+ "__class__": "LogTocElement",
+ "ident": 401,
+ "group": "stateEstimateZ",
+ "name": "ratePitch",
+ "ctype": "int16_t",
+ "pytype": "<h",
+ "access": 0
+ },
+ "rateYaw": {
+ "__class__": "LogTocElement",
+ "ident": 402,
+ "group": "stateEstimateZ",
+ "name": "rateYaw",
+ "ctype": "int16_t",
+ "pytype": "<h",
+ "access": 0
+ }
+ },
+ "sys": {
+ "canfly": {
+ "__class__": "LogTocElement",
+ "ident": 403,
+ "group": "sys",
+ "name": "canfly",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0
+ },
+ "isFlying": {
+ "__class__": "LogTocElement",
+ "ident": 404,
+ "group": "sys",
+ "name": "isFlying",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0
+ },
+ "isTumbled": {
+ "__class__": "LogTocElement",
+ "ident": 405,
+ "group": "sys",
+ "name": "isTumbled",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0
+ },
+ "armed": {
+ "__class__": "LogTocElement",
+ "ident": 406,
+ "group": "sys",
+ "name": "armed",
+ "ctype": "int8_t",
+ "pytype": "<b",
+ "access": 0
+ }
+ },
+ "tdoaEngine": {
+ "stRx": {
+ "__class__": "LogTocElement",
+ "ident": 407,
+ "group": "tdoaEngine",
+ "name": "stRx",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "stEst": {
+ "__class__": "LogTocElement",
+ "ident": 408,
+ "group": "tdoaEngine",
+ "name": "stEst",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "stTime": {
+ "__class__": "LogTocElement",
+ "ident": 409,
+ "group": "tdoaEngine",
+ "name": "stTime",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "stFound": {
+ "__class__": "LogTocElement",
+ "ident": 410,
+ "group": "tdoaEngine",
+ "name": "stFound",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "stCc": {
+ "__class__": "LogTocElement",
+ "ident": 411,
+ "group": "tdoaEngine",
+ "name": "stCc",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "stHit": {
+ "__class__": "LogTocElement",
+ "ident": 412,
+ "group": "tdoaEngine",
+ "name": "stHit",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "stMiss": {
+ "__class__": "LogTocElement",
+ "ident": 413,
+ "group": "tdoaEngine",
+ "name": "stMiss",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "cc": {
+ "__class__": "LogTocElement",
+ "ident": 414,
+ "group": "tdoaEngine",
+ "name": "cc",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "tof": {
+ "__class__": "LogTocElement",
+ "ident": 415,
+ "group": "tdoaEngine",
+ "name": "tof",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0
+ },
+ "tdoa": {
+ "__class__": "LogTocElement",
+ "ident": 416,
+ "group": "tdoaEngine",
+ "name": "tdoa",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ }
+ },
+ "kalman_pred": {
+ "predNX": {
+ "__class__": "LogTocElement",
+ "ident": 417,
+ "group": "kalman_pred",
+ "name": "predNX",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "predNY": {
+ "__class__": "LogTocElement",
+ "ident": 418,
+ "group": "kalman_pred",
+ "name": "predNY",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "measNX": {
+ "__class__": "LogTocElement",
+ "ident": 419,
+ "group": "kalman_pred",
+ "name": "measNX",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "measNY": {
+ "__class__": "LogTocElement",
+ "ident": 420,
+ "group": "kalman_pred",
+ "name": "measNY",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ }
+ },
+ "lighthouse": {
+ "validAngles": {
+ "__class__": "LogTocElement",
+ "ident": 421,
+ "group": "lighthouse",
+ "name": "validAngles",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0
+ },
+ "rawAngle0x": {
+ "__class__": "LogTocElement",
+ "ident": 422,
+ "group": "lighthouse",
+ "name": "rawAngle0x",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "rawAngle0y": {
+ "__class__": "LogTocElement",
+ "ident": 423,
+ "group": "lighthouse",
+ "name": "rawAngle0y",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "rawAngle1x": {
+ "__class__": "LogTocElement",
+ "ident": 424,
+ "group": "lighthouse",
+ "name": "rawAngle1x",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "rawAngle1y": {
+ "__class__": "LogTocElement",
+ "ident": 425,
+ "group": "lighthouse",
+ "name": "rawAngle1y",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "angle0x": {
+ "__class__": "LogTocElement",
+ "ident": 426,
+ "group": "lighthouse",
+ "name": "angle0x",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "angle0y": {
+ "__class__": "LogTocElement",
+ "ident": 427,
+ "group": "lighthouse",
+ "name": "angle0y",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "angle1x": {
+ "__class__": "LogTocElement",
+ "ident": 428,
+ "group": "lighthouse",
+ "name": "angle1x",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "angle1y": {
+ "__class__": "LogTocElement",
+ "ident": 429,
+ "group": "lighthouse",
+ "name": "angle1y",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "angle0x_1": {
+ "__class__": "LogTocElement",
+ "ident": 430,
+ "group": "lighthouse",
+ "name": "angle0x_1",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "angle0y_1": {
+ "__class__": "LogTocElement",
+ "ident": 431,
+ "group": "lighthouse",
+ "name": "angle0y_1",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "angle1x_1": {
+ "__class__": "LogTocElement",
+ "ident": 432,
+ "group": "lighthouse",
+ "name": "angle1x_1",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "angle1y_1": {
+ "__class__": "LogTocElement",
+ "ident": 433,
+ "group": "lighthouse",
+ "name": "angle1y_1",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "angle0x_2": {
+ "__class__": "LogTocElement",
+ "ident": 434,
+ "group": "lighthouse",
+ "name": "angle0x_2",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "angle0y_2": {
+ "__class__": "LogTocElement",
+ "ident": 435,
+ "group": "lighthouse",
+ "name": "angle0y_2",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "angle1x_2": {
+ "__class__": "LogTocElement",
+ "ident": 436,
+ "group": "lighthouse",
+ "name": "angle1x_2",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "angle1y_2": {
+ "__class__": "LogTocElement",
+ "ident": 437,
+ "group": "lighthouse",
+ "name": "angle1y_2",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "angle0x_3": {
+ "__class__": "LogTocElement",
+ "ident": 438,
+ "group": "lighthouse",
+ "name": "angle0x_3",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "angle0y_3": {
+ "__class__": "LogTocElement",
+ "ident": 439,
+ "group": "lighthouse",
+ "name": "angle0y_3",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "angle1x_3": {
+ "__class__": "LogTocElement",
+ "ident": 440,
+ "group": "lighthouse",
+ "name": "angle1x_3",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "angle1y_3": {
+ "__class__": "LogTocElement",
+ "ident": 441,
+ "group": "lighthouse",
+ "name": "angle1y_3",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "rawAngle0xlh2": {
+ "__class__": "LogTocElement",
+ "ident": 442,
+ "group": "lighthouse",
+ "name": "rawAngle0xlh2",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "rawAngle0ylh2": {
+ "__class__": "LogTocElement",
+ "ident": 443,
+ "group": "lighthouse",
+ "name": "rawAngle0ylh2",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "rawAngle1xlh2": {
+ "__class__": "LogTocElement",
+ "ident": 444,
+ "group": "lighthouse",
+ "name": "rawAngle1xlh2",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "rawAngle1ylh2": {
+ "__class__": "LogTocElement",
+ "ident": 445,
+ "group": "lighthouse",
+ "name": "rawAngle1ylh2",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "angle0x_0lh2": {
+ "__class__": "LogTocElement",
+ "ident": 446,
+ "group": "lighthouse",
+ "name": "angle0x_0lh2",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "angle0y_0lh2": {
+ "__class__": "LogTocElement",
+ "ident": 447,
+ "group": "lighthouse",
+ "name": "angle0y_0lh2",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "angle1x_0lh2": {
+ "__class__": "LogTocElement",
+ "ident": 448,
+ "group": "lighthouse",
+ "name": "angle1x_0lh2",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "angle1y_0lh2": {
+ "__class__": "LogTocElement",
+ "ident": 449,
+ "group": "lighthouse",
+ "name": "angle1y_0lh2",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "serRt": {
+ "__class__": "LogTocElement",
+ "ident": 450,
+ "group": "lighthouse",
+ "name": "serRt",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "frmRt": {
+ "__class__": "LogTocElement",
+ "ident": 451,
+ "group": "lighthouse",
+ "name": "frmRt",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "cycleRt": {
+ "__class__": "LogTocElement",
+ "ident": 452,
+ "group": "lighthouse",
+ "name": "cycleRt",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "bs0Rt": {
+ "__class__": "LogTocElement",
+ "ident": 453,
+ "group": "lighthouse",
+ "name": "bs0Rt",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "bs1Rt": {
+ "__class__": "LogTocElement",
+ "ident": 454,
+ "group": "lighthouse",
+ "name": "bs1Rt",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "width0": {
+ "__class__": "LogTocElement",
+ "ident": 455,
+ "group": "lighthouse",
+ "name": "width0",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0
+ },
+ "width1": {
+ "__class__": "LogTocElement",
+ "ident": 456,
+ "group": "lighthouse",
+ "name": "width1",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0
+ },
+ "width2": {
+ "__class__": "LogTocElement",
+ "ident": 457,
+ "group": "lighthouse",
+ "name": "width2",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0
+ },
+ "width3": {
+ "__class__": "LogTocElement",
+ "ident": 458,
+ "group": "lighthouse",
+ "name": "width3",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0
+ },
+ "comSync": {
+ "__class__": "LogTocElement",
+ "ident": 459,
+ "group": "lighthouse",
+ "name": "comSync",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0
+ },
+ "bsReceive": {
+ "__class__": "LogTocElement",
+ "ident": 460,
+ "group": "lighthouse",
+ "name": "bsReceive",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0
+ },
+ "bsActive": {
+ "__class__": "LogTocElement",
+ "ident": 461,
+ "group": "lighthouse",
+ "name": "bsActive",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0
+ },
+ "bsCalUd": {
+ "__class__": "LogTocElement",
+ "ident": 462,
+ "group": "lighthouse",
+ "name": "bsCalUd",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0
+ },
+ "bsCalCon": {
+ "__class__": "LogTocElement",
+ "ident": 463,
+ "group": "lighthouse",
+ "name": "bsCalCon",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0
+ },
+ "status": {
+ "__class__": "LogTocElement",
+ "ident": 464,
+ "group": "lighthouse",
+ "name": "status",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0
+ },
+ "posRt": {
+ "__class__": "LogTocElement",
+ "ident": 465,
+ "group": "lighthouse",
+ "name": "posRt",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "estBs0Rt": {
+ "__class__": "LogTocElement",
+ "ident": 466,
+ "group": "lighthouse",
+ "name": "estBs0Rt",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "estBs1Rt": {
+ "__class__": "LogTocElement",
+ "ident": 467,
+ "group": "lighthouse",
+ "name": "estBs1Rt",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "x": {
+ "__class__": "LogTocElement",
+ "ident": 468,
+ "group": "lighthouse",
+ "name": "x",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "y": {
+ "__class__": "LogTocElement",
+ "ident": 469,
+ "group": "lighthouse",
+ "name": "y",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "z": {
+ "__class__": "LogTocElement",
+ "ident": 470,
+ "group": "lighthouse",
+ "name": "z",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "delta": {
+ "__class__": "LogTocElement",
+ "ident": 471,
+ "group": "lighthouse",
+ "name": "delta",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0
+ },
+ "bsGeoVal": {
+ "__class__": "LogTocElement",
+ "ident": 472,
+ "group": "lighthouse",
+ "name": "bsGeoVal",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0
+ },
+ "bsCalVal": {
+ "__class__": "LogTocElement",
+ "ident": 473,
+ "group": "lighthouse",
+ "name": "bsCalVal",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0
+ }
+ }
+}
\ No newline at end of file
diff --git a/real_robot/coordination_formation_control_pkg/scripts/cache/E2229F02.json b/real_robot/coordination_formation_control_pkg/scripts/cache/E2229F02.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0e9f403c94e7edfb9fef6357dc64accf7b155df
--- /dev/null
+++ b/real_robot/coordination_formation_control_pkg/scripts/cache/E2229F02.json
@@ -0,0 +1,2410 @@
+{
+ "activeMarker": {
+ "front": {
+ "__class__": "ParamTocElement",
+ "ident": 0,
+ "group": "activeMarker",
+ "name": "front",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": true
+ },
+ "back": {
+ "__class__": "ParamTocElement",
+ "ident": 1,
+ "group": "activeMarker",
+ "name": "back",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": true
+ },
+ "left": {
+ "__class__": "ParamTocElement",
+ "ident": 2,
+ "group": "activeMarker",
+ "name": "left",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": true
+ },
+ "right": {
+ "__class__": "ParamTocElement",
+ "ident": 3,
+ "group": "activeMarker",
+ "name": "right",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": true
+ },
+ "mode": {
+ "__class__": "ParamTocElement",
+ "ident": 4,
+ "group": "activeMarker",
+ "name": "mode",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": true
+ },
+ "poll": {
+ "__class__": "ParamTocElement",
+ "ident": 5,
+ "group": "activeMarker",
+ "name": "poll",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": false
+ }
+ },
+ "deck": {
+ "bcActiveMarker": {
+ "__class__": "ParamTocElement",
+ "ident": 6,
+ "group": "deck",
+ "name": "bcActiveMarker",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 1,
+ "extended": false
+ },
+ "bcAIDeck": {
+ "__class__": "ParamTocElement",
+ "ident": 7,
+ "group": "deck",
+ "name": "bcAIDeck",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 1,
+ "extended": false
+ },
+ "bcBuzzer": {
+ "__class__": "ParamTocElement",
+ "ident": 8,
+ "group": "deck",
+ "name": "bcBuzzer",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 1,
+ "extended": false
+ },
+ "bcFlow": {
+ "__class__": "ParamTocElement",
+ "ident": 9,
+ "group": "deck",
+ "name": "bcFlow",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 1,
+ "extended": false
+ },
+ "bcFlow2": {
+ "__class__": "ParamTocElement",
+ "ident": 10,
+ "group": "deck",
+ "name": "bcFlow2",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 1,
+ "extended": false
+ },
+ "bcLedRing": {
+ "__class__": "ParamTocElement",
+ "ident": 11,
+ "group": "deck",
+ "name": "bcLedRing",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 1,
+ "extended": false
+ },
+ "bcLighthouse4": {
+ "__class__": "ParamTocElement",
+ "ident": 12,
+ "group": "deck",
+ "name": "bcLighthouse4",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 1,
+ "extended": false
+ },
+ "bcDWM1000": {
+ "__class__": "ParamTocElement",
+ "ident": 13,
+ "group": "deck",
+ "name": "bcDWM1000",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 1,
+ "extended": false
+ },
+ "bcMultiranger": {
+ "__class__": "ParamTocElement",
+ "ident": 14,
+ "group": "deck",
+ "name": "bcMultiranger",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 1,
+ "extended": false
+ },
+ "bcOA": {
+ "__class__": "ParamTocElement",
+ "ident": 15,
+ "group": "deck",
+ "name": "bcOA",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 1,
+ "extended": false
+ },
+ "bcUSD": {
+ "__class__": "ParamTocElement",
+ "ident": 16,
+ "group": "deck",
+ "name": "bcUSD",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 1,
+ "extended": false
+ },
+ "bcZRanger": {
+ "__class__": "ParamTocElement",
+ "ident": 17,
+ "group": "deck",
+ "name": "bcZRanger",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 1,
+ "extended": false
+ },
+ "bcZRanger2": {
+ "__class__": "ParamTocElement",
+ "ident": 18,
+ "group": "deck",
+ "name": "bcZRanger2",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 1,
+ "extended": false
+ }
+ },
+ "motion": {
+ "disable": {
+ "__class__": "ParamTocElement",
+ "ident": 19,
+ "group": "motion",
+ "name": "disable",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": false
+ },
+ "adaptive": {
+ "__class__": "ParamTocElement",
+ "ident": 20,
+ "group": "motion",
+ "name": "adaptive",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": false
+ },
+ "flowStdFixed": {
+ "__class__": "ParamTocElement",
+ "ident": 21,
+ "group": "motion",
+ "name": "flowStdFixed",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ }
+ },
+ "ring": {
+ "effect": {
+ "__class__": "ParamTocElement",
+ "ident": 22,
+ "group": "ring",
+ "name": "effect",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": true
+ },
+ "neffect": {
+ "__class__": "ParamTocElement",
+ "ident": 23,
+ "group": "ring",
+ "name": "neffect",
+ "ctype": "uint32_t",
+ "pytype": "<L",
+ "access": 1,
+ "extended": false
+ },
+ "solidRed": {
+ "__class__": "ParamTocElement",
+ "ident": 24,
+ "group": "ring",
+ "name": "solidRed",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": false
+ },
+ "solidGreen": {
+ "__class__": "ParamTocElement",
+ "ident": 25,
+ "group": "ring",
+ "name": "solidGreen",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": false
+ },
+ "solidBlue": {
+ "__class__": "ParamTocElement",
+ "ident": 26,
+ "group": "ring",
+ "name": "solidBlue",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": false
+ },
+ "headlightEnable": {
+ "__class__": "ParamTocElement",
+ "ident": 27,
+ "group": "ring",
+ "name": "headlightEnable",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": false
+ },
+ "emptyCharge": {
+ "__class__": "ParamTocElement",
+ "ident": 28,
+ "group": "ring",
+ "name": "emptyCharge",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ },
+ "fullCharge": {
+ "__class__": "ParamTocElement",
+ "ident": 29,
+ "group": "ring",
+ "name": "fullCharge",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ },
+ "fadeColor": {
+ "__class__": "ParamTocElement",
+ "ident": 30,
+ "group": "ring",
+ "name": "fadeColor",
+ "ctype": "uint32_t",
+ "pytype": "<L",
+ "access": 0,
+ "extended": false
+ },
+ "fadeTime": {
+ "__class__": "ParamTocElement",
+ "ident": 31,
+ "group": "ring",
+ "name": "fadeTime",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ }
+ },
+ "system": {
+ "highlight": {
+ "__class__": "ParamTocElement",
+ "ident": 32,
+ "group": "system",
+ "name": "highlight",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": false
+ },
+ "taskDump": {
+ "__class__": "ParamTocElement",
+ "ident": 33,
+ "group": "system",
+ "name": "taskDump",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": false
+ },
+ "selftestPassed": {
+ "__class__": "ParamTocElement",
+ "ident": 34,
+ "group": "system",
+ "name": "selftestPassed",
+ "ctype": "int8_t",
+ "pytype": "<b",
+ "access": 1,
+ "extended": false
+ },
+ "forceArm": {
+ "__class__": "ParamTocElement",
+ "ident": 35,
+ "group": "system",
+ "name": "forceArm",
+ "ctype": "int8_t",
+ "pytype": "<b",
+ "access": 0,
+ "extended": true
+ }
+ },
+ "loco": {
+ "mode": {
+ "__class__": "ParamTocElement",
+ "ident": 36,
+ "group": "loco",
+ "name": "mode",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": false
+ }
+ },
+ "usd": {
+ "canLog": {
+ "__class__": "ParamTocElement",
+ "ident": 37,
+ "group": "usd",
+ "name": "canLog",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 1,
+ "extended": false
+ },
+ "logging": {
+ "__class__": "ParamTocElement",
+ "ident": 38,
+ "group": "usd",
+ "name": "logging",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": false
+ }
+ },
+ "led": {
+ "bitmask": {
+ "__class__": "ParamTocElement",
+ "ident": 39,
+ "group": "led",
+ "name": "bitmask",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": false
+ }
+ },
+ "pm": {
+ "lowVoltage": {
+ "__class__": "ParamTocElement",
+ "ident": 40,
+ "group": "pm",
+ "name": "lowVoltage",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "criticalLowVoltage": {
+ "__class__": "ParamTocElement",
+ "ident": 41,
+ "group": "pm",
+ "name": "criticalLowVoltage",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ }
+ },
+ "imu_sensors": {
+ "BMP388": {
+ "__class__": "ParamTocElement",
+ "ident": 42,
+ "group": "imu_sensors",
+ "name": "BMP388",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 1,
+ "extended": false
+ },
+ "AK8963": {
+ "__class__": "ParamTocElement",
+ "ident": 43,
+ "group": "imu_sensors",
+ "name": "AK8963",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 1,
+ "extended": false
+ },
+ "LPS25H": {
+ "__class__": "ParamTocElement",
+ "ident": 44,
+ "group": "imu_sensors",
+ "name": "LPS25H",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 1,
+ "extended": false
+ }
+ },
+ "imu_tests": {
+ "MPU6500": {
+ "__class__": "ParamTocElement",
+ "ident": 45,
+ "group": "imu_tests",
+ "name": "MPU6500",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 1,
+ "extended": false
+ },
+ "AK8963": {
+ "__class__": "ParamTocElement",
+ "ident": 46,
+ "group": "imu_tests",
+ "name": "AK8963",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 1,
+ "extended": false
+ },
+ "LPS25H": {
+ "__class__": "ParamTocElement",
+ "ident": 47,
+ "group": "imu_tests",
+ "name": "LPS25H",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 1,
+ "extended": false
+ }
+ },
+ "pid_attitude": {
+ "roll_kp": {
+ "__class__": "ParamTocElement",
+ "ident": 48,
+ "group": "pid_attitude",
+ "name": "roll_kp",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "roll_ki": {
+ "__class__": "ParamTocElement",
+ "ident": 49,
+ "group": "pid_attitude",
+ "name": "roll_ki",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "roll_kd": {
+ "__class__": "ParamTocElement",
+ "ident": 50,
+ "group": "pid_attitude",
+ "name": "roll_kd",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "pitch_kp": {
+ "__class__": "ParamTocElement",
+ "ident": 51,
+ "group": "pid_attitude",
+ "name": "pitch_kp",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "pitch_ki": {
+ "__class__": "ParamTocElement",
+ "ident": 52,
+ "group": "pid_attitude",
+ "name": "pitch_ki",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "pitch_kd": {
+ "__class__": "ParamTocElement",
+ "ident": 53,
+ "group": "pid_attitude",
+ "name": "pitch_kd",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "yaw_kp": {
+ "__class__": "ParamTocElement",
+ "ident": 54,
+ "group": "pid_attitude",
+ "name": "yaw_kp",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "yaw_ki": {
+ "__class__": "ParamTocElement",
+ "ident": 55,
+ "group": "pid_attitude",
+ "name": "yaw_ki",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "yaw_kd": {
+ "__class__": "ParamTocElement",
+ "ident": 56,
+ "group": "pid_attitude",
+ "name": "yaw_kd",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ }
+ },
+ "pid_rate": {
+ "roll_kp": {
+ "__class__": "ParamTocElement",
+ "ident": 57,
+ "group": "pid_rate",
+ "name": "roll_kp",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "roll_ki": {
+ "__class__": "ParamTocElement",
+ "ident": 58,
+ "group": "pid_rate",
+ "name": "roll_ki",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "roll_kd": {
+ "__class__": "ParamTocElement",
+ "ident": 59,
+ "group": "pid_rate",
+ "name": "roll_kd",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "pitch_kp": {
+ "__class__": "ParamTocElement",
+ "ident": 60,
+ "group": "pid_rate",
+ "name": "pitch_kp",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "pitch_ki": {
+ "__class__": "ParamTocElement",
+ "ident": 61,
+ "group": "pid_rate",
+ "name": "pitch_ki",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "pitch_kd": {
+ "__class__": "ParamTocElement",
+ "ident": 62,
+ "group": "pid_rate",
+ "name": "pitch_kd",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "yaw_kp": {
+ "__class__": "ParamTocElement",
+ "ident": 63,
+ "group": "pid_rate",
+ "name": "yaw_kp",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "yaw_ki": {
+ "__class__": "ParamTocElement",
+ "ident": 64,
+ "group": "pid_rate",
+ "name": "yaw_ki",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "yaw_kd": {
+ "__class__": "ParamTocElement",
+ "ident": 65,
+ "group": "pid_rate",
+ "name": "yaw_kd",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ }
+ },
+ "colAv": {
+ "enable": {
+ "__class__": "ParamTocElement",
+ "ident": 66,
+ "group": "colAv",
+ "name": "enable",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": false
+ },
+ "ellipsoidX": {
+ "__class__": "ParamTocElement",
+ "ident": 67,
+ "group": "colAv",
+ "name": "ellipsoidX",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ },
+ "ellipsoidY": {
+ "__class__": "ParamTocElement",
+ "ident": 68,
+ "group": "colAv",
+ "name": "ellipsoidY",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ },
+ "ellipsoidZ": {
+ "__class__": "ParamTocElement",
+ "ident": 69,
+ "group": "colAv",
+ "name": "ellipsoidZ",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ },
+ "bboxMinX": {
+ "__class__": "ParamTocElement",
+ "ident": 70,
+ "group": "colAv",
+ "name": "bboxMinX",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ },
+ "bboxMinY": {
+ "__class__": "ParamTocElement",
+ "ident": 71,
+ "group": "colAv",
+ "name": "bboxMinY",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ },
+ "bboxMinZ": {
+ "__class__": "ParamTocElement",
+ "ident": 72,
+ "group": "colAv",
+ "name": "bboxMinZ",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ },
+ "bboxMaxX": {
+ "__class__": "ParamTocElement",
+ "ident": 73,
+ "group": "colAv",
+ "name": "bboxMaxX",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ },
+ "bboxMaxY": {
+ "__class__": "ParamTocElement",
+ "ident": 74,
+ "group": "colAv",
+ "name": "bboxMaxY",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ },
+ "bboxMaxZ": {
+ "__class__": "ParamTocElement",
+ "ident": 75,
+ "group": "colAv",
+ "name": "bboxMaxZ",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ },
+ "horizon": {
+ "__class__": "ParamTocElement",
+ "ident": 76,
+ "group": "colAv",
+ "name": "horizon",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ },
+ "maxSpeed": {
+ "__class__": "ParamTocElement",
+ "ident": 77,
+ "group": "colAv",
+ "name": "maxSpeed",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ },
+ "sidestepThrsh": {
+ "__class__": "ParamTocElement",
+ "ident": 78,
+ "group": "colAv",
+ "name": "sidestepThrsh",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ },
+ "maxPeerLocAge": {
+ "__class__": "ParamTocElement",
+ "ident": 79,
+ "group": "colAv",
+ "name": "maxPeerLocAge",
+ "ctype": "int32_t",
+ "pytype": "<i",
+ "access": 0,
+ "extended": false
+ },
+ "vorTol": {
+ "__class__": "ParamTocElement",
+ "ident": 80,
+ "group": "colAv",
+ "name": "vorTol",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ },
+ "vorIters": {
+ "__class__": "ParamTocElement",
+ "ident": 81,
+ "group": "colAv",
+ "name": "vorIters",
+ "ctype": "int32_t",
+ "pytype": "<i",
+ "access": 0,
+ "extended": false
+ }
+ },
+ "commander": {
+ "enHighLevel": {
+ "__class__": "ParamTocElement",
+ "ident": 82,
+ "group": "commander",
+ "name": "enHighLevel",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": false
+ }
+ },
+ "ctrlINDI": {
+ "thrust_threshold": {
+ "__class__": "ParamTocElement",
+ "ident": 83,
+ "group": "ctrlINDI",
+ "name": "thrust_threshold",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ },
+ "bound_ctrl_input": {
+ "__class__": "ParamTocElement",
+ "ident": 84,
+ "group": "ctrlINDI",
+ "name": "bound_ctrl_input",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ },
+ "g1_p": {
+ "__class__": "ParamTocElement",
+ "ident": 85,
+ "group": "ctrlINDI",
+ "name": "g1_p",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ },
+ "g1_q": {
+ "__class__": "ParamTocElement",
+ "ident": 86,
+ "group": "ctrlINDI",
+ "name": "g1_q",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ },
+ "g1_r": {
+ "__class__": "ParamTocElement",
+ "ident": 87,
+ "group": "ctrlINDI",
+ "name": "g1_r",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ },
+ "g2": {
+ "__class__": "ParamTocElement",
+ "ident": 88,
+ "group": "ctrlINDI",
+ "name": "g2",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ },
+ "ref_err_p": {
+ "__class__": "ParamTocElement",
+ "ident": 89,
+ "group": "ctrlINDI",
+ "name": "ref_err_p",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ },
+ "ref_err_q": {
+ "__class__": "ParamTocElement",
+ "ident": 90,
+ "group": "ctrlINDI",
+ "name": "ref_err_q",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ },
+ "ref_err_r": {
+ "__class__": "ParamTocElement",
+ "ident": 91,
+ "group": "ctrlINDI",
+ "name": "ref_err_r",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ },
+ "ref_rate_p": {
+ "__class__": "ParamTocElement",
+ "ident": 92,
+ "group": "ctrlINDI",
+ "name": "ref_rate_p",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ },
+ "ref_rate_q": {
+ "__class__": "ParamTocElement",
+ "ident": 93,
+ "group": "ctrlINDI",
+ "name": "ref_rate_q",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ },
+ "ref_rate_r": {
+ "__class__": "ParamTocElement",
+ "ident": 94,
+ "group": "ctrlINDI",
+ "name": "ref_rate_r",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ },
+ "act_dyn_p": {
+ "__class__": "ParamTocElement",
+ "ident": 95,
+ "group": "ctrlINDI",
+ "name": "act_dyn_p",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ },
+ "act_dyn_q": {
+ "__class__": "ParamTocElement",
+ "ident": 96,
+ "group": "ctrlINDI",
+ "name": "act_dyn_q",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ },
+ "act_dyn_r": {
+ "__class__": "ParamTocElement",
+ "ident": 97,
+ "group": "ctrlINDI",
+ "name": "act_dyn_r",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ },
+ "filt_cutoff": {
+ "__class__": "ParamTocElement",
+ "ident": 98,
+ "group": "ctrlINDI",
+ "name": "filt_cutoff",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ },
+ "filt_cutoff_r": {
+ "__class__": "ParamTocElement",
+ "ident": 99,
+ "group": "ctrlINDI",
+ "name": "filt_cutoff_r",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ },
+ "outerLoopActive": {
+ "__class__": "ParamTocElement",
+ "ident": 100,
+ "group": "ctrlINDI",
+ "name": "outerLoopActive",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": false
+ }
+ },
+ "ctrlMel": {
+ "kp_xy": {
+ "__class__": "ParamTocElement",
+ "ident": 101,
+ "group": "ctrlMel",
+ "name": "kp_xy",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "kd_xy": {
+ "__class__": "ParamTocElement",
+ "ident": 102,
+ "group": "ctrlMel",
+ "name": "kd_xy",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "ki_xy": {
+ "__class__": "ParamTocElement",
+ "ident": 103,
+ "group": "ctrlMel",
+ "name": "ki_xy",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "i_range_xy": {
+ "__class__": "ParamTocElement",
+ "ident": 104,
+ "group": "ctrlMel",
+ "name": "i_range_xy",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "kp_z": {
+ "__class__": "ParamTocElement",
+ "ident": 105,
+ "group": "ctrlMel",
+ "name": "kp_z",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "kd_z": {
+ "__class__": "ParamTocElement",
+ "ident": 106,
+ "group": "ctrlMel",
+ "name": "kd_z",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "ki_z": {
+ "__class__": "ParamTocElement",
+ "ident": 107,
+ "group": "ctrlMel",
+ "name": "ki_z",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "i_range_z": {
+ "__class__": "ParamTocElement",
+ "ident": 108,
+ "group": "ctrlMel",
+ "name": "i_range_z",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "mass": {
+ "__class__": "ParamTocElement",
+ "ident": 109,
+ "group": "ctrlMel",
+ "name": "mass",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "massThrust": {
+ "__class__": "ParamTocElement",
+ "ident": 110,
+ "group": "ctrlMel",
+ "name": "massThrust",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "kR_xy": {
+ "__class__": "ParamTocElement",
+ "ident": 111,
+ "group": "ctrlMel",
+ "name": "kR_xy",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "kR_z": {
+ "__class__": "ParamTocElement",
+ "ident": 112,
+ "group": "ctrlMel",
+ "name": "kR_z",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "kw_xy": {
+ "__class__": "ParamTocElement",
+ "ident": 113,
+ "group": "ctrlMel",
+ "name": "kw_xy",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "kw_z": {
+ "__class__": "ParamTocElement",
+ "ident": 114,
+ "group": "ctrlMel",
+ "name": "kw_z",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "ki_m_xy": {
+ "__class__": "ParamTocElement",
+ "ident": 115,
+ "group": "ctrlMel",
+ "name": "ki_m_xy",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "ki_m_z": {
+ "__class__": "ParamTocElement",
+ "ident": 116,
+ "group": "ctrlMel",
+ "name": "ki_m_z",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "kd_omega_rp": {
+ "__class__": "ParamTocElement",
+ "ident": 117,
+ "group": "ctrlMel",
+ "name": "kd_omega_rp",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "i_range_m_xy": {
+ "__class__": "ParamTocElement",
+ "ident": 118,
+ "group": "ctrlMel",
+ "name": "i_range_m_xy",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "i_range_m_z": {
+ "__class__": "ParamTocElement",
+ "ident": 119,
+ "group": "ctrlMel",
+ "name": "i_range_m_z",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ }
+ },
+ "controller": {
+ "tiltComp": {
+ "__class__": "ParamTocElement",
+ "ident": 120,
+ "group": "controller",
+ "name": "tiltComp",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": false
+ }
+ },
+ "cmdrCPPM": {
+ "rateRoll": {
+ "__class__": "ParamTocElement",
+ "ident": 121,
+ "group": "cmdrCPPM",
+ "name": "rateRoll",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "ratePitch": {
+ "__class__": "ParamTocElement",
+ "ident": 122,
+ "group": "cmdrCPPM",
+ "name": "ratePitch",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "angPitch": {
+ "__class__": "ParamTocElement",
+ "ident": 123,
+ "group": "cmdrCPPM",
+ "name": "angPitch",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "angRoll": {
+ "__class__": "ParamTocElement",
+ "ident": 124,
+ "group": "cmdrCPPM",
+ "name": "angRoll",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "rateYaw": {
+ "__class__": "ParamTocElement",
+ "ident": 125,
+ "group": "cmdrCPPM",
+ "name": "rateYaw",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ }
+ },
+ "hlCommander": {
+ "vtoff": {
+ "__class__": "ParamTocElement",
+ "ident": 126,
+ "group": "hlCommander",
+ "name": "vtoff",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ },
+ "vland": {
+ "__class__": "ParamTocElement",
+ "ident": 127,
+ "group": "hlCommander",
+ "name": "vland",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ }
+ },
+ "flightmode": {
+ "althold": {
+ "__class__": "ParamTocElement",
+ "ident": 128,
+ "group": "flightmode",
+ "name": "althold",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": false
+ },
+ "poshold": {
+ "__class__": "ParamTocElement",
+ "ident": 129,
+ "group": "flightmode",
+ "name": "poshold",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": false
+ },
+ "posSet": {
+ "__class__": "ParamTocElement",
+ "ident": 130,
+ "group": "flightmode",
+ "name": "posSet",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": false
+ },
+ "yawMode": {
+ "__class__": "ParamTocElement",
+ "ident": 131,
+ "group": "flightmode",
+ "name": "yawMode",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": false
+ },
+ "stabModeRoll": {
+ "__class__": "ParamTocElement",
+ "ident": 132,
+ "group": "flightmode",
+ "name": "stabModeRoll",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": false
+ },
+ "stabModePitch": {
+ "__class__": "ParamTocElement",
+ "ident": 133,
+ "group": "flightmode",
+ "name": "stabModePitch",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": false
+ },
+ "stabModeYaw": {
+ "__class__": "ParamTocElement",
+ "ident": 134,
+ "group": "flightmode",
+ "name": "stabModeYaw",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": false
+ }
+ },
+ "locSrv": {
+ "enRangeStreamFP32": {
+ "__class__": "ParamTocElement",
+ "ident": 135,
+ "group": "locSrv",
+ "name": "enRangeStreamFP32",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": false
+ },
+ "enLhAngleStream": {
+ "__class__": "ParamTocElement",
+ "ident": 136,
+ "group": "locSrv",
+ "name": "enLhAngleStream",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": false
+ },
+ "extPosStdDev": {
+ "__class__": "ParamTocElement",
+ "ident": 137,
+ "group": "locSrv",
+ "name": "extPosStdDev",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ },
+ "extQuatStdDev": {
+ "__class__": "ParamTocElement",
+ "ident": 138,
+ "group": "locSrv",
+ "name": "extQuatStdDev",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ }
+ },
+ "crtpsrv": {
+ "echoDelay": {
+ "__class__": "ParamTocElement",
+ "ident": 139,
+ "group": "crtpsrv",
+ "name": "echoDelay",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0,
+ "extended": false
+ }
+ },
+ "kalman": {
+ "resetEstimation": {
+ "__class__": "ParamTocElement",
+ "ident": 140,
+ "group": "kalman",
+ "name": "resetEstimation",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": false
+ },
+ "quadIsFlying": {
+ "__class__": "ParamTocElement",
+ "ident": 141,
+ "group": "kalman",
+ "name": "quadIsFlying",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": false
+ },
+ "robustTdoa": {
+ "__class__": "ParamTocElement",
+ "ident": 142,
+ "group": "kalman",
+ "name": "robustTdoa",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": false
+ },
+ "robustTwr": {
+ "__class__": "ParamTocElement",
+ "ident": 143,
+ "group": "kalman",
+ "name": "robustTwr",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": false
+ },
+ "pNAcc_xy": {
+ "__class__": "ParamTocElement",
+ "ident": 144,
+ "group": "kalman",
+ "name": "pNAcc_xy",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "pNAcc_z": {
+ "__class__": "ParamTocElement",
+ "ident": 145,
+ "group": "kalman",
+ "name": "pNAcc_z",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "pNVel": {
+ "__class__": "ParamTocElement",
+ "ident": 146,
+ "group": "kalman",
+ "name": "pNVel",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "pNPos": {
+ "__class__": "ParamTocElement",
+ "ident": 147,
+ "group": "kalman",
+ "name": "pNPos",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "pNAtt": {
+ "__class__": "ParamTocElement",
+ "ident": 148,
+ "group": "kalman",
+ "name": "pNAtt",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "mNBaro": {
+ "__class__": "ParamTocElement",
+ "ident": 149,
+ "group": "kalman",
+ "name": "mNBaro",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "mNGyro_rollpitch": {
+ "__class__": "ParamTocElement",
+ "ident": 150,
+ "group": "kalman",
+ "name": "mNGyro_rollpitch",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "mNGyro_yaw": {
+ "__class__": "ParamTocElement",
+ "ident": 151,
+ "group": "kalman",
+ "name": "mNGyro_yaw",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "initialX": {
+ "__class__": "ParamTocElement",
+ "ident": 152,
+ "group": "kalman",
+ "name": "initialX",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ },
+ "initialY": {
+ "__class__": "ParamTocElement",
+ "ident": 153,
+ "group": "kalman",
+ "name": "initialY",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ },
+ "initialZ": {
+ "__class__": "ParamTocElement",
+ "ident": 154,
+ "group": "kalman",
+ "name": "initialZ",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ },
+ "initialYaw": {
+ "__class__": "ParamTocElement",
+ "ident": 155,
+ "group": "kalman",
+ "name": "initialYaw",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ },
+ "maxPos": {
+ "__class__": "ParamTocElement",
+ "ident": 156,
+ "group": "kalman",
+ "name": "maxPos",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ },
+ "maxVel": {
+ "__class__": "ParamTocElement",
+ "ident": 157,
+ "group": "kalman",
+ "name": "maxVel",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ }
+ },
+ "health": {
+ "startPropTest": {
+ "__class__": "ParamTocElement",
+ "ident": 158,
+ "group": "health",
+ "name": "startPropTest",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": false
+ },
+ "startBatTest": {
+ "__class__": "ParamTocElement",
+ "ident": 159,
+ "group": "health",
+ "name": "startBatTest",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": false
+ },
+ "propTestPWMRatio": {
+ "__class__": "ParamTocElement",
+ "ident": 160,
+ "group": "health",
+ "name": "propTestPWMRatio",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0,
+ "extended": false
+ }
+ },
+ "memTst": {
+ "resetW": {
+ "__class__": "ParamTocElement",
+ "ident": 161,
+ "group": "memTst",
+ "name": "resetW",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": false
+ }
+ },
+ "posCtrlIndi": {
+ "K_xi_x": {
+ "__class__": "ParamTocElement",
+ "ident": 162,
+ "group": "posCtrlIndi",
+ "name": "K_xi_x",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ },
+ "K_xi_y": {
+ "__class__": "ParamTocElement",
+ "ident": 163,
+ "group": "posCtrlIndi",
+ "name": "K_xi_y",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ },
+ "K_xi_z": {
+ "__class__": "ParamTocElement",
+ "ident": 164,
+ "group": "posCtrlIndi",
+ "name": "K_xi_z",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ },
+ "K_dxi_x": {
+ "__class__": "ParamTocElement",
+ "ident": 165,
+ "group": "posCtrlIndi",
+ "name": "K_dxi_x",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ },
+ "K_dxi_y": {
+ "__class__": "ParamTocElement",
+ "ident": 166,
+ "group": "posCtrlIndi",
+ "name": "K_dxi_y",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ },
+ "K_dxi_z": {
+ "__class__": "ParamTocElement",
+ "ident": 167,
+ "group": "posCtrlIndi",
+ "name": "K_dxi_z",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ },
+ "pq_clamping": {
+ "__class__": "ParamTocElement",
+ "ident": 168,
+ "group": "posCtrlIndi",
+ "name": "pq_clamping",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ }
+ },
+ "posCtlPid": {
+ "xKp": {
+ "__class__": "ParamTocElement",
+ "ident": 169,
+ "group": "posCtlPid",
+ "name": "xKp",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "xKi": {
+ "__class__": "ParamTocElement",
+ "ident": 170,
+ "group": "posCtlPid",
+ "name": "xKi",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "xKd": {
+ "__class__": "ParamTocElement",
+ "ident": 171,
+ "group": "posCtlPid",
+ "name": "xKd",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "yKp": {
+ "__class__": "ParamTocElement",
+ "ident": 172,
+ "group": "posCtlPid",
+ "name": "yKp",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "yKi": {
+ "__class__": "ParamTocElement",
+ "ident": 173,
+ "group": "posCtlPid",
+ "name": "yKi",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "yKd": {
+ "__class__": "ParamTocElement",
+ "ident": 174,
+ "group": "posCtlPid",
+ "name": "yKd",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "zKp": {
+ "__class__": "ParamTocElement",
+ "ident": 175,
+ "group": "posCtlPid",
+ "name": "zKp",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "zKi": {
+ "__class__": "ParamTocElement",
+ "ident": 176,
+ "group": "posCtlPid",
+ "name": "zKi",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "zKd": {
+ "__class__": "ParamTocElement",
+ "ident": 177,
+ "group": "posCtlPid",
+ "name": "zKd",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "thrustBase": {
+ "__class__": "ParamTocElement",
+ "ident": 178,
+ "group": "posCtlPid",
+ "name": "thrustBase",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0,
+ "extended": true
+ },
+ "thrustMin": {
+ "__class__": "ParamTocElement",
+ "ident": 179,
+ "group": "posCtlPid",
+ "name": "thrustMin",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0,
+ "extended": true
+ },
+ "rLimit": {
+ "__class__": "ParamTocElement",
+ "ident": 180,
+ "group": "posCtlPid",
+ "name": "rLimit",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "pLimit": {
+ "__class__": "ParamTocElement",
+ "ident": 181,
+ "group": "posCtlPid",
+ "name": "pLimit",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "xVelMax": {
+ "__class__": "ParamTocElement",
+ "ident": 182,
+ "group": "posCtlPid",
+ "name": "xVelMax",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "yVelMax": {
+ "__class__": "ParamTocElement",
+ "ident": 183,
+ "group": "posCtlPid",
+ "name": "yVelMax",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "zVelMax": {
+ "__class__": "ParamTocElement",
+ "ident": 184,
+ "group": "posCtlPid",
+ "name": "zVelMax",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ }
+ },
+ "velCtlPid": {
+ "vxKp": {
+ "__class__": "ParamTocElement",
+ "ident": 185,
+ "group": "velCtlPid",
+ "name": "vxKp",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "vxKi": {
+ "__class__": "ParamTocElement",
+ "ident": 186,
+ "group": "velCtlPid",
+ "name": "vxKi",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "vxKd": {
+ "__class__": "ParamTocElement",
+ "ident": 187,
+ "group": "velCtlPid",
+ "name": "vxKd",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "vyKp": {
+ "__class__": "ParamTocElement",
+ "ident": 188,
+ "group": "velCtlPid",
+ "name": "vyKp",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "vyKi": {
+ "__class__": "ParamTocElement",
+ "ident": 189,
+ "group": "velCtlPid",
+ "name": "vyKi",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "vyKd": {
+ "__class__": "ParamTocElement",
+ "ident": 190,
+ "group": "velCtlPid",
+ "name": "vyKd",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "vzKp": {
+ "__class__": "ParamTocElement",
+ "ident": 191,
+ "group": "velCtlPid",
+ "name": "vzKp",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "vzKi": {
+ "__class__": "ParamTocElement",
+ "ident": 192,
+ "group": "velCtlPid",
+ "name": "vzKi",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "vzKd": {
+ "__class__": "ParamTocElement",
+ "ident": 193,
+ "group": "velCtlPid",
+ "name": "vzKd",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "vxKFF": {
+ "__class__": "ParamTocElement",
+ "ident": 194,
+ "group": "velCtlPid",
+ "name": "vxKFF",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "vyKFF": {
+ "__class__": "ParamTocElement",
+ "ident": 195,
+ "group": "velCtlPid",
+ "name": "vyKFF",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ }
+ },
+ "posEstAlt": {
+ "estAlphaAsl": {
+ "__class__": "ParamTocElement",
+ "ident": 196,
+ "group": "posEstAlt",
+ "name": "estAlphaAsl",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "estAlphaZr": {
+ "__class__": "ParamTocElement",
+ "ident": 197,
+ "group": "posEstAlt",
+ "name": "estAlphaZr",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "velFactor": {
+ "__class__": "ParamTocElement",
+ "ident": 198,
+ "group": "posEstAlt",
+ "name": "velFactor",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "velZAlpha": {
+ "__class__": "ParamTocElement",
+ "ident": 199,
+ "group": "posEstAlt",
+ "name": "velZAlpha",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "vAccDeadband": {
+ "__class__": "ParamTocElement",
+ "ident": 200,
+ "group": "posEstAlt",
+ "name": "vAccDeadband",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ }
+ },
+ "motorPowerSet": {
+ "enable": {
+ "__class__": "ParamTocElement",
+ "ident": 201,
+ "group": "motorPowerSet",
+ "name": "enable",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": false
+ },
+ "m1": {
+ "__class__": "ParamTocElement",
+ "ident": 202,
+ "group": "motorPowerSet",
+ "name": "m1",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0,
+ "extended": false
+ },
+ "m2": {
+ "__class__": "ParamTocElement",
+ "ident": 203,
+ "group": "motorPowerSet",
+ "name": "m2",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0,
+ "extended": false
+ },
+ "m3": {
+ "__class__": "ParamTocElement",
+ "ident": 204,
+ "group": "motorPowerSet",
+ "name": "m3",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0,
+ "extended": false
+ },
+ "m4": {
+ "__class__": "ParamTocElement",
+ "ident": 205,
+ "group": "motorPowerSet",
+ "name": "m4",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0,
+ "extended": false
+ }
+ },
+ "powerDist": {
+ "idleThrust": {
+ "__class__": "ParamTocElement",
+ "ident": 206,
+ "group": "powerDist",
+ "name": "idleThrust",
+ "ctype": "uint32_t",
+ "pytype": "<L",
+ "access": 0,
+ "extended": true
+ }
+ },
+ "sensfusion6": {
+ "kp": {
+ "__class__": "ParamTocElement",
+ "ident": 207,
+ "group": "sensfusion6",
+ "name": "kp",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "ki": {
+ "__class__": "ParamTocElement",
+ "ident": 208,
+ "group": "sensfusion6",
+ "name": "ki",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": true
+ },
+ "baseZacc": {
+ "__class__": "ParamTocElement",
+ "ident": 209,
+ "group": "sensfusion6",
+ "name": "baseZacc",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ }
+ },
+ "sound": {
+ "effect": {
+ "__class__": "ParamTocElement",
+ "ident": 210,
+ "group": "sound",
+ "name": "effect",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": true
+ },
+ "neffect": {
+ "__class__": "ParamTocElement",
+ "ident": 211,
+ "group": "sound",
+ "name": "neffect",
+ "ctype": "uint32_t",
+ "pytype": "<L",
+ "access": 1,
+ "extended": false
+ },
+ "freq": {
+ "__class__": "ParamTocElement",
+ "ident": 212,
+ "group": "sound",
+ "name": "freq",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 0,
+ "extended": false
+ }
+ },
+ "stabilizer": {
+ "estimator": {
+ "__class__": "ParamTocElement",
+ "ident": 213,
+ "group": "stabilizer",
+ "name": "estimator",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": false
+ },
+ "controller": {
+ "__class__": "ParamTocElement",
+ "ident": 214,
+ "group": "stabilizer",
+ "name": "controller",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": false
+ },
+ "stop": {
+ "__class__": "ParamTocElement",
+ "ident": 215,
+ "group": "stabilizer",
+ "name": "stop",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": false
+ }
+ },
+ "cpu": {
+ "flash": {
+ "__class__": "ParamTocElement",
+ "ident": 216,
+ "group": "cpu",
+ "name": "flash",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 1,
+ "extended": false
+ },
+ "id0": {
+ "__class__": "ParamTocElement",
+ "ident": 217,
+ "group": "cpu",
+ "name": "id0",
+ "ctype": "uint32_t",
+ "pytype": "<L",
+ "access": 1,
+ "extended": false
+ },
+ "id1": {
+ "__class__": "ParamTocElement",
+ "ident": 218,
+ "group": "cpu",
+ "name": "id1",
+ "ctype": "uint32_t",
+ "pytype": "<L",
+ "access": 1,
+ "extended": false
+ },
+ "id2": {
+ "__class__": "ParamTocElement",
+ "ident": 219,
+ "group": "cpu",
+ "name": "id2",
+ "ctype": "uint32_t",
+ "pytype": "<L",
+ "access": 1,
+ "extended": false
+ }
+ },
+ "tdoaEngine": {
+ "logId": {
+ "__class__": "ParamTocElement",
+ "ident": 220,
+ "group": "tdoaEngine",
+ "name": "logId",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": false
+ },
+ "logOthrId": {
+ "__class__": "ParamTocElement",
+ "ident": 221,
+ "group": "tdoaEngine",
+ "name": "logOthrId",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": false
+ },
+ "matchAlgo": {
+ "__class__": "ParamTocElement",
+ "ident": 222,
+ "group": "tdoaEngine",
+ "name": "matchAlgo",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": false
+ }
+ },
+ "lighthouse": {
+ "method": {
+ "__class__": "ParamTocElement",
+ "ident": 223,
+ "group": "lighthouse",
+ "name": "method",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": false
+ },
+ "bsCalibReset": {
+ "__class__": "ParamTocElement",
+ "ident": 224,
+ "group": "lighthouse",
+ "name": "bsCalibReset",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": false
+ },
+ "systemType": {
+ "__class__": "ParamTocElement",
+ "ident": 225,
+ "group": "lighthouse",
+ "name": "systemType",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": false
+ },
+ "bsAvailable": {
+ "__class__": "ParamTocElement",
+ "ident": 226,
+ "group": "lighthouse",
+ "name": "bsAvailable",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 1,
+ "extended": false
+ },
+ "sweepStd": {
+ "__class__": "ParamTocElement",
+ "ident": 227,
+ "group": "lighthouse",
+ "name": "sweepStd",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ },
+ "sweepStd2": {
+ "__class__": "ParamTocElement",
+ "ident": 228,
+ "group": "lighthouse",
+ "name": "sweepStd2",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ },
+ "enLhRawStream": {
+ "__class__": "ParamTocElement",
+ "ident": 229,
+ "group": "lighthouse",
+ "name": "enLhRawStream",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": false
+ }
+ },
+ "firmware": {
+ "revision0": {
+ "__class__": "ParamTocElement",
+ "ident": 230,
+ "group": "firmware",
+ "name": "revision0",
+ "ctype": "uint32_t",
+ "pytype": "<L",
+ "access": 1,
+ "extended": false
+ },
+ "revision1": {
+ "__class__": "ParamTocElement",
+ "ident": 231,
+ "group": "firmware",
+ "name": "revision1",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 1,
+ "extended": false
+ },
+ "modified": {
+ "__class__": "ParamTocElement",
+ "ident": 232,
+ "group": "firmware",
+ "name": "modified",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 1,
+ "extended": false
+ }
+ }
+}
\ No newline at end of file
diff --git a/real_robot/coordination_formation_control_pkg/src/drone_node.cpp b/real_robot/coordination_formation_control_pkg/src/drone_node.cpp
index cbc4069246dea56c80852aaed92fa063f630c0a6..3789b62675a6101f1d5788e91b7e9630ecf48a8d 100644
--- a/real_robot/coordination_formation_control_pkg/src/drone_node.cpp
+++ b/real_robot/coordination_formation_control_pkg/src/drone_node.cpp
@@ -201,6 +201,18 @@ int main(int argc, char **argv) {
/* TODO improve state machine*/
while(ros::ok())
{
+ /*get current state of all the robot*/
+ for(int i = 1; i <=n_drones; i++)
+ {
+ robot_state_t current_state;
+ current_state = uavs[i-1]->get_state();
+ uav_state_q(0, i-1) =current_state.q(0);
+ uav_state_q(1, i-1) =current_state.q(1);
+ uav_state_p(0, i-1) = current_state.p(0);
+ uav_state_p(1, i-1) = current_state.p(1);
+ uav_state_a(0, i-1) = current_state.a(0);
+ uav_state_a(1, i-1) = current_state.a(1);
+ }
if(coord_config->initialize_robot && coord_config->init_formation ==false && coord_config->stop_demo == false)
{
// send the robot to hover at zero velocity in plane
@@ -219,18 +231,7 @@ int main(int argc, char **argv) {
if (waypoint_received)
{
- /*get current state of all the robot*/
- for(int i = 1; i <=n_drones; i++)
- {
- robot_state_t current_state;
- current_state = uavs[i-1]->get_state();
- uav_state_q(0, i-1) =current_state.q(0);
- uav_state_q(1, i-1) =current_state.q(1);
- uav_state_p(0, i-1) = current_state.p(0);
- uav_state_p(1, i-1) = current_state.p(1);
- uav_state_a(0, i-1) = current_state.a(0);
- uav_state_a(1, i-1) = current_state.a(1);
- }
+
/* update reference point*/
current_waypoint.q(0) = next_waypoint->pos[0] ; /*position 2 position 1 orientation yaw*/
current_waypoint.q(1) = next_waypoint->pos[1] ; /*position 2 position 1 orientation yaw*/
diff --git a/real_robot/coordination_formation_control_pkg/src/omniwheel_node.cpp b/real_robot/coordination_formation_control_pkg/src/omniwheel_node.cpp
index 23015271dfa0b4fb084532a7e2007bdefb2b8e3b..a0dd8393a1c11bb132c2333a1e7b484820b8e8a8 100644
--- a/real_robot/coordination_formation_control_pkg/src/omniwheel_node.cpp
+++ b/real_robot/coordination_formation_control_pkg/src/omniwheel_node.cpp
@@ -184,6 +184,22 @@ int main(int argc, char **argv) {
/* TODO improve state machine*/
while(ros::ok())
{
+
+ /*get current state of all the ugv*/
+ for(int i = 1; i <=n_ugvs; i++)
+ {
+ robot_state_t current_state;
+ current_state = ugvs[i-1]->get_state();
+ ugv_state_q(0, i-1) =current_state.q(0);
+ ugv_state_q(1, i-1) =current_state.q(1);
+ ugv_state_p(0, i-1) = current_state.p(0);
+ ugv_state_p(1, i-1) = current_state.p(1);
+ ugv_state_a(0, i-1) = current_state.a(0);
+ ugv_state_a(1, i-1) = current_state.a(1);
+
+ }
+
+
if(coord_config->initialize_robot && coord_config->init_formation ==false && coord_config->stop_demo == false)
{
// send the robot to hover at zero velocity in plane
@@ -200,21 +216,6 @@ int main(int argc, char **argv) {
if (waypoint_received)
{
- /*get current state of all the ugv*/
- for(int i = 1; i <=n_ugvs; i++)
- {
- robot_state_t current_state;
- current_state = ugvs[i-1]->get_state();
- ugv_state_q(0, i-1) =current_state.q(0);
- ugv_state_q(1, i-1) =current_state.q(1);
- ugv_state_p(0, i-1) = current_state.p(0);
- ugv_state_p(1, i-1) = current_state.p(1);
- ugv_state_a(0, i-1) = current_state.a(0);
- ugv_state_a(1, i-1) = current_state.a(1);
-
- }
-
-
/* create a state vector of the cluster and the current agv*/
current_state_q(0,0) = next_waypoint->cluster_pos[robotid*2 -2];
current_state_q(1,0) = next_waypoint->cluster_pos[robotid*2 -1];