ArduCopter show-specific log messages
The custom ArduCopter firmware we provide with Skybrush Live has some extra log messages to support the diagnosis of the most important flight problems arising during drone shows.
The defined new log messages are: SHOW, FNCS and SBEV. Description of each of them can be found below.
SHOW
Drone show-specific data.
TimeUS |
Time since system startup in microseconds |
|
ClockMS |
Show clock in milliseconds |
|
Stage |
State of the |
|
Off |
0 |
|
Init |
1 |
|
WaitForStartTime |
2 |
|
Takeoff |
3 |
|
Performing |
4 |
|
RTL |
5 |
|
Loiter |
6 |
|
Landing |
7 |
|
Landed |
8 |
|
Error |
9 |
|
TestingLights |
10 |
|
R |
Red LED output before possible RGBW conversion and gamma correction, in the range 0-255 |
|
G |
Green LED output before possible RGBW conversion and gamma correction, in the range 0-255 |
|
B |
Blue LED output before possible RGBW conversion and gamma correction, in the range 0-255 |
|
HDist |
Horizonatal distance between last guided mode command position setpoint and actual position, in meters |
|
VDist |
Vertical distance between last guided mode command position setpoint and actual position, in meters |
|
FNCS
Data containing geofence status information.
TimeUS |
Time since system startup in microseconds |
|
GeoEn |
Bitmask of enabled geofences. See possible bits below. |
|
Max altitude |
0 |
|
Circle Centered on Home |
1 |
|
Inclusion/Exclusion Circles+Polygons |
2 |
|
Min altitude |
3 |
|
GeoB |
Bitmask of current geofence breaches. Bits are similar to those for |
|
GeoCnt |
Number of geofence breaches |
|
HardB |
Status of hard geofence (0: OK, 1: breached, 2: action taken) |
|
BubbleB |
Status of bubble geofence (0: OK, 1: breached, 2: action taken) |
|
BubbleCnt |
Number of bubble geofence actions taken |
|
SBEV
Skybrush show file event execution log
TimeUS |
Time since system startup in microseconds |
|
ClockMS |
Show clock in milliseconds |
|
Type |
Type of the event from the show file. See possible values below. |
|
None |
0 |
|
Pyro |
1 |
|
Subtype |
Subtype of the event from the show file. For pyro events this is the 0-based index of the pyro channel of the pyro trigger event. |
|
Payload |
Optional payload of the event from the show file (4 bytes) |
|
Result |
Result of the event execution. See possible values below. |
|
Success |
0 |
|
Failure |
1 |
|
NotSupported |
2 |
|
Unsafe |
3 |
|
TimeMissed |
4 |
|