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.

We defined three new log messages: SHOW, RTK and FNCS. 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 DroneShowModeStage variable. See possible values below.

Off

0

Init

1

WaitForStartTime

2

Takeoff

3

Performing

4

RTL

5

Loiter

6

Landing

7

Landed

8

Error

9

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

RTK

Data related to RTK correction messages received onboard from the ground station.

TimeUS

Time since system startup in microseconds

Type

Received RTCM packet type, as described by https://www.use-snip.com/kb/knowledge-base/an-rtcm-message-cheat-sheet/

Length

The length of the received packet in bytes

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 GeoEn.

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