Mandala variables

All parameters of the vehicle state are organized in structured tree of values. The definition of the structure, called mandala is described in this section.

Data items are shared between node modules and other nodes by means of publisher/subscriber framework, which is managed by mdb broker.

The tree consists of the following levels:

1. class: sns, ctr, est, cmd (2 bits);
2. type: nav, env (1 bit);
3. subsystem: up to 15 subsystems (4 bits);
4. field: up to 15 fields (4 bits);

The unique identifier of any value consists of 11 bits. Each packet in the network uses mandala uid to address pub/sub values.

Data access

Mandala tree is available in GCS Java Script context and facts tree and created for every recognized vehicle.

GCS UI and JS context have simplified structure, where type component is omitted. Moreover, on GCS side - radians are converted to degrees.

F.ex., in GCS Terminal, which evaluates in JS context, any mandala value item, of the current selected vehicle, can be accessed as class.subsystem.field reference:

• cmd.pos.altitude=800 will set commanded altitude to 800m;
• ctr.wing.flaps=0.8 extracts flaps to 80%;
• cmd.proc.mode = proc_mode_TAXI will enter TAXI procedure;
• cmd.proc.action = proc_action_next will trigger the next stage of the current procedure;

The examples above are using shortcuts with pre-defined getters/setters of the Fact object’s value property.

Another way to access mandala field Fact of a vehicle form the JS context is to use the following reference form:

• apx.vehicles.current.mandala.cmd.pos.altitude.value=800 will set commanded altitude of the current selected vehicle to 800m;

Data synchronization

Since GCS has dedicated mandala tree for every detected vehicle, the data in this tree (values) is synchronized with the current vehicle state by means of:

• telemetry stream (usually this is the only data source);
• any data packets received and decoded from interfaces;

On the onboard network and between nodes the data is synchronized by mdb module.

Some special mandala fields are synchronized by bundles. This happens when to have atomic data packages is required. F.ex., for IMU sensors data packages or to set commanded position vector (lat,lon).

The fields beyond cmd.env group do not have any value associated with them, but are used as UIDs of data packets to implement different protocols for data transfer.

Data structure

• Sensors
  

  Read only data sources, measured by sensors from physical parameters.

  • Navigation
    

    Sensors used for vehicle navigation and controls. Used as input for position and attitude estimators and for filters to supply aerodynamic controls.

    • Gyro
      

      Gyro bundle status shared with GCS

      • src Gyro source real [unknown,local,primary,secondary,failsafe,auxillary]
      • cnt Gyro devices byte
      • temp Gyro temperature real [C]
      • clip Gyro clip count byte
      • vib Gyro vibration byte [%]
      • coning Gyro coning vibration real [rad^2]
    • Accelerometer
      • src Accelerometer source real [unknown,local,primary,secondary,failsafe,auxillary]
      • cnt Accelerometer devices byte
      • temp Accelerometer temperature real [C]
      • clip Accelerometer clip count byte
      • vib Accelerometer vibration byte [%]
    • Magnetometer
      • src Magnetometer source real [unknown,local,primary,secondary,failsafe,auxillary]
      • cnt Magnetometer devices byte
      • temp Magnetometer temperature real [C]
      • vib Magnetometer vibration byte [%]
      • norm Magnetometer magnitude real [u]
      • decl Magnetometer declination real [rad]
      • bias Magnetometer bias real [u]
      • bval Magnetometer bias validity real [%]
    • GPS
      • src Gps source real [unknown,local,primary,secondary,failsafe,auxillary]
      • cnt Gps devices byte
      • fix Gps fix type real [none,2D,3D,DIFF,RTK]
      • emi Gps emi status real [unknown,ok,warning,critical,spoofing]
      • hacc Gps horizontal position accuracy real [m]
      • vacc Gps vertical position accuracy real [m]
      • sacc Gps speed accuracy real [m/s]
      • pdop Gps position dilution of precision real
      • sv Gps visible satellites word
      • su Gps used satellites word
      • temp Gps temperature real [C]
    • Static pressure
      • src Static pressure source real [unknown,local,primary,secondary,failsafe,auxillary]
      • cnt Static pressure devices byte
      • status Baro real [unknown,available,warning,critical,failure]
      • mbar Absolute pressure real [mbar]
      • temp Barometer temperature real [C]
    • Dynamic pressure
      • src Dynamic pressure source real [unknown,local,primary,secondary,failsafe,auxillary]
      • cnt Dynamic pressure devices byte
      • valid Dynamic pressure validated devices byte
      • status Pitot real [unknown,available,warning,critical,failure]
      • airspeed Airspeed real [m/s]
      • acc Airspeed derivative real [m/s^2]
      • temp Pitot probe temperature real [C]
      • raw Dynamic pressure real [kPa]
    • Altitude above ground sensors
      • src Agl source real [none,laser,radio,sonic]
      • status Agl real [off,valid]
      • laser Laser agl altitude real [m]
      • radio Radio agl altitude real [m]
      • sonic Ultrasonic agl altitude real [m]
      • ground Ground real [unknown,landed,flying]
    • Aerodynamic sensors
      • slip Slip real [rad]
      • aoa Angle of attack real [rad]
      • temp Ambient air temperature real [C]
      • buo Blimp ballonet pressure real [kPa]
    • RTK
      • roll Rtk roll real [rad]
      • pitch Rtk pitch real [rad]
      • yaw Rtk yaw real [rad]
    • Landing Assistance sensors
      

      Used for approach correction.

      • status Las status real [ok,holdon,cancel]
      • dx Relative distance x real [m]
      • dy Relative distance y real [m]
      • dz Relative distance z real [m]
      • vx Relative velocity x real [m/s]
      • vy Relative velocity y real [m/s]
      • vz Relative velocity z real [m/s]
    • Platform
      

      Used for landing to a moving platform with las.

      • lat Platform latitude dword [gps]
      • lon Platform longitude dword [gps]
      • hmsl Platform altitude msl real [m]
      • vn Platform velocity north real [m/s]
      • ve Platform velocity east real [m/s]
      • vd Platform velocity down real [m/s]
      • roll Platform roll real [rad]
      • pitch Platform pitch real [rad]
      • yaw Platform yaw real [rad]
    • Visual navigation
      

      Used for global position estimation and dead-reckoning.

      • vx Visual velocity x real [m/s]
      • vy Visual velocity y real [m/s]
      • vz Visual velocity z real [m/s]
      • dx Visual delta x real [m]
      • dy Visual delta y real [m]
      • dz Visual delta z real [m]
      • roll Visual roll real [rad]
      • pitch Visual pitch real [rad]
      • yaw Visual yaw real [rad]
      • lat Visual latitude dword [gps]
      • lon Visual longitude dword [gps]
      • hmsl Visual altitude msl real [m]
      • altitude Visual altitude real [m]
    • Collision avoidance
      • dist Distance to target real [m]
      • hdg Heading to target real [rad]
      • elv Elevation to target real [rad]
      • vel Velocity of target real [m/s]
  • Environment
    

    Environmental sensors. Data used as inputs for filters to estimate vehicle state and safety conditions.

    • Engine
      • rpm Engine rpm real [rpm]
      • torque Engine torque real [Nm]
      • temp Engine temperature real [C]
      • ot Oil temperature real [C]
      • egt Exhaust temperature real [C]
      • egtd Exhaust delta temperature real [C]
      • op Oil pressure real [bar]
      • map Manifold absolute pressure real [Pa]
      • iap Intake air box pressure real [kPa]
      • voltage Engine ecu voltage real [V]
      • current Engine ecu current real [A]
      • health Engine health status real [unknown,idle,running,warning,failure]
      • tc Turbocharger real [unknown,off,active,warning,critical,failure]
    • Gearbox
      • status Gearbox status real [unknown,ok,warning,failure]
      • rpm Gearbox rpm real [rpm]
      • temp Gearbox temperature real [C]
      • clutch Clutch real [on,off,busy]
    • Prop
      • status Prop status real [unknown,ok,warning,failure]
      • rpm Prop rpm real [rpm]
      • pitch Prop pitch position real [su]
      • thrust Prop thrust real [N]
    • Generator
      • status Generator status real [unknown,ok,idle,free,warning,failure]
      • rpm Generator rpm real [rpm]
      • voltage Generator voltage real [V]
      • current Generator current real [A]
      • temp Generator temperature real [C]
    • Fuel
      • level Fuel level byte [%]
      • rate Fuel flow rate real [%/h]
      • temp Fuel temperature real [C]
      • ps Fuel pressure real [bar]
    • Battery
      • status Bat real [unknown,ok,charging,shutdown,warning,failure]
      • voltage Battery voltage real [V]
      • current Battery current real [A]
      • capacity Battery capacity real [Ah]
      • temp Battery temperature real [C]
    • Power
      • status Power status real [unknown,ok,shutdown,warning,failure]
      • vsys System voltage real [V]
      • isys System current real [A]
      • vsrv Servo voltage real [V]
      • isrv Servo current real [A]
      • vpld Payload voltage real [V]
      • ipld Payload current real [A]
    • Datalink
      • status Datalink status real [unknown,ok,muted,busy,warning,failure]
      • rss Received signal strength byte [%]
      • snr Signal to noise ratio real [u]
      • temp Modem temperature real [C]
      • voltage Modem voltage real [V]
      • current Modem current real [A]
      • hdg Radio heading real [rad]
      • dme Radio distance real [m]
      • roll Antenna roll real [rad]
      • pitch Antenna pitch real [rad]
      • yaw Antenna yaw real [rad]
    • Auxillary sensors
      • srv Maintenance service switch real [off,on]
      • rt Room temperature real [C]
      • gear Landing gear real [down,retracted]
      • fgear Landing gear force real [u]
    • Emergency Rescue System
      • status Ers status real [unknown,ok,disarmed,busy,failure]
      • block Ers disable switch real [off,on]
    • Servo
      • pos Encoder position real [su]
      • dpos Delta position real [su]
      • power Power real [su]
    • Camera sensors
      • roll Cam roll real [rad]
      • pitch Cam pitch real [rad]
      • yaw Cam yaw real [rad]
      • droll Delta roll real [rad]
      • dpitch Delta pitch real [rad]
      • dyaw Delta yaw real [rad]
      • fov Cam field of view real [rad]
      • range Payload range real [m]
    • Turret sensors
      • roll Turret roll real [rad]
      • pitch Turret pitch real [rad]
      • yaw Turret yaw real [rad]
      • status Turret status real [ready,shooting,reloading]
      • capacity Payload capacity byte
• Controls
  

  Controls for vehicle drives and servos. Published by regulators.

  • Navigation
    

    Controls used for vehicle stabilization. Data published by controllers for aerodynamic controls.

    • Attitude controls
      • ail Ailerons real [su]
      • elv Elevator real [su]
      • rud Rudder real [su]
    • Engine controls
      • thr Throttle real [u]
      • prop Prop pitch real [su]
      • choke Choke real [u]
      • tune Engine tuning real [su]
      • tvec Thrust vector real [su]
      • starter Engine starter real [off,on]
      • ign1 Ignition 1 real [off,on]
      • ign2 Ignition 2 real [off,on]
      • fpump Fuel pump real [off,on]
    • Wing mechanization
      • flaps Flaps real [u]
      • airbrk Airbrakes real [u]
      • slats Slats real [u]
      • sweep Sweep real [su]
      • buo Buoyancy real [su]
    • Steering controls
      • brake Brake real [u]
      • rud Steering real [su]
      • gear Landing gear real [down,retract]
  • Environment
    

    Environmental controls. Data generated by internal logic.

    • Power
      • ap Power avionics real [off,on]
      • servo Power servo real [off,on]
      • eng Power engine real [off,on]
      • payload Power payload real [off,on]
      • agl Power agl real [off,on]
      • xpdr Power xpdr real [off,on]
      • satcom Power satcom real [off,on]
      • rfamp Power rf amplifier real [off,on]
      • ice Power anti-ice real [off,on]
      • las Power landing assistance real [off,on]
    • Emergency Recovery
      • launch Ers launch real [off,on]
      • rel Ers release real [locked,released]
    • Lighting
      • nav Navigation lights real [off,on]
      • taxi Taxi lights real [off,on]
      • beacon Beacon light real [off,on]
      • landing Landing lights real [off,on]
      • strobe Strobe lights real [off,on]
    • Doors and latches
      • main Main door real [locked,open]
      • drop Drop-off real [locked,open]
    • Auxillary
      • horn Horn signal real [off,on]
    • User switches
      • sw1 Switch 1 real [off,on]
      • sw2 Switch 2 real [off,on]
      • sw3 Switch 3 real [off,on]
      • sw4 Switch 4 real [off,on]
      • sw5 Switch 5 real [off,on]
      • sw6 Switch 6 real [off,on]
      • sw7 Switch 7 real [off,on]
      • sw8 Switch 8 real [off,on]
      • sw9 Switch 9 real [off,on]
      • sw10 Switch 10 real [off,on]
      • sw11 Switch 11 real [off,on]
      • sw12 Switch 12 real [off,on]
      • sw13 Switch 13 real [off,on]
      • sw14 Switch 14 real [off,on]
      • sw15 Switch 15 real [off,on]
    • User tuning
      • t1 Tuning 1 real [su]
      • t2 Tuning 2 real [su]
      • t3 Tuning 3 real [su]
      • t4 Tuning 4 real [su]
      • t5 Tuning 5 real [su]
      • t6 Tuning 6 real [su]
      • t7 Tuning 7 real [su]
      • t8 Tuning 8 real [su]
      • t9 Tuning 9 real [su]
      • t10 Tuning 10 real [su]
      • t11 Tuning 11 real [su]
      • t12 Tuning 12 real [su]
      • t13 Tuning 13 real [su]
      • t14 Tuning 14 real [su]
      • t15 Tuning 15 real [su]
    • Camera
      • roll Camera ctr roll real [su]
      • pitch Camera ctr pitch real [su]
      • yaw Camera ctr yaw real [su]
      • rec Camera record real [off,on]
      • shot Camera shot real [off,single,series]
      • arm Camera arm focus real [off,on]
      • zin Camera zoom in real [off,on]
      • zout Camera zoom out real [off,on]
      • aux Camera auxillary control byte
    • ATS controls
      • roll Ats ctr roll real [su]
      • pitch Ats ctr pitch real [su]
      • yaw Ats ctr yaw real [su]
    • Turret controls
      • roll Turret ctr roll real [su]
      • pitch Turret ctr pitch real [su]
      • yaw Turret ctr yaw real [su]
      • op Turret op real [off,arm,shoot,shooting,reload]
• Estimators
  

  Current vehicle state. Estimated values of sensors and current navigator status.

  • Navigation
    

    Estimated data used for vehicle regulators. Filtered sensor data.

    • Angular rate
      • valid Angular rate validity real [no,yes]
      • x Angular rate x real [rad/s]
      • y Angular rate y real [rad/s]
      • z Angular rate z real [rad/s]
      • ax Angular acceleration x real [rad/s^2]
      • ay Angular acceleration y real [rad/s^2]
      • az Angular acceleration z real [rad/s^2]
      • turn Turn rate real [rad/s]
    • Acceleration
      • valid Acceleration validity real [no,yes]
      • x Acceleration x real [m/s^2]
      • y Acceleration y real [m/s^2]
      • z Acceleration z real [m/s^2]
    • Attitude
      • status Attitude status real [unknown,ok,busy,warning,critical,failure]
      • valid Attitude validity real [no,yes]
      • roll Attitude roll real [rad]
      • pitch Attitude pitch real [rad]
      • yaw Attitude yaw real [rad]
    • Global Position
      • status Global position status real [unknown,ok,busy,warning,critical,failure]
      • valid Global position validity real [no,yes]
      • lat Latitude dword [gps]
      • lon Longitude dword [gps]
      • hmsl Altitude msl real [m]
      • bearing Moving direction real [rad]
      • speed Ground speed real [m/s]
      • altitude Flight altitude real [m]
      • vspeed Vertical speed real [m/s]
      • agl Altitude above ground real [m]
    • Local position
      • status Local position status real [unknown,ok,busy,warning,critical,failure]
      • ax Linear acceleration x real [m/s^2]
      • ay Linear acceleration y real [m/s^2]
      • az Linear acceleration z real [m/s^2]
      • vx Velocity x real [m/s]
      • vy Velocity y real [m/s]
      • vz Velocity z real [m/s]
      • n North real [m]
      • e East real [m]
      • d Down real [m]
    • Ref point
      • status Ref point status real [unavailable,initialized]
      • lat Reference latitude dword [gps]
      • lon Reference longitude dword [gps]
      • hmsl Msl altitude offset real [m]
    • Air data
      • airspeed Airspeed real [m/s]
      • slip Slip angle real [rad]
      • aoa Angle of attack real [rad]
      • ld Glide ratio real [L/D]
      • vse Energy variometer correction real [m/s]
      • rho Air density real [kg/m^3]
      • ktas Eas to tas multiplier real [K]
      • keas Ias to eas multiplier real [K]
      • stab Stability real [u]
      • stall Stall real [unknown,ok,warning,critical]
    • AHRS status
      • rest At rest real [no,yes]
      • mag Magnetometer real [unknown,3D,HDG,blocked,warning,failure]
      • href Height reference real [none,baro,gps,range,vision]
      • eph Estimated horizontal position error real [m]
      • epv Estimated vertical position error real [m]
      • dn Delta north real [m]
      • de Delta east real [m]
      • dh Delta height real [m]
    • Wind estimator
      • status Wind real [unknown,available]
      • speed Wind speed real [m/s]
      • heading Wind heading real [rad]
    • Engine
      

      Engine estimated and filtered values

      • status Engine status real [idle,ok,warning,failure]
      • rpm Engine rpm real [rpm]
      • drpm Engine rpm rate real [rpm/s]
    • Mission navigation
      • status Maneuver status real [ongoing,ok]
      • eta Estimated time of arrival word [s]
      • xtrack Crosstrack error real [m]
      • delta Touchdown error real [m]
      • dist Distance to waypoint real [m]
      • hdg Waypoint heading real [rad]
      • thdg Tangent heading real [rad]
  • Environment
    

    Processed data of current vehicle conditions. Can be overridden by GCS uplink.

    • System
      • mode System mode real [busy,ground,check,taxi,ready,airborne]
      • health System health real [unknown,normal,warning,critical]
      • time System time dword [s]
        

        GPS time or when not available - system CPU time.

      • uptime Uptime dword [ms]
        

        Number of milliseconds passed since system powered on. Value updated by telemetry module. Used for telemetry purposes only.

      • fuel Fuel capacity byte [%]
      • weight Vehicle weight word [kg]
      • ttl Time to live word [min]
      • range Maximum range word [km]
      • corr Correlator output real [K]
    • ATS
      • roll Ats roll real [rad]
      • pitch Ats pitch real [rad]
      • yaw Ats yaw real [rad]
      • lat Ats latitude dword [gps]
      • lon Ats longitude dword [gps]
      • hmsl Ats altitude msl real [m]
    • Cam
      

      Camera axis est

      • roll Cam roll real [rad]
      • pitch Cam pitch real [rad]
      • yaw Cam yaw real [rad]
      • lat Cam latitude dword [gps]
      • lon Cam longitude dword [gps]
      • hmsl Cam altitude msl real [m]
    • Turret
      

      Turret axis est

      • roll Turret roll real [rad]
      • pitch Turret pitch real [rad]
      • yaw Turret yaw real [rad]
      • lat Turret latitude dword [gps]
      • lon Turret longitude dword [gps]
      • hmsl Turret altitude msl real [m]
    • HAPS
      • shape Haps dihedral angle real [rad]
      • cshape Haps cmd dihedral angle real [rad]
      • roll Haps central roll real [rad]
      • roll1 Haps roll1 real [rad]
      • roll2 Haps roll2 real [rad]
      • pitch1 Haps pitch1 real [rad]
      • pitch2 Haps pitch2 real [rad]
      • cpitch1 Haps cmd pitch1 real [rad]
      • cpitch2 Haps cmd pitch2 real [rad]
      • spd1 Haps airspeed1 real [m/s]
      • spd2 Haps airspeed2 real [m/s]
      • ail1 Haps aileron1 real [su]
      • ail2 Haps aileron2 real [su]
    • User values (float 16 bits)
      • u1 Usr 1 real
      • u2 Usr 2 real
      • u3 Usr 3 real
      • u4 Usr 4 real
      • u5 Usr 5 real
      • u6 Usr 6 real
      • u7 Usr 7 real
      • u8 Usr 8 real
      • u9 Usr 9 real
      • u10 Usr 10 real
      • u11 Usr 11 real
      • u12 Usr 12 real
      • u13 Usr 13 real
      • u14 Usr 14 real
      • u15 Usr 15 real
    • User bytes (8 bits)
      • b1 Usrb 1 byte
      • b2 Usrb 2 byte
      • b3 Usrb 3 byte
      • b4 Usrb 4 byte
      • b5 Usrb 5 byte
      • b6 Usrb 6 byte
      • b7 Usrb 7 byte
      • b8 Usrb 8 byte
      • b9 Usrb 9 byte
      • b10 Usrb 10 byte
      • b11 Usrb 11 byte
      • b12 Usrb 12 byte
      • b13 Usrb 13 byte
      • b14 Usrb 14 byte
      • b15 Usrb 15 byte
    • User words (16 bits)
      • w1 Usrw 1 word
      • w2 Usrw 2 word
      • w3 Usrw 3 word
      • w4 Usrw 4 word
      • w5 Usrw 5 word
      • w6 Usrw 6 word
      • w7 Usrw 7 word
      • w8 Usrw 8 word
      • w9 Usrw 9 word
      • w10 Usrw 10 word
      • w11 Usrw 11 word
      • w12 Usrw 12 word
      • w13 Usrw 13 word
      • w14 Usrw 14 word
      • w15 Usrw 15 word
    • User precision values (float 32 bits)
      • f1 Usrf 1 real
      • f2 Usrf 2 real
      • f3 Usrf 3 real
      • f4 Usrf 4 real
      • f5 Usrf 5 real
      • f6 Usrf 6 real
      • f7 Usrf 7 real
      • f8 Usrf 8 real
      • f9 Usrf 9 real
      • f10 Usrf 10 real
      • f11 Usrf 11 real
      • f12 Usrf 12 real
      • f13 Usrf 13 real
      • f14 Usrf 14 real
      • f15 Usrf 15 real
    • User double words (32 bits)
      • x1 Usrx 1 dword
      • x2 Usrx 2 dword
      • x3 Usrx 3 dword
      • x4 Usrx 4 dword
      • x5 Usrx 5 dword
      • x6 Usrx 6 dword
      • x7 Usrx 7 dword
      • x8 Usrx 8 dword
      • x9 Usrx 9 dword
      • x10 Usrx 10 dword
      • x11 Usrx 11 dword
      • x12 Usrx 12 dword
      • x13 Usrx 13 dword
      • x14 Usrx 14 dword
      • x15 Usrx 15 dword
• Commands
  

  Commanded values. Received from the GCS or provided by navigator as commands for regulators.

  • Navigation
    

    Commanded values generated by controllers.

    • Procedures
      • mode Procedure real [EMG,RPV,UAV,WPT,STBY,TAXI,TAKEOFF,LANDING]
      • stage Procedure stage byte
      • wp Selected waypoint word
      • rw Selected runway word
      • pi Selected point of interest word
      • action Procedure action real [idle,next,reset,inc,dec]
      • adj Maneuver adjust real [m]
      • loops Remaining loops word
      • timeout Procedure timeout word [s]
    • Regulators configuration
      • att Attitude control real [off,on]
      • pos Position control real [off,hdg,direct,track,loiter,hover]
      • spd Airspeed control real [off,on]
      • alt Altitude control real [off,on,rate]
      • eng Engine control real [off,on]
      • yaw Yaw control real [off,hdg,slip,taxi,track]
      • str Steering control real [off,on]
      • taxi Taxi track control real [off,on]
      • brk Brakes control real [off,on]
      • flaps Flaps control real [off,on]
      • airbrk Airbrakes control real [off,on]
    • AHRS options
      • inair Ahrs airdata real [no,yes]
      • nogps Block gps real [no,yes]
      • nomag Block magnetometer real [no,yes]
      • hsel Select height source real [baro,gps,range,vision]
      • hagl Agl altitude real [no,yes]
    • Attitude regulators
      • roll Cmd roll real [rad]
      • pitch Cmd pitch real [rad]
      • yaw Cmd yaw real [rad]
      • slip Cmd slip real [rad]
    • Position regulators
      • lat Cmd latitude dword [gps]
      • lon Cmd latitude dword [gps]
      • hmsl Cmd altitude msl real [m]
      • bearing Cmd bearing real [rad]
      • airspeed Cmd airspeed real [m/s]
      • altitude Cmd altitude real [m]
      • vspeed Cmd vspeed real [m/s]
      • tecs Tecs weighting factor real [u]
      • radius Loiter radius real [m]
    • Engine regulators
      • mode Engine mode real [auto,start,spin]
      • rpm Cmd rpm real [rpm]
      • cut Throttle cut real [off,on]
      • ovr Throttle override real [off,on]
      • hgl Heli glider real [off,on]
    • Remote Control
      • mode Rc mode real [auto,manual]
      • roll Rc roll real [su]
      • pitch Rc pitch real [su]
      • yaw Rc yaw real [su]
      • thr Rc throttle real [u]
      • prop Rc prop real [su]
    • Camera
      • zoom Cam zoom level real [u]
      • focus Cam focus real [u]
      • ch Video channel byte
      • range Rangefinder real [off,on]
      • mode Shotting mode real [off,single,distance,time]
      • dshot Shotting distance word [m]
      • tshot Shotting time word [ms]
      • pf Picture flip real [off,on]
      • nir Nir filter real [off,on]
      • fm Focus mode real [auto,infinity]
      • ft Focus type real [auto,manual]
    • Gimbal cmd
      • mode Gimbal cmd mode real [off,stab,pos,speed,target,fixed,track]
      • roll Gimbal cmd roll real [rad]
      • pitch Gimbal cmd pitch real [rad]
      • yaw Gimbal cmd yaw real [rad]
      • broll Gimbal cmd bias roll real [rad/s]
      • bpitch Gimbal cmd bias pitch real [rad/s]
      • byaw Gimbal cmd bias yaw real [rad/s]
      • lat Gimbal cmd latitude dword [gps]
      • lon Gimbal cmd latitude dword [gps]
      • hmsl Gimbal cmd altitude msl real [m]
    • ATS cmd
      • mode Ats cmd mode real [off,track,manual,search]
      • roll Ats cmd roll real [rad]
      • pitch Ats cmd pitch real [rad]
      • yaw Ats cmd yaw real [rad]
      • p Ats cmd roll rate real [rad/s]
      • q Ats cmd pitch rate real [rad/s]
      • r Ats cmd yaw rate real [rad/s]
    • Turret cmd
      • mode Turret cmd mode real [off,fixed,stab,position,speed]
      • roll Turret cmd roll real [rad]
      • pitch Turret cmd pitch real [rad]
      • yaw Turret cmd yaw real [rad]
      • p Turret cmd roll rate real [rad/s]
      • q Turret cmd pitch rate real [rad/s]
      • r Turret cmd yaw rate real [rad/s]
      • broll Turret cmd bias roll real [rad/s]
      • bipitch Turret cmd bias pitch real [rad/s]
      • byaw Turret cmd bias yaw real [rad/s]
  • System data identifiers
    

    Special protocols and data wrappers.

    • Vehicle object data
      • ident Vehicle identification byte
        

        squawk uid [ident]

      • downlink Data packet from vehicle to gcs byte
        

        squawk uid_seq pid data...

      • uplink Data packet from gcs to vehicle byte
        

        squawk [pid data...] or empty for heartbeat

      • telemetry Telemetry data byte
        

        squawk packed data

      • xpdr Transponder data byte
        

        squawk data

    • Telemetry stream
      • data Telemetry data byte
        

        time hash feed fmt feed packed data...

      • format Telemetry format array byte
        

        req part, re part parts_cnt format feed block 256 bytes

      • xpdr Transponder data byte
        

        data

    • Data streams
      • vcp Virtual comm port channel data byte
        

        vcp_id raw data

      • calib Calibration data byte
        

        sensor uid raw sensor data

      • pld Payload data byte
    • Simulator data
      • sns Sensors data byte
      • ctr Controls byte
      • cfg Controls assignments byte
      • display Visualization byte
    • Scripting commands
      • vmexec Execute vm script onboard byte
        

        function name

      • jsexec Execute js script on gcs byte
        

        script text

    • Auxillary data
      • gcs Gcs data byte
        

        uid data

      • pld Payload data byte
        

        uid data

      • hid Human interface byte
        

        uid data

    • Redundancy data
      • alive Autopilot alive notify byte
    • Formation data
      • haps Haps shared data byte
      • left Left wing data byte
      • right Right wing data byte
      • center Center wing data byte
    • Network Management
      • search Search nodes byte
        

        Broadcast request, re

      • ident Node identification byte
        

        ident_s strings:name+version+hardware filenames

      • file File operations byte
        

        name fop_e [data]

      • reboot System reboot byte
        

        type_e

      • msg Text message byte
        

        type_e string

      • upd Update parameter byte
        

        fid_t data

      • mod Modules tree byte
        

        op_e

      • usr Node specific command byte
        

        cmd_s [data]

      • tree Trace packet route byte
        

        uid1 [uid2..uidN]

      • debug Debug data byte
        

        data