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 two new log messages: SHOW and RTK. 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 |
|
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 |