pax_global_header00006660000000000000000000000064152141727550014523gustar00rootroot0000000000000052 comment=3cf17793f14709713ab297d3743314c658874068 pyulog-1.2.3/000077500000000000000000000000001521417275500130455ustar00rootroot00000000000000pyulog-1.2.3/.github/000077500000000000000000000000001521417275500144055ustar00rootroot00000000000000pyulog-1.2.3/.github/workflows/000077500000000000000000000000001521417275500164425ustar00rootroot00000000000000pyulog-1.2.3/.github/workflows/deploy.yml000066400000000000000000000017741521417275500204720ustar00rootroot00000000000000name: Deploy on: workflow_dispatch: pull_request: push: branches: - main release: types: - published jobs: build_dist: name: Build Dist runs-on: ubuntu-latest steps: - uses: actions/checkout@v4 with: submodules: true - name: Build Dist run: pipx run build - name: Check Metadata run: pipx run twine check --strict dist/* - uses: actions/upload-artifact@v4 with: path: dist/ upload_all: name: Upload if release needs: [build_dist] runs-on: ubuntu-latest if: github.event_name == 'release' && github.event.action == 'published' environment: name: pypi url: https://pypi.org/p/pyulog permissions: id-token: write steps: - uses: actions/setup-python@v4 with: python-version: "3.x" - uses: actions/download-artifact@v4 with: name: artifact path: dist/ - name: Publish to PyPI uses: pypa/gh-action-pypi-publish@v1.13.0pyulog-1.2.3/.github/workflows/test.yml000066400000000000000000000015101521417275500201410ustar00rootroot00000000000000name: Run Tests on: push: branches: - 'main' pull_request: branches: - '*' jobs: build: runs-on: ubuntu-latest strategy: fail-fast: false # don't cancel if a job from the matrix fails matrix: # https://devguide.python.org/versions python-version: ["3.9", "3.10", "3.11", "3.12", "3.13", "3.14"] steps: - uses: actions/checkout@v4 with: submodules: 'recursive' - name: Set up Python ${{ matrix.python-version }} uses: actions/setup-python@v5 with: python-version: ${{ matrix.python-version }} allow-prereleases: true - name: Install Dependencies and pyulog run: | pip install pylint pip install --verbose .[test] - name: Running Tests run: | ./run_tests.sh pyulog-1.2.3/.gitignore000066400000000000000000000001021521417275500150260ustar00rootroot00000000000000__pycache__ *.pyc build/ dist/ *.egg-info .eggs/ *.sqlite3 venv/ pyulog-1.2.3/.gitmodules000066400000000000000000000001561521417275500152240ustar00rootroot00000000000000[submodule "3rd_party/libevents"] path = 3rd_party/libevents url = https://github.com/mavlink/libevents.git pyulog-1.2.3/3rd_party/000077500000000000000000000000001521417275500147545ustar00rootroot00000000000000pyulog-1.2.3/3rd_party/libevents/000077500000000000000000000000001521417275500167475ustar00rootroot00000000000000pyulog-1.2.3/LICENSE.md000066400000000000000000000027241521417275500144560ustar00rootroot00000000000000Copyright (c) 2016, PX4 Pro Drone Autopilot All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of GpsDrivers nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. pyulog-1.2.3/MANIFEST.in000066400000000000000000000001161521417275500146010ustar00rootroot00000000000000include LICENSE.md recursive-include pyulog/sql * recursive-exclude test *.ulgpyulog-1.2.3/README.ko-KR.md000066400000000000000000000176071521417275500152610ustar00rootroot00000000000000# pyulog 이 레포지토리에는 ULog 파일 및 스크립트를 파싱하는 python 패키지가 포함되어 있습니다. ULog는 self-describing 형식을 따르며, 해당 관련 문서는 다음과 같습니다(https://docs.px4.io/main/en/dev_log/ulog_file_format.html). 제공되는 명령어 스크립트는(command line scripts)는 아래와 같습니다: - `ulog_info`: ULog 파일의 정보를 나타냅니다. - `ulog_messages`: ULog 파일에 기록된 로그 메시지(logged messages)를 출력합니다. - `ulog_params`: ULog 파일에 저장된 파라미터들을 추출합니다. - `ulog2csv`: ULog 파일을 CSV 파일로 변환합니다. - `ulog2kml`: ULog 파일을 KML 파일로 변환합니다. - `ulog2ros2bag`: ULog 파일을 ros2bag 파일로 변환. ## 설치 패키지 설치: ```bash pip install pyulog ``` 소스코드를 통한 설치: ```bash python setup.py build install ``` ## 추가 개발 코드를 쉽게 변경 및 편집할 수 있는 형식으로 설치하려면 다음 명령 사용(해당 명령은 패키지를 Repo에 대한 링크로 설치합니다): ```bash pip install -e . ``` ## 테스트 ```bash pytest test ``` 또는, ```bash python setup.py test ``` ## 코드 검사(Code Checking) ```bash pylint pyulog/*.py ``` ## 명령어 스크립트 모든 스크립트는 시스템 전체 어플리케이션단에서 설치되며(Python 또는 시스템 경로를 지정하지 않고 커맨드 라인에서 호출), `-h` 플래그를 통해 각 스크립트의 사용법을 확인할 수 있습니다. 아래 섹션에서는 사용 구문 및 샘플 출력을 나타냅니다. (from [test/sample.ulg](test/sample.ulg)): ### ULog 파일로부터 정보 출력 (ulog_info) 사용: ```bash usage: ulog_info [-h] [-v] file.ulg Display information from an ULog file positional arguments: file.ulg ULog input file optional arguments: -h, --help show this help message and exit -v, --verbose Verbose output ``` 결과 예시: ```bash $ ulog_info sample.ulg Logging start time: 0:01:52, duration: 0:01:08 Dropouts: count: 4, total duration: 0.1 s, max: 62 ms, mean: 29 ms Info Messages: sys_name: PX4 time_ref_utc: 0 ver_hw: AUAV_X21 ver_sw: fd483321a5cf50ead91164356d15aa474643aa73 Name (multi id, message size in bytes) number of data points, total bytes actuator_controls_0 (0, 48) 3269 156912 actuator_outputs (0, 76) 1311 99636 commander_state (0, 9) 678 6102 control_state (0, 122) 3268 398696 cpuload (0, 16) 69 1104 ekf2_innovations (0, 140) 3271 457940 estimator_status (0, 309) 1311 405099 sensor_combined (0, 72) 17070 1229040 sensor_preflight (0, 16) 17072 273152 telemetry_status (0, 36) 70 2520 vehicle_attitude (0, 36) 6461 232596 vehicle_attitude_setpoint (0, 55) 3272 179960 vehicle_local_position (0, 123) 678 83394 vehicle_rates_setpoint (0, 24) 6448 154752 vehicle_status (0, 45) 294 13230 ``` ### ULog 파일에 기록된 로그 메시지 출력 (ulog_messages) 사용: ``` usage: ulog_messages [-h] file.ulg Display logged messages from an ULog file positional arguments: file.ulg ULog input file optional arguments: -h, --help show this help message and exit ``` 결과 예시: ``` ubuntu@ubuntu:~/github/pyulog/test$ ulog_messages sample.ulg 0:02:38 ERROR: [sensors] no barometer found on /dev/baro0 (2) 0:02:42 ERROR: [sensors] no barometer found on /dev/baro0 (2) 0:02:51 ERROR: [sensors] no barometer found on /dev/baro0 (2) 0:02:56 ERROR: [sensors] no barometer found on /dev/baro0 (2) ``` ### ULog 파일에 저장된 파라미터 추출 (ulog_params) 사용: ``` usage: ulog_params [-h] [-d DELIMITER] [-i] [-o] file.ulg [params.txt] Extract parameters from an ULog file positional arguments: file.ulg ULog input file params.txt Output filename (default=stdout) optional arguments: -h, --help show this help message and exit -d DELIMITER, --delimiter DELIMITER Use delimiter in CSV (default is ',') -i, --initial Only extract initial parameters -o, --octave Use Octave format ``` 결과 예시 (콘솔 출력): ``` ubuntu@ubuntu:~/github/pyulog/test$ ulog_params sample.ulg ATT_ACC_COMP,1 ATT_BIAS_MAX,0.0500000007451 ATT_EXT_HDG_M,0 ... VT_OPT_RECOV_EN,0 VT_TYPE,0 VT_WV_LND_EN,0 VT_WV_LTR_EN,0 VT_WV_YAWR_SCL,0.15000000596 ``` ### ULog 파일을 CSV 파일로 변환 (ulog2csv) 사용: ``` usage: ulog2csv [-h] [-m MESSAGES] [-d DELIMITER] [-o DIR] file.ulg Convert ULog to CSV positional arguments: file.ulg ULog input file optional arguments: -h, --help show this help message and exit -m MESSAGES, --messages MESSAGES Only consider given messages. Must be a comma- separated list of names, like 'sensor_combined,vehicle_gps_position' -d DELIMITER, --delimiter DELIMITER Use delimiter in CSV (default is ',') -o DIR, --output DIR Output directory (default is same as input file) ``` ### ULog 파일을 KML 파일로 변환 (ulog2kml) > **Note** 모듈 `simplekml` 이 사용자의 PC에 설치되어 있어야 합니다. 만약 설치되어 있지 않다면, 아래 명령어를 통해 설치하십시오. ``` pip install simplekml ``` 사용: ``` usage: ulog2kml [-h] [-o OUTPUT_FILENAME] [--topic TOPIC_NAME] [--camera-trigger CAMERA_TRIGGER] file.ulg Convert ULog to KML positional arguments: file.ulg ULog input file optional arguments: -h, --help show this help message and exit -o OUTPUT_FILENAME, --output OUTPUT_FILENAME output filename --topic TOPIC_NAME topic name with position data (default=vehicle_gps_position) --camera-trigger CAMERA_TRIGGER Camera trigger topic name (e.g. camera_capture) ``` ### ULog 파일을 ros2bag 파일로 변환 (ulog2ros2bag) > **Note** `px4_msgs`가 설치된 ROS2 환경이 필요합니다. 사용: ``` usage: ulog2ros2bag.py [-h] [-o BAG] [-m MESSAGES] [-i] [-v] file.ulg Convert ULog to rosbag positional arguments: file.ulg ULog input file options: -h, --help show this help message and exit -o BAG, --output BAG rosbag output folder -m MESSAGES, --messages MESSAGES Only consider given messages. Must be a comma- separated list of names, like 'sensor_combined,vehicle_gps_position' -i, --ignore Ignore string parsing exceptions -v, --verbose Print extra debugging information ``` ### Migrate/setup the database for use with the DatabaseULog class (ulog_migratedb) 사용: ``` usage: ulog_migratedb [-h] [-d DB_PATH] [-n] [-s SQL_DIR] [-f] Setup the database for DatabaseULog optional arguments: -h, --help show this help message and exit -d DB_PATH, --database DB_PATH Path to the database file -n, --noop Only print results, do not execute migration scripts. -s SQL_DIR, --sql SQL_DIR Directory with migration SQL files -f, --force Run the migration script even if the database is not created with this script. ``` 결과 예시 (콘솔 출력): ``` ubuntu@ubuntu:~/github/pyulog$ ulog_migratedb Using migration files in /home/ubuntu/github/pyulog/pyulog/sql. Database file pyulog.sqlite3 not found, creating it from scratch. Current schema version: 0 (database) and 1 (code). Executing /home/ubuntu/github/pyulog/pyulog/sql/pyulog.1.sql. Migration done. ``` pyulog-1.2.3/README.md000066400000000000000000000174221521417275500143320ustar00rootroot00000000000000# pyulog This repository contains a python package to parse ULog files and scripts to convert and display them. ULog is a self-describing logging format which is documented [here](https://docs.px4.io/main/en/dev_log/ulog_file_format.html). The provided [command line scripts](#scripts) are: - `ulog_info`: display information from an ULog file. - `ulog_messages`: display logged messages from an ULog file. - `ulog_params`: extract parameters from an ULog file. - `ulog2csv`: convert ULog to CSV files. - `ulog2kml`: convert ULog to KML files. - `ulog2ros2bag`: convert ULog to ROS2 bag files. ## Installation Installation with package manager: ```bash pip install pyulog ``` Installation from source: ```bash python setup.py build install ``` ## Development To install the code in a format so that it can be easily edited use the following command (this will install the package as a link to the repo): ```bash pip install -e . ``` ## Testing ```bash pytest test ``` or ```bash python setup.py test ``` ## Code Checking ```bash pylint pyulog/*.py ``` ## Command Line Scripts All scripts are installed as system-wide applications (i.e. they be called on the command line without specifying Python or a system path), and support the `-h` flag for getting usage instructions. The sections below show the usage syntax and sample output (from [test/sample.ulg](test/sample.ulg)): ### Display information from an ULog file (ulog_info) Usage: ```bash usage: ulog_info [-h] [-v] file.ulg Display information from an ULog file positional arguments: file.ulg ULog input file optional arguments: -h, --help show this help message and exit -v, --verbose Verbose output ``` Example output: ```bash $ ulog_info sample.ulg Logging start time: 0:01:52, duration: 0:01:08 Dropouts: count: 4, total duration: 0.1 s, max: 62 ms, mean: 29 ms Info Messages: sys_name: PX4 time_ref_utc: 0 ver_hw: AUAV_X21 ver_sw: fd483321a5cf50ead91164356d15aa474643aa73 Name (multi id, message size in bytes) number of data points, total bytes actuator_controls_0 (0, 48) 3269 156912 actuator_outputs (0, 76) 1311 99636 commander_state (0, 9) 678 6102 control_state (0, 122) 3268 398696 cpuload (0, 16) 69 1104 ekf2_innovations (0, 140) 3271 457940 estimator_status (0, 309) 1311 405099 sensor_combined (0, 72) 17070 1229040 sensor_preflight (0, 16) 17072 273152 telemetry_status (0, 36) 70 2520 vehicle_attitude (0, 36) 6461 232596 vehicle_attitude_setpoint (0, 55) 3272 179960 vehicle_local_position (0, 123) 678 83394 vehicle_rates_setpoint (0, 24) 6448 154752 vehicle_status (0, 45) 294 13230 ``` ### Display logged messages from an ULog file (ulog_messages) Usage: ``` usage: ulog_messages [-h] file.ulg Display logged messages from an ULog file positional arguments: file.ulg ULog input file optional arguments: -h, --help show this help message and exit ``` Example output: ``` ubuntu@ubuntu:~/github/pyulog/test$ ulog_messages sample.ulg 0:02:38 ERROR: [sensors] no barometer found on /dev/baro0 (2) 0:02:42 ERROR: [sensors] no barometer found on /dev/baro0 (2) 0:02:51 ERROR: [sensors] no barometer found on /dev/baro0 (2) 0:02:56 ERROR: [sensors] no barometer found on /dev/baro0 (2) ``` ### Extract parameters from an ULog file (ulog_params) Usage: ``` usage: ulog_params [-h] [-d DELIMITER] [-i] [-o] file.ulg [params.txt] Extract parameters from an ULog file positional arguments: file.ulg ULog input file params.txt Output filename (default=stdout) optional arguments: -h, --help show this help message and exit -d DELIMITER, --delimiter DELIMITER Use delimiter in CSV (default is ',') -i, --initial Only extract initial parameters -o, --octave Use Octave format ``` Example output (to console): ``` ubuntu@ubuntu:~/github/pyulog/test$ ulog_params sample.ulg ATT_ACC_COMP,1 ATT_BIAS_MAX,0.0500000007451 ATT_EXT_HDG_M,0 ... VT_OPT_RECOV_EN,0 VT_TYPE,0 VT_WV_LND_EN,0 VT_WV_LTR_EN,0 VT_WV_YAWR_SCL,0.15000000596 ``` ### Convert ULog to CSV files (ulog2csv) Usage: ``` usage: ulog2csv [-h] [-m MESSAGES] [-d DELIMITER] [-o DIR] file.ulg Convert ULog to CSV positional arguments: file.ulg ULog input file optional arguments: -h, --help show this help message and exit -m MESSAGES, --messages MESSAGES Only consider given messages. Must be a comma- separated list of names, like 'sensor_combined,vehicle_gps_position' -d DELIMITER, --delimiter DELIMITER Use delimiter in CSV (default is ',') -o DIR, --output DIR Output directory (default is same as input file) ``` ### Convert ULog to KML files (ulog2kml) > **Note** The `simplekml` module must be installed on your computer. If not already present, you can install it with: ``` pip install simplekml ``` Usage: ``` usage: ulog2kml [-h] [-o OUTPUT_FILENAME] [--topic TOPIC_NAME] [--camera-trigger CAMERA_TRIGGER] file.ulg Convert ULog to KML positional arguments: file.ulg ULog input file optional arguments: -h, --help show this help message and exit -o OUTPUT_FILENAME, --output OUTPUT_FILENAME output filename --topic TOPIC_NAME topic name with position data (default=vehicle_gps_position) --camera-trigger CAMERA_TRIGGER Camera trigger topic name (e.g. camera_capture) ``` ### Convert ULog to ROS2 bag files (ulog2ros2bag) > **Note** You need a ROS2 environment with the corresponding version of `px4_msgs` built and sourced. Usage: ``` usage: ulog2ros2bag.py [-h] [-o BAG] [-m MESSAGES] [-i] [-v] file.ulg Convert ULog to rosbag positional arguments: file.ulg ULog input file options: -h, --help show this help message and exit -o BAG, --output BAG rosbag output folder -m MESSAGES, --messages MESSAGES Only consider given messages. Must be a comma- separated list of names, like 'sensor_combined,vehicle_gps_position' -i, --ignore Ignore string parsing exceptions -v, --verbose Print extra debugging information ``` ### Migrate/setup the database for use with the DatabaseULog class (ulog_migratedb) > **Warning** This command must be run whenever the schema changes, otherwise DatabaseULog won't function. > **Warning** Even if you store logs in the database, you should keep the original .ulg files. Otherwise you may lose your data. Usage: ``` usage: ulog_migratedb [-h] [-d DB_PATH] [-n] [-s SQL_DIR] [-f] Setup the database for DatabaseULog. optional arguments: -h, --help show this help message and exit -d DB_PATH, --database DB_PATH Path to the database file -n, --noop Only print results, do not execute migration scripts. -s SQL_DIR, --sql SQL_DIR Directory with migration SQL files -f, --force Run the migration script even if the database is not created with this script. ``` Example output (to console): ``` ubuntu@ubuntu:~/github/pyulog$ ulog_migratedb Using migration files in /home/ubuntu/github/pyulog/pyulog/sql. Database file pyulog.sqlite3 not found, creating it from scratch. Current schema version: 0 (database) and 1 (code). Executing /home/ubuntu/github/pyulog/pyulog/sql/pyulog.1.sql. Migration done. ``` pyulog-1.2.3/gen_expected_output.sh000077500000000000000000000003621521417275500174570ustar00rootroot00000000000000#! /bin/bash # generate the expected output for the unittests for f in test/*.ulg; do echo "Processing $f" ulog_info -v "$f" > "${f%.*}"_info.txt ulog_messages "$f" > "${f%.*}"_messages.txt #ulog_params "$f" > "${f%.*}"_params.txt done pyulog-1.2.3/pylintrc000066400000000000000000000542671521417275500146520ustar00rootroot00000000000000[MAIN] # Analyse import fallback blocks. This can be used to support both Python 2 and # 3 compatible code, which means that the block might have code that exists # only in one or another interpreter, leading to false positives when analysed. analyse-fallback-blocks=no # Clear in-memory caches upon conclusion of linting. Useful if running pylint # in a server-like mode. clear-cache-post-run=no # Load and enable all available extensions. Use --list-extensions to see a list # all available extensions. #enable-all-extensions= # In error mode, messages with a category besides ERROR or FATAL are # suppressed, and no reports are done by default. Error mode is compatible with # disabling specific errors. #errors-only= # Always return a 0 (non-error) status code, even if lint errors are found. # This is primarily useful in continuous integration scripts. #exit-zero= # A comma-separated list of package or module names from where C extensions may # be loaded. Extensions are loading into the active Python interpreter and may # run arbitrary code. extension-pkg-allow-list= # A comma-separated list of package or module names from where C extensions may # be loaded. Extensions are loading into the active Python interpreter and may # run arbitrary code. (This is an alternative name to extension-pkg-allow-list # for backward compatibility.) extension-pkg-whitelist= # Return non-zero exit code if any of these messages/categories are detected, # even if score is above --fail-under value. Syntax same as enable. Messages # specified are enabled, while categories only check already-enabled messages. fail-on= # Specify a score threshold under which the program will exit with error. fail-under=10.0 # Interpret the stdin as a python script, whose filename needs to be passed as # the module_or_package argument. #from-stdin= # Files or directories to be skipped. They should be base names, not paths. ignore=CVS # Add files or directories matching the regular expressions patterns to the # ignore-list. The regex matches against paths and can be in Posix or Windows # format. Because '\\' represents the directory delimiter on Windows systems, # it can't be used as an escape character. ignore-paths= # Files or directories matching the regular expression patterns are skipped. # The regex matches against base names, not paths. The default value ignores # Emacs file locks ignore-patterns= # List of module names for which member attributes should not be checked and # will not be imported (useful for modules/projects where namespaces are # manipulated during runtime and thus existing member attributes cannot be # deduced by static analysis). It supports qualified module names, as well as # Unix pattern matching. ignored-modules=numpy # Python code to execute, usually for sys.path manipulation such as # pygtk.require(). #init-hook= # Use multiple processes to speed up Pylint. Specifying 0 will auto-detect the # number of processors available to use, and will cap the count on Windows to # avoid hangs. jobs=1 # Control the amount of potential inferred values when inferring a single # object. This can help the performance when dealing with large functions or # complex, nested conditions. limit-inference-results=100 # List of plugins (as comma separated values of python module names) to load, # usually to register additional checkers. load-plugins= # Pickle collected data for later comparisons. persistent=yes # Resolve imports to .pyi stubs if available. May reduce no-member messages and # increase not-an-iterable messages. prefer-stubs=no # Minimum Python version to use for version dependent checks. Will default to # the version used to run pylint. py-version=3.13 # Discover python modules and packages in the file system subtree. recursive=no # Add paths to the list of the source roots. Supports globbing patterns. The # source root is an absolute path or a path relative to the current working # directory used to determine a package namespace for modules located under the # source root. source-roots= # Allow loading of arbitrary C extensions. Extensions are imported into the # active Python interpreter and may run arbitrary code. unsafe-load-any-extension=no # In verbose mode, extra non-checker-related info will be displayed. #verbose= [BASIC] # Naming style matching correct argument names. argument-naming-style=snake_case # Regular expression matching correct argument names. Overrides argument- # naming-style. If left empty, argument names will be checked with the set # naming style. argument-rgx=[a-z_][a-z0-9_]{2,30}$ # Naming style matching correct attribute names. attr-naming-style=snake_case # Regular expression matching correct attribute names. Overrides attr-naming- # style. If left empty, attribute names will be checked with the set naming # style. attr-rgx=[a-z_][a-z0-9_]{2,30}$ # Bad variable names which should always be refused, separated by a comma. bad-names=foo, bar, baz, toto, tutu, tata # Bad variable names regexes, separated by a comma. If names match any regex, # they will always be refused bad-names-rgxs= # Naming style matching correct class attribute names. class-attribute-naming-style=any # Regular expression matching correct class attribute names. Overrides class- # attribute-naming-style. If left empty, class attribute names will be checked # with the set naming style. class-attribute-rgx=([A-Za-z_][A-Za-z0-9_]{2,30}|(__.*__))$ # Naming style matching correct class constant names. class-const-naming-style=UPPER_CASE # Regular expression matching correct class constant names. Overrides class- # const-naming-style. If left empty, class constant names will be checked with # the set naming style. #class-const-rgx= # Naming style matching correct class names. class-naming-style=PascalCase # Regular expression matching correct class names. Overrides class-naming- # style. If left empty, class names will be checked with the set naming style. class-rgx=[A-Z_][a-zA-Z0-9]+$ # Naming style matching correct constant names. const-naming-style=UPPER_CASE # Regular expression matching correct constant names. Overrides const-naming- # style. If left empty, constant names will be checked with the set naming # style. const-rgx=(([A-Z_][A-Z0-9_]*)|(__.*__))$ # Minimum line length for functions/classes that require docstrings, shorter # ones are exempt. docstring-min-length=-1 # Naming style matching correct function names. function-naming-style=snake_case # Regular expression matching correct function names. Overrides function- # naming-style. If left empty, function names will be checked with the set # naming style. function-rgx=[a-z_][a-z0-9_]{2,30}$ # Good variable names which should always be accepted, separated by a comma. good-names=i, j, k, ex, Run, _, t, x, q # Good variable names regexes, separated by a comma. If names match any regex, # they will always be accepted good-names-rgxs= # Include a hint for the correct naming format with invalid-name. include-naming-hint=no # Naming style matching correct inline iteration names. inlinevar-naming-style=any # Regular expression matching correct inline iteration names. Overrides # inlinevar-naming-style. If left empty, inline iteration names will be checked # with the set naming style. inlinevar-rgx=[A-Za-z_][A-Za-z0-9_]*$ # Naming style matching correct method names. method-naming-style=snake_case # Regular expression matching correct method names. Overrides method-naming- # style. If left empty, method names will be checked with the set naming style. method-rgx=[a-z_][a-z0-9_]{2,40}$ # Naming style matching correct module names. module-naming-style=snake_case # Regular expression matching correct module names. Overrides module-naming- # style. If left empty, module names will be checked with the set naming style. module-rgx=(([a-z_][a-z0-9_]*)|([A-Z][a-zA-Z0-9]+))$ # Colon-delimited sets of names that determine each other's naming style when # the name regexes allow several styles. name-group= # Regular expression which should only match function or class names that do # not require a docstring. no-docstring-rgx=^_ # Regular expression matching correct parameter specification variable names. # If left empty, parameter specification variable names will be checked with # the set naming style. #paramspec-rgx= # List of decorators that produce properties, such as abc.abstractproperty. Add # to this list to register other decorators that produce valid properties. # These decorators are taken in consideration only for invalid-name. property-classes=abc.abstractproperty # Regular expression matching correct type alias names. If left empty, type # alias names will be checked with the set naming style. #typealias-rgx= # Regular expression matching correct type variable names. If left empty, type # variable names will be checked with the set naming style. #typevar-rgx= # Regular expression matching correct type variable tuple names. If left empty, # type variable tuple names will be checked with the set naming style. #typevartuple-rgx= # Naming style matching correct variable names. variable-naming-style=snake_case # Regular expression matching correct variable names. Overrides variable- # naming-style. If left empty, variable names will be checked with the set # naming style. variable-rgx=[a-z_][a-z0-9_]{2,30}$ [CLASSES] # Warn about protected attribute access inside special methods check-protected-access-in-special-methods=no # List of method names used to declare (i.e. assign) instance attributes. defining-attr-methods=__init__, __new__, setUp # List of member names, which should be excluded from the protected access # warning. exclude-protected=_asdict, _fields, _replace, _source, _make # List of valid names for the first argument in a class method. valid-classmethod-first-arg=cls # List of valid names for the first argument in a metaclass class method. valid-metaclass-classmethod-first-arg=mcs [DESIGN] # List of regular expressions of class ancestor names to ignore when counting # public methods (see R0903) exclude-too-few-public-methods= # List of qualified class names to ignore when counting class parents (see # R0901) ignored-parents= # Maximum number of arguments for function / method. max-args=7 # Maximum number of attributes for a class (see R0902). max-attributes=7 # Maximum number of boolean expressions in an if statement (see R0916). max-bool-expr=5 # Maximum number of branch for function / method body. max-branches=12 # Maximum number of locals for function / method body. max-locals=20 # Maximum number of parents for a class (see R0901). max-parents=7 # Maximum number of positional arguments for function / method. max-positional-arguments=10 # Maximum number of public methods for a class (see R0904). max-public-methods=25 # Maximum number of return / yield for function / method body. max-returns=6 # Maximum number of statements in function / method body. max-statements=100 # Minimum number of public methods for a class (see R0903). min-public-methods=2 [EXCEPTIONS] # Exceptions that will emit a warning when caught. overgeneral-exceptions=builtins.Exception [FORMAT] # Expected format of line ending, e.g. empty (any line ending), LF or CRLF. expected-line-ending-format= # Regexp for a line that is allowed to be longer than the limit. ignore-long-lines=^\s*(# )??$ # Number of spaces of indent required inside a hanging or continued line. indent-after-paren=4 # String used as indentation unit. This is usually " " (4 spaces) or "\t" (1 # tab). indent-string=' ' # Maximum number of characters on a single line. Pylint's default of 100 is # based on PEP 8's guidance that teams may choose line lengths up to 99 # characters. max-line-length=100 # Maximum number of lines in a module. max-module-lines=1200 # Allow the body of a class to be on the same line as the declaration if body # contains single statement. single-line-class-stmt=no # Allow the body of an if to be on the same line as the test if there is no # else. single-line-if-stmt=no [IMPORTS] # List of modules that can be imported at any level, not just the top level # one. allow-any-import-level= # Allow explicit reexports by alias from a package __init__. allow-reexport-from-package=no # Allow wildcard imports from modules that define __all__. allow-wildcard-with-all=no # Deprecated modules which should not be used, separated by a comma. deprecated-modules=regsub, TERMIOS, Bastion, rexec # Output a graph (.gv or any supported image format) of external dependencies # to the given file (report RP0402 must not be disabled). ext-import-graph= # Output a graph (.gv or any supported image format) of all (i.e. internal and # external) dependencies to the given file (report RP0402 must not be # disabled). import-graph= # Output a graph (.gv or any supported image format) of internal dependencies # to the given file (report RP0402 must not be disabled). int-import-graph= # Force import order to recognize a module as part of the standard # compatibility libraries. known-standard-library= # Force import order to recognize a module as part of a third party library. known-third-party=enchant # Couples of modules and preferred modules, separated by a comma. preferred-modules= [LOGGING] # The type of string formatting that logging methods do. `old` means using % # formatting, `new` is for `{}` formatting. logging-format-style=old # Logging modules to check that the string format arguments are in logging # function parameter format. logging-modules=logging [MESSAGES CONTROL] # Only show warnings with the listed confidence levels. Leave empty to show # all. Valid levels: HIGH, CONTROL_FLOW, INFERENCE, INFERENCE_FAILURE, # UNDEFINED. confidence=HIGH, CONTROL_FLOW, INFERENCE, INFERENCE_FAILURE, UNDEFINED # Disable the message, report, category or checker with the given id(s). You # can either give multiple identifiers separated by comma (,) or put this # option multiple times (only on the command line, not in the configuration # file where it should appear only once). You can also use "--disable=all" to # disable everything first and then re-enable specific checks. For example, if # you want to run only the similarities checker, you can use "--disable=all # --enable=similarities". If you want to run only the classes checker, but have # no Warning level messages displayed, use "--disable=all --enable=classes # --disable=W". disable=raw-checker-failed, bad-inline-option, locally-disabled, file-ignored, suppressed-message, useless-suppression, deprecated-pragma, use-symbolic-message-instead, use-implicit-booleaness-not-comparison-to-string, use-implicit-booleaness-not-comparison-to-zero, fixme, trailing-newlines, multiple-statements, too-few-public-methods, use-implicit-booleaness-not-len, useless-object-inheritance, consider-using-f-string, unused-argument # Enable the message, report, category or checker with the given id(s). You can # either give multiple identifier separated by comma (,) or put this option # multiple time (only on the command line, not in the configuration file where # it should appear only once). See also the "--disable" option for examples. enable= [METHOD_ARGS] # List of qualified names (i.e., library.method) which require a timeout # parameter e.g. 'requests.api.get,requests.api.post' timeout-methods=requests.api.delete,requests.api.get,requests.api.head,requests.api.options,requests.api.patch,requests.api.post,requests.api.put,requests.api.request [MISCELLANEOUS] # Whether or not to search for fixme's in docstrings. check-fixme-in-docstring=no # List of note tags to take in consideration, separated by a comma. notes=FIXME, XXX, TODO # Regular expression of note tags to take in consideration. notes-rgx= [REFACTORING] # Maximum number of nested blocks for function / method body max-nested-blocks=6 # Complete name of functions that never returns. When checking for # inconsistent-return-statements if a never returning function is called then # it will be considered as an explicit return statement and no message will be # printed. never-returning-functions=sys.exit,argparse.parse_error # Let 'consider-using-join' be raised when the separator to join on would be # non-empty (resulting in expected fixes of the type: ``"- " + " - # ".join(items)``) suggest-join-with-non-empty-separator=yes [REPORTS] # Python expression which should return a score less than or equal to 10. You # have access to the variables 'fatal', 'error', 'warning', 'refactor', # 'convention', and 'info' which contain the number of messages in each # category, as well as 'statement' which is the total number of statements # analyzed. This score is used by the global evaluation report (RP0004). evaluation=10.0 - ((float(5 * error + warning + refactor + convention) / statement) * 10) # Template used to display messages. This is a python new-style format string # used to format the message information. See doc for all details. msg-template= # Set the output format. Available formats are: 'text', 'parseable', # 'colorized', 'json2' (improved json format), 'json' (old json format), msvs # (visual studio) and 'github' (GitHub actions). You can also give a reporter # class, e.g. mypackage.mymodule.MyReporterClass. #output-format= # Tells whether to display a full report or only the messages. reports=no # Activate the evaluation score. score=yes [SIMILARITIES] # Comments are removed from the similarity computation ignore-comments=yes # Docstrings are removed from the similarity computation ignore-docstrings=yes # Imports are removed from the similarity computation ignore-imports=yes # Signatures are removed from the similarity computation ignore-signatures=yes # Minimum lines number of a similarity. min-similarity-lines=5 [SPELLING] # Limits count of emitted suggestions for spelling mistakes. max-spelling-suggestions=4 # Spelling dictionary name. No available dictionaries : You need to install # both the python package and the system dependency for enchant to work. spelling-dict= # List of comma separated words that should be considered directives if they # appear at the beginning of a comment and should not be checked. spelling-ignore-comment-directives=fmt: on,fmt: off,noqa:,noqa,nosec,isort:skip,mypy: # List of comma separated words that should not be checked. spelling-ignore-words= # A path to a file that contains the private dictionary; one word per line. spelling-private-dict-file= # Tells whether to store unknown words to the private dictionary (see the # --spelling-private-dict-file option) instead of raising a message. spelling-store-unknown-words=no [STRING] # This flag controls whether inconsistent-quotes generates a warning when the # character used as a quote delimiter is used inconsistently within a module. check-quote-consistency=no # This flag controls whether the implicit-str-concat should generate a warning # on implicit string concatenation in sequences defined over several lines. check-str-concat-over-line-jumps=no [TYPECHECK] # List of decorators that produce context managers, such as # contextlib.contextmanager. Add to this list to register other decorators that # produce valid context managers. contextmanager-decorators=contextlib.contextmanager # List of members which are set dynamically and missed by pylint inference # system, and so shouldn't trigger E1101 when accessed. Python regular # expressions are accepted. generated-members= # Tells whether to warn about missing members when the owner of the attribute # is inferred to be None. ignore-none=yes # This flag controls whether pylint should warn about no-member and similar # checks whenever an opaque object is returned when inferring. The inference # can return multiple potential results while evaluating a Python object, but # some branches might not be evaluated, which results in partial inference. In # that case, it might be useful to still emit no-member and other checks for # the rest of the inferred objects. ignore-on-opaque-inference=yes # List of symbolic message names to ignore for Mixin members. ignored-checks-for-mixins=no-member, not-async-context-manager, not-context-manager, attribute-defined-outside-init # List of class names for which member attributes should not be checked (useful # for classes with dynamically set attributes). This supports the use of # qualified names. ignored-classes=optparse.Values,thread._local,_thread._local # Show a hint with possible names when a member name was not found. The aspect # of finding the hint is based on edit distance. missing-member-hint=yes # The maximum edit distance a name should have in order to be considered a # similar match for a missing member name. missing-member-hint-distance=1 # The total number of similar names that should be taken in consideration when # showing a hint for a missing member. missing-member-max-choices=1 # Regex pattern to define which classes are considered mixins. mixin-class-rgx=.*[Mm]ixin # List of decorators that change the signature of a decorated function. signature-mutators= [VARIABLES] # List of additional names supposed to be defined in builtins. Remember that # you should avoid defining new builtins when possible. additional-builtins= # Tells whether unused global variables should be treated as a violation. allow-global-unused-variables=yes # List of names allowed to shadow builtins allowed-redefined-builtins= # List of strings which can identify a callback function by name. A callback # name must start or end with one of those strings. callbacks=cb_, _cb # A regular expression matching the name of dummy variables (i.e. expected to # not be used). dummy-variables-rgx=(_+[a-zA-Z0-9]*?$)|dummy # Argument names that match this expression will be ignored. ignored-argument-names=_.* # Tells whether we should check for unused import in __init__ files. init-import=no # List of qualified module names which can have objects that can redefine # builtins. redefining-builtins-modules=six.moves,future.builtins pyulog-1.2.3/pyproject.toml000066400000000000000000000031511521417275500157610ustar00rootroot00000000000000[build-system] requires = ["setuptools>=77.0.3", "setuptools-scm>=8"] build-backend = "setuptools.build_meta" [project] name = "pyulog" description = "Python log parser for ULog" license = "BSD-3-Clause" dependencies = [ "numpy < 1.25; python_version < '3.9'", "numpy >= 1.25; python_version >= '3.9'", ] dynamic = [ "version", "readme", ] maintainers = [ { name = "James Goppert", email = "james.goppert@gmail.com" }, { name = "Beat Kueng", email = "beat-kueng@gmx.net" }, ] classifiers = [ "Development Status :: 5 - Production/Stable", "Intended Audience :: Science/Research", "Intended Audience :: Developers", "Programming Language :: Python", "Programming Language :: Python :: 3", "Programming Language :: Other", "Topic :: Software Development", "Topic :: Scientific/Engineering :: Artificial Intelligence", "Topic :: Scientific/Engineering :: Mathematics", "Topic :: Scientific/Engineering :: Physics", "Operating System :: Microsoft :: Windows", "Operating System :: POSIX", "Operating System :: Unix", "Operating System :: MacOS", ] [project.scripts] ulog_extract_gps_dump = "pyulog.extract_gps_dump:main" ulog_info = "pyulog.info:main" ulog_messages = "pyulog.messages:main" ulog_params = "pyulog.params:main" ulog2csv = "pyulog.ulog2csv:main" ulog2kml = "pyulog.ulog2kml:main" ulog2ros2bag = "pyulog.ulog2ros2bag:main" ulog_migratedb = "pyulog.migrate_db:main" [project.urls] Homepage = "https://github.com/PX4/pyulog" Repository = "https://github.com/PX4/pyulog" [project.optional-dependencies] test = ['pytest', 'ddt'] [tool.setuptools_scm] pyulog-1.2.3/pyulog/000077500000000000000000000000001521417275500143645ustar00rootroot00000000000000pyulog-1.2.3/pyulog/__init__.py000066400000000000000000000001351521417275500164740ustar00rootroot00000000000000""" Wrapper to include the main library modules """ from .core import ULog from . import px4 pyulog-1.2.3/pyulog/core.py000066400000000000000000001403621521417275500156740ustar00rootroot00000000000000""" Main Module to load and parse an ULog file """ import struct import copy import sys import contextlib import numpy as np #pylint: disable=too-many-instance-attributes, unused-argument, missing-docstring #pylint: disable=protected-access, too-many-branches __author__ = "Beat Kueng" # check python version if sys.hexversion >= 0x030000F0: _RUNNING_PYTHON3 = True def _parse_string(cstr, errors='strict'): return str(cstr, 'utf-8', errors) else: _RUNNING_PYTHON3 = False def _parse_string(cstr): return str(cstr) class ULog(object): """ This class parses an ulog file """ ## constants ## HEADER_BYTES = b'\x55\x4c\x6f\x67\x01\x12\x35' SYNC_BYTES = b'\x2F\x73\x13\x20\x25\x0C\xBB\x12' # message types MSG_TYPE_FORMAT = ord('F') MSG_TYPE_DATA = ord('D') MSG_TYPE_INFO = ord('I') MSG_TYPE_INFO_MULTIPLE = ord('M') MSG_TYPE_PARAMETER = ord('P') MSG_TYPE_PARAMETER_DEFAULT = ord('Q') MSG_TYPE_ADD_LOGGED_MSG = ord('A') MSG_TYPE_REMOVE_LOGGED_MSG = ord('R') MSG_TYPE_SYNC = ord('S') MSG_TYPE_DROPOUT = ord('O') MSG_TYPE_LOGGING = ord('L') MSG_TYPE_LOGGING_TAGGED = ord('C') MSG_TYPE_FLAG_BITS = ord('B') _UNPACK_TYPES = { 'int8_t': ['b', 1, np.int8], 'uint8_t': ['B', 1, np.uint8], 'int16_t': ['h', 2, np.int16], 'uint16_t': ['H', 2, np.uint16], 'int32_t': ['i', 4, np.int32], 'uint32_t': ['I', 4, np.uint32], 'int64_t': ['q', 8, np.int64], 'uint64_t': ['Q', 8, np.uint64], 'float': ['f', 4, np.float32], 'double': ['d', 8, np.float64], 'bool': ['?', 1, np.int8], 'char': ['c', 1, np.int8] } @staticmethod def get_field_size(type_str): """ get the field size in bytes. :param type_str: type string, eg. 'int8_t' """ return ULog._UNPACK_TYPES[type_str][1] # pre-init unpack structs for quicker use _unpack_ushort_byte = struct.Struct(' bytes: if isinstance(value, int): value_type = "int32_t" elif isinstance(value, float): value_type = "float" else: raise TypeError("Found unknown parameter value type") key: str = value_type + ' ' + name return self._make_info_message_data(key, value, value_type) def _make_info_message_data(self, key: str, value, value_type: str, continued=None) -> bytes: key_bytes = bytes(key, 'utf-8') data = bytearray() if continued is not None: data.extend(struct.pack(' 0: encoded_field = '%s[%d] %s;' % (field_type, array_size, field_name) else: encoded_field = '%s %s;' % (field_type, field_name) data.extend(bytes(encoded_field, 'utf-8')) header = struct.pack(' 8 + 8 + 3*8: # we can still parse it but might miss some information print('Warning: Flags Bit message is longer than expected') self.compat_flags = list(struct.unpack('<'+'B'*8, data[0:8])) self.incompat_flags = list(struct.unpack('<'+'B'*8, data[8:16])) self.appended_offsets = list(struct.unpack('<'+'Q'*3, data[16:16+3*8])) # remove the 0's at the end while len(self.appended_offsets) > 0 and self.appended_offsets[-1] == 0: self.appended_offsets.pop() class MessageFormat(object): """ ULog message format representation """ def __init__(self, data, header): format_arr = ULog.parse_string(data).split(':') self.name = format_arr[0] types_str = format_arr[1].split(';') self.fields = [] # list of tuples (type, array_size, name) for t in types_str: if len(t) > 0: self.fields.append(self._extract_type(t)) def __eq__(self, other): if not isinstance(other, ULog.MessageFormat): return NotImplemented return self.name == other.name and self.fields == other.fields @staticmethod def _extract_type(field_str): field_str_split = field_str.split(' ') type_str = field_str_split[0] name_str = field_str_split[1] a_pos = type_str.find('[') if a_pos == -1: array_size = 0 type_name = type_str else: b_pos = type_str.find(']') array_size = int(type_str[a_pos+1:b_pos]) type_name = type_str[:a_pos] return type_name, array_size, name_str class MessageLogging(object): """ ULog logged string message representation """ def __init__(self, data, header): self.log_level, = struct.unpack(' 0 and self.field_data[-1].field_name.startswith('_padding')): self.field_data.pop() def _parse_nested_type(self, prefix_str, type_name, message_formats): # we flatten nested types message_format = message_formats[type_name] for (type_name_fmt, array_size, field_name) in message_format.fields: if type_name_fmt in ULog._UNPACK_TYPES: if array_size > 0: for i in range(array_size): self.field_data.append(ULog._FieldData( prefix_str+field_name+'['+str(i)+']', type_name_fmt)) else: self.field_data.append(ULog._FieldData( prefix_str+field_name, type_name_fmt)) if prefix_str+field_name == 'timestamp': self.timestamp_idx = len(self.field_data) - 1 else: # nested type if array_size > 0: for i in range(array_size): self._parse_nested_type(prefix_str+field_name+'['+str(i)+'].', type_name_fmt, message_formats) else: self._parse_nested_type(prefix_str+field_name+'.', type_name_fmt, message_formats) class _MessageData(object): def __init__(self): self.timestamp = 0 def initialize(self, data, header, subscriptions, ulog_object) -> bool: has_corruption = False msg_id, = ULog._unpack_ushort(data[:2]) if msg_id in subscriptions: subscription = subscriptions[msg_id] min_data_size = subscription.dtype.itemsize data_size = len(data) - 2 if data_size < min_data_size or data_size > subscription.max_data_size: # Corrupt data: skip self.timestamp = 0 has_corruption = True else: if data_size > min_data_size: # Strip extra data (_padding bytes) data = data[:2+min_data_size] # accumulate data to a buffer, will be parsed later subscription.buffer += data[2:] t_off = subscription.timestamp_offset # TODO: the timestamp can have another size than uint64 self.timestamp, = ULog._unpack_uint64(data[t_off+2:t_off+10]) else: if not msg_id in ulog_object._filtered_message_ids: # this is an error, but make it non-fatal if not msg_id in ulog_object._missing_message_ids: ulog_object._missing_message_ids.add(msg_id) if ulog_object._debug: print(ulog_object._file_handle.tell()) print('Warning: no subscription found for message id {:}. Continuing,' ' but file is most likely corrupt'.format(msg_id)) has_corruption = True self.timestamp = 0 return has_corruption def _add_parameter_default(self, msg_param): """ add a _MessageParameterDefault object """ default_types = msg_param.default_types while default_types: # iterate over each bit def_type = default_types & (~default_types+1) default_types ^= def_type def_type -= 1 if def_type not in self._default_parameters: self._default_parameters[def_type] = {} self._default_parameters[def_type][msg_param.key] = msg_param.value def _add_message_info_multiple(self, msg_info): """ add a message info multiple to self._msg_info_multiple_dict """ if msg_info.key in self._msg_info_multiple_dict: if msg_info.is_continued: self._msg_info_multiple_dict[msg_info.key][-1].append(msg_info.value) else: self._msg_info_multiple_dict[msg_info.key].append([msg_info.value]) else: self._msg_info_multiple_dict[msg_info.key] = [[msg_info.value]] self._msg_info_multiple_dict_types[msg_info.key] = msg_info.type def _load_file(self, log_file, message_name_filter_list, parse_header_only=False): """ load and parse an ULog file into memory """ if isinstance(log_file, str): self._file_handle = open(log_file, "rb") #pylint: disable=consider-using-with else: self._file_handle = log_file # parse the whole file self._read_file_header() self._last_timestamp = self._start_timestamp self._read_file_definitions() if self._debug: print("header end offset: {:}".format(self._file_handle.tell())) if parse_header_only: self._file_handle.close() del self._file_handle return if self.has_data_appended and len(self._appended_offsets) > 0: if self._debug: print('This file has data appended') for offset in self._appended_offsets: self._read_file_data(message_name_filter_list, read_until=offset) self._file_handle.seek(offset) # read the whole file, or the rest if data appended self._read_file_data(message_name_filter_list) self._file_handle.close() del self._file_handle def _read_file_header(self): header_data = self._file_handle.read(16) if len(header_data) != 16: raise TypeError("Invalid file format (Header too short)") if header_data[:7] != self.HEADER_BYTES: raise TypeError("Invalid file format (Failed to parse header)") self._file_version, = struct.unpack('B', header_data[7:8]) if self._file_version > 1: print("Warning: unknown file version. Will attempt to read it anyway") # read timestamp self._start_timestamp, = ULog._unpack_uint64(header_data[8:]) def _read_file_definitions(self): header = self._MessageHeader() while True: data = self._file_handle.read(3) if not data: break header.initialize(data) data = self._file_handle.read(header.msg_size) try: if header.msg_type == self.MSG_TYPE_INFO: msg_info = self._MessageInfo(data, header) self._msg_info_dict[msg_info.key] = msg_info.value self._msg_info_dict_types[msg_info.key] = msg_info.type elif header.msg_type == self.MSG_TYPE_INFO_MULTIPLE: msg_info = self._MessageInfo(data, header, is_info_multiple=True) self._add_message_info_multiple(msg_info) elif header.msg_type == self.MSG_TYPE_FORMAT: msg_format = self.MessageFormat(data, header) self._message_formats[msg_format.name] = msg_format elif header.msg_type == self.MSG_TYPE_PARAMETER: msg_info = self._MessageInfo(data, header) self._initial_parameters[msg_info.key] = msg_info.value elif header.msg_type == self.MSG_TYPE_PARAMETER_DEFAULT: msg_param = self._MessageParameterDefault(data, header) self._add_parameter_default(msg_param) elif header.msg_type in (self.MSG_TYPE_ADD_LOGGED_MSG, self.MSG_TYPE_LOGGING, self.MSG_TYPE_LOGGING_TAGGED): self._file_handle.seek(-(3+header.msg_size), 1) break # end of section elif header.msg_type == self.MSG_TYPE_FLAG_BITS: # make sure this is the first message in the log if self._file_handle.tell() != 16 + 3 + header.msg_size: print('Error: FLAGS_BITS message must be first message. Offset:', self._file_handle.tell()) msg_flag_bits = self._MessageFlagBits(data, header) self._compat_flags = msg_flag_bits.compat_flags self._incompat_flags = msg_flag_bits.incompat_flags self._appended_offsets = msg_flag_bits.appended_offsets if self._debug: print('compat flags: ', self._compat_flags) print('incompat flags:', self._incompat_flags) print('appended offsets:', self._appended_offsets) # check if there are bits set that we don't know unknown_incompat_flag_msg = \ "Unknown incompatible flag set: cannot parse the log" if self._incompat_flags[0] & ~1: raise ValueError(unknown_incompat_flag_msg) for i in range(1, 8): if self._incompat_flags[i]: raise NotImplementedError(unknown_incompat_flag_msg) else: if self._debug: print('read_file_definitions: unknown message type: %i (%s)' % (header.msg_type, chr(header.msg_type))) file_position = self._file_handle.tell() print('file position: %i (0x%x) msg size: %i' % ( file_position, file_position, header.msg_size)) if self._check_packet_corruption(header): # seek back to advance only by a single byte instead of # skipping the message self._file_handle.seek(-2-header.msg_size, 1) except IndexError: if not self._file_corrupt: print("File corruption detected while reading file definitions!") self._file_corrupt = True def _find_sync(self, last_n_bytes=-1): """ read the file from a given location until the end of sync_byte sequence is found or an end condition is met(reached EOF or searched all last_n_bytes). :param last_n_bytes: optional arg to search only last_n_bytes for sync_bytes. when provided, _find_sync searches for sync_byte sequence in the last_n_bytes from current location, else, from current location till end of file. return true if successful, else return false and seek back to initial position and set _has_sync to false if searched till end of file """ sync_seq_found = False initial_file_position = self._file_handle.tell() current_file_position = initial_file_position search_chunk_size = 512 # number of bytes that are searched at once if last_n_bytes != -1: current_file_position = self._file_handle.seek(-last_n_bytes, 1) search_chunk_size = last_n_bytes chunk = self._file_handle.read(search_chunk_size) while len(chunk) >= len(ULog.SYNC_BYTES): current_file_position += len(chunk) chunk_index = chunk.find(ULog.SYNC_BYTES) if chunk_index >= 0: if self._debug: print("Found sync at %i" % (current_file_position - len(chunk) + chunk_index)) # seek to end of sync sequence and break current_file_position = self._file_handle.seek(current_file_position - len(chunk)\ + chunk_index + len(ULog.SYNC_BYTES), 0) sync_seq_found = True break if last_n_bytes != -1: # we read the whole last_n_bytes and did not find sync break # seek back 7 bytes to handle boundary condition and read next chunk current_file_position = self._file_handle.seek(-(len(ULog.SYNC_BYTES)-1), 1) chunk = self._file_handle.read(search_chunk_size) if not sync_seq_found: current_file_position = self._file_handle.seek(initial_file_position, 0) if last_n_bytes == -1: self._has_sync = False if self._debug: print("Failed to find sync in file from %i" % initial_file_position) else: if self._debug: print("Failed to find sync in (%i, %i)" %\ (initial_file_position - last_n_bytes, initial_file_position)) else: # declare file corrupt if we skipped bytes to sync sequence self._file_corrupt = True return sync_seq_found def _read_file_data(self, message_name_filter_list, read_until=None): """ read the file data section :param read_until: an optional file offset: if set, parse only up to this offset (smaller than) """ if read_until is None: read_until = 1 << 50 # make it larger than any possible log file try: # pre-init reusable objects header = self._MessageHeader() msg_data = self._MessageData() curr_file_pos = self._file_handle.tell() while True: data = self._file_handle.read(3) curr_file_pos += len(data) header.initialize(data) data = self._file_handle.read(header.msg_size) curr_file_pos += len(data) if len(data) < header.msg_size: break # less data than expected. File is most likely cut if curr_file_pos > read_until: if self._debug: print('read until offset=%i done, current pos=%i' % (read_until, curr_file_pos)) break try: if header.msg_type == self.MSG_TYPE_INFO: msg_info = self._MessageInfo(data, header) self._msg_info_dict[msg_info.key] = msg_info.value self._msg_info_dict_types[msg_info.key] = msg_info.type elif header.msg_type == self.MSG_TYPE_INFO_MULTIPLE: msg_info = self._MessageInfo(data, header, is_info_multiple=True) self._add_message_info_multiple(msg_info) elif header.msg_type == self.MSG_TYPE_PARAMETER: msg_info = self._MessageInfo(data, header) self._changed_parameters.append((self._last_timestamp, msg_info.key, msg_info.value)) elif header.msg_type == self.MSG_TYPE_PARAMETER_DEFAULT: msg_param = self._MessageParameterDefault(data, header) self._add_parameter_default(msg_param) elif header.msg_type == self.MSG_TYPE_ADD_LOGGED_MSG: msg_add_logged = self._MessageAddLogged(data, header, self._message_formats) if (message_name_filter_list is None or msg_add_logged.message_name in message_name_filter_list): self._subscriptions[msg_add_logged.msg_id] = msg_add_logged else: self._filtered_message_ids.add(msg_add_logged.msg_id) elif header.msg_type == self.MSG_TYPE_LOGGING: msg_logging = self.MessageLogging(data, header) self._logged_messages.append(msg_logging) elif header.msg_type == self.MSG_TYPE_LOGGING_TAGGED: msg_log_tagged = self.MessageLoggingTagged(data, header) if msg_log_tagged.tag in self._logged_messages_tagged: self._logged_messages_tagged[msg_log_tagged.tag].append(msg_log_tagged) else: self._logged_messages_tagged[msg_log_tagged.tag] = [msg_log_tagged] elif header.msg_type == self.MSG_TYPE_DATA: has_corruption = msg_data.initialize(data, header, self._subscriptions, self) if has_corruption: self._file_corrupt = True elif msg_data.timestamp > self._last_timestamp: self._last_timestamp = msg_data.timestamp elif header.msg_type == self.MSG_TYPE_DROPOUT: msg_dropout = self.MessageDropout(data, header, self._last_timestamp) self._dropouts.append(msg_dropout) elif header.msg_type == self.MSG_TYPE_SYNC: self._sync_seq_cnt = self._sync_seq_cnt + 1 else: if self._debug: print('_read_file_data: unknown message type: %i (%s)' % (header.msg_type, chr(header.msg_type))) print('file position: %i msg size: %i' % ( curr_file_pos, header.msg_size)) if self._check_packet_corruption(header): # seek back to advance only by a single byte instead of # skipping the message curr_file_pos = self._file_handle.seek(-2-header.msg_size, 1) # try recovery with sync sequence in case of unknown msg_type if self._has_sync: self._find_sync() else: # seek back msg_size to look for sync sequence in payload if self._has_sync: self._find_sync(header.msg_size) except IndexError: if not self._file_corrupt: print("File corruption detected while reading file data!") self._file_corrupt = True except struct.error: pass #we read past the end of the file # convert into final representation while self._subscriptions: _, value = self._subscriptions.popitem() if len(value.buffer) > 0: # only add if we have data data_item = ULog.Data(value) self._data_list.append(data_item) # Sorting is necessary to be able to compare two ULogs correctly self.data_list.sort(key=lambda ds: (ds.name, ds.multi_id)) def _check_packet_corruption(self, header): """ check for data corruption based on an unknown message type in the header set _file_corrupt flag to true if a corrupt packet is found We need to handle 2 cases: - corrupt file (we do our best to read the rest of the file) - new ULog message type got added (we just want to skip the message) return true if packet associated with header is corrupt, else return false """ data_corrupt = False if header.msg_type == 0 or header.msg_size == 0 or header.msg_size > 10000: if not self._file_corrupt and self._debug: print('File corruption detected') data_corrupt = True self._file_corrupt = True return data_corrupt def get_version_info(self, key_name='ver_sw_release'): """ get the (major, minor, patch, type) version information as tuple. Returns None if not found definition of type is: >= 0: development >= 64: alpha version >= 128: beta version >= 192: RC version == 255: release version """ if key_name in self._msg_info_dict: val = self._msg_info_dict[key_name] return ((val >> 24) & 0xff, (val >> 16) & 0xff, (val >> 8) & 0xff, val & 0xff) return None def get_version_info_str(self, key_name='ver_sw_release'): """ get version information in the form 'v1.2.3 (RC)', or None if version tag either not found or it's a development version """ version = self.get_version_info(key_name) if not version is None and version[3] >= 64: type_str = '' if version[3] < 128: type_str = ' (alpha)' elif version[3] < 192: type_str = ' (beta)' elif version[3] < 255: type_str = ' (RC)' return 'v{}.{}.{}{}'.format(version[0], version[1], version[2], type_str) return None pyulog-1.2.3/pyulog/db.py000066400000000000000000000746401521417275500153360ustar00rootroot00000000000000''' Module containing the DatabaseULog class. ''' import sqlite3 import hashlib import contextlib import numpy as np from pyulog import ULog # pylint: disable=too-many-instance-attributes class DatabaseULog(ULog): ''' This class can be used in place of a ULog, except that it reads from and writes to a sqlite3 database instead of a file. The first time you see a ulog file, instantiate a DatabaseULog directly from a ulog file, and then call save() to write it to the database. Later it can be accessed by providing the primary_key, upon which this class loads all needed fields from the database. If you don't have the primary_key value available, but you have the .ulg file and know it is in the database, you can retrieve the hash with DatabaseULog.calc_sha256sum and DatabaseULog.primary_key_from_sha256sum. This class is currently designed to be write-once only, so you cannot update existing database entries. To do so, first call delete() and then save() again. A weakness of the implementation is that there are some silently failing states if you don't call save() immediately after instantiating from a ULog object. The requirement of explicit save() is to prevent unexpected, sudden side effects, which is considered worse than the current solution. Example usage: > from pyulog.db import DatabaseULog > > db_handle = DatabaseULog.get_db_handle('dbulog.sqlite3') > dbulog = DatabaseULog(db_handle, log_file='example.ulg') # Slow > dbulog.save() > pk = dbulog.primary_key() > # [...] > dbulog = DatabaseULog(db_handle, primary_key=pk) # Fast SCHEMA_VERSION specifies which version of the database schema (as read from "PRAGMA user_version") this file is supposed to match. This is done to ensure consistency between the database operations and the state of the database. If SCHEMA_VERSION is higher than what is found in the database, then it means that the datbaase is has not been updated, and the contsructor will throw an exception. See the documentation of "ulog_migratedb" for more information. ''' SCHEMA_VERSION = 5 @staticmethod def get_db_handle(db_path): ''' Generate a database handle that can be used in subsequent database access. ''' def db_handle(): con = sqlite3.connect( db_path, detect_types=sqlite3.PARSE_DECLTYPES|sqlite3.PARSE_COLNAMES ) # The next line is necessary for sqlite3 to actually respect # FOREIGN KEY constraints and ON DELETE CASCADE. con.execute('PRAGMA foreign_keys=on') return con return db_handle @staticmethod def exists_in_db(db_handle, primary_key): ''' Check whether an ULog row with Id=primary_key exists in the database accessed with db_handle. ''' with db_handle() as con: cur = con.cursor() cur.execute(''' SELECT COUNT(*) FROM ULog WHERE Id = ? ''', (primary_key,)) count, = cur.fetchone() cur.close() return count == 1 @staticmethod def primary_key_from_sha256sum(db_handle, sha256sum): ''' Search the database for a row with the given SHA256 digest and returns the corresponding primary key. Returns None if not found. ''' primary_key = None with db_handle() as con: cur = con.cursor() cur.execute(''' SELECT Id FROM ULog WHERE SHA256Sum = ? ''', (sha256sum,)) row = cur.fetchone() if row: primary_key = row[0] cur.close() return primary_key @staticmethod def calc_sha256sum(log_file): ''' Compute the SHA256 digest of a file, specified as a file or a valid file path. ''' if log_file is None: return None if isinstance(log_file, str): file_context = open(log_file, 'rb') # pylint: disable=consider-using-with elif log_file.closed: file_context = open(log_file.name, 'rb') else: file_context = contextlib.nullcontext(log_file) file_hash = hashlib.sha256() with file_context as open_file: while True: block = open_file.read(4096) file_hash.update(block) if block == b'': break return file_hash.hexdigest() def __init__(self, db_handle, primary_key=None, log_file=None, lazy=True, **kwargs): ''' You always need the database handle (which can be generated with DatabaseULog.get_db_handle), but there are two options for the parameters "primary_key" and "log_file": - For storing a new log in the database, supply the corresponding log_file parameter, but leave the primary_key field at None. - For reading an existing log from the database, supply the desired primary_key parameter, but leave the log_file parameter at None. If you don't know the primary_key, you can try finding it with DatabaseULog.primary_key_from_sha256sum. You cannot supply both of these parameters. Furthermore, the "lazy" parameter specifies whether all data fields should be read on-demand when get_dataset is called, or if they should all be read and populated into data_list when the object is instantiated. The constructor also checks that SCHEMA_VERSION matches the "PRAGMA user_version" found in the database, see the documentation of "PRAGMA user_version" for more information. ''' with db_handle() as con: cur = con.cursor() cur.execute('PRAGMA user_version') (db_version,) = cur.fetchone() if db_version < DatabaseULog.SCHEMA_VERSION: raise ValueError('Database version %d < schema version %d, migration needed.' % ( db_version, DatabaseULog.SCHEMA_VERSION )) if log_file is not None and primary_key is not None: raise ValueError('You cannot provide both primary_key and log_file.') if log_file is None and primary_key is None: raise ValueError('You must provide either a primary_key or log_file.') self._pk = primary_key self._db = db_handle self._lazy_loaded = lazy if log_file is not None: self._sha256sum = DatabaseULog.calc_sha256sum(log_file) super().__init__(log_file, **kwargs) if primary_key is not None: self.load(lazy=lazy) def __eq__(self, other): """ If the other object is a normal ULog, then we just want to compare ULog data, not DatabaseULog specific fields, because we want to compare theULog file contents. """ if type(other) is ULog: # pylint: disable=unidiomatic-typecheck return other.__eq__(self) return super().__eq__(other) def write_ulog(self, log_file): if self._lazy_loaded: raise ValueError('Cannot write after lazy load because it has no datasets.') super().write_ulog(log_file) @property def primary_key(self): '''The primary key of the ulog, pointing to the correct "ULog" row in the database.''' return self._pk @property def sha256sum(self): '''The computed SHA256 digest of the file, stored for later use.''' return self._sha256sum # pylint: disable=too-many-locals,too-many-branches def load(self, lazy=True): ''' Load all necessary data from the database, possibly except for the data series themselves, which can cost unnecessary resources. If lazy=True, then the data series will be left unread, deferred until get_dataset is called. If however lazy=False, then all data series will be read at once. Even if the log was originally saved with append_json=True, this function will always use the faster BLOB column for retrieval. ''' if not DatabaseULog.exists_in_db(self._db, self._pk): raise KeyError(f'No ULog in database with Id={self._pk}') with self._db() as con: cur = con.cursor() # ULog metadata cur.execute(''' SELECT FileVersion, StartTimestamp, LastTimestamp, CompatFlags, IncompatFlags, SyncCount, HasSync, SHA256Sum FROM ULog WHERE Id = ? ''', (self._pk,)) ulog_result = cur.fetchone() self._file_version = ulog_result[0] self._start_timestamp = ulog_result[1] self._last_timestamp = ulog_result[2] self._compat_flags = [ord(c) for c in ulog_result[3]] self._incompat_flags = [ord(c) for c in ulog_result[4]] self._sync_seq_cnt = ulog_result[5] self._has_sync = ulog_result[6] self._sha256sum = ulog_result[7] # appended_offsets cur.execute(''' SELECT Offset FROM ULogAppendedOffsets WHERE ULogId = ? ORDER BY SeriesIndex ''', (self._pk,)) offsets_result = cur.fetchall() for offset, in offsets_result: self._appended_offsets.append(offset) # data_list self._data_list = [] cur.execute(''' SELECT DatasetName, MultiId FROM ULogDataset WHERE ULogId = ? ORDER BY DatasetName, MultiId ''', (self._pk,)) dataset_results = cur.fetchall() for dataset_name, multi_id in dataset_results: dataset = self.get_dataset(dataset_name, multi_instance=multi_id, lazy=lazy, db_cursor=cur, caching=False) self._data_list.append(dataset) # dropouts cur.execute(''' SELECT Timestamp, Duration FROM ULogMessageDropout WHERE ULogId = ? ''', (self._pk,)) for timestamp, duration in cur.fetchall(): self._dropouts.append( DatabaseULog.DatabaseMessageDropout( timestamp=timestamp, duration=duration, ) ) # logged_messages cur.execute(''' SELECT LogLevel, Timestamp, Message FROM ULogMessageLogging WHERE ULogId = ? ''', (self._pk,)) for log_level, timestamp, message in cur.fetchall(): self._logged_messages.append( DatabaseULog.DatabaseMessageLogging( log_level=log_level, timestamp=timestamp, message=message, ) ) # logged_messages_tagged cur.execute(''' SELECT LogLevel, Tag, Timestamp, Message FROM ULogMessageLoggingTagged WHERE ULogId = ? ''', (self._pk,)) for log_level, tag, timestamp, message in cur.fetchall(): if tag not in self._logged_messages_tagged: self._logged_messages_tagged[tag] = [] self._logged_messages_tagged[tag].append( DatabaseULog.DatabaseMessageLoggingTagged( log_level=log_level, tag=tag, timestamp=timestamp, message=message, ) ) # message_formats cur.execute(''' SELECT msg.Name, field.FieldType, field.ArraySize, field.Name FROM ULogMessageFormat msg JOIN ULogMessageFormatField field ON field.MessageId = msg.Id WHERE ULogId = ? ''', (self._pk,)) for row in cur.fetchall(): msg_name = row[0] field_data = row[1:] if msg_name in self._message_formats: self._message_formats[msg_name].fields.append(field_data) else: self._message_formats[msg_name] = DatabaseULog.DatabaseMessageFormat( name=msg_name, fields=[field_data] ) # msg_info_dict cur.execute(''' SELECT Key, Typename, Value FROM ULogMessageInfo WHERE ULogId = ? ''', (self._pk,)) for key, typename, value in cur.fetchall(): self._msg_info_dict[key] = value self._msg_info_dict_types[key] = typename # msg_info_multiple_dict cur.execute(''' SELECT Id, Key, Typename FROM ULogMessageInfoMultiple WHERE ULogId = ? ''', (self._pk,)) for message_id, key, typename in cur.fetchall(): self._msg_info_multiple_dict[key] = [] self._msg_info_multiple_dict_types[key] = typename cur.execute(''' SELECT Id FROM ULogMessageInfoMultipleList WHERE MessageId = ? ORDER BY SeriesIndex ''', (message_id,)) for (list_id,) in cur.fetchall(): cur.execute(''' SELECT Value FROM ULogMessageInfoMultipleListElement WHERE ListId = ? ORDER BY SeriesIndex ''', (list_id,)) self._msg_info_multiple_dict[key].append([value for (value,) in cur.fetchall()]) # initial_parameters cur.execute(''' SELECT Key, Value FROM ULogInitialParameter WHERE ULogId = ? ''', (self._pk,)) for key, value in cur.fetchall(): self._initial_parameters[key] = value # _default_parameters cur.execute(''' SELECT DefaultType, Key, Value FROM ULogDefaultParameter WHERE ULogId = ? ''', (self._pk,)) for default_type, key, value in cur.fetchall(): if default_type not in self._default_parameters: self._default_parameters[default_type] = {} self._default_parameters[default_type][key] = value # changed_parameters cur.execute(''' SELECT Timestamp, Key, Value FROM ULogChangedParameter WHERE ULogId = ? ''', (self._pk,)) for timestamp, key, value in cur.fetchall(): self._changed_parameters.append((timestamp, key, value)) cur.close() self._lazy_loaded = lazy def get_dataset(self, name, multi_instance=0, lazy=False, db_cursor=None, caching=True): ''' Access a specific dataset and its data series from the database. The "lazy" argument specifies whether only dataset metadata should be retrieved from the database, or if the data series arrays should be retrieved too. The optional "db_cursor" argument can be used to avoid re-opening the database connection each time get_dataset is called. Since we don't expect the data to change often, we will normally use self._data_list as a cache, and check there before reading from the database. However, if caching=False, then we will always read anew from the database. ''' if db_cursor is None: db_context = self._db() cur = db_context.cursor() else: db_context = contextlib.nullcontext() cur = db_cursor existing_dataset = None for dataset in self._data_list: if dataset.name == name and dataset.multi_id == multi_instance: existing_dataset = dataset break if (caching and existing_dataset is not None and (lazy or existing_dataset.data)): return existing_dataset with db_context: cur.execute(''' SELECT Id, TimestampIndex, MessageId FROM ULogDataset WHERE DatasetName = ? AND MultiId = ? AND ULogId = ? ''', (name, multi_instance, self._pk)) dataset_result = cur.fetchone() if dataset_result is None: raise KeyError(f'Dataset with name {name} and multi id {multi_instance} not found.') dataset_id, timestamp_idx, msg_id = dataset_result fields = [] data = {} if not lazy: cur.execute(''' SELECT TopicName, DataType, ValueArray FROM ULogField WHERE DatasetId = ? ''', (dataset_id,)) field_results = cur.fetchall() for field_name, data_type, value_bytes in field_results: fields.append(DatabaseULog._FieldData(field_name=field_name,type_str=data_type)) dtype = DatabaseULog._UNPACK_TYPES[data_type][2] data[field_name] = np.frombuffer(value_bytes, dtype=dtype) # If caching=True but there is no existing dataset we could append a # new one to self._data_list, but that could be considered a # non-obvious side effect. if caching and existing_dataset is not None: existing_dataset.msg_id = msg_id existing_dataset.timestamp_idx = timestamp_idx existing_dataset.field_data = fields existing_dataset.data = data dataset = existing_dataset else: dataset = DatabaseULog.DatabaseData( name=name, multi_id=multi_instance, msg_id=msg_id, timestamp_idx=timestamp_idx, field_data=fields, data=data, ) return dataset def save(self, append_json=False): ''' Save the DatabaseULog to the database. Throws a KeyError if the primary key is already in the database. The datasets are stored in a sqlite BLOB for fast retrieval, but if append_json=True, then datasets are additionally stored in a JSON field. This allows them to be directly queried using the sqlite function json_each, but increases the writing time and database size. ''' if self._pk is not None: raise KeyError('Cannot save logs that are already in the database') pk_from_hash = DatabaseULog.primary_key_from_sha256sum(self._db, self._sha256sum) if pk_from_hash is not None: self._pk = pk_from_hash raise KeyError(f'Hash {self._sha256sum} already in database with Id={pk_from_hash}') with self._db() as con: cur = con.cursor() # ULog metadata cur.execute(''' INSERT INTO ULog (FileVersion, StartTimestamp, LastTimestamp, CompatFlags, IncompatFlags, SyncCount, HasSync, SHA256Sum) VALUES (?, ?, ?, ?, ?, ?, ?, ?) ''', ( self._file_version, self._start_timestamp, self._last_timestamp, ''.join([chr(n) for n in self._compat_flags]), ''.join([chr(n) for n in self._incompat_flags]), self._sync_seq_cnt, self._has_sync, self._sha256sum, ) ) self._pk = cur.lastrowid # appended_offsets cur.executemany(''' INSERT INTO ULogAppendedOffsets (SeriesIndex, Offset, ULogId) VALUES (?, ?, ?) ''', [( list_index, offset, self._pk, ) for list_index, offset in enumerate(self._appended_offsets)]) # data_list for dataset in self.data_list: cur.execute(''' INSERT INTO ULogDataSet (DatasetName, MultiId, MessageId, TimestampIndex, ULogId) VALUES (?, ?, ?, ?, ?) ''', ( dataset.name, dataset.multi_id, dataset.msg_id, dataset.timestamp_idx, self._pk, ) ) dataset_id = cur.lastrowid for field in dataset.field_data: values = dataset.data[field.field_name] values_bytes = values.tobytes() if append_json: # Precision is only good enough up to a few decimals, # depending on the default float formatter. The # function np.array2string was tested, but was slower. # Also note that doing the slow json.dumps is also # unnecessary since we know that the object to be # formatted is an array. timestamp_list = [str(s) for s in dataset.data['timestamp'].tolist()] values_json = str( dict(zip(timestamp_list, values.tolist())) ).replace('nan', 'null').replace('inf', 'null').replace("'", '"') json_placeholder = 'json(?)' # Saves some space else: values_json = None json_placeholder = '?' cur.execute(f''' INSERT INTO ULogField (TopicName, DataType, ValueArray, ValueJson, DatasetId) VALUES (?, ?, ?, {json_placeholder}, ?) ''', ( field.field_name, field.type_str, values_bytes, values_json, dataset_id, ) ) # dropouts cur.executemany(''' INSERT INTO ULogMessageDropout (Timestamp, Duration, ULogId) VALUES (?, ?, ?) ''', [( dropout.timestamp, dropout.duration, self._pk, ) for dropout in self._dropouts]) # logged_messages cur.executemany(''' INSERT INTO ULogMessageLogging (LogLevel, Timestamp, Message, ULogId) VALUES (?, ?, ?, ?) ''', [( message.log_level, message.timestamp, message.message, self._pk, ) for message in self._logged_messages]) # logged_messages_tagged for tag, messages in self._logged_messages_tagged.items(): cur.executemany(''' INSERT INTO ULogMessageLoggingTagged (LogLevel, Timestamp, Tag, Message, ULogId) VALUES (?, ?, ?, ?, ?) ''', [( message.log_level, message.timestamp, tag, message.message, self._pk, ) for message in messages]) # message_formats for name, message_format in self._message_formats.items(): cur.execute(''' INSERT INTO ULogMessageFormat (Name, ULogId) VALUES (?, ?) ''', (name, self._pk)) format_id = cur.lastrowid cur.executemany(''' INSERT INTO ULogMessageFormatField (FieldType, ArraySize, Name, MessageId) VALUES (?, ?, ?, ?) ''', [(*field, format_id) for field in message_format.fields]) # msg_info_dict cur.executemany(''' INSERT INTO ULogMessageInfo (Key, Value, Typename, ULogId) VALUES (?, ?, ?, ?) ''', [( key, value, self._msg_info_dict_types[key], self._pk, ) for key, value in self.msg_info_dict.items()]) # msg_info_multiple_dict for key, lists in self.msg_info_multiple_dict.items(): cur.execute(''' INSERT INTO ULogMessageInfoMultiple (Key, Typename, ULogId) VALUES (?, ?, ?) ''', (key, self._msg_info_multiple_dict_types[key], self._pk)) message_id = cur.lastrowid for list_index, message_list in enumerate(lists): cur.execute(''' INSERT INTO ULogMessageInfoMultipleList (SeriesIndex, MessageId) VALUES (?, ?) ''', (list_index, message_id)) list_id = cur.lastrowid cur.executemany(''' INSERT INTO ULogMessageInfoMultipleListElement (SeriesIndex, Value, ListId) VALUES (?, ?, ?) ''', [( series_index, value, list_id, ) for series_index, value in enumerate(message_list)]) # initial_parameters cur.executemany(''' INSERT INTO ULogInitialParameter (Key, Value, ULogId) VALUES (?, ?, ?) ''', [( key, value, self._pk, ) for key, value in self.initial_parameters.items()]) # _default_parameters for default_type, parameters in self._default_parameters.items(): cur.executemany(''' INSERT INTO ULogDefaultParameter (DefaultType, Key, Value, ULogId) VALUES (?, ?, ?, ?) ''', [( default_type, key, value, self._pk, ) for key, value in parameters.items()]) # changed_parameters cur.executemany(''' INSERT INTO ULogChangedParameter (Timestamp, Key, Value, ULogId) VALUES (?, ?, ?, ?) ''', [( timestamp, key, value, self._pk, ) for timestamp, key, value in self.changed_parameters]) cur.close() def delete(self): ''' Deletes the ULog row and cascading rows from the database. ''' if self._pk is None: raise KeyError('Cannot delete logs that are not in the database') with self._db() as con: cur = con.cursor() cur.execute(''' DELETE FROM ULog WHERE Id = ? ''', (self._pk,) ) cur.close() self._pk = None class DatabaseData(ULog.Data): ''' Overrides the ULog.Data class since its constructor only reads ULog.MessageLogAdded objects, and we want to specify the fields directly. ''' # pylint: disable=super-init-not-called,too-many-arguments def __init__(self, name, multi_id, msg_id, timestamp_idx, field_data, data=None): self.name = name self.multi_id = multi_id self.msg_id = msg_id self.timestamp_idx = timestamp_idx self.field_data = field_data self.data = data class DatabaseMessageDropout(ULog.MessageDropout): ''' Overrides the ULog.MessageDropout class since its constructor is not suitable for out purpose. ''' # pylint: disable=super-init-not-called def __init__(self, timestamp, duration): self.timestamp = timestamp self.duration = duration class DatabaseMessageFormat(ULog.MessageFormat): ''' Overrides the ULog.MessageFormat class since its constructor is not suitable for out purpose. ''' # pylint: disable=super-init-not-called def __init__(self, name, fields): self.name = name self.fields = fields class DatabaseMessageLogging(ULog.MessageLogging): ''' Overrides the ULog.MessageLogging class since its constructor is not suitable for out purpose. ''' # pylint: disable=super-init-not-called def __init__(self, log_level, timestamp, message): self.log_level = log_level self.timestamp = timestamp self.message = message class DatabaseMessageLoggingTagged(ULog.MessageLoggingTagged): ''' Overrides the ULog.MessageLoggingTagged class since its constructor is not suitable for our purpose. ''' # pylint: disable=super-init-not-called def __init__(self, log_level, tag, timestamp, message): self.log_level = log_level self.tag = tag self.timestamp = timestamp self.message = message pyulog-1.2.3/pyulog/extract_gps_dump.py000066400000000000000000000067651521417275500203240ustar00rootroot00000000000000#! /usr/bin/env python """ Extract the raw gps communication from an ULog file. """ import argparse import os import sys import numpy as np from .core import ULog #pylint: disable=too-many-locals, unused-wildcard-import, wildcard-import def main(): """ Command line interface """ parser = argparse.ArgumentParser( description='Extract the raw gps communication from an ULog file') parser.add_argument('filename', metavar='file.ulg', help='ULog input file') def is_valid_directory(parser, arg): """Check if valid directory""" if not os.path.isdir(arg): parser.error('The directory {} does not exist'.format(arg)) # File exists so return the directory return arg parser.add_argument('-o', '--output', dest='output', action='store', help='Output directory (default is CWD)', metavar='DIR', type=lambda x: is_valid_directory(parser, x)) parser.add_argument('-x', '--ignore', dest='ignore', action='store_true', help='Ignore string parsing exceptions', default=False) parser.add_argument('-i', '--instance', dest='required_instance', action='store', help='GPS instance. Use 0 (default)' + 'for main GPS, 1 for secondary GPS reciever.', default=0) args = parser.parse_args() ulog_file_name = args.filename disable_str_exceptions = args.ignore required_instance = int(args.required_instance) msg_filter = ['gps_dump'] ulog = ULog(ulog_file_name, msg_filter, disable_str_exceptions) data = ulog.data_list output_file_prefix = os.path.basename(ulog_file_name) # strip '.ulg' if output_file_prefix.lower().endswith('.ulg'): output_file_prefix = output_file_prefix[:-4] # write to different output path? if args.output is not None: output_file_prefix = os.path.join(args.output, output_file_prefix) to_dev_filename = output_file_prefix + '_' + str(required_instance) + '_to_device.dat' from_dev_filename = output_file_prefix + '_' + str(required_instance) + '_from_device.dat' if len(data) == 0: print("File {0} does not contain gps_dump messages!".format(ulog_file_name)) sys.exit(0) gps_dump_data = data[0] # message format check field_names = [f.field_name for f in gps_dump_data.field_data] if not 'len' in field_names or not 'data[0]' in field_names: print('Error: gps_dump message has wrong format') sys.exit(-1) if len(ulog.dropouts) > 0: print("Warning: file contains {0} dropouts".format(len(ulog.dropouts))) print("Creating files {0} and {1}".format(to_dev_filename, from_dev_filename)) with open(to_dev_filename, 'wb') as to_dev_file: with open(from_dev_filename, 'wb') as from_dev_file: msg_lens = gps_dump_data.data['len'] instances = gps_dump_data.data.get('instance', [0]*len(msg_lens)) for i in range(len(gps_dump_data.data['timestamp'])): instance = instances[i] msg_len = msg_lens[i] if instance == required_instance: if msg_len & (1<<7): msg_len = msg_len & ~(np.uint8(1) << 7) file_handle = to_dev_file else: file_handle = from_dev_file for k in range(msg_len): file_handle.write(gps_dump_data.data['data['+str(k)+']'][i]) pyulog-1.2.3/pyulog/extract_message.py000066400000000000000000000035631521417275500201230ustar00rootroot00000000000000""" Extract values from a ULog file message to use in scripting """ from typing import List import numpy as np from .core import ULog def extract_message(ulog_file_name: str, message: str, time_s: "int | None" = None, time_e: "int | None" = None, disable_str_exceptions: bool = False) -> List[dict]: """ Extract values from a ULog file :param ulog_file_name: (str) The ULog filename to open and read :param message: (str) A ULog message to return values from :param time_s: (int) Offset time for conversion in seconds :param time_e: (int) Limit until time for conversion in seconds :return: (List[dict]) A list of each record from the ULog as key-value pairs """ if not isinstance(message, str): raise AttributeError("Must provide a message to pull from ULog file") ulog = ULog(ulog_file_name, message, disable_str_exceptions) try: data = ulog.get_dataset(message) except Exception as exc: raise AttributeError("Provided message is not in the ULog file") from exc values = [] # use same field order as in the log, except for the timestamp data_keys = [f.field_name for f in data.field_data] data_keys.remove('timestamp') data_keys.insert(0, 'timestamp') # we want timestamp at first position #get the index for row where timestamp exceeds or equals the required value time_s_i = np.where(data.data['timestamp'] >= time_s * 1e6)[0][0] \ if time_s else 0 #get the index for row upto the timestamp of the required value time_e_i = np.where(data.data['timestamp'] >= time_e * 1e6)[0][0] \ if time_e else len(data.data['timestamp']) # write the data for i in range(time_s_i, time_e_i): row = {} for key in data_keys: row[key] = data.data[key][i] values.append(row) return values pyulog-1.2.3/pyulog/info.py000066400000000000000000000104471521417275500156770ustar00rootroot00000000000000#! /usr/bin/env python """ Display information from an ULog file """ import argparse from .core import ULog #pylint: disable=too-many-locals, unused-wildcard-import, wildcard-import #pylint: disable=invalid-name def show_info(ulog, verbose): """Show general information from an ULog""" if ulog.file_corruption: print("Warning: file has data corruption(s)") m1, s1 = divmod(int(ulog.start_timestamp/1e6), 60) h1, m1 = divmod(m1, 60) m2, s2 = divmod(int((ulog.last_timestamp - ulog.start_timestamp)/1e6), 60) h2, m2 = divmod(m2, 60) print("Logging start time: {:d}:{:02d}:{:02d}, duration: {:d}:{:02d}:{:02d}".format( h1, m1, s1, h2, m2, s2)) dropout_durations = [dropout.duration for dropout in ulog.dropouts] if len(dropout_durations) == 0: print("No Dropouts") else: print("Dropouts: count: {:}, total duration: {:.1f} s, max: {:} ms, mean: {:} ms" .format(len(dropout_durations), sum(dropout_durations)/1000., max(dropout_durations), int(sum(dropout_durations)/len(dropout_durations)))) version = ulog.get_version_info_str() if not version is None: print('SW Version: {}'.format(version)) print("Info Messages:") for k in sorted(ulog.msg_info_dict): if not k.startswith('perf_') or verbose: print(" {0}: {1}".format(k, ulog.msg_info_dict[k])) if len(ulog.msg_info_multiple_dict) > 0: if verbose: print("Info Multiple Messages:") for k in sorted(ulog.msg_info_multiple_dict): print(" {0}: {1}".format(k, ulog.msg_info_multiple_dict[k])) else: print("Info Multiple Messages: {}".format( ", ".join(["[{}: {}]".format(k, len(ulog.msg_info_multiple_dict[k])) for k in sorted(ulog.msg_info_multiple_dict)]))) print("") print("{:<41} {:7}, {:10}".format("Name (multi id, message size in bytes)", "number of data points", "total bytes")) data_list_sorted = sorted(ulog.data_list, key=lambda d: d.name + str(d.multi_id)) for d in data_list_sorted: message_size = sum(ULog.get_field_size(f.type_str) for f in d.field_data) num_data_points = len(d.data['timestamp']) name_id = "{:} ({:}, {:})".format(d.name, d.multi_id, message_size) print(" {:<40} {:7d} {:10d}".format(name_id, num_data_points, message_size * num_data_points)) def main(): """Commande line interface""" parser = argparse.ArgumentParser(description='Display information from an ULog file') parser.add_argument('filename', metavar='file.ulg', help='ULog input file') parser.add_argument('-v', '--verbose', dest='verbose', action='store_true', help='Verbose output', default=False) parser.add_argument('-m', '--message', dest='message', help='Show a specific Info Multiple Message') parser.add_argument('-n', '--newline', dest='newline', action='store_true', help='Add newline separators (only with --message)', default=False) parser.add_argument('-i', '--ignore', dest='ignore', action='store_true', help='Ignore string parsing exceptions', default=False) args = parser.parse_args() ulog_file_name = args.filename disable_str_exceptions = args.ignore ulog = ULog(ulog_file_name, None, disable_str_exceptions) message = args.message if message: separator = "" if args.newline: separator = "\n" if len(ulog.msg_info_multiple_dict) > 0 and message in ulog.msg_info_multiple_dict: message_info_multiple = ulog.msg_info_multiple_dict[message] for i, m in enumerate(message_info_multiple): if len(m) > 0 and isinstance(m[0], (bytes, bytearray)): print("# {} {} (len: {:}):".format(message, i, sum(len(item) for item in m))) print(separator.join(' '.join('{:02x}'.format(x) for x in item) for item in m)) else: print("# {} {}:".format(message, i)) print(separator.join(m)) else: print("message {} not found".format(message)) else: show_info(ulog, args.verbose) pyulog-1.2.3/pyulog/libevents_parse000077700000000000000000000000001521417275500311662../3rd_party/libevents/libs/python/libevents_parseustar00rootroot00000000000000pyulog-1.2.3/pyulog/messages.py000066400000000000000000000031771521417275500165550ustar00rootroot00000000000000#! /usr/bin/env python """ Display logged messages from an ULog file """ import argparse from .core import ULog from .px4_events import PX4Events #pylint: disable=invalid-name def main(): """Commande line interface""" parser = argparse.ArgumentParser(description='Display logged messages from an ULog file') parser.add_argument('filename', metavar='file.ulg', help='ULog input file') parser.add_argument('-i', '--ignore', dest='ignore', action='store_true', help='Ignore string parsing exceptions', default=False) args = parser.parse_args() ulog_file_name = args.filename disable_str_exceptions = args.ignore msg_filter = ['event'] ulog = ULog(ulog_file_name, msg_filter, disable_str_exceptions) logged_messages = [(m.timestamp, m.log_level_str(), m.message) for m in ulog.logged_messages] # If this is a PX4 log, try to get the events too if ulog.msg_info_dict.get('sys_name', '') == 'PX4': px4_events = PX4Events() events = px4_events.get_logged_events(ulog) for t, log_level, message in logged_messages: # backwards compatibility: a string message with appended tab is output # in addition to an event with the same message so we can ignore those if message[-1] == '\t': continue events.append((t, log_level, message)) logged_messages = sorted(events, key=lambda m: m[0]) for t, log_level, message in logged_messages: m1, s1 = divmod(int(t/1e6), 60) h1, m1 = divmod(m1, 60) print("{:d}:{:02d}:{:02d} {:}: {:}".format(h1, m1, s1, log_level, message)) pyulog-1.2.3/pyulog/migrate_db.py000066400000000000000000000140051521417275500170330ustar00rootroot00000000000000''' Tool for handling changes in the database schema. This is necessary for avoiding breaking backwards compatibility whenver bugs are discovered in the database model, or if the ULog format changes. There are some options available, such as "alembic" or "migrations', but these seem like overkill for us. For instance, we don't really need to migrate both up and down, just up. ''' import os import argparse from pyulog.db import DatabaseULog def main(): ''' Entry point for the console script. ''' parser = argparse.ArgumentParser(description='Setup the database for DatabaseULog') parser.add_argument('-d', '--database', dest='db_path', action='store', help='Path to the database file', default='pyulog.sqlite3') # The noop flag actually has a side effect if it is called on an uncreated # database, since the "PRAGMA user_version" command implicitly creates the # database. The created database will have user_version = 0, which will # later confuse the migration tool. however, this edge case will mostly be # relevant for advanced users, and can be handled with the -f flag. parser.add_argument('-n', '--noop', dest='noop', action='store_true', help='Only print results, do not execute migration scripts.', default=False) parser.add_argument('-s', '--sql', dest='sql_dir', action='store', help='Directory with migration SQL files', default=None) parser.add_argument('-f', '--force', dest='force', action='store_true', help=('Run the migration script even if the database is not created' 'with this script.'), default=False) args = parser.parse_args() migrate_db(args.db_path, sql_dir=args.sql_dir, noop=args.noop, force=args.force) def _read_db_schema_version(db_path, force): ''' Read and validate the schema version defined by the "PRAGMA user_version" field in the database. If the database file exists and schema version is 0, then this means that the database was not created with the migration tool. This means that the database is in a state unknown to the migration tool, and hence a migration could cause schema corruption. The default behavior in this case is to reject the migration, but it can be overriden with force=True. ''' db_handle = DatabaseULog.get_db_handle(db_path) if not os.path.isfile(db_path): print(f'Database file {db_path} not found, creating it from scratch.') return 0 print(f'Found database file {db_path}.') with db_handle() as con: cur = con.cursor() cur.execute('PRAGMA user_version') (db_schema_version,) = cur.fetchone() cur.close() if db_schema_version is None: raise ValueError(f'Could not fetch database schema version for {db_path}.') if db_schema_version == 0 and not force: raise FileExistsError('Database has user_version = 0, rejecting migration.' 'Use the "force" flag to migrate anyway.') if not isinstance(db_schema_version, int) or db_schema_version < 0: raise ValueError(f'Invalid database schema version {db_schema_version}.') return db_schema_version def _read_migration_file(migration_id, sql_dir): ''' Read the migration file with id "migration_id" in directory "sql_dir", and check that it handles transactions strictly. ''' migration_filename_format = os.path.join(sql_dir, 'pyulog.{migration_id}.sql') migration_filename = migration_filename_format.format(migration_id=migration_id) if not os.path.exists(migration_filename): raise FileNotFoundError(f'Migration file {migration_filename} does not exist. ' f'Stopped after migration {migration_id}.') with open(migration_filename, 'r', encoding='utf8') as migration_file: migration_lines = migration_file.read() if not migration_lines.strip().startswith('BEGIN;'): raise ValueError(f'Migration file {migration_filename} must start with "BEGIN;"') if not migration_lines.strip().endswith('COMMIT;'): raise ValueError(f'Migration file {migration_filename} must end with "COMMIT;"') migration_lines += f'\nPRAGMA user_version = {migration_id};' return migration_filename, migration_lines def migrate_db(db_path, sql_dir=None, noop=False, force=False): ''' Apply database migrations that have not yet been applied. Compares "PRAGMA user_version" from the sqlite3 database at "db_path" with the SCHEMA_VERSION in the DatabaseULog class. If the former is larger than the latter, then migration scripts will be read and executed from files in "sql_dir", and the user_version will be incremented, until the database is up to date. ''' if sql_dir is None: module_dir = os.path.dirname(os.path.realpath(os.path.abspath(__file__))) sql_dir = os.path.join(module_dir, 'sql') if not os.path.isdir(sql_dir): raise NotADirectoryError(f'{sql_dir} is not a directory.') print(f'Using migration files in {sql_dir}.') db_schema_version = _read_db_schema_version(db_path, force) class_schema_version = DatabaseULog.SCHEMA_VERSION print('Current schema version: {} (database) and {} (code).'.format( db_schema_version, class_schema_version, )) db_handle = DatabaseULog.get_db_handle(db_path) with db_handle() as con: cur = con.cursor() for migration_id in range(db_schema_version+1, DatabaseULog.SCHEMA_VERSION+1): migration_filename, migration_lines = _read_migration_file(migration_id, sql_dir) print(f'Executing {migration_filename}.') if noop: print(migration_lines) else: cur.executescript(migration_lines) cur.close() print('Migration done.') return db_path if __name__ == '__main__': raise SystemExit(main()) pyulog-1.2.3/pyulog/params.py000066400000000000000000000130311521417275500162170ustar00rootroot00000000000000#! /usr/bin/env python """ Extract parameters from an ULog file """ import argparse import sys from .core import ULog #pylint: disable=unused-variable, too-many-branches, consider-using-with def get_defaults(ulog, default): """ get default params from ulog """ assert ulog.has_default_parameters, "Log does not contain default parameters" if default == 'system': return ulog.get_default_parameters(0) if default == 'current_setup': return ulog.get_default_parameters(1) raise ValueError('invalid value \'{}\' for --default'.format(default)) def main(): """Commande line interface""" parser = argparse.ArgumentParser(description='Extract parameters from an ULog file') parser.add_argument('filename', metavar='file.ulg', help='ULog input file') parser.add_argument('-l', '--delimiter', dest='delimiter', action='store', help='Use delimiter in CSV (default is \',\')', default=',') parser.add_argument('-i', '--initial', dest='initial', action='store_true', help='Only extract initial parameters. (octave|csv)', default=False) parser.add_argument('-t', '--timestamps', dest='timestamps', action='store_true', help='Extract changed parameters with timestamps. (csv)', default=False) parser.add_argument('-f', '--format', dest='format', action='store', type=str, help='csv|octave|qgc', default='csv') parser.add_argument('output_filename', metavar='params.txt', type=str, nargs='?', help='Output filename (default=stdout)', default=None) parser.add_argument('--ignore', dest='ignore', action='store_true', help='Ignore string parsing exceptions', default=False) parser.add_argument('-d', '--default', dest='default', action='store', type=str, help='Select default param values instead of configured ' 'values (implies --initial). Valid values: system|current_setup', default=None) args = parser.parse_args() ulog_file_name = args.filename disable_str_exceptions = args.ignore message_filter = [] if not args.initial: message_filter = None ulog = ULog(ulog_file_name, message_filter, disable_str_exceptions) params = ulog.initial_parameters if args.default is not None: params = get_defaults(ulog, args.default) args.initial = True param_keys = sorted(params.keys()) delimiter = args.delimiter output_file = sys.stdout if args.output_filename is None \ else open(args.output_filename, 'w', encoding='utf-8') if args.format == "csv": for param_key in param_keys: output_file.write(param_key) if args.timestamps: output_file.write(delimiter) output_file.write(str(params[param_key])) for t, name, value in ulog.changed_parameters: if name == param_key: output_file.write(delimiter) output_file.write(str(value)) output_file.write('\n') output_file.write("timestamp") output_file.write(delimiter) output_file.write('0') for t, name, value in ulog.changed_parameters: if name == param_key: output_file.write(delimiter) output_file.write(str(t)) output_file.write('\n') else: output_file.write(delimiter) output_file.write(str(params[param_key])) if not args.initial: for t, name, value in ulog.changed_parameters: if name == param_key: output_file.write(delimiter) output_file.write(str(value)) output_file.write('\n') elif args.format == "octave": for param_key in param_keys: output_file.write('# name ') output_file.write(param_key) values = [params[param_key]] if not args.initial: for t, name, value in ulog.changed_parameters: if name == param_key: values += [value] if len(values) > 1: output_file.write('\n# type: matrix\n') output_file.write('# rows: 1\n') output_file.write('# columns: ') output_file.write(str(len(values)) + '\n') for value in values: output_file.write(str(value) + ' ') else: output_file.write('\n# type: scalar\n') output_file.write(str(values[0])) output_file.write('\n') elif args.format == "qgc": for param_key in param_keys: sys_id = 1 comp_id = 1 delimiter = '\t' param_value = params[param_key] output_file.write(str(sys_id)) output_file.write(delimiter) output_file.write(str(comp_id)) output_file.write(delimiter) output_file.write(param_key) output_file.write(delimiter) output_file.write(str(param_value)) output_file.write(delimiter) if isinstance(param_value, float): # Float param_type = 9 else: # Int param_type = 6 output_file.write(str(param_type)) output_file.write('\n') pyulog-1.2.3/pyulog/px4.py000066400000000000000000000105211521417275500154500ustar00rootroot00000000000000""" PX4-specific ULog helper """ import numpy as np __author__ = "Beat Kueng" class PX4ULog(object): """ This class contains PX4-specific ULog things (field names, etc.) """ def __init__(self, ulog_object): """ @param ulog_object: ULog instance """ self._ulog = ulog_object def get_mav_type(self): """ return the MAV type as string from initial parameters """ mav_type = self._ulog.initial_parameters.get('MAV_TYPE', None) return {0: 'Generic', 1: 'Fixed Wing', 2: 'Quadrotor', 3: 'Coaxial helicopter', 4: 'Normal helicopter with tail rotor', 5: 'Ground installation', 6: 'Ground Control Station', 7: 'Airship, controlled', 8: 'Free balloon, uncontrolled', 9: 'Rocket', 10: 'Ground Rover', 11: 'Surface Vessel, Boat, Ship', 12: 'Submarine', 13: 'Hexarotor', 14: 'Octorotor', 15: 'Tricopter', 16: 'Flapping wing', 17: 'Kite', 18: 'Onboard Companion Controller', 19: 'Two-rotor VTOL (Tailsitter)', 20: 'Quad-rotor VTOL (Tailsitter)', 21: 'Tiltrotor VTOL', 22: 'VTOL Standard', 23: 'VTOL Tailsitter', 24: 'VTOL reserved 4', 25: 'VTOL reserved 5', 26: 'Onboard Gimbal', 27: 'Onboard ADSB Peripheral'}.get(mav_type, 'unknown type') def get_estimator(self): """return the configured estimator as string from initial parameters""" mav_type = self._ulog.initial_parameters.get('MAV_TYPE', None) if mav_type == 1: # fixed wing always uses EKF2 return 'EKF2' mc_est_group = self._ulog.initial_parameters.get('SYS_MC_EST_GROUP', 2) return {0: 'INAV', 1: 'LPE', 2: 'EKF2', 3: 'Q'}.get(mc_est_group, 'unknown ({})'.format(mc_est_group)) def add_roll_pitch_yaw(self, messages=None): """ convenience method to add the fields 'roll', 'pitch', 'yaw' to the loaded data using the quaternion fields (does not update field_data). By default, messages are: 'vehicle_attitude.q', 'vehicle_attitude_setpoint.q_d', 'vehicle_attitude_groundtruth.q' and 'vehicle_vision_attitude.q' """ if messages is None: messages = ['vehicle_attitude', 'vehicle_vision_attitude', 'vehicle_attitude_groundtruth', 'vehicle_attitude_setpoint:_d'] for message in messages: if message.endswith(':_d'): suffix = '_d' message = message[:-3] else: suffix = '' self._add_roll_pitch_yaw_to_message(message, suffix) def _add_roll_pitch_yaw_to_message(self, message_name, field_name_suffix=''): message_data_all = [elem for elem in self._ulog.data_list if elem.name == message_name] for message_data in message_data_all: q = [message_data.data['q'+field_name_suffix+'['+str(i)+']'] for i in range(4)] roll = np.arctan2(2.0 * (q[0] * q[1] + q[2] * q[3]), 1.0 - 2.0 * (q[1] * q[1] + q[2] * q[2])) pitch = np.arcsin(2.0 * (q[0] * q[2] - q[3] * q[1])) yaw = np.arctan2(2.0 * (q[0] * q[3] + q[1] * q[2]), 1.0 - 2.0 * (q[2] * q[2] + q[3] * q[3])) message_data.data['roll'+field_name_suffix] = roll message_data.data['pitch'+field_name_suffix] = pitch message_data.data['yaw'+field_name_suffix] = yaw def get_configured_rc_input_names(self, channel): """ find all RC mappings to a given channel and return their names :param channel: input channel (0=first) :return: list of strings or None """ ret_val = [] for key in self._ulog.initial_parameters: param_val = self._ulog.initial_parameters[key] if key.startswith('RC_MAP_') and param_val == channel + 1: ret_val.append(key[7:].capitalize()) if len(ret_val) > 0: return ret_val return None pyulog-1.2.3/pyulog/px4_events.py000066400000000000000000000121521521417275500170360ustar00rootroot00000000000000""" Event parsing """ import json import lzma import urllib.request from typing import Optional, Callable, Any, List, Tuple from .libevents_parse.parser import Parser from .core import ULog class PX4Events: """ class to extract events from logs and combine them with metadata to get the messages """ DEFAULT_EVENTS_URL = \ 'https://px4-travis.s3.amazonaws.com/Firmware/master/_general/all_events.json.xz' def __init__(self): self._events_profile = 'dev' self._default_parser: Optional[Parser] = None self._get_default_json_def_cb = self._get_default_json_definitions @staticmethod def _get_default_json_definitions(already_has_default_parser: bool) -> Optional[Any]: """ Default implementation for retrieving the default json event definitions """ # If it already exists, return it to avoid re-downloading if already_has_default_parser: return None with urllib.request.urlopen(PX4Events.DEFAULT_EVENTS_URL, timeout=4) as response: data = response.read() return json.loads(lzma.decompress(data)) def set_default_json_definitions_cb(self, default_json_definitions_cb: Callable[[bool], Optional[Any]]): """ Set the callback to retrieve the default event definitions json data (can be used for caching) """ self._get_default_json_def_cb = default_json_definitions_cb def _get_event_parser(self, ulog: ULog) -> Optional[Parser]: """ get event parser instance or None on error """ if 'metadata_events' in ulog.msg_info_multiple_dict and \ 'metadata_events_sha256' in ulog.msg_info_dict: file_hash = ulog.msg_info_dict['metadata_events_sha256'] if len(file_hash) <= 64 and file_hash.isalnum(): events_metadata = ulog.msg_info_multiple_dict['metadata_events'][0] event_definitions_json = json.loads(lzma.decompress(b''.join(events_metadata))) parser = Parser() parser.load_definitions(event_definitions_json) parser.set_profile(self._events_profile) return parser # No json definitions in the log -> use default definitions json_definitions = self._get_default_json_def_cb( self._default_parser is not None) if json_definitions is not None: self._default_parser = Parser() self._default_parser.load_definitions(json_definitions) self._default_parser.set_profile(self._events_profile) return self._default_parser def get_logged_events(self, ulog: ULog) -> List[Tuple[int, str, str]]: """ Get the events as list of messages :return: list of (timestamp, log level str, message) tuples """ def event_log_level_str(log_level: int): return {0: 'EMERGENCY', 1: 'ALERT', 2: 'CRITICAL', 3: 'ERROR', 4: 'WARNING', 5: 'NOTICE', 6: 'INFO', 7: 'DEBUG', 8: 'PROTOCOL', 9: 'DISABLED'}.get(log_level, 'UNKNOWN') # Parse events messages = [] try: events = ulog.get_dataset('event') all_ids = events.data['id'] if len(all_ids) == 0: return [] # Get the parser try: event_parser = self._get_event_parser(ulog) except Exception as exception: # pylint: disable=broad-exception-caught print('Failed to get event parser: {}'.format(exception)) return [] for event_idx, event_id in enumerate(all_ids): log_level = (events.data['log_levels'][event_idx] >> 4) & 0xf if log_level >= 8: continue args = [] i = 0 while True: arg_str = 'arguments[{}]'.format(i) if arg_str not in events.data: break arg = events.data[arg_str][event_idx] args.append(arg) i += 1 log_level_str = event_log_level_str(log_level) t = events.data['timestamp'][event_idx] event = None if event_parser is not None: event = event_parser.parse(event_id, bytes(args)) if event is None: messages.append((t, log_level_str, '[Unknown event with ID {:}]'.format(event_id))) else: # only show default group if event.group() == "default": messages.append((t, log_level_str, event.message())) # we could expand this a bit for events: # - show the description too # - handle url's as link (currently it's shown as text, and all tags are escaped) except (KeyError, IndexError, ValueError): # no events in log pass return messages pyulog-1.2.3/pyulog/sql/000077500000000000000000000000001521417275500151635ustar00rootroot00000000000000pyulog-1.2.3/pyulog/sql/pyulog.1.sql000066400000000000000000000057111521417275500173660ustar00rootroot00000000000000BEGIN; CREATE TABLE IF NOT EXISTS ULog ( Id INTEGER PRIMARY KEY AUTOINCREMENT, FileVersion INT, StartTimestamp REAL, LastTimestamp REAL, CompatFlags TEXT, IncompatFlags TEXT, SyncCount INT, HasSync BOOLEAN ); CREATE TABLE IF NOT EXISTS ULogAppendedOffsets ( SeriesIndex INTEGER, Offset INTEGER, ULogId INT REFERENCES ULog (Id) ); CREATE TABLE IF NOT EXISTS ULogDataset ( Id INTEGER PRIMARY KEY AUTOINCREMENT, DatasetName TEXT, MultiId INT, MessageId INT, TimestampIndex INT, ULogId INT REFERENCES ULog (Id), UNIQUE (ULogId, DatasetName, MultiId) ); CREATE TABLE IF NOT EXISTS ULogField ( Id INTEGER PRIMARY KEY AUTOINCREMENT, TopicName TEXT, DataType TEXT, ValueArray BLOB, DatasetId INTEGER REFERENCES ULogDataset (Id) ); CREATE INDEX IF NOT EXISTS btree_ulogfield_datasetid ON ULogField(DatasetId); CREATE TABLE IF NOT EXISTS ULogMessageDropout ( Timestamp REAL, Duration FLOAT, ULogId INT REFERENCES ULog (Id) ); CREATE TABLE IF NOT EXISTS ULogMessageFormat ( Id INTEGER PRIMARY KEY AUTOINCREMENT, Name TEXT, ULogId INT REFERENCES ULog (Id) ); CREATE TABLE IF NOT EXISTS ULogMessageFormatField ( FieldType TEXT, ArraySize INT, Name TEXT, MessageId INT REFERENCES ULogMessageFormat (Id) ); CREATE TABLE IF NOT EXISTS ULogMessageLogging ( LogLevel INT, Timestamp REAL, Message TEXT, ULogId INT REFERENCES ULog (Id) ); CREATE TABLE IF NOT EXISTS ULogMessageLoggingTagged ( LogLevel INT, Timestamp REAL, Tag INT, Message TEXT, ULogId INT REFERENCES ULog (Id) ); CREATE TABLE IF NOT EXISTS ULogMessageInfo ( Key TEXT, Typename TEXT, Value BLOB, ULogId INT REFERENCES ULog (Id) ); CREATE TABLE IF NOT EXISTS ULogMessageInfoMultiple ( Id INTEGER PRIMARY KEY AUTOINCREMENT, Key TEXT, Typename TEXT, ULogId INT REFERENCES ULog (Id) ); CREATE TABLE IF NOT EXISTS ULogMessageInfoMultipleList ( Id INTEGER PRIMARY KEY AUTOINCREMENT, SeriesIndex INTEGER, MessageId TEXT REFERENCES ULogMessageInfoMultiple (Id) ); CREATE TABLE IF NOT EXISTS ULogMessageInfoMultipleListElement ( Id INTEGER PRIMARY KEY AUTOINCREMENT, SeriesIndex INTEGER, Value TEXT, ListId TEXT REFERENCES ULogMessageInfoMultipleList (Id) ); CREATE TABLE IF NOT EXISTS ULogInitialParameter ( Key TEXT, Value BLOB, ULogId INT REFERENCES ULog (Id) ); CREATE TABLE IF NOT EXISTS ULogChangedParameter ( Timestamp REAL, Key TEXT, Value BLOB, ULogId INT REFERENCES ULog (Id) ); CREATE TABLE IF NOT EXISTS ULogDefaultParameter ( DefaultType INT, Key TEXT, Value BLOB, ULogId INT REFERENCES ULog (Id) ); COMMIT; pyulog-1.2.3/pyulog/sql/pyulog.2.sql000066400000000000000000000150041521417275500173630ustar00rootroot00000000000000BEGIN; PRAGMA foreign_keys=off; CREATE TABLE IF NOT EXISTS ULog_tmp ( Id INTEGER PRIMARY KEY AUTOINCREMENT, SHA256Sum TEXT UNIQUE, FileVersion INT, StartTimestamp REAL, LastTimestamp REAL, CompatFlags TEXT, IncompatFlags TEXT, SyncCount INT, HasSync BOOLEAN ); INSERT OR IGNORE INTO ULog_tmp (Id, FileVersion, StartTimestamp, LastTimestamp, CompatFlags, IncompatFlags, SyncCount, HasSync) SELECT Id, FileVersion, StartTimestamp, LastTimestamp, CompatFlags, IncompatFlags, SyncCount, HasSync FROM ULog; CREATE TABLE IF NOT EXISTS ULogAppendedOffsets_tmp ( SeriesIndex INTEGER, Offset INTEGER, ULogId INT REFERENCES ULog_tmp (Id) ON DELETE CASCADE ); INSERT OR IGNORE INTO ULogAppendedOffsets_tmp SELECT * FROM ULogAppendedOffsets; CREATE TABLE IF NOT EXISTS ULogDataset_tmp ( Id INTEGER PRIMARY KEY AUTOINCREMENT, DatasetName TEXT, MultiId INT, MessageId INT, TimestampIndex INT, ULogId INT REFERENCES ULog (Id) ON DELETE CASCADE, UNIQUE (ULogId, DatasetName, MultiId) ); INSERT OR IGNORE INTO ULogDataset_tmp SELECT * FROM ULogDataset; CREATE TABLE IF NOT EXISTS ULogField_tmp ( Id INTEGER PRIMARY KEY AUTOINCREMENT, TopicName TEXT, DataType TEXT, ValueArray BLOB, DatasetId INTEGER REFERENCES ULogDataset (Id) ON DELETE CASCADE ); INSERT OR IGNORE INTO ULogField_tmp SELECT * FROM ULogField; CREATE INDEX IF NOT EXISTS btree_ulogfield_datasetid ON ULogField_tmp(DatasetId); CREATE TABLE IF NOT EXISTS ULogMessageDropout_tmp ( Timestamp REAL, Duration FLOAT, ULogId INT REFERENCES ULog (Id) ON DELETE CASCADE ); INSERT OR IGNORE INTO ULogMessageDropout_tmp SELECT * FROM ULogMessageDropout; CREATE TABLE IF NOT EXISTS ULogMessageFormat_tmp ( Id INTEGER PRIMARY KEY AUTOINCREMENT, Name TEXT, ULogId INT REFERENCES ULog (Id) ON DELETE CASCADE ); INSERT OR IGNORE INTO ULogMessageFormat_tmp SELECT * FROM ULogMessageFormat; CREATE TABLE IF NOT EXISTS ULogMessageFormatField_tmp ( FieldType TEXT, ArraySize INT, Name TEXT, MessageId INT REFERENCES ULogMessageFormat (Id) ON DELETE CASCADE ); INSERT OR IGNORE INTO ULogMessageFormatField_tmp SELECT * FROM ULogMessageFormatField; CREATE TABLE IF NOT EXISTS ULogMessageLogging_tmp ( LogLevel INT, Timestamp REAL, Message TEXT, ULogId INT REFERENCES ULog (Id) ON DELETE CASCADE ); INSERT OR IGNORE INTO ULogMessageLogging_tmp SELECT * FROM ULogMessageLogging; CREATE TABLE IF NOT EXISTS ULogMessageLoggingTagged_tmp ( LogLevel INT, Timestamp REAL, Tag INT, Message TEXT, ULogId INT REFERENCES ULog (Id) ON DELETE CASCADE ); INSERT OR IGNORE INTO ULogMessageLoggingTagged_tmp SELECT * FROM ULogMessageLoggingTagged; CREATE TABLE IF NOT EXISTS ULogMessageInfo_tmp ( Key TEXT, Typename TEXT, Value BLOB, ULogId INT REFERENCES ULog (Id) ON DELETE CASCADE ); INSERT OR IGNORE INTO ULogMessageInfo_tmp SELECT * FROM ULogMessageInfo; CREATE TABLE IF NOT EXISTS ULogMessageInfoMultiple_tmp ( Id INTEGER PRIMARY KEY AUTOINCREMENT, Key TEXT, Typename TEXT, ULogId INT REFERENCES ULog (Id) ON DELETE CASCADE ); INSERT OR IGNORE INTO ULogMessageInfoMultiple_tmp SELECT * FROM ULogMessageInfoMultiple; CREATE TABLE IF NOT EXISTS ULogMessageInfoMultipleList_tmp ( Id INTEGER PRIMARY KEY AUTOINCREMENT, SeriesIndex INTEGER, MessageId TEXT REFERENCES ULogMessageInfoMultiple (Id) ON DELETE CASCADE ); INSERT OR IGNORE INTO ULogMessageInfoMultipleList_tmp SELECT * FROM ULogMessageInfoMultipleList; CREATE TABLE IF NOT EXISTS ULogMessageInfoMultipleListElement_tmp ( Id INTEGER PRIMARY KEY AUTOINCREMENT, SeriesIndex INTEGER, Value TEXT, ListId TEXT REFERENCES ULogMessageInfoMultipleList (Id) ON DELETE CASCADE ); INSERT OR IGNORE INTO ULogMessageInfoMultipleListElement_tmp SELECT * FROM ULogMessageInfoMultipleListElement; CREATE TABLE IF NOT EXISTS ULogInitialParameter_tmp ( Key TEXT, Value BLOB, ULogId INT REFERENCES ULog (Id) ON DELETE CASCADE ); INSERT OR IGNORE INTO ULogInitialParameter_tmp SELECT * FROM ULogInitialParameter; CREATE TABLE IF NOT EXISTS ULogChangedParameter_tmp ( Timestamp REAL, Key TEXT, Value BLOB, ULogId INT REFERENCES ULog (Id) ON DELETE CASCADE ); INSERT OR IGNORE INTO ULogChangedParameter_tmp SELECT * FROM ULogChangedParameter; CREATE TABLE IF NOT EXISTS ULogDefaultParameter_tmp ( DefaultType INT, Key TEXT, Value BLOB, ULogId INT REFERENCES ULog (Id) ON DELETE CASCADE ); INSERT OR IGNORE INTO ULogDefaultParameter_tmp SELECT * FROM ULogDefaultParameter; DROP TABLE IF EXISTS ULog; DROP TABLE IF EXISTS ULogAppendedOffsets; DROP TABLE IF EXISTS ULogDataset; DROP TABLE IF EXISTS ULogField; DROP TABLE IF EXISTS ULogMessageDropout; DROP TABLE IF EXISTS ULogMessageFormat; DROP TABLE IF EXISTS ULogMessageFormatField; DROP TABLE IF EXISTS ULogMessageLogging; DROP TABLE IF EXISTS ULogMessageLoggingTagged; DROP TABLE IF EXISTS ULogMessageInfo; DROP TABLE IF EXISTS ULogMessageInfoMultiple; DROP TABLE IF EXISTS ULogMessageInfoMultipleList; DROP TABLE IF EXISTS ULogMessageInfoMultipleListElement; DROP TABLE IF EXISTS ULogInitialParameter; DROP TABLE IF EXISTS ULogChangedParameter; DROP TABLE IF EXISTS ULogDefaultParameter; ALTER TABLE ULog_tmp RENAME TO ULog; ALTER TABLE ULogAppendedOffsets_tmp RENAME TO ULogAppendedOffsets; ALTER TABLE ULogDataset_tmp RENAME TO ULogDataset; ALTER TABLE ULogField_tmp RENAME TO ULogField; ALTER TABLE ULogMessageDropout_tmp RENAME TO ULogMessageDropout; ALTER TABLE ULogMessageFormat_tmp RENAME TO ULogMessageFormat; ALTER TABLE ULogMessageFormatField_tmp RENAME TO ULogMessageFormatField; ALTER TABLE ULogMessageLogging_tmp RENAME TO ULogMessageLogging; ALTER TABLE ULogMessageLoggingTagged_tmp RENAME TO ULogMessageLoggingTagged; ALTER TABLE ULogMessageInfo_tmp RENAME TO ULogMessageInfo; ALTER TABLE ULogMessageInfoMultiple_tmp RENAME TO ULogMessageInfoMultiple; ALTER TABLE ULogMessageInfoMultipleList_tmp RENAME TO ULogMessageInfoMultipleList; ALTER TABLE ULogMessageInfoMultipleListElement_tmp RENAME TO ULogMessageInfoMultipleListElement; ALTER TABLE ULogInitialParameter_tmp RENAME TO ULogInitialParameter; ALTER TABLE ULogChangedParameter_tmp RENAME TO ULogChangedParameter; ALTER TABLE ULogDefaultParameter_tmp RENAME TO ULogDefaultParameter; PRAGMA foreign_keys=on; COMMIT; pyulog-1.2.3/pyulog/sql/pyulog.3.sql000066400000000000000000000001001521417275500173530ustar00rootroot00000000000000BEGIN; ALTER TABLE ULogField ADD COLUMN ValueJson JSON; COMMIT; pyulog-1.2.3/pyulog/sql/pyulog.4.sql000066400000000000000000000032161521417275500173670ustar00rootroot00000000000000BEGIN; PRAGMA foreign_keys=off; -- Change REAL timestamps to INT. SQLITE only supports INT64, but ULog -- changed from REAL -- timestamps are UINT64. We accept losing 1 bit at the top end, since 2^63 -- microseconds = 400,000 years. which should be enough. ALTER TABLE ULog RENAME COLUMN StartTimestamp TO StartTimestamp_old; ALTER TABLE ULog ADD COLUMN StartTimestamp INT; UPDATE ULog SET StartTimestamp = CAST(StartTimestamp_old AS INT); ALTER TABLE ULog RENAME COLUMN LastTimestamp TO LastTimestamp_old; ALTER TABLE ULog ADD COLUMN LastTimestamp INT; UPDATE ULog SET LastTimestamp = CAST(LastTimestamp_old AS INT); ALTER TABLE ULogMessageDropout RENAME COLUMN Timestamp TO Timestamp_old; ALTER TABLE ULogMessageDropout ADD COLUMN Timestamp INT; UPDATE ULogMessageDropout SET Timestamp = CAST(Timestamp_old AS INT); ALTER TABLE ULogMessageDropout RENAME COLUMN Duration TO Duration_old; ALTER TABLE ULogMessageDropout ADD COLUMN Duration INT; UPDATE ULogMessageDropout SET Duration = CAST(Duration_old AS INT); ALTER TABLE ULogMessageLogging RENAME COLUMN Timestamp TO Timestamp_old; ALTER TABLE ULogMessageLogging ADD COLUMN Timestamp INT; UPDATE ULogMessageLogging SET Timestamp = CAST(Timestamp_old AS INT); ALTER TABLE ULogMessageLoggingTagged RENAME COLUMN Timestamp TO Timestamp_old; ALTER TABLE ULogMessageLoggingTagged ADD COLUMN Timestamp INT; UPDATE ULogMessageLoggingTagged SET Timestamp = CAST(Timestamp_old AS INT); ALTER TABLE ULogChangedParameter RENAME COLUMN Timestamp TO Timestamp_old; ALTER TABLE ULogChangedParameter ADD COLUMN Timestamp INT; UPDATE ULogChangedParameter SET Timestamp = CAST(Timestamp_old AS INT); PRAGMA foreign_keys=on; COMMIT; pyulog-1.2.3/pyulog/sql/pyulog.5.sql000066400000000000000000000026351521417275500173740ustar00rootroot00000000000000BEGIN; CREATE INDEX IF NOT EXISTS btree_ULogAppendedOffsets_ULogId ON ULogAppendedOffsets(ULogId); CREATE INDEX IF NOT EXISTS btree_ULogDataset_ULogId ON ULogDataset(ULogId); CREATE INDEX IF NOT EXISTS btree_ULogField_DatasetId ON ULogField(DatasetId); CREATE INDEX IF NOT EXISTS btree_ULogMessageDropout_ULogId ON ULogMessageDropout(ULogId); CREATE INDEX IF NOT EXISTS btree_ULogMessageFormat_ULogId ON ULogMessageFormat(ULogId); CREATE INDEX IF NOT EXISTS btree_ULogMessageFormatField_MessageId ON ULogMessageFormatField(MessageId); CREATE INDEX IF NOT EXISTS btree_ULogMessageLogging_ULogId ON ULogMessageLogging(ULogId); CREATE INDEX IF NOT EXISTS btree_ULogMessageLoggingTagged_ULogId ON ULogMessageLoggingTagged(ULogId); CREATE INDEX IF NOT EXISTS btree_ULogMessageInfo_ULogId ON ULogMessageInfo(ULogId); CREATE INDEX IF NOT EXISTS btree_ULogMessageInfoMultiple_ULogId ON ULogMessageInfoMultiple(ULogId); CREATE INDEX IF NOT EXISTS btree_ULogMessageInfoMultipleList_MessageId ON ULogMessageInfoMultipleList(MessageId); CREATE INDEX IF NOT EXISTS btree_ULogMessageInfoMultipleListElement_ListId ON ULogMessageInfoMultipleListElement(ListId); CREATE INDEX IF NOT EXISTS btree_ULogInitialParameter_ULogId ON ULogInitialParameter(ULogId); CREATE INDEX IF NOT EXISTS btree_ULogChangedParameter_ULogId ON ULogChangedParameter(ULogId); CREATE INDEX IF NOT EXISTS btree_ULogDefaultParameter_ULogId ON ULogDefaultParameter(ULogId); COMMIT; pyulog-1.2.3/pyulog/ulog2csv.py000066400000000000000000000133021521417275500165010ustar00rootroot00000000000000#! /usr/bin/env python """ Convert a ULog file into CSV file(s) """ import argparse import os import re import numpy as np from .core import ULog #pylint: disable=too-many-locals, invalid-name, consider-using-enumerate def main(): """Command line interface""" parser = argparse.ArgumentParser(description='Convert ULog to CSV') parser.add_argument('filename', metavar='file.ulg', help='ULog input file') parser.add_argument( '-m', '--messages', dest='messages', help=("Only consider given messages. Must be a comma-separated list of" " names, like 'sensor_combined,vehicle_gps_position'")) parser.add_argument('-d', '--delimiter', dest='delimiter', action='store', help="Use delimiter in CSV (default is ',')", default=',') parser.add_argument('-o', '--output', dest='output', action='store', help='Output directory (default is same as input file)', metavar='DIR') parser.add_argument('-i', '--ignore', dest='ignore', action='store_true', help='Ignore string parsing exceptions', default=False) parser.add_argument( '-ts', '--time_s', dest='time_s', type = int, help="Only convert data after this timestamp (in seconds)") parser.add_argument( '-te', '--time_e', dest='time_e', type=int, help="Only convert data upto this timestamp (in seconds)") args = parser.parse_args() if args.output and not os.path.isdir(args.output): print('Creating output directory {:}'.format(args.output)) os.mkdir(args.output) convert_ulog2csv(args.filename, args.messages, args.output, args.delimiter, args.time_s, args.time_e, args.ignore) def read_string_data(data: ULog.Data, field_name: str, array_size: int, data_index: int) -> str: """ Parse a data field as string """ s = '' for index in range(array_size): character = data.data[f'{field_name}[{index}]'][data_index] if character == 0: break s += chr(character) return s def convert_ulog2csv(ulog_file_name, messages, output, delimiter, time_s, time_e, disable_str_exceptions=False): """ Coverts and ULog file to a CSV file. :param ulog_file_name: The ULog filename to open and read :param messages: A list of message names :param output: Output file path :param delimiter: CSV delimiter :param time_s: Offset time for conversion in seconds :param time_e: Limit until time for conversion in seconds :return: None """ msg_filter = messages.split(',') if messages else None ulog = ULog(ulog_file_name, msg_filter, disable_str_exceptions) data = ulog.data_list output_file_prefix = ulog_file_name # strip '.ulg' if output_file_prefix.lower().endswith('.ulg'): output_file_prefix = output_file_prefix[:-4] # write to different output path? if output: base_name = os.path.basename(output_file_prefix) output_file_prefix = os.path.join(output, base_name) array_pattern = re.compile(r"(.*)\[(.*?)\]") def get_fields(data: ULog.Data) -> tuple[list[str], dict[str, int]]: # use same field order as in the log, except for the timestamp data_keys = [] string_array_sizes = {} for f in data.field_data: if f.field_name.startswith('_padding'): continue result = array_pattern.fullmatch(f.field_name) if result and f.type_str == 'char': # string (array of char's) field, array_index = result.groups() array_index = int(array_index) string_array_sizes[field] = max(array_index + 1, string_array_sizes.get(field, 0)) if array_index == 0: data_keys.append(field) else: data_keys.append(f.field_name) data_keys.remove('timestamp') data_keys.insert(0, 'timestamp') # we want timestamp at first position return data_keys, string_array_sizes for d in data: name_without_slash = d.name.replace('/', '_') output_file_name = f'{output_file_prefix}_{name_without_slash}_{d.multi_id}.csv' num_data_points = len(d.data['timestamp']) print(f'Writing {output_file_name} ({num_data_points} data points)') with open(output_file_name, 'w', encoding='utf-8') as csvfile: data_keys, string_array_sizes = get_fields(d) # we don't use np.savetxt, because we have multiple arrays with # potentially different data types. However the following is quite # slow... # write the header csvfile.write(delimiter.join(data_keys) + '\n') #get the index for row where timestamp exceeds or equals the required value time_s_i = np.where(d.data['timestamp'] >= time_s * 1e6)[0][0] \ if time_s else 0 #get the index for row upto the timestamp of the required value time_e_i = np.where(d.data['timestamp'] >= time_e * 1e6)[0][0] \ if time_e else len(d.data['timestamp']) # write the data last_elem = len(data_keys)-1 for i in range(time_s_i, time_e_i): for k in range(len(data_keys)): if data_keys[k] in string_array_sizes: # string s = read_string_data(d, data_keys[k], string_array_sizes[data_keys[k]], i) csvfile.write(s) else: csvfile.write(str(d.data[data_keys[k]][i])) if k != last_elem: csvfile.write(delimiter) csvfile.write('\n') pyulog-1.2.3/pyulog/ulog2kml.py000066400000000000000000000220241521417275500164720ustar00rootroot00000000000000#! /usr/bin/env python """ Convert a ULog file into a KML file (positioning information) """ import argparse import simplekml # pylint: disable=import-error from .core import ULog #pylint: disable=too-many-locals, invalid-name, consider-using-enumerate, too-many-arguments #pylint: disable=unused-variable def main(): """Command line interface""" parser = argparse.ArgumentParser(description='Convert ULog to KML') parser.add_argument('filename', metavar='file.ulg', help='ULog input file') parser.add_argument('-o', '--output', dest='output_filename', help="output filename", default='track.kml') parser.add_argument('--topic', dest='topic_name', help="topic name with position data (default=vehicle_gps_position)", default='vehicle_gps_position') parser.add_argument('--camera-trigger', dest='camera_trigger', help="Camera trigger topic name (e.g. camera_capture)", default=None) parser.add_argument('-i', '--ignore', dest='ignore', action='store_true', help='Ignore string parsing exceptions', default=False) args = parser.parse_args() convert_ulog2kml(args.filename, args.output_filename, position_topic_name=args.topic_name, camera_trigger_topic_name=args.camera_trigger, disable_str_exceptions=args.ignore) # alternative example call: # convert_ulog2kml(args.filename, 'test.kml', ['vehicle_global_position', # 'vehicle_gps_position'], [_kml_default_colors, lambda x: simplekml.Color.green]) def _kml_default_colors(x): """ flight mode to color conversion """ x = max([x, 0]) colors_arr = [simplekml.Color.red, simplekml.Color.green, simplekml.Color.blue, simplekml.Color.violet, simplekml.Color.yellow, simplekml.Color.orange, simplekml.Color.burlywood, simplekml.Color.azure, simplekml.Color.lightblue, simplekml.Color.lawngreen, simplekml.Color.indianred, simplekml.Color.hotpink, simplekml.Color.bisque, simplekml.Color.cyan, simplekml.Color.darksalmon, simplekml.Color.deepskyblue, simplekml.Color.lime, simplekml.Color.orchid] return colors_arr[x] def convert_ulog2kml(ulog_file_name, output_file_name, position_topic_name= 'vehicle_gps_position', colors=_kml_default_colors, altitude_offset=0, minimum_interval_s=0.1, style=None, camera_trigger_topic_name=None, disable_str_exceptions=False): """ Coverts and ULog file to a CSV file. :param ulog_file_name: The ULog filename to open and read :param output_file_name: KML Output file name :param position_topic_name: either name of a topic (must have 'lon', 'lat' & 'alt' fields), or a list of topic names :param colors: lambda function with flight mode (int) (or -1) as input and returns a color (eg 'fffff8f0') (or list of lambda functions if multiple position_topic_name's) :param altitude_offset: add this offset to the altitude [m] :param minimum_interval_s: minimum time difference between two datapoints (drop if more points) :param style: dictionary with rendering options: 'extrude': Bool 'line_width': int :param camera_trigger_topic_name: name of the camera trigger topic (must have 'lon', 'lat' & 'seq') :return: None """ default_style = { 'extrude': False, 'line_width': 3 } used_style = default_style if style is not None: for key in style: used_style[key] = style[key] if not isinstance(position_topic_name, list): position_topic_name = [position_topic_name] colors = [colors] kml = simplekml.Kml() load_topic_names = position_topic_name + ['vehicle_status'] if camera_trigger_topic_name is not None: load_topic_names.append(camera_trigger_topic_name) ulog = ULog(ulog_file_name, load_topic_names, disable_str_exceptions) # get flight modes try: cur_dataset = ulog.get_dataset('vehicle_status') flight_mode_changes = cur_dataset.list_value_changes('nav_state') flight_mode_changes.append((ulog.last_timestamp, -1)) except (KeyError, IndexError) as error: flight_mode_changes = [] # add the graphs for topic, cur_colors in zip(position_topic_name, colors): _kml_add_position_data(kml, ulog, topic, cur_colors, used_style, altitude_offset, minimum_interval_s, flight_mode_changes) # camera triggers _kml_add_camera_triggers(kml, ulog, camera_trigger_topic_name, altitude_offset) kml.save(output_file_name) def _kml_add_camera_triggers(kml, ulog, camera_trigger_topic_name, altitude_offset): """ Add camera trigger points to the map """ data = ulog.data_list topic_instance = 0 cur_dataset = [elem for elem in data if elem.name == camera_trigger_topic_name and elem.multi_id == topic_instance] if len(cur_dataset) > 0: cur_dataset = cur_dataset[0] # 'longitude_deg' is used in newer PX4 versions pos_lon = (cur_dataset.data['lon'] if 'lon' in cur_dataset.data else cur_dataset.data['longitude_deg']) pos_lat = (cur_dataset.data['lat'] if 'lat' in cur_dataset.data else cur_dataset.data['latitude_deg']) pos_alt = (cur_dataset.data['alt'] if 'alt' in cur_dataset.data else cur_dataset.data['altitude_msl_m']) sequence = cur_dataset.data['seq'] for i in range(len(pos_lon)): pnt = kml.newpoint(name='Camera Trigger '+str(sequence[i])) pnt.coords = [(pos_lon[i], pos_lat[i], pos_alt[i] + altitude_offset)] # Balloons instead of text does not work #pnt.style.balloonstyle.text = 'Camera Trigger '+str(sequence[i]) def _kml_add_position_data(kml, ulog, position_topic_name, colors, style, altitude_offset=0, minimum_interval_s=0.1, flight_mode_changes=None): data = ulog.data_list topic_instance = 0 if flight_mode_changes is None: flight_mode_changes = [] cur_dataset = [elem for elem in data if elem.name == position_topic_name and elem.multi_id == topic_instance] if len(cur_dataset) == 0: raise KeyError(position_topic_name+' not found in data') cur_dataset = cur_dataset[0] # 'longitude_deg' is used in newer PX4 versions pos_lon = (cur_dataset.data['lon'] if 'lon' in cur_dataset.data else cur_dataset.data['longitude_deg']) pos_lat = (cur_dataset.data['lat'] if 'lat' in cur_dataset.data else cur_dataset.data['latitude_deg']) pos_alt = (cur_dataset.data['alt'] if 'alt' in cur_dataset.data else cur_dataset.data['altitude_msl_m']) pos_t = cur_dataset.data['timestamp'] if 'fix_type' in cur_dataset.data: indices = cur_dataset.data['fix_type'] > 2 # use only data with a fix pos_lon = pos_lon[indices] pos_lat = pos_lat[indices] pos_alt = pos_alt[indices] pos_t = pos_t[indices] # scale if it's an integer type lon_type = [f.type_str for f in cur_dataset.field_data if f.field_name == 'lon'] if len(lon_type) > 0 and lon_type[0] == 'int32_t': pos_lon = pos_lon / 1e7 # to degrees pos_lat = pos_lat / 1e7 pos_alt = pos_alt / 1e3 # to meters current_flight_mode = 0 current_flight_mode_idx = 0 if len(flight_mode_changes) > 0: current_flight_mode = flight_mode_changes[0][1] def create_linestring(): """ create a new kml linestring and set rendering options """ name = position_topic_name + ":" + str(current_flight_mode) new_linestring = kml.newlinestring(name=name, altitudemode='absolute') # set rendering options if style['extrude']: new_linestring.extrude = 1 new_linestring.style.linestyle.color = colors(current_flight_mode) new_linestring.style.linestyle.width = style['line_width'] return new_linestring current_kml_linestring = create_linestring() last_t = 0 for i in range(len(pos_lon)): cur_t = pos_t[i] if (cur_t - last_t)/1e6 > minimum_interval_s: # assume timestamp is in [us] pos_data = [pos_lon[i], pos_lat[i], pos_alt[i] + altitude_offset] current_kml_linestring.coords.addcoordinates([pos_data]) last_t = cur_t # flight mode change? while current_flight_mode_idx < len(flight_mode_changes)-1 and \ flight_mode_changes[current_flight_mode_idx+1][0] <= cur_t: current_flight_mode_idx += 1 current_flight_mode = flight_mode_changes[current_flight_mode_idx][1] current_kml_linestring = create_linestring() current_kml_linestring.coords.addcoordinates([pos_data]) pyulog-1.2.3/pyulog/ulog2ros2bag.py000066400000000000000000000315711521417275500172550ustar00rootroot00000000000000#! /usr/bin/env python """ Convert a ULog file into a ROS2 bag. """ from collections import defaultdict import argparse import re from os import environ from pathlib import Path from importlib.metadata import version import numpy as np from .core import ULog # pylint: disable=too-many-locals, invalid-name, too-many-branches # Do not exit on failing to import ROS2 packages so they don't block the help message. ros2_available = True try: from rclpy.serialization import serialize_message # pylint: disable=import-error import rosbag2_py # pylint: disable=import-error except ImportError as e: print( "Error: Could not import ROS2 packages. Make sure you have sourced" " your ROS2 installation." ) print("Actual error:", e) ros2_available = False try: from px4_msgs import msg as px4_msgs # pylint: disable=import-error except ImportError as e: print( "Error: Could not import px4_msgs. Make sure you have built and sourced" " the correct version of px4_msgs." ) print("Actual error:", e) ros2_available = False def main(): """Command line interface""" parser = argparse.ArgumentParser(description="Convert ULog to rosbag") parser.add_argument("filename", metavar="file.ulg", help="ULog input file") parser.add_argument( "-o", "--output", dest="bag", help="rosbag output destination", default=None, ) parser.add_argument( "--mcap", dest="mcap", action="store_true", help="Use mcap storage in rosbag instead of sqlite3", default=False, ) parser.add_argument( "-m", "--messages", dest="messages", help=( "Only consider given messages. Must be a comma-separated list of" " names, like 'sensor_combined,vehicle_gps_position'" ), ) parser.add_argument( "-i", "--ignore", dest="ignore", action="store_true", help="Ignore string parsing exceptions", default=False, ) parser.add_argument( "-v", "--verbose", dest="verbose", action="store_true", help="Print extra debugging information", default=False, ) args = parser.parse_args() if not ros2_available: return # Error messages printed in 'except ImportError' blocks above convert_ulog2ros2bag( args.filename, args.bag, args.mcap, args.messages, args.ignore, args.verbose ) # https://stackoverflow.com/questions/19053707/converting-snake-case-to-lower-camel-case-lowercamelcase def to_camel_case(snake_str): """Convert snake case string to camel case""" components = snake_str.split("_") return "".join(x.title() for x in components) def convert_ulog2ros2bag( ulog_file_name: str, rosbag_name: str | None, mcap: bool, messages: str, disable_str_exceptions=False, verbose=False, ): """ Coverts and ULog file to a CSV file. :param ulog_file_name: The ULog filename to open and read :param rosbag_name: The rosbag filename to open and write :param messages: A list of message names :return: No """ msg_filter = messages.split(",") if messages else None ulog = ULog(ulog_file_name, msg_filter, disable_str_exceptions) multiids: dict[str, set[int]] = defaultdict(set) for topic in ulog.data_list: multiids[topic.name].add(topic.multi_id) # ROS2 boilerplate writer = rosbag2_py.SequentialWriter() # Default rosbag name from ulg file rosbag_name = rosbag_name or "rosbag_" + re.sub( r"\.ulg$", "", Path(ulog_file_name).name ) storage_options = rosbag2_py.StorageOptions( uri=rosbag_name, storage_id="mcap" if mcap else "sqlite3" ) converter_options = rosbag2_py.ConverterOptions( input_serialization_format="cdr", output_serialization_format="cdr" ) writer.open(storage_options, converter_options) # Support rosbag2_py topic sequence number in ROS2 versions greater than Humble if rosbag_write_uses_seqnum(): def rosbag_write(topic, msg, timestamp): writer.write(topic, msg, timestamp, 0) else: def rosbag_write(topic, msg, timestamp): writer.write(topic, msg, timestamp) # Support rosbag2_py TopicMetadata ID in ROS2 versions greater than Humble if rosbag_topicmetadata_uses_id(): def topic_metadata(name, topic_type): return rosbag2_py.TopicMetadata( 0, name=name, # type: ignore type=topic_type, serialization_format="cdr", ) else: def topic_metadata(name, topic_type): return rosbag2_py.TopicMetadata( name=name, # type: ignore type=topic_type, serialization_format="cdr", ) if verbose: print(f"I: ROS2 Distro: {environ.get('ROS_DISTRO') or 'not detected'}") px4_msgs_share_dir = None try: # fmt: off from ament_index_python.packages import get_package_share_directory # pylint: disable=import-error, import-outside-toplevel # fmt: on px4_msgs_share_dir = get_package_share_directory("px4_msgs") except: # pylint: disable=bare-except pass print(f"I: ROS2 px4_msgs: {px4_msgs_share_dir or 'not found'}") print( f"I: PX4 firmware version from ulog: {ulog.get_version_info_str() or 'not found'}" ) print("") topic_count, message_count = 0, 0 for ulg_topic in ulog.data_list: topic_message_count = len(ulg_topic.data["timestamp"]) # Determine ROS2 topic name if multiids[ulg_topic.name] == {0}: ros2_topic = f"/px4/{ulg_topic.name}" else: ros2_topic = f"/px4/{ulg_topic.name}_{ulg_topic.multi_id}" if verbose: ulg_topic_name = ulg_topic.name if multiids[ulg_topic.name] != {0}: ulg_topic_name += f" ({ulg_topic.multi_id})" print( f"D: Processing ulog topic {ulg_topic_name} with {topic_message_count}" f" messages and ROS2 topic {ros2_topic}" ) # Determine ROS2 message type (px4_msgs) msg_type_name = calc_msgtype(ulg_topic.name) if msg_type_name is None or not hasattr(px4_msgs, msg_type_name): print( f"W: Message type '{msg_type_name or to_camel_case(ulg_topic.name)}'" f" for {ulg_topic.name} not found in px4_msgs, skipping." ) continue MsgType = getattr(px4_msgs, msg_type_name) if verbose: print(f"D: Found ROS2 message type px4_msgs/msg/{MsgType.__name__}") # Check if it is a composed message type if any( re.match(r"(.*?)\.(.*?)", field.field_name) for field in ulg_topic.field_data ): # TODO: add support for composed message types print(f"W: Message type for {ulg_topic.name} is composed, skipping.") continue # Verify message type ros2_fields = MsgType.get_fields_and_field_types().keys() px4_fields = [ re.sub(r"\[\d+\]$", "", data.field_name) for data in ulg_topic.field_data ] # strip array indices px4_fields = list(set(px4_fields)) # remove duplicates if not all(px4_field in ros2_fields for px4_field in px4_fields): print( f"W: Message type px4_msgs/msg/{MsgType.__name__} does not match topic" f" '{ulg_topic.name}' in ulog, skipping. Please check your version of px4_msgs." ) if verbose: for px4_field in [ px4_field for px4_field in px4_fields if px4_field not in ros2_fields ]: print( f"D: field {px4_field} of {ulg_topic.name} not found in {MsgType.__name__}" ) continue # Register topic in rosbag writer.create_topic( topic_metadata(ros2_topic, f"px4_msgs/msg/{MsgType.__name__}") ) # Write each message for i in range(len(ulg_topic.data["timestamp"])): msg = ros2_msg_from_ulg_topic(ulg_topic, i, MsgType) ts = ulg_topic.data["timestamp"][i] * 1000 # us -> ns rosbag_write( ros2_topic, serialize_message(msg), int(ts), ) topic_count += 1 message_count += topic_message_count writer.close() print( f"\nWrote rosbag '{rosbag_name}' with {topic_count} topics and {message_count} messages." ) def rosbag_topicmetadata_uses_id(): """ rosbag2_py PR #1538 adds a parameter to TopicMetadata.__init__() for a topic ID, breaking the interface. This attempts to add compability with both versions. """ return version("rosbag2_py") >= "0.25.0" def rosbag_write_uses_seqnum(): """ rosbag2_py commit 62e5f77 adds a parameter to SequentialWriter.write() for a topic sequence number, breaking the interface. This attempts to add compatibility with both versions. """ return version("rosbag2_py") >= "0.32.0" def calc_msgtype(topic_name: str) -> str | None: """Calculate message type from topic name, if possible""" REGEX_EXCEPTIONS = { r"^actuator_controls_status_\d$": "ActuatorControlsStatus", r"^actuator_outputs\w*": "ActuatorOutputs", r"^config_overrides\w*": "ConfigOverrides", r"^estimator_aid_src_((gnss_yaw)|(ev_yaw)|(fake_hgt)|(airspeed)|(sideslip)|(\w+_hgt))$": "EstimatorAidSource1d", # pylint: disable=line-too-long r"^estimator_aid_src_((drag)|(aux_vel)|(optical_flow)|(\w+_pos)|(aux_global_position))$": "EstimatorAidSource2d", # pylint: disable=line-too-long r"^estimator_aid_src_((ev_vel)|(gnss_vel)|(gravity)|(mag))$": "EstimatorAidSource3d", r"^estimator_ev_pos_bias": "EstimatorBias3d", r"^estimator_((baro)|(gnss_hgt))_bias": "EstimatorBias", r"^estimator_innovation\w*": "EstimatorInnovations", r"^px4io_status$": "Px4ioStatus", r"^vehicle_gps_position$": "SensorGps", r"^sensors_status_\w+": "SensorsStatus", r"^vehicle_angular_velocity\w*": "VehicleAngularVelocity", r"^\w+?attitude(_groundtruth)?$": "VehicleAttitude", r"^\w+?attitude_setpoint$": "VehicleAttitudeSetpoint", r"^\w+?_command\w*": "VehicleCommand", r"^\w+?_control_\w+": "VehicleControlMode", r"^((aux_)|(estimator_)|(vehicle_)|(external_ins_))global_position(_groundtruth)?$": "VehicleGlobalPosition", # pylint: disable=line-too-long r"^\w+?_local_position(_groundtruth)?$": "VehicleLocalPosition", r"^\w+?_odometry$": "VehicleOdometry", r"^((estimator)|(vehicle))_optical_flow_vel$": "VehicleOpticalFlowVel", r"^vehicle_thrust_setpoint\w*": "VehicleThrustSetpoint", r"^vehicle_torque_setpoint\w*": "VehicleTorqueSetpoint", r"^(estimator_)?wind$": "Wind", } direct_name = to_camel_case(topic_name) if hasattr(px4_msgs, direct_name): # type: ignore return direct_name result = None for pattern, type_name in REGEX_EXCEPTIONS.items(): if re.match(pattern, topic_name): result = type_name break return result def ros2ify_value(field_name: str, value, MsgType: object): """Translate a pyulog numpy value to ros2 plain python value""" value_type: np.signedinteger | np.unsignedinteger | np.floating = value.dtype # int8 could either be int8_t, bool, or char # check the destination type ros2_type: str = MsgType.get_fields_and_field_types()[field_name] # type: ignore # startswith() accounts for array types if value_type == np.int8 and ros2_type.startswith("bool"): return bool(value) return value.item() def ros2_msg_from_ulg_topic(ulg_topic: ULog.Data, i: int, MsgType): """Create a ROS2 message object from a ulg topic message""" msg = MsgType() for field in ulg_topic.field_data: array_match = re.match(r"(.*?)\[(\d+)\]", field.field_name) value = ulg_topic.data[field.field_name][i] if array_match: field_name, array_index = array_match.groups() array_index = int(array_index) value = ros2ify_value(field_name, value, MsgType) getattr(msg, field_name)[array_index] = value else: try: value = ros2ify_value(field.field_name, value, MsgType) setattr(msg, field.field_name, value) except Exception as e: print( f"Exception when setting field '{field.field_name}' from" f" topic '{ulg_topic.name}' with type: {type(value)}" ) raise e return msg if __name__ == "__main__": main() pyulog-1.2.3/run_tests.sh000077500000000000000000000000731521417275500154320ustar00rootroot00000000000000#! /bin/bash pytest test && pylint pyulog/*.py test/*.py pyulog-1.2.3/setup.py000066400000000000000000000007401521417275500145600ustar00rootroot00000000000000#!/usr/bin/env python """ This module allows you to parse ULog files, which are used within the PX4 autopilot middleware. The file format is documented on https://docs.px4.io/main/en/dev_log/ulog_file_format.html """ from setuptools import setup DOCLINES = __doc__.split("\n") # pylint: disable=invalid-name setup( long_description="\n".join(DOCLINES), long_description_content_type='text/x-rst', platforms=["Windows", "Linux", "Solaris", "Mac OS-X", "Unix"], ) pyulog-1.2.3/test/000077500000000000000000000000001521417275500140245ustar00rootroot00000000000000pyulog-1.2.3/test/__init__.py000066400000000000000000000000001521417275500161230ustar00rootroot00000000000000pyulog-1.2.3/test/sample.ulg000066400000000000000000173545641521417275500160470ustar00rootroot00000000000000ULog5Н8Ichar[40] ver_swfd483321a5cf50ead91164356d15aa474643aa73Ichar[8] ver_hwAUAV_X21Ichar[3] sys_namePX4Iint32_t time_ref_utc[Fmc_virtual_rates_setpoint:uint64_t timestamp;float roll;float pitch;float yaw;float thrust;yFsensor_baro:uint64_t timestamp;uint64_t error_count;float pressure;float altitude;float temperature;uint8_t[4] _padding0;fFmission:uint64_t timestamp;int32_t dataman_id;uint32_t count;int32_t current_seq;uint8_t[4] _padding0;AFvehicle_status:uint64_t timestamp;uint32_t system_id;uint32_t component_id;uint32_t onboard_control_sensors_present;uint32_t onboard_control_sensors_enabled;uint32_t onboard_control_sensors_health;uint8_t nav_state;uint8_t arming_state;uint8_t hil_state;bool failsafe;uint8_t system_type;bool is_rotary_wing;bool is_vtol;bool vtol_fw_permanent_stab;bool in_transition_mode;bool in_transition_to_fw;bool rc_signal_lost;uint8_t rc_input_mode;bool data_link_lost;uint8_t data_link_lost_counter;bool engine_failure;bool engine_failure_cmd;bool mission_failure;uint8_t[3] _padding0;Ftransponder_report:uint64_t timestamp;double lat;double lon;uint32_t ICAO_address;float altitude;float heading;float hor_velocity;float ver_velocity;uint16_t flags;uint16_t squawk;uint8_t altitude_type;char[9] callsign;uint8_t emitter_type;uint8_t tslc;uint8_t[4] _padding0;zFfw_virtual_attitude_setpoint:uint64_t timestamp;float roll_body;float pitch_body;float yaw_body;float yaw_sp_move_rate;float[9] R_body;float[4] q_d;float[4] q_e;float thrust;bool R_valid;bool q_d_valid;bool q_e_valid;bool roll_reset_integral;bool pitch_reset_integral;bool yaw_reset_integral;bool fw_control_yaw;bool disable_mc_yaw_control;bool apply_flaps;uint8_t[7] _padding0;PFactuator_controls:uint64_t timestamp;uint64_t timestamp_sample;float[8] control;PFfiltered_bottom_flow:uint64_t timestamp;float sumx;float sumy;float vx;float vy;nFonboard_mission:uint64_t timestamp;int32_t dataman_id;uint32_t count;int32_t current_seq;uint8_t[4] _padding0;qFcontrol_state:uint64_t timestamp;float x_acc;float y_acc;float z_acc;float x_vel;float y_vel;float z_vel;float x_pos;float y_pos;float z_pos;float airspeed;float[3] vel_variance;float[3] pos_variance;float[4] q;float[4] delta_q_reset;float roll_rate;float pitch_rate;float yaw_rate;float horz_acc_mag;bool airspeed_valid;uint8_t quat_reset_counter;uint8_t[6] _padding0;XFmount_orientation:uint64_t timestamp;float[3] attitude_euler_angle;uint8_t[4] _padding0;qFsubsystem_info:uint64_t timestamp;uint64_t subsystem_type;bool present;bool enabled;bool ok;uint8_t[5] _padding0;Fuavcan_parameter_value:uint64_t timestamp;int64_t int_value;float real_value;int16_t param_index;uint16_t param_count;uint8_t node_id;char[17] param_id;uint8_t param_type;uint8_t[5] _padding0;BFlog_message:uint64_t timestamp;uint8_t severity;uint8_t[127] text;\Factuator_outputs:uint64_t timestamp;uint32_t noutputs;float[16] output;uint8_t[4] _padding0;[Factuator_controls_virtual_fw:uint64_t timestamp;uint64_t timestamp_sample;float[8] control;Fesc_report:uint64_t timestamp;uint32_t esc_errorcount;int32_t esc_rpm;float esc_voltage;float esc_current;float esc_temperature;float esc_setpoint;uint16_t esc_setpoint_raw;uint16_t esc_address;uint16_t esc_version;uint16_t esc_state;uint8_t esc_vendor;uint8_t[7] _padding0;@Ftest_motor:uint64_t timestamp;uint32_t motor_number;float value;Fesc_status:uint64_t timestamp;uint16_t counter;uint8_t esc_count;uint8_t esc_connectiontype;uint8_t[4] _padding0;esc_report[8] esc;Fdifferential_pressure:uint64_t timestamp;uint64_t error_count;float differential_pressure_raw_pa;float differential_pressure_filtered_pa;float max_differential_pressure_pa;float temperature;WFfence:uint64_t timestamp;uint32_t count;uint8_t[4] _padding0;fence_vertex[16] vertices;KFadc_report:uint64_t timestamp;float[8] channel_value;int16_t[8] channel_id;6Fcpuload:uint64_t timestamp;float load;float ram_usage;Frc_channels:uint64_t timestamp;uint64_t timestamp_last_valid;float[18] channels;uint32_t frame_drop_count;uint8_t channel_count;int8_t[23] function;uint8_t rssi;bool signal_lost;uint8_t[2] _padding0;'Fekf2_replay:uint64_t timestamp;uint64_t time_ref;uint64_t magnetometer_timestamp;uint64_t baro_timestamp;uint64_t rng_timestamp;uint64_t flow_timestamp;uint64_t asp_timestamp;uint64_t ev_timestamp;uint64_t time_usec;uint64_t time_usec_vel;float gyro_integral_dt;float accelerometer_integral_dt;float[3] gyro_rad;float[3] accelerometer_m_s2;float[3] magnetometer_ga;float baro_alt_meter;int32_t lat;int32_t lon;int32_t alt;float eph;float epv;float sacc;float vel_m_s;float vel_n_m_s;float vel_e_m_s;float vel_d_m_s;float range_to_ground;float[2] flow_pixel_integral;float[2] flow_gyro_integral;uint32_t flow_time_integral;float indicated_airspeed_m_s;float true_airspeed_m_s;float[3] pos_ev;float[4] quat_ev;float pos_err;float ang_err;uint8_t fix_type;uint8_t nsats;bool vel_ned_valid;uint8_t flow_quality;iFdebug_key_value:uint64_t timestamp;uint32_t timestamp_ms;float value;int8_t[10] key;uint8_t[6] _padding0;Fairspeed:uint64_t timestamp;float indicated_airspeed_m_s;float true_airspeed_m_s;float true_airspeed_unfiltered_m_s;float air_temperature_celsius;float confidence;uint8_t[4] _padding0;RFactuator_controls_0:uint64_t timestamp;uint64_t timestamp_sample;float[8] control;RFactuator_controls_1:uint64_t timestamp;uint64_t timestamp_sample;float[8] control;RFactuator_controls_2:uint64_t timestamp;uint64_t timestamp_sample;float[8] control;RFactuator_controls_3:uint64_t timestamp;uint64_t timestamp_sample;float[8] control;\Fsafety:uint64_t timestamp;bool safety_switch_available;bool safety_off;uint8_t[6] _padding0;DFcamera_trigger:uint64_t timestamp;uint32_t seq;uint8_t[4] _padding0;Fvision_position_estimate:uint64_t timestamp;uint64_t timestamp_received;uint32_t id;float x;float y;float z;float vx;float vy;float vz;float[4] q;float pos_err;float ang_err;uint8_t[4] _padding0;QFvehicle_attitude_setpoint:uint64_t timestamp;float roll_body;float pitch_body;float yaw_body;float yaw_sp_move_rate;float[4] q_d;float thrust;float landing_gear;bool q_d_valid;bool roll_reset_integral;bool pitch_reset_integral;bool yaw_reset_integral;bool fw_control_yaw;bool disable_mc_yaw_control;bool apply_flaps;uint8_t[1] _padding0; Ftelemetry_status:uint64_t timestamp;uint64_t heartbeat_time;uint64_t telem_time;uint16_t rxerrors;uint16_t fixed;uint8_t type;uint8_t rssi;uint8_t remote_rssi;uint8_t noise;uint8_t remote_noise;uint8_t txbuf;uint8_t system_id;uint8_t component_id;uint8_t[4] _padding0;Fmultirotor_motor_limits:uint64_t timestamp;uint8_t lower_limit;uint8_t upper_limit;uint8_t yaw;uint8_t reserved;uint8_t[4] _padding0;oFoffboard_mission:uint64_t timestamp;int32_t dataman_id;uint32_t count;int32_t current_seq;uint8_t[4] _padding0;Fsensor_accel:uint64_t timestamp;uint64_t integral_dt;uint64_t error_count;float x;float y;float z;float x_integral;float y_integral;float z_integral;float temperature;float range_m_s2;float scaling;uint32_t device_id;int16_t x_raw;int16_t y_raw;int16_t z_raw;int16_t temperature_raw;iFvehicle_global_position:uint64_t timestamp;uint64_t time_utc_usec;double lat;double lon;double[2] delta_lat_lon;float alt;float delta_alt;float vel_n;float vel_e;float vel_d;float yaw;float eph;float epv;float terrain_alt;float pressure_alt;uint8_t lat_lon_reset_counter;uint8_t alt_reset_counter;bool terrain_alt_valid;bool dead_reckoning;uint8_t[4] _padding0;AFservorail_status:uint64_t timestamp;float voltage_v;float rssi_v;Factuator_armed:uint64_t timestamp;bool armed;bool prearmed;bool ready_to_arm;bool lockdown;bool force_failsafe;bool in_esc_calibration_mode;uint8_t[2] _padding0;uFvehicle_global_position_groundtruth:uint64_t timestamp;uint64_t time_utc_usec;double lat;double lon;double[2] delta_lat_lon;float alt;float delta_alt;float vel_n;float vel_e;float vel_d;float yaw;float eph;float epv;float terrain_alt;float pressure_alt;uint8_t lat_lon_reset_counter;uint8_t alt_reset_counter;bool terrain_alt_valid;bool dead_reckoning;uint8_t[4] _padding0;Fposition_setpoint_triplet:uint64_t timestamp;uint8_t nav_state;uint8_t[7] _padding0;position_setpoint previous;position_setpoint current;position_setpoint next;Festimator_status:uint64_t timestamp;float[32] states;float n_states;float[3] vibe;float[28] covariances;float pos_horiz_accuracy;float pos_vert_accuracy;float mag_test_ratio;float vel_test_ratio;float pos_test_ratio;float hgt_test_ratio;float tas_test_ratio;float hagl_test_ratio;uint16_t gps_check_fail_flags;uint16_t control_mode_flags;uint16_t filter_fault_flags;uint16_t innovation_check_flags;uint16_t solution_status_flags;uint8_t nan_flags;uint8_t health_flags;uint8_t timeout_flags;uint8_t[3] _padding0;@Fvehicle_control_mode:uint64_t timestamp;bool flag_armed;bool flag_external_manual_override_ok;bool flag_system_hil_enabled;bool flag_control_manual_enabled;bool flag_control_auto_enabled;bool flag_control_offboard_enabled;bool flag_control_rates_enabled;bool flag_control_attitude_enabled;bool flag_control_rattitude_enabled;bool flag_control_force_enabled;bool flag_control_acceleration_enabled;bool flag_control_velocity_enabled;bool flag_control_position_enabled;bool flag_control_altitude_enabled;bool flag_control_climb_rate_enabled;bool flag_control_termination_enabled;[Ffw_virtual_rates_setpoint:uint64_t timestamp;float roll;float pitch;float yaw;float thrust;Fsystem_power:uint64_t timestamp;float voltage5V_v;uint8_t usb_connected;uint8_t brick_valid;uint8_t servo_valid;uint8_t periph_5V_OC;uint8_t hipower_5V_OC;uint8_t[7] _padding0;LFvehicle_force_setpoint:uint64_t timestamp;float x;float y;float z;float yaw;?Fsensor_combined:uint64_t timestamp;float[3] gyro_rad;float gyro_integral_dt;int32_t accelerometer_timestamp_relative;float[3] accelerometer_m_s2;float accelerometer_integral_dt;int32_t magnetometer_timestamp_relative;float[3] magnetometer_ga;int32_t baro_timestamp_relative;float baro_alt_meter;float baro_temp_celcius;XFvehicle_rates_setpoint:uint64_t timestamp;float roll;float pitch;float yaw;float thrust;>Fvehicle_local_position_groundtruth:uint64_t timestamp;uint64_t ref_timestamp;double ref_lat;double ref_lon;uint64_t surface_bottom_timestamp;float x;float y;float z;float[2] delta_xy;float delta_z;float vx;float vy;float vz;float[2] delta_vxy;float delta_vz;float yaw;float ref_alt;float dist_bottom;float dist_bottom_rate;float eph;float epv;bool xy_valid;bool z_valid;bool v_xy_valid;bool v_z_valid;uint8_t xy_reset_counter;uint8_t z_reset_counter;uint8_t vxy_reset_counter;uint8_t vz_reset_counter;bool xy_global;bool z_global;bool dist_bottom_valid;uint8_t[5] _padding0;yFwind_estimate:uint64_t timestamp;float windspeed_north;float windspeed_east;float covariance_north;float covariance_east;Ftecs_status:uint64_t timestamp;float altitudeSp;float altitude_filtered;float flightPathAngleSp;float flightPathAngle;float flightPathAngleFiltered;float airspeedSp;float airspeed_filtered;float airspeedDerivativeSp;float airspeedDerivative;float totalEnergyError;float energyDistributionError;float totalEnergyRateError;float energyDistributionRateError;float throttle_integ;float pitch_integ;uint8_t mode;uint8_t[3] _padding0;}Foptical_flow:uint64_t timestamp;float pixel_flow_x_integral;float pixel_flow_y_integral;float gyro_x_rate_integral;float gyro_y_rate_integral;float gyro_z_rate_integral;float ground_distance_m;uint32_t integration_timespan;uint32_t time_since_last_sonar_update;uint16_t frame_count_since_last_readout;int16_t gyro_temperature;uint8_t sensor_id;uint8_t quality;uint8_t[2] _padding0;WFpwm_input:uint64_t timestamp;uint64_t error_count;uint32_t pulse_width;uint32_t period;Fposition_setpoint:uint64_t timestamp;double lat;double lon;float x;float y;float z;float vx;float vy;float vz;float alt;float yaw;float yawspeed;float loiter_radius;float pitch_min;float a_x;float a_y;float a_z;float acceptance_radius;float cruising_speed;float cruising_throttle;bool valid;uint8_t type;bool position_valid;bool velocity_valid;bool alt_valid;bool yaw_valid;bool disable_mc_yaw_control;bool yawspeed_valid;int8_t loiter_direction;bool acceleration_valid;bool acceleration_is_force;uint8_t[1] _padding0;Fcollision_report:uint64_t timestamp;uint32_t id;float time_to_minimum_delta;float altitude_minimum_delta;float horizontal_minimum_delta;uint8_t src;uint8_t action;uint8_t threat_level;uint8_t[5] _padding0;}Fmc_att_ctrl_status:uint64_t timestamp;float roll_rate_integ;float pitch_rate_integ;float yaw_rate_integ;uint8_t[4] _padding0;Fekf2_innovations:uint64_t timestamp;float[6] vel_pos_innov;float[3] mag_innov;float heading_innov;float airspeed_innov;float beta_innov;float[2] flow_innov;float hagl_innov;float[6] vel_pos_innov_var;float[3] mag_innov_var;float heading_innov_var;float airspeed_innov_var;float beta_innov_var;float[2] flow_innov_var;float hagl_innov_var;float[3] output_tracking_error;uint8_t[4] _padding0;Fuavcan_parameter_request:uint64_t timestamp;int64_t int_value;float real_value;int16_t param_index;uint8_t message_type;uint8_t node_id;char[17] param_id;uint8_t param_type;uint8_t[6] _padding0;Fvehicle_gps_position:uint64_t timestamp;uint64_t time_utc_usec;int32_t lat;int32_t lon;int32_t alt;int32_t alt_ellipsoid;float s_variance_m_s;float c_variance_rad;float eph;float epv;float hdop;float vdop;int32_t noise_per_ms;int32_t jamming_indicator;float vel_m_s;float vel_n_m_s;float vel_e_m_s;float vel_d_m_s;float cog_rad;int32_t timestamp_time_relative;uint8_t fix_type;bool vel_ned_valid;uint8_t satellites_used;uint8_t[5] _padding0;Frc_parameter_map:uint64_t timestamp;int32_t[3] param_index;float[3] scale;float[3] value0;float[3] value_min;float[3] value_max;bool[3] valid;char[51] param_id;uint8_t[6] _padding0;DFparameter_update:uint64_t timestamp;bool saved;uint8_t[7] _padding0;gFgeofence_result:uint64_t timestamp;bool geofence_violated;uint8_t geofence_action;uint8_t[6] _padding0;tFvehicle_attitude:uint64_t timestamp;float rollspeed;float pitchspeed;float yawspeed;float[4] q;uint8_t[4] _padding0;lFatt_pos_mocap:uint64_t timestamp;uint64_t timestamp_received;uint32_t id;float[4] q;float x;float y;float z;Fbattery_status:uint64_t timestamp;float voltage_v;float voltage_filtered_v;float current_a;float current_filtered_a;float discharged_mah;float remaining;float scale;int32_t cell_count;bool connected;uint8_t warning;uint8_t[6] _padding0;XFvehicle_land_detected:uint64_t timestamp;bool landed;bool freefall;uint8_t[6] _padding0;2Ftime_offset:uint64_t timestamp;uint64_t offset_ns;CFmission_result:uint64_t timestamp;uint32_t instance_count;uint32_t seq_reached;uint32_t seq_current;uint32_t seq_total;uint32_t item_changed_index;uint32_t item_do_jump_remaining;bool valid;bool warning;bool reached;bool finished;bool stay_in_failsafe;bool flight_termination;bool item_do_jump_changed;bool mission_failure;Fsatellite_info:uint64_t timestamp;uint8_t count;uint8_t[20] svid;uint8_t[20] used;uint8_t[20] elevation;uint8_t[20] azimuth;uint8_t[20] snr;uint8_t[3] _padding0;Fvtol_vehicle_status:uint64_t timestamp;float airspeed_tot;bool vtol_in_rw_mode;bool vtol_in_trans_mode;bool in_transition_to_fw;bool vtol_transition_failsafe;bool fw_permanent_stab;uint8_t[7] _padding0;BFqshell_req:uint64_t timestamp;uint64_t strlen;int32_t[100] string;2Fvehicle_local_position:uint64_t timestamp;uint64_t ref_timestamp;double ref_lat;double ref_lon;uint64_t surface_bottom_timestamp;float x;float y;float z;float[2] delta_xy;float delta_z;float vx;float vy;float vz;float[2] delta_vxy;float delta_vz;float yaw;float ref_alt;float dist_bottom;float dist_bottom_rate;float eph;float epv;bool xy_valid;bool z_valid;bool v_xy_valid;bool v_z_valid;uint8_t xy_reset_counter;uint8_t z_reset_counter;uint8_t vxy_reset_counter;uint8_t vz_reset_counter;bool xy_global;bool z_global;bool dist_bottom_valid;uint8_t[5] _padding0;Fmanual_control_setpoint:uint64_t timestamp;float x;float y;float z;float r;float flaps;float aux1;float aux2;float aux3;float aux4;float aux5;uint8_t mode_switch;uint8_t return_switch;uint8_t rattitude_switch;uint8_t posctl_switch;uint8_t loiter_switch;uint8_t acro_switch;uint8_t offboard_switch;uint8_t kill_switch;uint8_t transition_switch;uint8_t gear_switch;int8_t mode_slot;uint8_t[5] _padding0;AFhil_sensor:uint64_t timestamp;uint64_t accelerometer_timestamp;uint64_t magnetometer_timestamp;uint64_t gyro1_timestamp;uint64_t accelerometer1_timestamp;uint64_t magnetometer1_timestamp;uint64_t gyro2_timestamp;uint64_t accelerometer2_timestamp;uint64_t magnetometer2_timestamp;uint64_t baro_timestamp;uint64_t baro1_timestamp;uint64_t differential_pressure_timestamp;uint64_t differential_pressure1_timestamp;float[3] gyro_rad_s;uint32_t gyro_errcount;float gyro_temp;float[3] accelerometer_m_s2;float accelerometer_range_m_s2;uint32_t accelerometer_errcount;float accelerometer_temp;float[3] magnetometer_ga;float magnetometer_range_ga;float magnetometer_cuttoff_freq_hz;uint32_t magnetometer_errcount;float magnetometer_temp;float[3] gyro1_rad_s;uint32_t gyro1_errcount;float gyro1_temp;float[3] accelerometer1_m_s2;uint32_t accelerometer1_errcount;float accelerometer1_temp;float[3] magnetometer1_ga;uint32_t magnetometer1_errcount;float magnetometer1_temp;float[3] gyro2_rad_s;uint32_t gyro2_errcount;float gyro2_temp;float[3] accelerometer2_m_s2;uint32_t accelerometer2_errcount;float accelerometer2_temp;float[3] magnetometer2_ga;uint32_t magnetometer2_errcount;float magnetometer2_temp;float baro_pres_mbar;float baro_alt_meter;float baro_temp_celcius;float baro1_pres_mbar;float baro1_alt_meter;float baro1_temp_celcius;float[10] adc_voltage_v;float mcu_temp_celcius;float differential_pressure_pa;float differential_pressure_filtered_pa;float differential_pressure1_pa;float differential_pressure1_filtered_pa;int16_t[3] gyro_raw;int16_t[3] accelerometer_raw;int16_t accelerometer_mode;int16_t[3] magnetometer_raw;int16_t magnetometer_mode;int16_t[3] gyro1_raw;int16_t[3] accelerometer1_raw;int16_t[3] magnetometer1_raw;int16_t[3] gyro2_raw;int16_t[3] accelerometer2_raw;int16_t[3] magnetometer2_raw;uint16_t[10] adc_mapping;uint8_t[6] _padding0;Fvehicle_local_position_setpoint:uint64_t timestamp;float x;float y;float z;float yaw;float vx;float vy;float vz;float acc_x;float acc_y;float acc_z;dFvehicle_global_velocity_setpoint:uint64_t timestamp;float vx;float vy;float vz;uint8_t[4] _padding0;Fhome_position:uint64_t timestamp;double lat;double lon;float alt;float x;float y;float z;float yaw;float direction_x;float direction_y;float direction_z;.Ffw_pos_ctrl_status:uint64_t timestamp;float nav_roll;float nav_pitch;float nav_bearing;float target_bearing;float wp_dist;float xtrack_error;float turn_distance;float landing_horizontal_slope_displacement;float landing_slope_angle_rad;float landing_flare_length;bool abort_landing;uint8_t[7] _padding0;cFsensor_preflight:uint64_t timestamp;float accel_inconsistency_m_s_s;float gyro_inconsistency_rad_s;OFgps_inject_data:uint64_t timestamp;uint8_t len;uint8_t flags;uint8_t[182] data;Ffollow_target:uint64_t timestamp;double lat;double lon;float alt;float vy;float vx;float vz;uint8_t est_cap;uint8_t[7] _padding0;JFulog_stream_ack:uint64_t timestamp;uint16_t sequence;uint8_t[6] _padding0;Fsensor_gyro:uint64_t timestamp;uint64_t integral_dt;uint64_t error_count;float x;float y;float z;float x_integral;float y_integral;float z_integral;float temperature;float range_rad_s;float scaling;uint32_t device_id;int16_t x_raw;int16_t y_raw;int16_t z_raw;int16_t temperature_raw;KFcommander_state:uint64_t timestamp;uint8_t main_state;uint8_t[7] _padding0;Fulog_stream:uint64_t timestamp;uint16_t sequence;uint8_t length;uint8_t first_message_offset;uint8_t flags;uint8_t[249] data;uint8_t[2] _padding0;4Ffence_vertex:uint64_t timestamp;float lat;float lon;Fvehicle_command:uint64_t timestamp;double param5;double param6;float param1;float param2;float param3;float param4;float param7;uint32_t command;uint32_t target_system;uint32_t target_component;uint32_t source_system;uint32_t source_component;uint8_t confirmation;uint8_t[7] _padding0;[Factuator_controls_virtual_mc:uint64_t timestamp;uint64_t timestamp_sample;float[8] control;^Foutput_pwm:uint64_t timestamp;uint32_t channel_count;uint16_t[16] values;uint8_t[4] _padding0;\Fvehicle_command_ack:uint64_t timestamp;uint16_t command;uint8_t result;uint8_t[5] _padding0;Fdistance_sensor:uint64_t timestamp;float min_distance;float max_distance;float current_distance;float covariance;uint8_t type;uint8_t id;uint8_t orientation;uint8_t[5] _padding0;Foffboard_control_mode:uint64_t timestamp;bool ignore_thrust;bool ignore_attitude;bool ignore_bodyrate;bool ignore_position;bool ignore_velocity;bool ignore_acceleration_force;bool ignore_alt_hold;uint8_t[1] _padding0;9Fgps_dump:uint64_t timestamp;uint8_t len;uint8_t[79] data;VFmavlink_log:uint64_t timestamp;uint8_t[50] text;uint8_t severity;uint8_t[5] _padding0;ZFactuator_direct:uint64_t timestamp;uint32_t nvalues;float[16] values;uint8_t[4] _padding0;Finput_rc:uint64_t timestamp;uint64_t timestamp_last_signal;uint32_t channel_count;int32_t rssi;uint16_t rc_lost_frame_count;uint16_t rc_total_frame_count;uint16_t rc_ppm_frame_length;uint16_t[18] values;bool rc_failsafe;bool rc_lost;uint8_t input_source;uint8_t[3] _padding0;Fvehicle_roi:uint64_t timestamp;double lat;double lon;uint32_t mission_seq;uint32_t target_seq;float alt;uint8_t mode;uint8_t[3] _padding0;Fvehicle_attitude_groundtruth:uint64_t timestamp;float rollspeed;float pitchspeed;float yawspeed;float[4] q;uint8_t[4] _padding0;Fsensor_mag:uint64_t timestamp;uint64_t error_count;float x;float y;float z;float range_ga;float scaling;float temperature;uint32_t device_id;int16_t x_raw;int16_t y_raw;int16_t z_raw;uint8_t[6] _padding0;zFmc_virtual_attitude_setpoint:uint64_t timestamp;float roll_body;float pitch_body;float yaw_body;float yaw_sp_move_rate;float[9] R_body;float[4] q_d;float[4] q_e;float thrust;bool R_valid;bool q_d_valid;bool q_e_valid;bool roll_reset_integral;bool pitch_reset_integral;bool yaw_reset_integral;bool fw_control_yaw;bool disable_mc_yaw_control;bool apply_flaps;uint8_t[7] _padding0;Pfloat ATT_W_ACCL>Pfloat ATT_W_MAG=Pfloat ATT_W_EXT_HDG=Pfloat ATT_W_GYRO_BIAS=Pfloat ATT_MAG_DECLPint32_t ATT_MAG_DECL_APint32_t ATT_EXT_HDG_MPint32_t ATT_ACC_COMPPfloat ATT_BIAS_MAXL=Pfloat ATT_VIBE_THRESHL>Pfloat BAT_V_EMPTYY@Pfloat BAT_V_CHARGED@Pfloat BAT_LOW_THR>Pfloat BAT_CRIT_THR)\=Pfloat BAT_V_LOAD_DROP>Pfloat BAT_R_INTERNALPint32_t BAT_N_CELLSPfloat BAT_CAPACITYPint32_t BAT_V_SCALE_IO'Pfloat BAT_CNT_V_VOLT33S:Pfloat BAT_CNT_V_CURR33S:Pfloat BAT_V_OFFS_CURRPfloat BAT_V_DIV"APfloat BAT_A_PER_VAvAPint32_t BAT_SOURCEPint32_t TRIG_MODEPint32_t CBRK_SUPPLY_CHKPint32_t CBRK_RATE_CTRLPint32_t CBRK_IO_SAFETYPint32_t CBRK_AIRSPD_CHKPint32_t CBRK_FLIGHTTERM|Pint32_t CBRK_ENGINEFAILYPint32_t CBRK_GPSFAILPint32_t CBRK_BUZZERPint32_t CBRK_USB_CHKPint32_t COM_DL_LOSS_T Pint32_t COM_DL_REG_TPfloat COM_EF_THROT?Pfloat COM_EF_C2T@Pfloat COM_EF_TIME APfloat COM_RC_LOSS_T?Pfloat COM_HOME_H_T@Pfloat COM_HOME_V_T APint32_t COM_AUTOS_PARPint32_t COM_RC_IN_MODEPint32_t COM_RC_ARM_HYSTPint32_t COM_DISARM_LANDPint32_t COM_ARM_WO_GPSPint32_t COM_LOW_BAT_ACTPfloat COM_OF_LOSS_TPfloat COM_ARM_EKF_POS?Pfloat COM_ARM_EKF_VEL?Pfloat COM_ARM_EKF_HGT?Pfloat COM_ARM_EKF_YAW?Pfloat COM_ARM_EKF_ABo;Pfloat COM_ARM_EKF_GB49Pfloat COM_ARM_IMU_ACC333?Pfloat COM_ARM_IMU_GYRQ=Pint32_t NAV_AH_LAT{'Pint32_t NAV_AH_LONLZPfloat NAV_AH_ALTDPfloat NAV_DLL_CH_TBPint32_t NAV_DLL_CH_LAT$Pint32_t NAV_DLL_CH_LONāZPfloat NAV_DLL_CH_ALTDPfloat NAV_DLL_AH_TBPint32_t NAV_DLL_NPint32_t NAV_DLL_CHSKPint32_t EKF2_REC_RPLPint32_t FW_ARSP_MODEPfloat FW_MAN_R_SC?Pfloat FW_MAN_P_SC?Pfloat FW_MAN_Y_SC?Pfloat FW_THR_CRUISE?Pfloat FW_CLMBOUT_DIFF APfloat FW_AIRSPD_TRIMpAPfloat NAV_MIN_FT_HTAPfloat NAV_FT_DSTAPint32_t NAV_FT_FSPfloat NAV_FT_RS?Pint32_t GPS_DUMP_COMMPfloat NAV_GPSF_LTAPfloat NAV_GPSF_RpAPfloat NAV_GPSF_PPfloat NAV_GPSF_TR333?Pint32_t GF_ACTIONPint32_t GF_ALTMODEPint32_t GF_SOURCEPint32_t GF_COUNTPfloat GF_MAX_HOR_DISTPfloat GF_MAX_VER_DISTPfloat LNDMC_Z_VEL_MAX333?Pfloat LNDMC_XY_VEL_MAX?Pfloat LNDMC_ROT_MAXAPfloat LNDMC_FFALL_THR@Pfloat LNDMC_FFALL_TTRI>Pfloat LPE_PUB_AGL_ZPfloat LPE_FLW_OFF_ZPfloat LPE_FLW_SCALEff?Pint32_t LPE_FLW_GYRO_CMPPint32_t LPE_FLW_QMINPfloat LPE_SNR_ZL=Pfloat LPE_SNR_OFF_ZPfloat LPE_LDR_Z<Pfloat LPE_LDR_OFF_ZPfloat LPE_ACC_XYD<Pfloat LPE_ACC_Z ף<Pfloat LPE_BAR_Z@@Pint32_t LPE_GPS_ONPfloat LPE_GPS_DELAYz>Pfloat LPE_GPS_XY?Pfloat LPE_GPS_Z@@Pfloat LPE_GPS_VXY>Pfloat LPE_GPS_VZ>Pfloat LPE_EPH_MAX@@Pfloat LPE_EPV_MAX@Pfloat LPE_VIS_DELAY=Pfloat LPE_VIS_XY=Pfloat LPE_VIS_Z?Pint32_t LPE_VIS_ONPfloat LPE_VIC_Po:Pfloat LPE_PN_P=Pfloat LPE_PN_V=Pfloat LPE_PN_Bo:Pfloat LPE_PN_To:Pfloat LPE_T_MAX_GRADE?Pfloat LPE_FGYRO_HPo:P float LPE_LATR!BP float LPE_LONۭPfloat LPE_X_LP@Pfloat LPE_VXY_PUB>Pfloat LPE_Z_PUB?Pfloat LPE_LAND_Z<Pint32_t MAV_SYS_IDPint32_t MAV_COMP_IDPint32_t MAV_PROTO_VERPint32_t MAV_RADIO_IDPint32_t MAV_TYPEPint32_t MAV_USEHILGPSPint32_t MAV_FWDEXTSPPint32_t MAV_BROADCASTPint32_t MAV_TEST_PARPint32_t COM_OBL_ACTPint32_t COM_OBL_RC_ACTPfloat NAV_LOITER_RADHBPfloat NAV_ACC_RAD@Pfloat NAV_FW_ALT_RAD APfloat NAV_MC_ALT_RAD@@Pint32_t NAV_DLL_ACTPint32_t NAV_RCL_ACTPfloat MIS_TAKEOFF_ALT @Pfloat MIS_LTRMIN_ALT?Pint32_t MIS_ONBOARD_ENPfloat MIS_DIST_1WPaDPint32_t MIS_ALTMODEPint32_t MIS_YAWMODEPfloat MIS_YAW_TMTPfloat MIS_YAW_ERR@APint32_t VT_WV_LND_ENPint32_t VT_WV_LTR_ENPfloat MC_ROLL_TCL>Pfloat MC_PITCH_TCL>Pfloat MC_ROLL_P@Pfloat MC_ROLLRATE_P)\>Pfloat MC_ROLLRATE_I=Pfloat MC_ROLLRATE_Do;Pfloat MC_ROLLRATE_FFPfloat MC_PITCH_P@Pfloat MC_PITCHRATE_P)\>Pfloat MC_PITCHRATE_IQ=Pfloat MC_PITCHRATE_Do;Pfloat MC_PITCHRATE_FFPfloat MC_YAW_P@Pfloat MC_YAWRATE_PL>Pfloat MC_YAWRATE_I=Pfloat MC_YAWRATE_DPfloat MC_YAWRATE_FFPfloat MC_YAW_FF?Pfloat MC_ROLLRATE_MAX\CPfloat MC_PITCHRATE_MAX\CPfloat MC_YAWRATE_MAXHCPfloat MC_YAWRAUTO_MAX4BPfloat MC_ACRO_R_MAXCPfloat MC_ACRO_P_MAXCPfloat MC_ACRO_Y_MAXCPfloat MC_RATT_TH?Pfloat MC_TPA_BREAK?Pfloat MC_TPA_SLOPE?Pint32_t MC_BAT_SCALE_ENPfloat MPC_THR_MIN=Pfloat MPC_THR_HOVER?Pfloat MPC_ALTCTL_DZ=Pfloat MPC_ALTCTL_DYPfloat MPC_THR_MAXfff?Pfloat MPC_MANTHR_MIN ף=Pfloat MPC_MANTHR_MAXfff?P float MPC_Z_P?Pfloat MPC_Z_VEL_PL>Pfloat MPC_Z_VEL_I ף<Pfloat MPC_Z_VEL_DPfloat MPC_Z_VEL_MAX_UP@@Pfloat MPC_Z_VEL_MAX?Pfloat MPC_Z_VEL_MAX_DN?Pfloat MPC_Z_FF?Pfloat MPC_XY_P33s?Pfloat MPC_XY_VEL_PQ=Pfloat MPC_XY_VEL_I ף<Pfloat MPC_XY_VEL_D #<Pfloat MPC_XY_CRUISE@Pfloat MPC_XY_VEL_MAXAPfloat MPC_XY_FF?Pfloat MPC_TILTMAX_AIR4BPfloat MPC_TILTMAX_LND@APfloat MPC_LAND_SPEED?Pfloat MPC_TKO_SPEED?Pfloat MPC_MAN_R_MAX BPfloat MPC_MAN_P_MAX BPfloat MPC_MAN_Y_MAXHCPfloat MPC_HOLD_XY_DZ=Pfloat MPC_HOLD_MAX_XYL?Pfloat MPC_HOLD_MAX_Z?Pfloat MPC_VELD_LP@Pfloat MPC_ACC_HOR_MAX@Pint32_t MPC_ALT_MODEPint32_t PWM_RATEPint32_t PWM_MIN3Pint32_t PWM_MAXPint32_t PWM_DISARMEDPint32_t PWM_AUX_MINPint32_t PWM_AUX_MAXPint32_t PWM_AUX_DISARMEDPfloat MOT_SLEW_MAXPint32_t PWM_AUX_REV1Pint32_t PWM_AUX_REV2Pint32_t PWM_AUX_REV3Pint32_t PWM_AUX_REV4Pint32_t PWM_AUX_REV5Pint32_t PWM_AUX_REV6Pint32_t PWM_MAIN_REV1Pint32_t PWM_MAIN_REV2Pint32_t PWM_MAIN_REV3Pint32_t PWM_MAIN_REV4Pint32_t PWM_MAIN_REV5Pint32_t PWM_MAIN_REV6Pint32_t PWM_MAIN_REV7Pint32_t PWM_MAIN_REV8Pint32_t PWM_SBUS_MODEPfloat TRIM_ROLLPfloat TRIM_PITCHPfloat TRIM_YAWP float RC1_MINzDPfloat RC1_TRIMDP float RC1_MAXDP float RC1_REV?P float RC1_DZ AP float RC2_MINzDPfloat RC2_TRIMDP float RC2_MAXDP float RC2_REV?P float RC2_DZ AP float RC3_MINzDPfloat RC3_TRIMDP float RC3_MAXDP float RC3_REV?P float RC3_DZ AP float RC4_MINzDPfloat RC4_TRIMDP float RC4_MAXDP float RC4_REV?P float RC4_DZ AP float RC5_MINzDPfloat RC5_TRIMDP float RC5_MAXDP float RC5_REV?P float RC5_DZ AP float RC6_MINzDPfloat RC6_TRIMDP float RC6_MAXDP float RC6_REV?P float RC6_DZ AP float RC7_MINzDPfloat RC7_TRIMDP float RC7_MAXDP float RC7_REV?P float RC7_DZ AP float RC8_MINzDPfloat RC8_TRIMDP float RC8_MAXDP float RC8_REV?P float RC8_DZ AP float RC9_MINzDPfloat RC9_TRIMDP float RC9_MAXDP float RC9_REV?P float RC9_DZPfloat RC10_MINzDPfloat RC10_TRIMDPfloat RC10_MAXDPfloat RC10_REV?P float RC10_DZPfloat RC11_MINzDPfloat RC11_TRIMDPfloat RC11_MAXDPfloat RC11_REV?P float RC11_DZPfloat RC12_MINzDPfloat RC12_TRIMDPfloat RC12_MAXDPfloat RC12_REV?P float RC12_DZPfloat RC13_MINzDPfloat RC13_TRIMDPfloat RC13_MAXDPfloat RC13_REV?P float RC13_DZPfloat RC14_MINzDPfloat RC14_TRIMDPfloat RC14_MAXDPfloat RC14_REV?P float RC14_DZPfloat RC15_MINzDPfloat RC15_TRIMDPfloat RC15_MAXDPfloat RC15_REV?P float RC15_DZPfloat RC16_MINzDPfloat RC16_TRIMDPfloat RC16_MAXDPfloat RC16_REV?P float RC16_DZPfloat RC17_MINzDPfloat RC17_TRIMDPfloat RC17_MAXDPfloat RC17_REV?P float RC17_DZPfloat RC18_MINzDPfloat RC18_TRIMDPfloat RC18_MAXDPfloat RC18_REV?P float RC18_DZPint32_t RC_DSM_BINDPint32_t RC_CHAN_CNTPint32_t RC_TH_USERPint32_t RC_MAP_ROLLPint32_t RC_MAP_PITCHPint32_t RC_MAP_THROTTLEPint32_t RC_MAP_YAWPint32_t RC_MAP_AUX1Pint32_t RC_MAP_AUX2Pint32_t RC_MAP_AUX3Pint32_t RC_MAP_AUX4Pint32_t RC_MAP_AUX5Pint32_t RC_MAP_PARAM1Pint32_t RC_MAP_PARAM2Pint32_t RC_MAP_PARAM3Pint32_t RC_FAILS_THRPint32_t RC_RSSI_PWM_CHANPint32_t RC_RSSI_PWM_MAXPint32_t RC_RSSI_PWM_MINPfloat NAV_RCL_LTBPint32_t RC_MAP_FLTMODEPint32_t RC_MAP_MODE_SWPint32_t RC_MAP_RETURN_SWPint32_t RC_MAP_RATT_SWPint32_t RC_MAP_POSCTL_SWPint32_t RC_MAP_LOITER_SWPint32_t RC_MAP_ACRO_SWPint32_t RC_MAP_OFFB_SWPint32_t RC_MAP_KILL_SWPint32_t RC_MAP_FLAPSPint32_t RC_MAP_TRANS_SWPint32_t RC_MAP_GEAR_SWPfloat RC_ASSIST_TH>Pfloat RC_AUTO_TH@?Pfloat RC_RATT_TH?Pfloat RC_POSCTL_TH?Pfloat RC_RETURN_TH?Pfloat RC_LOITER_TH?Pfloat RC_ACRO_TH?Pfloat RC_OFFB_TH?Pfloat RC_KILLSWITCH_TH>Pfloat RC_TRANS_TH>Pfloat RC_GEAR_TH>Pfloat RTL_RETURN_ALTAPfloat RTL_DESCEND_ALT APfloat RTL_LAND_DELAYPfloat RTL_MIN_DIST@Pint32_t SDLOG_RATEPint32_t SDLOG_EXTPint32_t SDLOG_GPSTIMEPint32_t SDLOG_PRIO_BOOSTPint32_t SDLOG_UTC_OFFSETPint32_t CAL_GYRO0_ID!Pfloat CAL_GYRO0_XOFFjz:Pfloat CAL_GYRO0_YOFF}Pfloat CAL_GYRO0_ZOFFô;Pfloat CAL_GYRO0_XSCALE?Pfloat CAL_GYRO0_YSCALE?Pfloat CAL_GYRO0_ZSCALE?Pint32_t CAL_MAG0_IDPint32_t CAL_MAG0_ROTPfloat CAL_MAG0_XOFFf<Pfloat CAL_MAG0_YOFFlMPfloat CAL_MAG0_ZOFF0 Pfloat CAL_MAG0_XSCALE?Pfloat CAL_MAG0_YSCALE?Pfloat CAL_MAG0_ZSCALE?Pint32_t CAL_ACC0_ID Pfloat CAL_ACC0_XOFFXOPfloat CAL_ACC0_YOFF0>Pfloat CAL_ACC0_ZOFF Pfloat CAL_ACC0_XSCALE?Pfloat CAL_ACC0_YSCALED ?Pfloat CAL_ACC0_ZSCALEB|?Pint32_t CAL_GYRO1_ID$Pfloat CAL_GYRO1_XOFF桼Pfloat CAL_GYRO1_YOFFrPfloat CAL_GYRO1_ZOFF<Pfloat CAL_GYRO1_XSCALE?Pfloat CAL_GYRO1_YSCALE?Pfloat CAL_GYRO1_ZSCALE?Pint32_t CAL_MAG1_IDPint32_t CAL_MAG1_ROTPfloat CAL_MAG1_XOFFPfloat CAL_MAG1_YOFFPfloat CAL_MAG1_ZOFFPfloat CAL_MAG1_XSCALE?Pfloat CAL_MAG1_YSCALE?Pfloat CAL_MAG1_ZSCALE?Pint32_t CAL_ACC1_IDPfloat CAL_ACC1_XOFFhBPfloat CAL_ACC1_YOFF>Pfloat CAL_ACC1_ZOFF k9>Pfloat CAL_ACC1_XSCALEg?Pfloat CAL_ACC1_YSCALE?Pfloat CAL_ACC1_ZSCALE{?Pfloat CAL_GYRO2_XOFFPfloat CAL_GYRO2_YOFFPfloat CAL_GYRO2_ZOFFPfloat CAL_GYRO2_XSCALE?Pfloat CAL_GYRO2_YSCALE?Pfloat CAL_GYRO2_ZSCALE?Pint32_t CAL_MAG2_IDPint32_t CAL_MAG2_ROTPfloat CAL_MAG2_XOFFPfloat CAL_MAG2_YOFFPfloat CAL_MAG2_ZOFFPfloat CAL_MAG2_XSCALE?Pfloat CAL_MAG2_YSCALE?Pfloat CAL_MAG2_ZSCALE?Pfloat CAL_ACC2_XOFFPfloat CAL_ACC2_YOFFPfloat CAL_ACC2_ZOFFPfloat CAL_ACC2_XSCALE?Pfloat CAL_ACC2_YSCALE?Pfloat CAL_ACC2_ZSCALE?Pint32_t CAL_ACC_PRIME Pint32_t CAL_GYRO_PRIME!Pint32_t CAL_MAG_PRIMEPint32_t CAL_MAG_SIDES?Pint32_t CAL_BARO_PRIMEPfloat SENS_DPRES_OFFPfloat SENS_DPRES_ANSCPfloat SENS_BARO_QNHP}DPint32_t SENS_BOARD_ROTPfloat SENS_BOARD_Y_OFF?Pfloat SENS_BOARD_X_OFFNPfloat SENS_BOARD_Z_OFFPint32_t SENS_EN_LL40LSPint32_t SENS_EN_SF0XPint32_t SENS_EN_MB12XXPint32_t SENS_EN_TRONEPint32_t SENS_EN_SF1XXPint32_t SYS_AUTOSTART$'Pint32_t SYS_AUTOCONFIGPint32_t SYS_USE_IOPint32_t SYS_RESTART_TYPEPint32_t SYS_MC_EST_GROUPPint32_t SYS_COMPANIONgPint32_t SYS_PARAM_VERPint32_t SYS_LOGGERPint32_t UAVCAN_ENABLEPint32_t VT_TYPEPint32_t VT_OPT_RECOV_ENPfloat VT_WV_YAWR_SCL>Pint32_t VT_NAV_FORCE_VTPint32_t COM_FLTMODE1Pint32_t COM_FLTMODE2Pint32_t COM_FLTMODE3Pint32_t COM_FLTMODE4Pint32_t COM_FLTMODE5Pint32_t COM_FLTMODE6Pint32_t 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roll;float pitch;float yaw;float thrust;wFsensor_baro:uint64_t timestamp;uint64_t error_count;float pressure;float altitude;float temperature;uint32_t device_id;fFmission:uint64_t timestamp;int32_t dataman_id;uint32_t count;int32_t current_seq;uint8_t[4] _padding0;[Ffw_virtual_rates_setpoint:uint64_t timestamp;float roll;float pitch;float yaw;float thrust;Ftransponder_report:uint64_t timestamp;double lat;double lon;uint32_t ICAO_address;float altitude;float heading;float hor_velocity;float ver_velocity;uint16_t flags;uint16_t squawk;uint8_t altitude_type;char[9] callsign;uint8_t emitter_type;uint8_t tslc;uint8_t[4] _padding0;TFfw_virtual_attitude_setpoint:uint64_t timestamp;float roll_body;float pitch_body;float yaw_body;float yaw_sp_move_rate;float[4] q_d;float thrust;float landing_gear;bool q_d_valid;bool roll_reset_integral;bool pitch_reset_integral;bool yaw_reset_integral;bool fw_control_yaw;bool disable_mc_yaw_control;bool apply_flaps;uint8_t[1] _padding0;PFactuator_controls:uint64_t timestamp;uint64_t timestamp_sample;float[8] control;PFfiltered_bottom_flow:uint64_t timestamp;float sumx;float sumy;float vx;float vy;nFonboard_mission:uint64_t timestamp;int32_t dataman_id;uint32_t count;int32_t current_seq;uint8_t[4] _padding0;Fcontrol_state:uint64_t timestamp;float x_acc;float y_acc;float z_acc;float x_vel;float y_vel;float z_vel;float x_pos;float y_pos;float z_pos;float airspeed;float[3] vel_variance;float[3] pos_variance;float[4] q;float[4] delta_q_reset;float roll_rate;float pitch_rate;float yaw_rate;float horz_acc_mag;float roll_rate_bias;float pitch_rate_bias;float yaw_rate_bias;bool airspeed_valid;uint8_t quat_reset_counter;uint8_t[2] _padding0;XFmount_orientation:uint64_t timestamp;float[3] attitude_euler_angle;uint8_t[4] _padding0;qFsubsystem_info:uint64_t timestamp;uint64_t subsystem_type;bool present;bool enabled;bool ok;uint8_t[5] _padding0;Fuavcan_parameter_value:uint64_t timestamp;int64_t int_value;float real_value;int16_t param_index;uint16_t param_count;uint8_t node_id;char[17] param_id;uint8_t param_type;uint8_t[5] _padding0;BFlog_message:uint64_t timestamp;uint8_t severity;uint8_t[127] text;\Factuator_outputs:uint64_t timestamp;uint32_t noutputs;float[16] output;uint8_t[4] _padding0;[Factuator_controls_virtual_fw:uint64_t timestamp;uint64_t timestamp_sample;float[8] control;Fesc_report:uint64_t timestamp;uint32_t esc_errorcount;int32_t esc_rpm;float esc_voltage;float esc_current;float esc_temperature;float esc_setpoint;uint16_t esc_setpoint_raw;uint16_t esc_address;uint16_t esc_version;uint16_t esc_state;uint8_t esc_vendor;uint8_t[7] _padding0;@Ftest_motor:uint64_t timestamp;uint32_t motor_number;float value;Fesc_status:uint64_t timestamp;uint16_t counter;uint8_t esc_count;uint8_t esc_connectiontype;uint8_t[4] _padding0;esc_report[8] esc;Fdifferential_pressure:uint64_t timestamp;uint64_t error_count;float differential_pressure_raw_pa;float differential_pressure_filtered_pa;float max_differential_pressure_pa;float temperature;WFfence:uint64_t timestamp;uint32_t count;uint8_t[4] _padding0;fence_vertex[16] vertices;KFadc_report:uint64_t timestamp;float[8] channel_value;int16_t[8] channel_id;Fsensor_selection:uint64_t timestamp;uint32_t accel_device_id;uint32_t baro_device_id;uint32_t gyro_device_id;uint32_t mag_device_id;6Fcpuload:uint64_t timestamp;float load;float ram_usage;Frc_channels:uint64_t timestamp;uint64_t timestamp_last_valid;float[18] channels;uint32_t frame_drop_count;uint8_t channel_count;int8_t[26] function;uint8_t rssi;bool signal_lost;uint8_t[7] _padding0;Fvehicle_status_flags:uint64_t timestamp;uint16_t conditions;uint16_t other_flags;uint8_t circuit_breakers;uint8_t[3] _padding0;Fekf2_replay:uint64_t timestamp;uint64_t magnetometer_timestamp;uint64_t baro_timestamp;uint64_t rng_timestamp;uint64_t flow_timestamp;uint64_t asp_timestamp;uint64_t ev_timestamp;uint64_t time_usec;float gyro_integral_dt;float accelerometer_integral_dt;float[3] gyro_rad;float[3] accelerometer_m_s2;float[3] magnetometer_ga;float baro_alt_meter;int32_t lat;int32_t lon;int32_t alt;float eph;float epv;float sacc;float vel_m_s;float vel_n_m_s;float vel_e_m_s;float vel_d_m_s;float range_to_ground;float[2] flow_pixel_integral;float[2] flow_gyro_integral;uint32_t flow_time_integral;float indicated_airspeed_m_s;float true_airspeed_m_s;float[3] pos_ev;float[4] quat_ev;float pos_err;float ang_err;uint8_t fix_type;uint8_t nsats;bool vel_ned_valid;uint8_t flow_quality;Fcamera_capture:uint64_t timestamp;uint64_t timestamp_utc;double lat;double lon;uint32_t seq;float alt;float ground_distance;float[4] q;int8_t result;uint8_t[3] _padding0;iFdebug_key_value:uint64_t timestamp;uint32_t timestamp_ms;float value;int8_t[10] key;uint8_t[6] _padding0;Fairspeed:uint64_t timestamp;float indicated_airspeed_m_s;float true_airspeed_m_s;float true_airspeed_unfiltered_m_s;float air_temperature_celsius;float confidence;float differential_pressure_filtered_pa;RFactuator_controls_0:uint64_t timestamp;uint64_t timestamp_sample;float[8] control;RFactuator_controls_1:uint64_t timestamp;uint64_t timestamp_sample;float[8] control;RFactuator_controls_2:uint64_t timestamp;uint64_t timestamp_sample;float[8] control;RFactuator_controls_3:uint64_t timestamp;uint64_t timestamp_sample;float[8] control;\Fsafety:uint64_t timestamp;bool safety_switch_available;bool safety_off;uint8_t[6] _padding0;[Fcamera_trigger:uint64_t timestamp;uint64_t timestamp_utc;uint32_t seq;uint8_t[4] _padding0;QFvehicle_attitude_setpoint:uint64_t timestamp;float roll_body;float pitch_body;float yaw_body;float yaw_sp_move_rate;float[4] q_d;float thrust;float landing_gear;bool q_d_valid;bool roll_reset_integral;bool pitch_reset_integral;bool yaw_reset_integral;bool fw_control_yaw;bool disable_mc_yaw_control;bool apply_flaps;uint8_t[1] _padding0; Ftelemetry_status:uint64_t timestamp;uint64_t heartbeat_time;uint64_t telem_time;uint16_t rxerrors;uint16_t fixed;uint8_t type;uint8_t rssi;uint8_t remote_rssi;uint8_t noise;uint8_t remote_noise;uint8_t txbuf;uint8_t system_id;uint8_t component_id;uint8_t[4] _padding0;[Fmultirotor_motor_limits:uint64_t timestamp;uint16_t saturation_status;uint8_t[6] _padding0;oFoffboard_mission:uint64_t timestamp;int32_t dataman_id;uint32_t count;int32_t current_seq;uint8_t[4] _padding0;Fsensor_accel:uint64_t timestamp;uint64_t integral_dt;uint64_t error_count;float x;float y;float z;float x_integral;float y_integral;float z_integral;float temperature;float range_m_s2;float scaling;uint32_t device_id;int16_t x_raw;int16_t y_raw;int16_t z_raw;int16_t temperature_raw;zFvehicle_global_position:uint64_t timestamp;uint64_t time_utc_usec;double lat;double lon;double[2] delta_lat_lon;float alt;float delta_alt;float vel_n;float vel_e;float vel_d;float pos_d_deriv;float yaw;float eph;float epv;float evh;float evv;float terrain_alt;float pressure_alt;uint8_t lat_lon_reset_counter;uint8_t alt_reset_counter;bool terrain_alt_valid;bool dead_reckoning;AFservorail_status:uint64_t timestamp;float voltage_v;float rssi_v;Factuator_armed:uint64_t timestamp;bool armed;bool prearmed;bool ready_to_arm;bool lockdown;bool manual_lockdown;bool force_failsafe;bool in_esc_calibration_mode;bool soft_stop;\Fvehicle_command_ack:uint64_t timestamp;uint16_t command;uint8_t result;uint8_t[5] _padding0;Fvehicle_global_position_groundtruth:uint64_t timestamp;uint64_t time_utc_usec;double lat;double lon;double[2] delta_lat_lon;float alt;float delta_alt;float vel_n;float vel_e;float vel_d;float pos_d_deriv;float yaw;float eph;float epv;float evh;float evv;float terrain_alt;float pressure_alt;uint8_t lat_lon_reset_counter;uint8_t alt_reset_counter;bool terrain_alt_valid;bool dead_reckoning;yFposition_setpoint_triplet:uint64_t timestamp;position_setpoint previous;position_setpoint current;position_setpoint next;Festimator_status:uint64_t timestamp;float[24] states;float n_states;float[3] vibe;float[24] covariances;uint32_t control_mode_flags;float pos_horiz_accuracy;float pos_vert_accuracy;float mag_test_ratio;float vel_test_ratio;float pos_test_ratio;float hgt_test_ratio;float tas_test_ratio;float hagl_test_ratio;float time_slip;uint16_t gps_check_fail_flags;uint16_t filter_fault_flags;uint16_t innovation_check_flags;uint16_t solution_status_flags;uint8_t nan_flags;uint8_t health_flags;uint8_t timeout_flags;uint8_t[5] _padding0;yFvehicle_control_mode:uint64_t timestamp;bool flag_armed;bool flag_external_manual_override_ok;bool flag_system_hil_enabled;bool flag_control_manual_enabled;bool flag_control_auto_enabled;bool flag_control_offboard_enabled;bool flag_control_rates_enabled;bool flag_control_attitude_enabled;bool flag_control_rattitude_enabled;bool flag_control_force_enabled;bool flag_control_acceleration_enabled;bool flag_control_velocity_enabled;bool flag_control_position_enabled;bool flag_control_altitude_enabled;bool flag_control_climb_rate_enabled;bool flag_control_termination_enabled;bool flag_control_fixed_hdg_enabled;uint8_t[7] _padding0;bFtask_stack_info:uint64_t timestamp;uint16_t stack_free;uint8_t[16] task_name;uint8_t[6] _padding0;AFvehicle_status:uint64_t timestamp;uint32_t system_id;uint32_t component_id;uint32_t onboard_control_sensors_present;uint32_t onboard_control_sensors_enabled;uint32_t onboard_control_sensors_health;uint8_t nav_state;uint8_t arming_state;uint8_t hil_state;bool failsafe;uint8_t system_type;bool is_rotary_wing;bool is_vtol;bool vtol_fw_permanent_stab;bool in_transition_mode;bool in_transition_to_fw;bool rc_signal_lost;uint8_t rc_input_mode;bool data_link_lost;uint8_t data_link_lost_counter;bool engine_failure;bool engine_failure_cmd;bool mission_failure;uint8_t[3] _padding0;Fsystem_power:uint64_t timestamp;float voltage5V_v;uint8_t usb_connected;uint8_t brick_valid;uint8_t servo_valid;uint8_t periph_5V_OC;uint8_t hipower_5V_OC;uint8_t[7] _padding0;LFvehicle_force_setpoint:uint64_t timestamp;float x;float y;float z;float yaw;?Fsensor_combined:uint64_t timestamp;float[3] gyro_rad;float gyro_integral_dt;int32_t accelerometer_timestamp_relative;float[3] accelerometer_m_s2;float accelerometer_integral_dt;int32_t magnetometer_timestamp_relative;float[3] magnetometer_ga;int32_t baro_timestamp_relative;float baro_alt_meter;float baro_temp_celcius;XFvehicle_rates_setpoint:uint64_t timestamp;float roll;float pitch;float yaw;float thrust;Fvehicle_local_position_groundtruth:uint64_t timestamp;uint64_t ref_timestamp;double ref_lat;double ref_lon;uint64_t surface_bottom_timestamp;float x;float y;float z;float[2] delta_xy;float delta_z;float vx;float vy;float vz;float z_deriv;float[2] delta_vxy;float delta_vz;float ax;float ay;float az;float yaw;float ref_alt;float dist_bottom;float dist_bottom_rate;float eph;float epv;float evh;float evv;uint8_t estimator_type;bool xy_valid;bool z_valid;bool v_xy_valid;bool v_z_valid;uint8_t xy_reset_counter;uint8_t z_reset_counter;uint8_t vxy_reset_counter;uint8_t vz_reset_counter;bool xy_global;bool z_global;bool dist_bottom_valid;uint8_t[4] _padding0;yFwind_estimate:uint64_t timestamp;float windspeed_north;float windspeed_east;float covariance_north;float covariance_east;Ftecs_status:uint64_t timestamp;float altitudeSp;float altitude_filtered;float flightPathAngleSp;float flightPathAngle;float flightPathAngleFiltered;float airspeedSp;float airspeed_filtered;float airspeedDerivativeSp;float airspeedDerivative;float totalEnergyError;float energyDistributionError;float totalEnergyRateError;float energyDistributionRateError;float throttle_integ;float pitch_integ;uint8_t mode;uint8_t[3] _padding0;jFsensor_correction:uint64_t timestamp;float[3] gyro_offset_0;float[3] gyro_scale_0;float[3] gyro_offset_1;float[3] gyro_scale_1;float[3] gyro_offset_2;float[3] gyro_scale_2;float[3] accel_offset_0;float[3] accel_scale_0;float[3] accel_offset_1;float[3] accel_scale_1;float[3] accel_offset_2;float[3] accel_scale_2;float baro_offset_0;float baro_scale_0;float baro_offset_1;float baro_scale_1;float baro_offset_2;float baro_scale_2;uint8_t selected_gyro_instance;uint8_t selected_accel_instance;uint8_t selected_baro_instance;uint8_t[3] gyro_mapping;uint8_t[3] accel_mapping;uint8_t[3] baro_mapping;uint8_t[4] _padding0;}Foptical_flow:uint64_t timestamp;float pixel_flow_x_integral;float pixel_flow_y_integral;float gyro_x_rate_integral;float gyro_y_rate_integral;float gyro_z_rate_integral;float ground_distance_m;uint32_t integration_timespan;uint32_t time_since_last_sonar_update;uint16_t frame_count_since_last_readout;int16_t gyro_temperature;uint8_t sensor_id;uint8_t quality;uint8_t[2] _padding0;WFpwm_input:uint64_t timestamp;uint64_t error_count;uint32_t pulse_width;uint32_t period;Fposition_setpoint:uint64_t timestamp;double lat;double lon;float x;float y;float z;float vx;float vy;float vz;float alt;float yaw;float yawspeed;float loiter_radius;float pitch_min;float a_x;float a_y;float a_z;float acceptance_radius;float cruising_speed;float cruising_throttle;bool valid;uint8_t type;bool position_valid;bool velocity_valid;uint8_t velocity_frame;bool alt_valid;bool yaw_valid;bool disable_mc_yaw_control;bool yawspeed_valid;int8_t loiter_direction;bool acceleration_valid;bool acceleration_is_force;Fcollision_report:uint64_t timestamp;uint32_t id;float time_to_minimum_delta;float altitude_minimum_delta;float horizontal_minimum_delta;uint8_t src;uint8_t action;uint8_t threat_level;uint8_t[5] _padding0;Fled_control:uint64_t timestamp;uint8_t led_mask;uint8_t color;uint8_t mode;uint8_t num_blinks;uint8_t priority;uint8_t[3] _padding0;}Fmc_att_ctrl_status:uint64_t timestamp;float roll_rate_integ;float pitch_rate_integ;float yaw_rate_integ;uint8_t[4] _padding0;Fekf2_innovations:uint64_t timestamp;float[6] vel_pos_innov;float[3] mag_innov;float heading_innov;float airspeed_innov;float beta_innov;float[2] flow_innov;float hagl_innov;float[6] vel_pos_innov_var;float[3] mag_innov_var;float heading_innov_var;float airspeed_innov_var;float beta_innov_var;float[2] flow_innov_var;float hagl_innov_var;float[3] output_tracking_error;uint8_t[4] _padding0;Fuavcan_parameter_request:uint64_t timestamp;int64_t int_value;float real_value;int16_t param_index;uint8_t message_type;uint8_t node_id;char[17] param_id;uint8_t param_type;uint8_t[6] _padding0;Fvehicle_gps_position:uint64_t timestamp;uint64_t time_utc_usec;int32_t lat;int32_t lon;int32_t alt;int32_t alt_ellipsoid;float s_variance_m_s;float c_variance_rad;float eph;float epv;float hdop;float vdop;int32_t noise_per_ms;int32_t jamming_indicator;float vel_m_s;float vel_n_m_s;float vel_e_m_s;float vel_d_m_s;float cog_rad;int32_t timestamp_time_relative;uint8_t fix_type;bool vel_ned_valid;uint8_t satellites_used;uint8_t[5] _padding0;Frc_parameter_map:uint64_t timestamp;int32_t[3] param_index;float[3] scale;float[3] value0;float[3] value_min;float[3] value_max;bool[3] valid;char[51] param_id;uint8_t[6] _padding0;HFparameter_update:uint64_t timestamp;uint32_t dummy;uint8_t[4] _padding0;zFgeofence_result:uint64_t timestamp;bool geofence_violated;uint8_t geofence_action;bool home_required;uint8_t[5] _padding0;tFvehicle_attitude:uint64_t timestamp;float rollspeed;float pitchspeed;float yawspeed;float[4] q;uint8_t[4] _padding0;lFatt_pos_mocap:uint64_t timestamp;uint64_t timestamp_received;uint32_t id;float[4] q;float x;float y;float z;Fbattery_status:uint64_t timestamp;float voltage_v;float voltage_filtered_v;float current_a;float current_filtered_a;float discharged_mah;float remaining;float scale;int32_t cell_count;bool connected;uint8_t warning;uint8_t[6] _padding0;zFvehicle_land_detected:uint64_t timestamp;float alt_max;bool landed;bool freefall;bool ground_contact;uint8_t[1] _padding0;2Ftime_offset:uint64_t timestamp;uint64_t offset_ns;;Fmission_result:uint64_t timestamp;uint32_t instance_count;uint32_t seq_reached;uint32_t seq_current;uint32_t seq_total;uint32_t item_changed_index;uint32_t item_do_jump_remaining;bool valid;bool warning;bool reached;bool finished;bool failure;bool stay_in_failsafe;bool flight_termination;bool item_do_jump_changed;Fsatellite_info:uint64_t timestamp;uint8_t count;uint8_t[20] svid;uint8_t[20] used;uint8_t[20] elevation;uint8_t[20] azimuth;uint8_t[20] snr;uint8_t[3] _padding0;Fvtol_vehicle_status:uint64_t timestamp;float airspeed_tot;bool vtol_in_rw_mode;bool vtol_in_trans_mode;bool in_transition_to_fw;bool vtol_transition_failsafe;bool fw_permanent_stab;uint8_t[7] _padding0;BFqshell_req:uint64_t timestamp;uint64_t strlen;int32_t[100] string;Fvehicle_local_position:uint64_t timestamp;uint64_t ref_timestamp;double ref_lat;double ref_lon;uint64_t surface_bottom_timestamp;float x;float y;float z;float[2] delta_xy;float delta_z;float vx;float vy;float vz;float z_deriv;float[2] delta_vxy;float delta_vz;float ax;float ay;float az;float yaw;float ref_alt;float dist_bottom;float dist_bottom_rate;float eph;float epv;float evh;float evv;uint8_t estimator_type;bool xy_valid;bool z_valid;bool v_xy_valid;bool v_z_valid;uint8_t xy_reset_counter;uint8_t z_reset_counter;uint8_t vxy_reset_counter;uint8_t vz_reset_counter;bool xy_global;bool z_global;bool dist_bottom_valid;uint8_t[4] _padding0;Fmanual_control_setpoint:uint64_t timestamp;float x;float y;float z;float r;float flaps;float aux1;float aux2;float aux3;float aux4;float aux5;uint8_t mode_switch;uint8_t return_switch;uint8_t rattitude_switch;uint8_t posctl_switch;uint8_t loiter_switch;uint8_t acro_switch;uint8_t offboard_switch;uint8_t kill_switch;uint8_t arm_switch;uint8_t transition_switch;uint8_t gear_switch;int8_t mode_slot;uint8_t data_source;uint8_t stab_switch;uint8_t man_switch;uint8_t[1] _padding0;AFhil_sensor:uint64_t timestamp;uint64_t accelerometer_timestamp;uint64_t magnetometer_timestamp;uint64_t gyro1_timestamp;uint64_t accelerometer1_timestamp;uint64_t magnetometer1_timestamp;uint64_t gyro2_timestamp;uint64_t accelerometer2_timestamp;uint64_t magnetometer2_timestamp;uint64_t baro_timestamp;uint64_t baro1_timestamp;uint64_t differential_pressure_timestamp;uint64_t differential_pressure1_timestamp;float[3] gyro_rad_s;uint32_t gyro_errcount;float gyro_temp;float[3] accelerometer_m_s2;float accelerometer_range_m_s2;uint32_t accelerometer_errcount;float accelerometer_temp;float[3] magnetometer_ga;float magnetometer_range_ga;float magnetometer_cuttoff_freq_hz;uint32_t magnetometer_errcount;float magnetometer_temp;float[3] gyro1_rad_s;uint32_t gyro1_errcount;float gyro1_temp;float[3] accelerometer1_m_s2;uint32_t accelerometer1_errcount;float accelerometer1_temp;float[3] magnetometer1_ga;uint32_t magnetometer1_errcount;float magnetometer1_temp;float[3] gyro2_rad_s;uint32_t gyro2_errcount;float gyro2_temp;float[3] accelerometer2_m_s2;uint32_t accelerometer2_errcount;float accelerometer2_temp;float[3] magnetometer2_ga;uint32_t magnetometer2_errcount;float magnetometer2_temp;float baro_pres_mbar;float baro_alt_meter;float baro_temp_celcius;float baro1_pres_mbar;float baro1_alt_meter;float baro1_temp_celcius;float[10] adc_voltage_v;float mcu_temp_celcius;float differential_pressure_pa;float differential_pressure_filtered_pa;float differential_pressure1_pa;float differential_pressure1_filtered_pa;int16_t[3] gyro_raw;int16_t[3] accelerometer_raw;int16_t accelerometer_mode;int16_t[3] magnetometer_raw;int16_t magnetometer_mode;int16_t[3] gyro1_raw;int16_t[3] accelerometer1_raw;int16_t[3] magnetometer1_raw;int16_t[3] gyro2_raw;int16_t[3] accelerometer2_raw;int16_t[3] magnetometer2_raw;uint16_t[10] adc_mapping;uint8_t[6] _padding0;Fvehicle_local_position_setpoint:uint64_t timestamp;float x;float y;float z;float yaw;float vx;float vy;float vz;float acc_x;float acc_y;float acc_z;Fvehicle_vision_position:uint64_t timestamp;uint64_t ref_timestamp;double ref_lat;double ref_lon;uint64_t surface_bottom_timestamp;float x;float y;float z;float[2] delta_xy;float delta_z;float vx;float vy;float vz;float z_deriv;float[2] delta_vxy;float delta_vz;float ax;float ay;float az;float yaw;float ref_alt;float dist_bottom;float dist_bottom_rate;float eph;float epv;float evh;float evv;uint8_t estimator_type;bool xy_valid;bool z_valid;bool v_xy_valid;bool v_z_valid;uint8_t xy_reset_counter;uint8_t z_reset_counter;uint8_t vxy_reset_counter;uint8_t vz_reset_counter;bool xy_global;bool z_global;bool dist_bottom_valid;uint8_t[4] _padding0;Fhome_position:uint64_t timestamp;double lat;double lon;float alt;float x;float y;float z;float yaw;float direction_x;float direction_y;float direction_z;.Ffw_pos_ctrl_status:uint64_t timestamp;float nav_roll;float nav_pitch;float nav_bearing;float target_bearing;float wp_dist;float xtrack_error;float turn_distance;float landing_horizontal_slope_displacement;float landing_slope_angle_rad;float landing_flare_length;bool abort_landing;uint8_t[7] _padding0;cFsensor_preflight:uint64_t timestamp;float accel_inconsistency_m_s_s;float gyro_inconsistency_rad_s;OFgps_inject_data:uint64_t timestamp;uint8_t len;uint8_t flags;uint8_t[182] data;Ffollow_target:uint64_t timestamp;double lat;double lon;float alt;float vy;float vx;float vz;uint8_t est_cap;uint8_t[7] _padding0;JFulog_stream_ack:uint64_t timestamp;uint16_t sequence;uint8_t[6] _padding0;Fsensor_gyro:uint64_t timestamp;uint64_t integral_dt;uint64_t error_count;float x;float y;float z;float x_integral;float y_integral;float z_integral;float temperature;float range_rad_s;float scaling;uint32_t device_id;int16_t x_raw;int16_t y_raw;int16_t z_raw;int16_t temperature_raw;KFcommander_state:uint64_t timestamp;uint8_t main_state;uint8_t[7] _padding0;Fulog_stream:uint64_t timestamp;uint16_t sequence;uint8_t length;uint8_t first_message_offset;uint8_t flags;uint8_t[249] data;uint8_t[2] _padding0;4Ffence_vertex:uint64_t timestamp;float lat;float lon;Fvehicle_command:uint64_t timestamp;double param5;double param6;float param1;float param2;float param3;float param4;float param7;uint32_t command;uint32_t target_system;uint32_t target_component;uint32_t source_system;uint32_t source_component;uint8_t confirmation;uint8_t[7] _padding0;[Factuator_controls_virtual_mc:uint64_t timestamp;uint64_t timestamp_sample;float[8] control;^Foutput_pwm:uint64_t timestamp;uint32_t channel_count;uint16_t[16] values;uint8_t[4] _padding0;Fekf2_timestamps:uint64_t timestamp;int16_t gps_timestamp_rel;int16_t optical_flow_timestamp_rel;int16_t distance_sensor_timestamp_rel;int16_t airspeed_timestamp_rel;int16_t vision_position_timestamp_rel;int16_t vision_attitude_timestamp_rel;uint8_t[4] _padding0;Fdistance_sensor:uint64_t timestamp;float min_distance;float max_distance;float current_distance;float covariance;uint8_t type;uint8_t id;uint8_t orientation;uint8_t[5] _padding0;Foffboard_control_mode:uint64_t timestamp;bool ignore_thrust;bool ignore_attitude;bool ignore_bodyrate;bool ignore_position;bool ignore_velocity;bool ignore_acceleration_force;bool ignore_alt_hold;uint8_t[1] _padding0;9Fgps_dump:uint64_t timestamp;uint8_t len;uint8_t[79] data;VFmavlink_log:uint64_t timestamp;uint8_t[50] text;uint8_t severity;uint8_t[5] _padding0;ZFactuator_direct:uint64_t timestamp;uint32_t nvalues;float[16] values;uint8_t[4] _padding0;{Fvehicle_vision_attitude:uint64_t timestamp;float rollspeed;float pitchspeed;float yawspeed;float[4] q;uint8_t[4] _padding0;Finput_rc:uint64_t timestamp;uint64_t timestamp_last_signal;uint32_t channel_count;int32_t rssi;uint16_t rc_lost_frame_count;uint16_t rc_total_frame_count;uint16_t rc_ppm_frame_length;uint16_t[18] values;bool rc_failsafe;bool rc_lost;uint8_t input_source;uint8_t[3] _padding0;Fvehicle_roi:uint64_t timestamp;double lat;double lon;uint32_t mission_seq;uint32_t target_seq;float alt;uint8_t mode;uint8_t[3] _padding0;Fvehicle_attitude_groundtruth:uint64_t timestamp;float rollspeed;float pitchspeed;float yawspeed;float[4] q;uint8_t[4] _padding0;Fsensor_mag:uint64_t timestamp;uint64_t error_count;float x;float y;float z;float range_ga;float scaling;float temperature;uint32_t device_id;int16_t x_raw;int16_t y_raw;int16_t z_raw;uint8_t is_external;uint8_t[5] _padding0;TFmc_virtual_attitude_setpoint:uint64_t timestamp;float roll_body;float pitch_body;float yaw_body;float yaw_sp_move_rate;float[4] q_d;float thrust;float landing_gear;bool q_d_valid;bool roll_reset_integral;bool pitch_reset_integral;bool yaw_reset_integral;bool fw_control_yaw;bool disable_mc_yaw_control;bool apply_flaps;uint8_t[1] _padding0;Pfloat ATT_VIBE_THRESH>Pfloat BAT_A_PER_VBPfloat BAT_CAPACITYPfloat BAT_CNT_V_CURR)\@Pfloat BAT_CNT_V_VOLT@Pfloat BAT_CRIT_THR)\=Pfloat BAT_EMERGEN_THRL=Pfloat BAT_LOW_THR>Pint32_t BAT_N_CELLSPfloat BAT_R_INTERNALPint32_t BAT_SOURCEPfloat BAT_V_CHARGED@Pfloat BAT_V_DIV/APfloat BAT_V_EMPTYY@Pfloat BAT_V_LOAD_DROP>Pfloat BAT_V_OFFS_CURRPint32_t CAL_ACC0_ID Pfloat CAL_ACC0_XOFF<Pfloat CAL_ACC0_XSCALE ?Pfloat CAL_ACC0_YOFF=Pfloat CAL_ACC0_YSCALE?Pfloat CAL_ACC0_ZOFFڼPfloat CAL_ACC0_ZSCALE#~?Pfloat CAL_ACC1_XOFFPfloat CAL_ACC1_XSCALE?Pfloat CAL_ACC1_YOFFPfloat CAL_ACC1_YSCALE?Pfloat CAL_ACC1_ZOFFPfloat CAL_ACC1_ZSCALE?Pfloat CAL_ACC2_XOFFPfloat CAL_ACC2_XSCALE?Pfloat CAL_ACC2_YOFFPfloat CAL_ACC2_YSCALE?Pfloat CAL_ACC2_ZOFFPfloat CAL_ACC2_ZSCALE?Pint32_t CAL_ACC_PRIME Pint32_t CAL_BARO_PRIMEPint32_t CAL_GYRO0_ID $Pfloat CAL_GYRO0_XOFFPfloat CAL_GYRO0_XSCALE?Pfloat CAL_GYRO0_YOFF;;Pfloat CAL_GYRO0_YSCALE?Pfloat CAL_GYRO0_ZOFFCŻPfloat CAL_GYRO0_ZSCALE?Pfloat CAL_GYRO1_XOFFPfloat CAL_GYRO1_XSCALE?Pfloat CAL_GYRO1_YOFFPfloat CAL_GYRO1_YSCALE?Pfloat CAL_GYRO1_ZOFFPfloat CAL_GYRO1_ZSCALE?Pfloat CAL_GYRO2_XOFFPfloat CAL_GYRO2_XSCALE?Pfloat CAL_GYRO2_YOFFPfloat CAL_GYRO2_YSCALE?Pfloat CAL_GYRO2_ZOFFPfloat CAL_GYRO2_ZSCALE?Pint32_t CAL_GYRO_PRIME $Pint32_t CAL_MAG0_ID Pint32_t CAL_MAG0_ROTPint32_t CAL_MAG1_ID Pint32_t CAL_MAG1_ROTPfloat CAL_MAG1_XOFF1Z>Pfloat CAL_MAG1_XSCALENM?Pfloat CAL_MAG1_YOFFIN=Pfloat CAL_MAG1_YSCALEI?Pfloat CAL_MAG1_ZOFF- >Pfloat CAL_MAG1_ZSCALEtY?Pint32_t CAL_MAG2_IDPint32_t CAL_MAG2_ROTPfloat CAL_MAG2_XOFFPfloat CAL_MAG2_XSCALE?Pfloat CAL_MAG2_YOFFPfloat CAL_MAG2_YSCALE?Pfloat CAL_MAG2_ZOFFPfloat CAL_MAG2_ZSCALE?Pint32_t CAL_MAG3_IDPint32_t CAL_MAG3_ROTPfloat CAL_MAG3_XOFFPfloat CAL_MAG3_XSCALE?Pfloat CAL_MAG3_YOFFPfloat CAL_MAG3_YSCALE?Pfloat CAL_MAG3_ZOFFPfloat CAL_MAG3_ZSCALE?Pint32_t CAL_MAG_PRIME Pint32_t CAL_MAG_SIDES?Pint32_t CBRK_AIRSPD_CHKPint32_t CBRK_ENGINEFAILYPint32_t CBRK_FLIGHTTERM|Pint32_t CBRK_GPSFAILPint32_t CBRK_IO_SAFETY VPint32_t CBRK_RATE_CTRLPint32_t CBRK_SUPPLY_CHKPint32_t CBRK_USB_CHKPint32_t CBRK_VELPOSERRPfloat COM_ARM_EKF_AB ף;Pfloat COM_ARM_EKF_GBd:Pfloat COM_ARM_EKF_HGT?Pfloat COM_ARM_EKF_POS?Pfloat COM_ARM_EKF_VEL?Pfloat COM_ARM_EKF_YAW?Pfloat COM_ARM_IMU_ACC333?Pfloat COM_ARM_IMU_GYRL>Pint32_t COM_ARM_MIS_REQPint32_t COM_ARM_SWISBTNPint32_t COM_ARM_WO_GPSPint32_t COM_DISARM_LANDPint32_t COM_DL_LOSS_T Pint32_t COM_DL_REG_TPfloat COM_EF_C2T@Pfloat COM_EF_THROT?Pfloat COM_EF_TIME APint32_t COM_FLTMODE1Pint32_t COM_FLTMODE2Pint32_t COM_FLTMODE3Pint32_t COM_FLTMODE4Pint32_t COM_FLTMODE5Pint32_t COM_FLTMODE6Pfloat COM_HOME_H_T@Pfloat COM_HOME_V_T APint32_t COM_LOW_BAT_ACTPint32_t COM_OBL_ACTPint32_t COM_OBL_RC_ACTPfloat COM_OF_LOSS_TPint32_t COM_POSCTL_NAVLPint32_t COM_RC_ARM_HYSTPint32_t COM_RC_IN_MODEPfloat COM_RC_LOSS_T?Pint32_t COM_RC_OVERRIDEPfloat COM_RC_STICK_OV@APfloat EKF2_ABIAS_INITL>Pfloat EKF2_ACC_B_NOISED;Pfloat EKF2_ACC_NOISEQ>Pint32_t EKF2_AID_MASKPfloat EKF2_ANGERR_INIT=Pfloat EKF2_ARSP_THRPfloat EKF2_ASP_DELAYBPfloat EKF2_BARO_DELAYPfloat EKF2_BARO_GATE@Pfloat EKF2_BARO_NOISE@Pfloat EKF2_BETA_NOISE>Pint32_t EKF2_DECL_TYPEPfloat EKF2_EAS_NOISE33?Pfloat EKF2_EVA_NOISEL=Pfloat EKF2_EVP_NOISEL=Pfloat EKF2_EV_DELAY/CPfloat EKF2_EV_GATE@Pfloat EKF2_EV_POS_XPfloat EKF2_EV_POS_YPfloat EKF2_EV_POS_ZPint32_t EKF2_FUSE_BETAPfloat EKF2_GBIAS_INIT=Pint32_t EKF2_GPS_CHECKPfloat EKF2_GPS_DELAYBPfloat EKF2_GPS_POS_XPfloat EKF2_GPS_POS_YPfloat EKF2_GPS_POS_ZPfloat EKF2_GPS_P_GATE@Pfloat EKF2_GPS_P_NOISE?Pfloat EKF2_GPS_V_GATE@Pfloat EKF2_GPS_V_NOISE?Pfloat EKF2_GYR_B_NOISEo:Pfloat EKF2_GYR_NOISEu<Pfloat EKF2_HDG_GATEff&@Pfloat EKF2_HEAD_NOISE>Pint32_t EKF2_HGT_MODEPfloat EKF2_IMU_POS_XPfloat EKF2_IMU_POS_YPfloat EKF2_IMU_POS_ZPint32_t EKF2_MAGBIAS_ID Pfloat EKF2_MAGBIAS_XPfloat EKF2_MAGBIAS_YPfloat EKF2_MAGBIAS_ZPfloat EKF2_MAGB_KL>Pfloat EKF2_MAGB_VREF74Pfloat EKF2_MAG_ACCLIM?Pfloat EKF2_MAG_B_NOISE8Pfloat EKF2_MAG_DECL?Pfloat EKF2_MAG_DELAYPfloat EKF2_MAG_E_NOISEo:Pfloat EKF2_MAG_GATE@@Pfloat EKF2_MAG_NOISEL=Pint32_t EKF2_MAG_TYPEPfloat EKF2_MAG_YAWLIM>Pint32_t EKF2_MIN_OBS_DTPfloat EKF2_MIN_RNG=Pfloat EKF2_NOAID_NOISE APfloat EKF2_OF_DELAY@Pfloat EKF2_OF_GATE@@Pfloat EKF2_OF_N_MAX?Pfloat EKF2_OF_N_MIN>Pfloat EKF2_OF_POS_XPfloat EKF2_OF_POS_YPfloat EKF2_OF_POS_ZPint32_t EKF2_OF_QMINPfloat EKF2_OF_RMAX @Pint32_t EKF2_REC_RPLPfloat EKF2_REQ_EPH@Pfloat EKF2_REQ_EPVAPfloat EKF2_REQ_GDOP @Pfloat EKF2_REQ_HDRIFT>Pint32_t EKF2_REQ_NSATSPfloat EKF2_REQ_SACC?Pfloat EKF2_REQ_VDRIFT?Pint32_t EKF2_RNG_AIDPfloat EKF2_RNG_A_HMAX@Pfloat EKF2_RNG_A_VMAX?Pfloat EKF2_RNG_DELAY@Pfloat EKF2_RNG_GATE@Pfloat EKF2_RNG_NOISE=Pfloat EKF2_RNG_PITCHPfloat EKF2_RNG_POS_XPfloat EKF2_RNG_POS_YPfloat EKF2_RNG_POS_ZPfloat EKF2_RNG_SFEL=Pfloat EKF2_TAS_GATE@@Pfloat EKF2_TAU_POS>Pfloat EKF2_TAU_VEL>Pfloat EKF2_TERR_GRAD?Pfloat EKF2_TERR_NOISE@Pfloat EKF2_WIND_NOISE=Pint32_t FW_ARSP_MODEPfloat FW_CLMBOUT_DIFF APint32_t GF_ACTIONPint32_t GF_ALTMODEPint32_t GF_COUNTPfloat GF_MAX_HOR_DISTPfloat GF_MAX_VER_DISTPint32_t GF_SOURCEPint32_t GPS_DUMP_COMMPint32_t GPS_UBX_DYNMODELPfloat LNDMC_ALT_MAX@FPfloat LNDMC_FFALL_THR@Pfloat LNDMC_FFALL_TTRI>Pfloat LNDMC_MAN_DWNTHR>Pfloat LNDMC_POS_UPTHRff&?Pfloat LNDMC_ROT_MAXAPfloat LNDMC_THR_RANGE=Pfloat LNDMC_XY_VEL_MAX?Pfloat LNDMC_Z_VEL_MAX?Pint32_t LND_FLIGHT_T_HIPint32_t LND_FLIGHT_T_LOPint32_t MAV_BROADCASTPint32_t MAV_COMP_IDPint32_t MAV_FWDEXTSPPint32_t MAV_PROTO_VERPint32_t MAV_RADIO_IDPint32_t MAV_SYS_IDPint32_t MAV_TEST_PARPint32_t MAV_TYPEPint32_t MAV_USEHILGPSPfloat MC_ACRO_P_MAXCPfloat MC_ACRO_R_MAXCPfloat MC_ACRO_Y_MAXCPint32_t MC_BAT_SCALE_ENPfloat MC_PITCHRATE_DD;Pfloat MC_PITCHRATE_FFPfloat MC_PITCHRATE_IL=Pfloat MC_PITCHRATE_MAX\CPfloat MC_PITCHRATE_P>Pfloat MC_PITCH_P@Pfloat MC_PITCH_TCL>Pfloat MC_PR_INT_LIM>Pfloat MC_RATT_THL?Pfloat MC_ROLLRATE_DD;Pfloat MC_ROLLRATE_FFPfloat MC_ROLLRATE_IL=Pfloat MC_ROLLRATE_MAX\CPfloat MC_ROLLRATE_P>Pfloat MC_ROLL_P@Pfloat MC_ROLL_TCL>Pfloat MC_RR_INT_LIM>Pfloat MC_TPA_BREAK_D?Pfloat MC_TPA_BREAK_I?Pfloat MC_TPA_BREAK_P?Pfloat MC_TPA_RATE_DPfloat MC_TPA_RATE_IPfloat MC_TPA_RATE_PPfloat MC_YAWRATE_DPfloat MC_YAWRATE_FFPfloat MC_YAWRATE_I=Pfloat MC_YAWRATE_MAXHCPfloat MC_YAWRATE_PL>Pfloat MC_YAWRAUTO_MAX4BPfloat MC_YAW_FF?Pfloat MC_YAW_P333@Pfloat MC_YR_INT_LIM>Pint32_t MIS_ALTMODEPfloat MIS_DIST_1WPaDPfloat MIS_LTRMIN_ALTPint32_t MIS_ONBOARD_ENPfloat MIS_TAKEOFF_ALT @Pint32_t MIS_YAWMODEPfloat MIS_YAW_ERR@APfloat MIS_YAW_TMTPint32_t MNT_MODE_INPfloat MOT_SLEW_MAXPfloat MPC_ACC_DOWN_MAX@Pfloat MPC_ACC_HOR_MAX@Pfloat MPC_ACC_UP_MAX@Pint32_t MPC_ALT_MODEPfloat MPC_DEC_HOR_MAX APfloat MPC_HOLD_DZ=Pfloat MPC_HOLD_MAX_XYL?Pfloat MPC_HOLD_MAX_Z?Pfloat MPC_LAND_ALT1 APfloat MPC_LAND_ALT2@Pfloat MPC_LAND_SPEED?Pfloat MPC_MANTHR_MAXfff?Pfloat MPC_MANTHR_MIN ף=Pfloat MPC_MAN_TILT_MAX BPfloat MPC_MAN_Y_MAXHCPfloat MPC_TARGET_THREpAPfloat MPC_THR_HOVER?Pfloat MPC_THR_MAXfff?Pfloat MPC_THR_MIN=Pfloat MPC_TILTMAX_AIR4BPfloat MPC_TILTMAX_LND@APfloat MPC_TKO_RAMP_T>Pfloat MPC_TKO_SPEED?Pfloat MPC_VELD_LP@Pfloat MPC_VEL_MAN_MAX APfloat MPC_XY_CRUISE@Pfloat MPC_XY_MAN_EXPOPfloat MPC_XY_P33s?Pfloat MPC_XY_VEL_D #<Pfloat MPC_XY_VEL_I ף<Pfloat MPC_XY_VEL_MAXAPfloat MPC_XY_VEL_PQ=Pfloat MPC_Z_MAN_EXPOP float MPC_Z_P?Pfloat MPC_Z_VEL_DPfloat MPC_Z_VEL_I ף<Pfloat MPC_Z_VEL_MAX_DN?Pfloat MPC_Z_VEL_MAX_UP@@Pfloat MPC_Z_VEL_PL>Pfloat NAV_ACC_RAD@Pfloat NAV_AH_ALTDPint32_t NAV_AH_LAT{'Pint32_t NAV_AH_LONLZPint32_t NAV_DLL_ACTPfloat NAV_DLL_AH_TBPint32_t NAV_DLL_CHSKPfloat NAV_DLL_CH_ALTDPint32_t NAV_DLL_CH_LAT$Pint32_t NAV_DLL_CH_LONāZPfloat NAV_DLL_CH_TBPint32_t NAV_DLL_NPint32_t NAV_FORCE_VTPfloat NAV_FT_DSTAPint32_t NAV_FT_FSPfloat NAV_FT_RS?Pfloat NAV_FW_ALT_RAD APfloat NAV_GPSF_LTAPfloat NAV_GPSF_PPfloat NAV_GPSF_RpAPfloat NAV_GPSF_TR333?Pfloat NAV_LOITER_RADHBPfloat NAV_MC_ALT_RADL?Pfloat NAV_MIN_FT_HTAPint32_t NAV_RCL_ACTPfloat NAV_RCL_LTBPint32_t PWM_AUX_DISARMEDPint32_t PWM_AUX_MAXPint32_t PWM_AUX_MINPint32_t PWM_AUX_REV1Pint32_t PWM_AUX_REV2Pint32_t PWM_AUX_REV3Pint32_t PWM_AUX_REV4Pint32_t PWM_AUX_REV5Pint32_t PWM_AUX_REV6Pfloat PWM_AUX_TRIM1Pfloat PWM_AUX_TRIM2Pfloat PWM_AUX_TRIM3Pfloat PWM_AUX_TRIM4Pfloat PWM_AUX_TRIM5Pfloat PWM_AUX_TRIM6Pint32_t PWM_DISARMEDPint32_t PWM_MAXPint32_t PWM_MIN3Pint32_t PWM_RATEP float RC10_DZPfloat RC10_MAXDPfloat RC10_MINzDPfloat RC10_REV?Pfloat RC10_TRIMDP float RC11_DZPfloat RC11_MAXDPfloat RC11_MINzDPfloat RC11_REV?Pfloat RC11_TRIMDP float RC12_DZPfloat RC12_MAXDPfloat RC12_MINzDPfloat RC12_REV?Pfloat RC12_TRIMDP float RC13_DZPfloat RC13_MAXDPfloat RC13_MINzDPfloat RC13_REV?Pfloat RC13_TRIMDP float RC14_DZPfloat RC14_MAXDPfloat RC14_MINzDPfloat RC14_REV?Pfloat RC14_TRIMDP float RC15_DZPfloat RC15_MAXDPfloat RC15_MINzDPfloat RC15_REV?Pfloat RC15_TRIMDP float RC16_DZPfloat RC16_MAXDPfloat RC16_MINzDPfloat RC16_REV?Pfloat RC16_TRIMDP float RC17_DZPfloat RC17_MAXDPfloat RC17_MINzDPfloat RC17_REV?Pfloat RC17_TRIMDP float RC18_DZPfloat RC18_MAXDPfloat RC18_MINzDPfloat RC18_REV?Pfloat RC18_TRIMDP float RC1_DZ AP float RC1_MAXDP float RC1_MINzDP float RC1_REV?Pfloat RC1_TRIMDP float RC2_DZ AP float RC2_MAXDP float RC2_MINzDP float RC2_REV?Pfloat RC2_TRIMDP float RC3_DZ AP float RC3_MAXDP float RC3_MINzDP float RC3_REV?Pfloat RC3_TRIMDP float RC4_DZ AP float RC4_MAXDP float RC4_MINzDP float RC4_REV?Pfloat RC4_TRIMDP float RC5_DZ AP float RC5_MAXDP float RC5_MINzDP float RC5_REV?Pfloat RC5_TRIMDP float RC6_DZ AP float RC6_MAXDP float RC6_MINzDP float RC6_REV?Pfloat RC6_TRIMDP float RC7_DZ AP float RC7_MAXDP float RC7_MINzDP float RC7_REV?Pfloat RC7_TRIMDP float RC8_DZ AP float RC8_MAXDP float RC8_MINzDP float RC8_REV?Pfloat RC8_TRIMDP float RC9_DZP float RC9_MAXDP float RC9_MINzDP float RC9_REV?Pfloat RC9_TRIMDPfloat RC_ACRO_TH?Pfloat RC_ARMSWITCH_TH>Pfloat RC_ASSIST_TH>Pfloat RC_AUTO_TH@?Pint32_t RC_CHAN_CNTPint32_t RC_DSM_BINDPint32_t RC_FAILS_THRPfloat RC_FLT_CUTOFF APfloat RC_FLT_SMP_RATEHBPfloat RC_GEAR_TH>Pfloat RC_KILLSWITCH_TH>Pfloat RC_LOITER_TH?Pfloat RC_MAN_TH?Pint32_t RC_MAP_ACRO_SWPint32_t RC_MAP_ARM_SWPint32_t RC_MAP_AUX1Pint32_t RC_MAP_AUX2Pint32_t RC_MAP_AUX3Pint32_t RC_MAP_AUX4Pint32_t RC_MAP_AUX5Pint32_t RC_MAP_FAILSAFEPint32_t RC_MAP_FLAPSPint32_t RC_MAP_FLTMODEPint32_t RC_MAP_GEAR_SWPint32_t RC_MAP_KILL_SWPint32_t RC_MAP_LOITER_SWPint32_t RC_MAP_MAN_SWPint32_t RC_MAP_MODE_SWPint32_t RC_MAP_OFFB_SWPint32_t RC_MAP_PARAM1Pint32_t RC_MAP_PARAM2Pint32_t RC_MAP_PARAM3Pint32_t RC_MAP_PITCHPint32_t RC_MAP_POSCTL_SWPint32_t RC_MAP_RATT_SWPint32_t RC_MAP_RETURN_SWPint32_t RC_MAP_ROLLPint32_t RC_MAP_STAB_SWPint32_t RC_MAP_THROTTLEPint32_t RC_MAP_TRANS_SWPint32_t RC_MAP_YAWPfloat RC_OFFB_TH?Pfloat RC_POSCTL_TH?Pfloat RC_RATT_TH?Pfloat RC_RETURN_TH?Pfloat RC_STAB_TH?Pint32_t RC_TH_USERPfloat RC_TRANS_TH>Pfloat RTL_DESCEND_ALT APfloat RTL_LAND_DELAYPfloat RTL_MIN_DIST@Pfloat RTL_RETURN_ALTAPint32_t SDLOG_DIRS_MAXPint32_t SDLOG_MODEPint32_t SDLOG_UTC_OFFSETPint32_t SDLOG_UUIDPfloat SENS_BARO_QNHP}DPint32_t SENS_BOARD_ROTPfloat SENS_BOARD_X_OFFMGPfloat SENS_BOARD_Y_OFFPfloat SENS_BOARD_Z_OFFPfloat SENS_DPRES_ANSCPfloat SENS_DPRES_OFFPint32_t SENS_EN_LL40LSPint32_t SENS_EN_MB12XXPint32_t SENS_EN_SF0XPint32_t SENS_EN_SF1XXPint32_t SENS_EN_TRONEPint32_t SYS_AUTOCONFIGPint32_t SYS_AUTOSTARTPint32_t SYS_CAL_ACCELPint32_t SYS_CAL_BAROPint32_t SYS_CAL_GYROPint32_t SYS_CAL_TDELPint32_t SYS_CAL_TMAX Pint32_t SYS_CAL_TMINPint32_t SYS_COMPANIONgPint32_t SYS_LOGGERPint32_t SYS_MC_EST_GROUPPint32_t SYS_PARAM_VERPint32_t SYS_RESTART_TYPEPint32_t SYS_STCK_ENPint32_t SYS_USE_IOPint32_t TC_A0_IDPfloat TC_A0_SCL_0?Pfloat TC_A0_SCL_1?Pfloat TC_A0_SCL_2?Pfloat TC_A0_TMAXBPfloat TC_A0_TMINPfloat TC_A0_TREFAPfloat TC_A0_X0_0Pfloat TC_A0_X0_1Pfloat TC_A0_X0_2Pfloat TC_A0_X1_0Pfloat TC_A0_X1_1Pfloat TC_A0_X1_2Pfloat TC_A0_X2_0Pfloat TC_A0_X2_1Pfloat TC_A0_X2_2Pfloat TC_A0_X3_0Pfloat TC_A0_X3_1Pfloat TC_A0_X3_2Pint32_t TC_A1_IDPfloat TC_A1_SCL_0?Pfloat TC_A1_SCL_1?Pfloat TC_A1_SCL_2?Pfloat TC_A1_TMAXBPfloat TC_A1_TMINPfloat TC_A1_TREFAPfloat TC_A1_X0_0Pfloat TC_A1_X0_1Pfloat TC_A1_X0_2Pfloat TC_A1_X1_0Pfloat TC_A1_X1_1Pfloat TC_A1_X1_2Pfloat TC_A1_X2_0Pfloat TC_A1_X2_1Pfloat TC_A1_X2_2Pfloat TC_A1_X3_0Pfloat TC_A1_X3_1Pfloat TC_A1_X3_2Pint32_t TC_A2_IDPfloat TC_A2_SCL_0?Pfloat TC_A2_SCL_1?Pfloat TC_A2_SCL_2?Pfloat TC_A2_TMAXBPfloat TC_A2_TMINPfloat TC_A2_TREFAPfloat TC_A2_X0_0Pfloat TC_A2_X0_1Pfloat TC_A2_X0_2Pfloat TC_A2_X1_0Pfloat TC_A2_X1_1Pfloat TC_A2_X1_2Pfloat TC_A2_X2_0Pfloat TC_A2_X2_1Pfloat TC_A2_X2_2Pfloat TC_A2_X3_0Pfloat TC_A2_X3_1Pfloat TC_A2_X3_2Pint32_t TC_A_ENABLEPint32_t TC_B0_IDPfloat TC_B0_SCL?Pfloat TC_B0_TMAXBPfloat TC_B0_TMIN@Pfloat TC_B0_TREF BPfloat TC_B0_X0Pfloat TC_B0_X1Pfloat TC_B0_X2Pfloat TC_B0_X3Pfloat TC_B0_X4Pfloat TC_B0_X5Pint32_t TC_B1_IDPfloat TC_B1_SCL?Pfloat TC_B1_TMAXBPfloat TC_B1_TMIN@Pfloat TC_B1_TREF BPfloat TC_B1_X0Pfloat TC_B1_X1Pfloat TC_B1_X2Pfloat TC_B1_X3Pfloat TC_B1_X4Pfloat TC_B1_X5Pint32_t TC_B2_IDPfloat TC_B2_SCL?Pfloat TC_B2_TMAXBPfloat TC_B2_TMIN@Pfloat TC_B2_TREF BPfloat TC_B2_X0Pfloat TC_B2_X1Pfloat TC_B2_X2Pfloat TC_B2_X3Pfloat TC_B2_X4Pfloat TC_B2_X5Pint32_t TC_B_ENABLEPint32_t TC_G0_IDPfloat TC_G0_SCL_0?Pfloat TC_G0_SCL_1?Pfloat TC_G0_SCL_2?Pfloat TC_G0_TMAXBPfloat TC_G0_TMINPfloat TC_G0_TREFAPfloat TC_G0_X0_0Pfloat TC_G0_X0_1Pfloat TC_G0_X0_2Pfloat TC_G0_X1_0Pfloat TC_G0_X1_1Pfloat TC_G0_X1_2Pfloat TC_G0_X2_0Pfloat TC_G0_X2_1Pfloat TC_G0_X2_2Pfloat TC_G0_X3_0Pfloat TC_G0_X3_1Pfloat TC_G0_X3_2Pint32_t TC_G1_IDPfloat TC_G1_SCL_0?Pfloat TC_G1_SCL_1?Pfloat TC_G1_SCL_2?Pfloat TC_G1_TMAXBPfloat TC_G1_TMINPfloat TC_G1_TREFAPfloat TC_G1_X0_0Pfloat TC_G1_X0_1Pfloat TC_G1_X0_2Pfloat TC_G1_X1_0Pfloat TC_G1_X1_1Pfloat TC_G1_X1_2Pfloat TC_G1_X2_0Pfloat TC_G1_X2_1Pfloat TC_G1_X2_2Pfloat TC_G1_X3_0Pfloat TC_G1_X3_1Pfloat TC_G1_X3_2Pint32_t TC_G2_IDPfloat TC_G2_SCL_0?Pfloat TC_G2_SCL_1?Pfloat TC_G2_SCL_2?Pfloat TC_G2_TMAXBPfloat TC_G2_TMINPfloat TC_G2_TREFAPfloat TC_G2_X0_0Pfloat TC_G2_X0_1Pfloat TC_G2_X0_2Pfloat TC_G2_X1_0Pfloat TC_G2_X1_1Pfloat TC_G2_X1_2Pfloat TC_G2_X2_0Pfloat TC_G2_X2_1Pfloat TC_G2_X2_2Pfloat TC_G2_X3_0Pfloat TC_G2_X3_1Pfloat TC_G2_X3_2Pint32_t TC_G_ENABLEPfloat THR_MDL_FACPint32_t TRIG_MODEPint32_t UAVCAN_ENABLEPfloat VT_B_TRANS_DUR@Pint32_t VT_OPT_RECOV_ENPint32_t VT_TYPEPint32_t VT_WV_LND_ENPint32_t VT_WV_LTR_ENPint32_t VT_WV_TKO_ENPfloat VT_WV_YAWR_SCL>mI"char[74] perf_counter_preflight-00navigator: 3 events, 80us elapsed, 26us avg, min 25us max 28us 1.528us rmsyI"char[86] perf_counter_preflight-01mc_att_control: 766 events, 38087us elapsed, 49us avg, min 23us max 395us 32.174us rmsoI"char[76] perf_counter_preflight-02logger_sd_fsync: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rmsI"char[93] perf_counter_preflight-03logger_sd_write: 3 events, 72442us elapsed, 24147us avg, min 10us max 36356us 20904.014us rms:I"char[23] perf_counter_preflight-04mavlink_txe: 226 eventszI"char[87] perf_counter_preflight-05mavlink_el: 1016 events, 163693us elapsed, 161us avg, min 84us max 2478us 191.598us rms8I"char[21] perf_counter_preflight-06mavlink_txe: 0 eventsxI"char[85] perf_counter_preflight-07mavlink_el: 286 events, 33394us elapsed, 116us avg, min 46us max 1851us 166.045us rms8I"char[21] perf_counter_preflight-08mavlink_txe: 0 eventsxI"char[85] perf_counter_preflight-09mavlink_el: 318 events, 48587us elapsed, 152us avg, min 66us max 2327us 259.293us rms8I"char[21] perf_counter_preflight-10mavlink_txe: 0 eventszI"char[87] perf_counter_preflight-11mavlink_el: 1030 events, 214017us elapsed, 207us avg, min 79us max 4163us 310.871us rmsrI"char[79] perf_counter_preflight-12ctl_lat: 321 events, 13187us elapsed, 41us avg, min 38us max 111us 11.183us rmsmI"char[74] perf_counter_preflight-13stack_check: 7 events, 69us elapsed, 9us avg, min 2us max 16us 4.488us rmsuI"char[82] perf_counter_preflight-14sensors: 826 events, 93853us elapsed, 113us avg, min 65us max 5118us 179.764us rms{I"char[88] perf_counter_preflight-15ctrl_latency: 321 events, 40037us elapsed, 124us avg, min 103us max 3022us 166.815us rms;I"char[24] perf_counter_preflight-16mpu9250_dupe: 898 events:I"char[23] perf_counter_preflight-17mpu9250_reset: 0 eventsBI"char[31] perf_counter_preflight-18mpu9250_good_trans: 3443 events<I"char[25] perf_counter_preflight-19mpu9250_bad_reg: 0 events>I"char[27] perf_counter_preflight-20mpu9250_bad_trans: 0 eventsxI"char[85] perf_counter_preflight-21mpu9250_read: 4342 events, 269357us elapsed, 62us avg, min 41us max 91us 13.632us rms>I"char[27] perf_counter_preflight-22mpu9250_gyro_read: 0 events=I"char[26] perf_counter_preflight-23mpu9250_acc_read: 2 eventsFI"char[35] perf_counter_preflight-24mpu9250_mag_duplicates: 3066 eventsBI"char[31] perf_counter_preflight-25mpu9250_mag_overflows: 0 eventsBI"char[31] perf_counter_preflight-26mpu9250_mag_overruns: 51 events?I"char[28] perf_counter_preflight-27mpu9250_mag_errors: 0 events>I"char[27] perf_counter_preflight-28mpu9250_mag_reads: 0 eventsqI"char[78] perf_counter_preflight-29adc_samples: 3024 events, 8046us elapsed, 2us avg, min 2us max 3us 0.474us rms;I"char[24] perf_counter_preflight-30ms5611_com_err: 0 eventswI"char[84] perf_counter_preflight-31ms5611_measure: 321 events, 5603us elapsed, 17us avg, min 8us max 679us 54.355us rmsvI"char[83] perf_counter_preflight-32ms5611_read: 320 events, 23168us elapsed, 72us avg, min 13us max 543us 49.197us rms6I"char[19] perf_counter_preflight-33dma_alloc: 4 eventsAvehicle_attitudeAactuator_outputsAtelemetry_statusAvehicle_commandAvtol_vehicle_statusAcommander_stateAsatellite_infoAvehicle_attitude_setpointAvehicle_rates_setpointA actuator_controls_0A actuator_controls_1A vehicle_local_position"A vehicle_local_position_setpointA vehicle_global_positionAvehicle_vision_positionAvehicle_vision_attitudeAbattery_statusAsystem_powerAposition_setpoint_tripletAatt_pos_mocapAoptical_flowArc_channels Ainput_rcAdifferential_pressure Aesc_statusAestimator_statusAekf2_innovationsAtecs_statusAwind_estimateAcontrol_stateAcamera_triggerAcamera_capture A cpuload A!gps_dumpA"sensor_preflightA#task_stack_info A$airspeedA%distance_sensorA&ekf2_timestampsA'sensor_combinedA(vehicle_gps_positionA)vehicle_land_detectedA*vehicle_statusNDݐOaDaDaDaDDD Dt9D،O?DO2D ͉OTX:Nyܸ8,DzO/C`$0CDaDAD??DOF@D ?Le4>IW?D"D#LTgpsD&SOJD'SOԹbo;ٽ?~\o;Dt>>,Cff#BD) @F/D*QLD#˶LdatamanD&OJD's P(.ʲ캼#xo;q佽s?Yoo;=>6ߒ>,Cff#BD&s 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?<o;>Ic>CG+BD&3z'D&ډ'JD'ډ'½l)L:'M;ni ? t'M;>F4>CG+B&D'ŧ97V cg?{ >9D'+ɻ?+ID'I>V=D's:<@<<L>L>X@f=V0U8_:y;D&s'JD's'Q`4o@[9ׂ;vΏ?Zׂ;_>F4>"CG+BND'aDaDaDaDDD Dt2D ''QDe=@<D&'JD''q9o;&6޽F ?o;>F4>G+B-DMchar[17424] hardfault_plain[hardfault_log] -- 2000-01-01-00:06:01 Begin Fault Log -- System fault Occurred on: 2000-01-01-00:06:01 Type:Hard Fault in file:armv7-m/up_hardfault.c at line: 171 running task: hardfault_log FW git-hash: f54a6c2999e1e2fcbf56dd89de06b615b4186a6e Build datetime: Jul 3 2017 17:04:33 Build url: localhost Processor registers: from 0x2002b8e4 r0:0x00000000 r1:0x00000000 r2:0x00000001 r3:0xe000ed14 r4:0x00000000 r5:0x20002854 r6:0x2002bba6 r7:0x2002bb8c r8:0x00000000 r9:0x00000000 r10:0x00000000 r11:0x00000000 r12:0x00000000 sp:0x2002b9b8 lr:0x080353ad pc:0x080353dc xpsr:0x21000000 basepri:0x000000f0 control:0x00000004 exe return:0xffffffe9 IRQ stack: top: 0x200068f0 sp: 0x200068a0 Valid bottom: 0x20006604 size: 0x000002ec used: 000000e0 User stack: top: 0x2002bb88 sp: 0x2002b9b8 Valid bottom: 0x2002b3ac size: 0x000007dc used: 000007dc Interrupt sp memory region, stack pointer lies within stack 0x20006952 0x00000000 0x20006951 0x00000000 0x20006950 0x00000000 0x2000694f 0x00000000 0x2000694e 0x00000000 0x2000694d 0x00000000 0x2000694c 0x00000000 0x2000694b 0x00000000 0x2000694a 0x00000000 0x20006949 0x00000000 0x20006948 0x00000000 0x20006947 0x00000000 0x20006946 0x00000000 0x20006945 0x00000000 0x20006944 0x00000000 0x20006943 0x00000000 0x20006942 0x00000000 0x20006941 0x00000000 0x20006940 0x00000000 0x2000693f 0x00000000 0x2000693e 0x00000000 0x2000693d 0x00000000 0x2000693c 0x00000000 0x2000693b 0x00000000 0x2000693a 0x00000000 0x20006939 0x2001ba90 0x20006938 0x00000000 0x20006937 0x00000000 0x20006936 0x2001bac0 0x20006935 0x00000000 0x20006934 0x20007758 0x20006933 0x20007640 0x20006932 0x20007608 0x20006931 0x20007590 0x20006930 0x20007790 0x2000692f 0x20007790 0x2000692e 0x200078a8 0x2000692d 0x20007794 0x2000692c 0x00000000 0x2000692b 0x00000603 0x2000692a 0x100061b0 0x20006929 0x10006060 0x20006928 0x20006990 0x20006927 0x10005460 0x20006926 0x00400003 0x20006925 0x0813b450 0x20006924 0x00000002 0x20006923 0x00000000 0x20006922 0x00000000 0x20006921 0x20006990 0x20006920 0x00000000 0x2000691f 0x00400002 0x2000691e 0x0813b450 0x2000691d 0x00000001 0x2000691c 0x00000000 0x2000691b 0x00000000 0x2000691a 0x20006990 0x20006919 0x00000000 0x20006918 0x00400001 0x20006917 0x0813b450 0x20006916 0x00000000 0x20006915 0x00000000 0x20006914 0x00000000 0x20006913 0x20006990 0x20006912 0x20006990 0x20006911 0x00400000 0x20006910 0x0813b450 0x2000690f 0x00001003 0x2000690e 0x00000000 0x2000690d 0x00000000 0x2000690c 0x20006990 0x2000690b 0x00000000 0x2000690a 0x00400083 0x20006909 0x0813b450 0x20006908 0x00001602 0x20006907 0x10006220 0x20006906 0x100062b0 0x20006905 0x20006990 0x20006904 0x10005460 0x20006903 0x00400082 0x20006902 0x0813b450 0x20006901 0x00001301 0x20006900 0x00000000 0x200068ff 0x00000000 0x200068fe 0x20006990 0x200068fd 0x10005460 0x200068fc 0x00400081 0x200068fb 0x0813b450 0x200068fa 0x00001000 0x200068f9 0x00000000 0x200068f8 0x00000000 0x200068f7 0x20006990 0x200068f6 0x10005460 0x200068f5 0x00400080 0x200068f4 0x0813b450 0x200068f3 0x00000000 0x200068f2 0x00000000 0x200068f1 0x00000000 0x200068f0 0x00000000<-- Interrupt sp top 0x200068ef 0x00000000 0x200068ee 0x00000000 0x200068ed 0x00000000 0x200068ec 0x00000000 0x200068eb 0x00000000 0x200068ea 0x00000000 0x200068e9 0x00000000 0x200068e8 0x00000000 0x200068e7 0x00000000 0x200068e6 0x00000000 0x200068e5 0x00000063 0x200068e4 0x08000000 0x200068e3 0x00258000 0x200068e2 0x07000000 0x200068e1 0x0020210e 0x200068e0 0x0e00020c 0x200068df 0x10005fa4 0x200068de 0x00000002 0x200068dd 0x200069f0 0x200068dc 0x0813b434 0x200068db 0x00000000 0x200068da 0x00000000 0x200068d9 0x00000000 0x200068d8 0x00000000 0x200068d7 0x00000000 0x200068d6 0x00000000 0x200068d5 0x00000000 0x200068d4 0x00000000 0x200068d3 0x00000000 0x200068d2 0x00000000 0x200068d1 0x00000000 0x200068d0 0x00000000 0x200068cf 0x00000000 0x200068ce 0x00000000 0x200068cd 0x00000000 0x200068cc 0x00000000 0x200068cb 0x00000000 0x200068ca 0x00000000 0x200068c9 0x10005130 0x200068c8 0x00000001 0x200068c7 0x20007570 0x200068c6 0x20007500 0x200068c5 0x200074e0 0x200068c4 0x200073f0 0x200068c3 0x200071a8 0x200068c2 0x20007040 0x200068c1 0x200073cc 0x200068c0 0x200072a0 0x200068bf 0x20007278 0x200068be 0x200071d0 0x200068bd 0x00000005 0x200068bc 0x10004460 0x200068bb 0x0000ffff 0x200068ba 0x00000000 0x200068b9 0x00000000 0x200068b8 0x00000000 0x200068b7 0x00000000 0x200068b6 0x00000001 0x200068b5 0x10000010 0x200068b4 0x00000000 0x200068b3 0x080f32b7 0x200068b2 0x2002bb8c 0x200068b1 0x2002bba6 0x200068b0 0x20002854 0x200068af 0x2002b8e4 0x200068ae 0x000000f0 0x200068ad 0x080fbca5 0x200068ac 0x080f3331 0x200068ab 0x080f3353 0x200068aa 0x00000000 0x200068a9 0x00000003 0x200068a8 0x080f334b 0x200068a7 0x200068c8 0x200068a6 0x080353dc 0x200068a5 0x080353ad 0x200068a4 0x2002b9b8 0x200068a3 0x00000000 0x200068a2 0x00000000 0x200068a1 0x00000000 0x200068a0 0x000000f0<-- Interrupt sp 0x2000689f 0x080f309d 0x2000689e 0x000000ab 0x2000689d 0x0813ad13 0x2000689c 0x20003d88 0x2000689b 0x20004628 0x2000689a 0x00000000 0x20006899 0x20004628 0x20006898 0x000000ab 0x20006897 0x08109da9 0x20006896 0x20000010 0x20006895 0x080f3429 0x20006894 0x2002b9b8 0x20006893 0x2001bb00 0x20006892 0x080353ad 0x20006891 0x0000015f 0x20006890 0x200068a0 0x2000688f 0x2002b8e4 0x2000688e 0x2001bb00 0x2000688d 0x20000000 0x2000688c 0x20000000 0x2000688b 0x080f0571 0x2000688a 0x20006860 0x20006889 0x20006860 0x20006888 0x00000000 0x20006887 0x080f0553 0x20006886 0x0000015f 0x20006885 0x2001bb00 0x20006884 0x00000000 0x20006883 0x0000003b 0x20006882 0x080ff849 0x20006881 0x080fe621 0x20006880 0x080ff849 0x2000687f 0x080f8ee1 0x2000687e 0x2001bb00 0x2000687d 0x080353ad 0x2000687c 0x000000ab 0x2000687b 0x20003c84 0x2000687a 0x00000000 0x20006879 0x080f2ec9 0x20006878 0x20006844 0x20006877 0x0813ab5a 0x20006876 0x00000000 0x20006875 0x00000000 0x20006874 0x00000000 0x20006873 0x00000004 0x20006872 0x080ff849 0x20006871 0x080f9a59 0x20006870 0x080fe621 0x2000686f 0x00000007 0x2000686e 0x0813b3fe 0x2000686d 0x080f9603 0x2000686c 0x00000004 0x2000686b 0x080f9603 0x2000686a 0x20006824 0x20006869 0x00000020 0x20006868 0x080fe621 0x20006867 0x080f90f3 0x20006866 0x20006824 0x20006865 0x00000002 0x20006864 0x080fe621 0x20006863 0x080f90f3 0x20006862 0x20006824 0x20006861 0x00000001 0x20006860 0x080fe621 0x2000685f 0x080f90f3 0x2000685e 0x20006824 0x2000685d 0x00000000 0x2000685c 0x080fe621 0x2000685b 0xfbff0f00 0x2000685a 0xe2ffe425 0x20006859 0xe4f7d600 0x20006858 0xbdff01ff 0x20006857 0xdeadfffb 0x20006856 0x001e000f 0x20006855 0x25e4f7e4 0x20006854 0x004300d6 0x20006853 0xc0a00000 0x20006852 0x41700000 0x20006851 0xc1f00000 0x20006850 0xdeadbeef 0x2000684f 0xdeadbeef 0x2000684e 0x20006848 0x2000684d 0x200067e0 0x2000684c 0x200067c8 0x2000684b 0x0800c071 0x2000684a 0x00000000 0x20006849 0x00000000 0x20006848 0x10007f20 0x20006847 0x00000000 0x20006846 0x3a534ee0 0x20006845 0x3c089f4a 0x20006844 0x3a3737e0 0x20006843 0x080accaf 0x20006842 0x200067f8 0x20006841 0x1000a730 0x20006840 0x1000a9a0 0x2000683f 0x080f3429 0x2000683e 0x00000000 0x2000683d 0x00000000 0x2000683c 0x00000000 0x2000683b 0x00000000 0x2000683a 0x200067e0 0x20006839 0x00000000 0x20006838 0x00000000 0x20006837 0x00000002 0x20006836 0x1000a980 0x20006835 0xa91ce0dd 0x20006834 0x2ac590bd 0x20006833 0x200066d8 0x20006832 0x00000001 0x20006831 0x00000003 0x20006830 0xb34915f7 0x2000682f 0x351ebdee 0x2000682e 0x3316cf97 0x2000682d 0x200066c0 0x2000682c 0x00000001 0x2000682b 0x00000003 0x2000682a 0xb34915f7 0x20006829 0x351ebdee 0x20006828 0x3316cf97 0x20006827 0x200066a8 0x20006826 0x00000001 0x20006825 0x00000003 0x20006824 0x340f1c97 0x20006823 0x36c307c3 0x20006822 0x352ce320 0x20006821 0x08107ccf 0x20006820 0x075957d3 0x2000681f 0x200067c8 0x2000681e 0x10008178 0x2000681d 0xdeadbeef 0x2000681c 0xdeadbeef 0x2000681b 0xdeadbeef 0x2000681a 0xdeadbeef 0x20006819 0xdeadbeef 0x20006818 0xdeadbeef 0x20006817 0xdeadbeef 0x20006816 0xdeadbeef 0x20006815 0xdeadbeef 0x20006814 0xdeadbeef 0x20006813 0xdeadbeef 0x20006812 0xdeadbeef 0x20006811 0xdeadbeef 0x20006810 0xdeadbeef 0x2000680f 0xdeadbeef 0x2000680e 0xdeadbeef 0x2000680d 0xdeadbeef 0x2000680c 0xdeadbeef 0x2000680b 0xdeadbeef 0x2000680a 0xdeadbeef 0x20006809 0xdeadbeef 0x20006808 0xdeadbeef 0x20006807 0xdeadbeef 0x20006806 0xdeadbeef 0x20006805 0xdeadbeef 0x20006804 0xdeadbeef 0x20006803 0xdeadbeef 0x20006802 0xdeadbeef 0x20006801 0xdeadbeef 0x20006800 0xdeadbeef 0x200067ff 0xdeadbeef 0x200067fe 0xdeadbeef 0x200067fd 0xdeadbeef 0x200067fc 0xdeadbeef 0x200067fb 0xdeadbeef 0x200067fa 0xdeadbeef 0x200067f9 0xdeadbeef 0x200067f8 0xdeadbeef 0x200067f7 0x00000000 0x200067f6 0x00000000 0x200067f5 0x00000000 0x200067f4 0x00000000 0x200067f3 0x00000000 0x200067f2 0x00000000 0x200067f1 0x00000000 0x200067f0 0x00000000 0x200067ef 0x00000000 0x200067ee 0x00000000 0x200067ed 0xfb98a0bf 0x200067ec 0xda7d080a 0x200067eb 0xe6b029e7 0x200067ea 0x55a55b8b 0x200067e9 0x26aff8f1 0x200067e8 0x3a57dc4d 0x200067e7 0xaa08710c 0x200067e6 0x48cedaff 0x200067e5 0xbac645a8 0x200067e4 0xef1e6244 0x200067e3 0x2528f8a6 0x200067e2 0xd4a95a6b 0x200067e1 0x1f3500b1 0x200067e0 0xb69bbf87 0x200067df 0xc97b8e02 0x200067de 0xdcd13ab8 0x200067dd 0x1d934129 0x200067dc 0x1670d1c7 0x200067db 0x858b8458 0x200067da 0xb5dc6b2e 0x200067d9 0x007cb39d 0x200067d8 0x36910361 0x200067d7 0x73110452 0x200067d6 0xf2dccad0 0x200067d5 0x26161caf 0x200067d4 0xb8b9cbb7 0x200067d3 0x25068328 User sp memory region, stack pointer lies within stack 0x2002ba6a 0xfb98a0bf 0x2002ba69 0xda7d080a 0x2002ba68 0xe6b029e7 0x2002ba67 0x55a55b8b 0x2002ba66 0x26aff8f1 0x2002ba65 0x3a57dc4d 0x2002ba64 0xaa08710c 0x2002ba63 0x48cedaff 0x2002ba62 0xbac645a8 0x2002ba61 0xef1e6244 0x2002ba60 0x2528f8a6 0x2002ba5f 0xd4a95a6b 0x2002ba5e 0x1f3500b1 0x2002ba5d 0xb69bbf87 0x2002ba5c 0xc97b8e02 0x2002ba5b 0xdcd13ab8 0x2002ba5a 0x1d934129 0x2002ba59 0x1670d1c7 0x2002ba58 0x858b8458 0x2002ba57 0xb5dc6b2e 0x2002ba56 0x007cb39d 0x2002ba55 0x36910361 0x2002ba54 0x73110452 0x2002ba53 0xf2dccad0 0x2002ba52 0x26161caf 0x2002ba51 0xb8b9cbb7 0x2002ba50 0x25068328 0x2002ba4f 0x487f6c1a 0x2002ba4e 0x010301d1 0x2002ba4d 0xbdab57fc 0x2002ba4c 0x28f32129 0x2002ba4b 0xd817af66 0x2002ba4a 0x0a2be006 0x2002ba49 0x13965cbd 0x2002ba48 0x8fea0b38 0x2002ba47 0x6dc4ad61 0x2002ba46 0x0ccce009 0x2002ba45 0x466bb2df 0x2002ba44 0xeb861cb7 0x2002ba43 0x35b476ef 0x2002ba42 0x9fc05ab4 0x2002ba41 0xeecbf38e 0x2002ba40 0x721d10e7 0x2002ba3f 0x79fefa9f 0x2002ba3e 0x600a345f 0x2002ba3d 0x41f054ed 0x2002ba3c 0x213f5fcb 0x2002ba3b 0x20004508 0x2002ba3a 0x20004518 0x2002ba39 0x00000810 0x2002ba38 0x00004440 0x2002ba37 0x4a3797f4 0x2002ba36 0x1ce8cada 0x2002ba35 0xbe0385f1 0x2002ba34 0x00746c75 0x2002ba33 0x61660067 0x2002ba32 0x6f6c5f74 0x2002ba31 0x6c756166 0x2002ba30 0x64726168 0x2002ba2f 0x00000000 0x2002ba2e 0x2002bba6 0x2002ba2d 0x2002bb98 0x2002ba2c 0xdeadbeef 0x2002ba2b 0x00000000 0x2002ba2a 0x00000000 0x2002ba29 0x080ecea5 0x2002ba28 0x00000000 0x2002ba27 0x00000000 0x2002ba26 0x00000000 0x2002ba25 0x00000000 0x2002ba24 0x00000000 0x2002ba23 0x00000000 0x2002ba22 0x00000101 0x2002ba21 0x00000000 0x2002ba20 0x00000000 0x2002ba1f 0x00000000 0x2002ba1e 0x00000000 0x2002ba1d 0x00000000 0x2002ba1c 0x00000000 0x2002ba1b 0x00000000 0x2002ba1a 0x00000000 0x2002ba19 0x01000000 0x2002ba18 0x080ece80 0x2002ba17 0x00000000 0x2002ba16 0x00000000 0x2002ba15 0x00000000 0x2002ba14 0x00000000 0x2002ba13 0x00000000 0x2002ba12 0x00000000 0x2002ba11 0xdeadbeef 0x2002ba10 0xdeadbeef 0x2002ba0f 0xdeadbeef 0x2002ba0e 0xdeadbeef 0x2002ba0d 0xdeadbeef 0x2002ba0c 0xdeadbeef 0x2002ba0b 0xdeadbeef 0x2002ba0a 0xdeadbeef 0x2002ba09 0xdeadbeef 0x2002ba08 0xdeadbeef 0x2002ba07 0xdeadbeef 0x2002ba06 0xdeadbeef 0x2002ba05 0xdeadbeef 0x2002ba04 0xdeadbeef 0x2002ba03 0xdeadbeef 0x2002ba02 0xdeadbeef 0x2002ba01 0xdeadbeef 0x2002ba00 0xdeadbeef 0x2002b9ff 0xdeadbeef 0x2002b9fe 0xdeadbeef 0x2002b9fd 0xdeadbeef 0x2002b9fc 0xdeadbeef 0x2002b9fb 0xdeadbeef 0x2002b9fa 0xdeadbeef 0x2002b9f9 0xdeadbeef 0x2002b9f8 0xdeadbeef 0x2002b9f7 0xdeadbeef 0x2002b9f6 0xdeadbeef 0x2002b9f5 0xdeadbeef 0x2002b9f4 0xdeadbeef 0x2002b9f3 0xdeadbeef 0x2002b9f2 0xdeadbeef 0x2002b9f1 0xdeadbeef 0x2002b9f0 0xdeadbeef 0x2002b9ef 0xdeadbeef 0x2002b9ee 0xdeadbeef 0x2002b9ed 0xdeadbeef 0x2002b9ec 0xdeadbeef 0x2002b9eb 0xdeadbeef 0x2002b9ea 0xdeadbeef 0x2002b9e9 0xdeadbeef 0x2002b9e8 0xdeadbeef 0x2002b9e7 0xdeadbeef 0x2002b9e6 0xdeadbeef 0x2002b9e5 0xdeadbeef 0x2002b9e4 0xdeadbeef 0x2002b9e3 0xdeadbeef 0x2002b9e2 0xdeadbeef 0x2002b9e1 0xdeadbeef 0x2002b9e0 0xdeadbeef 0x2002b9df 0xdeadbeef 0x2002b9de 0xdeadbeef 0x2002b9dd 0xdeadbeef 0x2002b9dc 0xdeadbeef 0x2002b9db 0xdeadbeef 0x2002b9da 0xdeadbeef 0x2002b9d9 0xdeadbeef 0x2002b9d8 0xdeadbeef 0x2002b9d7 0xdeadbeef 0x2002b9d6 0xdeadbeef 0x2002b9d5 0xdeadbeef 0x2002b9d4 0xdeadbeef 0x2002b9d3 0xdeadbeef 0x2002b9d2 0xdeadbeef 0x2002b9d1 0xdeadbeef 0x2002b9d0 0xdeadbeef 0x2002b9cf 0xdeadbeef 0x2002b9ce 0xdeadbeef 0x2002b9cd 0xdeadbeef 0x2002b9cc 0xdeadbeef 0x2002b9cb 0xdeadbeef 0x2002b9ca 0xdeadbeef 0x2002b9c9 0xdeadbeef 0x2002b9c8 0xdeadbeef 0x2002b9c7 0xdeadbeef 0x2002b9c6 0xdeadbeef 0x2002b9c5 0xdeadbeef 0x2002b9c4 0xdeadbeef 0x2002b9c3 0xdeadbeef 0x2002b9c2 0xdeadbeef 0x2002b9c1 0xdeadbeef 0x2002b9c0 0xdeadbeef 0x2002b9bf 0xdeadbeef 0x2002b9be 0xdeadbeef 0x2002b9bd 0xdeadbeef 0x2002b9bc 0xdeadbeef 0x2002b9bb 0xdeadbeef 0x2002b9ba 0xdeadbeef 0x2002b9b9 0xdeadbeef 0x2002b9b8 0xdeadbeef<-- User sp 0x2002b9b7 0xdeadbeef 0x2002b9b6 0x00000000 0x2002b9b5 0x00000000 0x2002b9b4 0x00000000 0x2002b9b3 0x00000000 0x2002b9b2 0x00000000 0x2002b9b1 0x00000000 0x2002b9b0 0x00000000 0x2002b9af 0x00000000 0x2002b9ae 0x00000000 0x2002b9ad 0x00000000 0x2002b9ac 0x00000000 0x2002b9ab 0x00000000 0x2002b9aa 0x00000000 0x2002b9a9 0x00000000 0x2002b9a8 0x00000000 0x2002b9a7 0x00000000 0x2002b9a6 0x00000000 0x2002b9a5 0x21000000 0x2002b9a4 0x080353dc 0x2002b9a3 0x080353ad 0x2002b9a2 0x00000000 0x2002b9a1 0xe000ed14 0x2002b9a0 0x00000001 0x2002b99f 0x00000000 0x2002b99e 0x00000000 0x2002b99d 0x00000000 0x2002b99c 0x00000000 0x2002b99b 0x00000000 0x2002b99a 0x00000000 0x2002b999 0x00000000 0x2002b998 0x00000000 0x2002b997 0x00000000 0x2002b996 0x00000000 0x2002b995 0x00000000 0x2002b994 0x00000000 0x2002b993 0x00000000 0x2002b992 0x00000000 0x2002b991 0x00000000 0x2002b990 0x00000000 0x2002b98f 0x00000000 0x2002b98e 0x00000000 0x2002b98d 0xffffffe9 0x2002b98c 0x00000000 0x2002b98b 0x00000000 0x2002b98a 0x00000000 0x2002b989 0x00000000 0x2002b988 0x2002bb8c 0x2002b987 0x2002bba6 0x2002b986 0x20002854 0x2002b985 0x00000000 0x2002b984 0x000000f0 0x2002b983 0x2002b9b8 0x2002b982 0xdeadbeef 0x2002b981 0xdeadbeef 0x2002b980 0xdeadbeef 0x2002b97f 0xdeadbeef 0x2002b97e 0xdeadbeef 0x2002b97d 0xdeadbeef 0x2002b97c 0xdeadbeef 0x2002b97b 0xdeadbeef 0x2002b97a 0xdeadbeef 0x2002b979 0xdeadbeef 0x2002b978 0xdeadbeef 0x2002b977 0xdeadbeef 0x2002b976 0xdeadbeef 0x2002b975 0xdeadbeef 0x2002b974 0xdeadbeef 0x2002b973 0xdeadbeef 0x2002b972 0xdeadbeef 0x2002b971 0xdeadbeef 0x2002b970 0xdeadbeef 0x2002b96f 0xdeadbeef 0x2002b96e 0xdeadbeef 0x2002b96d 0xdeadbeef 0x2002b96c 0xdeadbeef 0x2002b96b 0xdeadbeef 0x2002b96a 0xdeadbeef 0x2002b969 0xdeadbeef 0x2002b968 0xdeadbeef 0x2002b967 0xdeadbeef 0x2002b966 0xdeadbeef 0x2002b965 0xdeadbeef 0x2002b964 0xdeadbeef 0x2002b963 0xdeadbeef 0x2002b962 0xdeadbeef 0x2002b961 0xdeadbeef 0x2002b960 0xdeadbeef 0x2002b95f 0xdeadbeef 0x2002b95e 0xdeadbeef 0x2002b95d 0xdeadbeef 0x2002b95c 0xdeadbeef 0x2002b95b 0xdeadbeef 0x2002b95a 0xdeadbeef 0x2002b959 0xdeadbeef 0x2002b958 0xdeadbeef 0x2002b957 0xdeadbeef 0x2002b956 0xdeadbeef 0x2002b955 0xdeadbeef 0x2002b954 0xdeadbeef 0x2002b953 0xdeadbeef 0x2002b952 0xdeadbeef 0x2002b951 0xdeadbeef 0x2002b950 0xdeadbeef 0x2002b94f 0xdeadbeef 0x2002b94e 0xdeadbeef 0x2002b94d 0xdeadbeef 0x2002b94c 0xdeadbeef 0x2002b94b 0xdeadbeef 0x2002b94a 0xdeadbeef 0x2002b949 0xdeadbeef 0x2002b948 0xdeadbeef 0x2002b947 0xdeadbeef 0x2002b946 0xdeadbeef 0x2002b945 0xdeadbeef 0x2002b944 0xdeadbeef 0x2002b943 0xdeadbeef 0x2002b942 0xdeadbeef 0x2002b941 0xdeadbeef 0x2002b940 0xdeadbeef 0x2002b93f 0xdeadbeef 0x2002b93e 0xdeadbeef 0x2002b93d 0xdeadbeef 0x2002b93c 0xdeadbeef 0x2002b93b 0xdeadbeef 0x2002b93a 0xdeadbeef 0x2002b939 0xdeadbeef 0x2002b938 0xdeadbeef 0x2002b937 0xdeadbeef 0x2002b936 0xdeadbeef 0x2002b935 0xdeadbeef 0x2002b934 0xdeadbeef 0x2002b933 0xdeadbeef 0x2002b932 0xdeadbeef 0x2002b931 0xdeadbeef 0x2002b930 0xdeadbeef 0x2002b92f 0xdeadbeef 0x2002b92e 0xdeadbeef 0x2002b92d 0xdeadbeef 0x2002b92c 0xdeadbeef 0x2002b92b 0xdeadbeef 0x2002b92a 0xdeadbeef 0x2002b929 0xdeadbeef 0x2002b928 0xdeadbeef 0x2002b927 0xdeadbeef 0x2002b926 0xdeadbeef 0x2002b925 0xdeadbeef 0x2002b924 0xdeadbeef 0x2002b923 0xdeadbeef 0x2002b922 0xdeadbeef 0x2002b921 0xdeadbeef 0x2002b920 0xdeadbeef 0x2002b91f 0xdeadbeef 0x2002b91e 0xdeadbeef 0x2002b91d 0xdeadbeef 0x2002b91c 0xdeadbeef 0x2002b91b 0xdeadbeef 0x2002b91a 0xdeadbeef 0x2002b919 0xdeadbeef 0x2002b918 0xdeadbeef 0x2002b917 0xdeadbeef 0x2002b916 0xdeadbeef 0x2002b915 0xdeadbeef 0x2002b914 0xdeadbeef 0x2002b913 0xdeadbeef 0x2002b912 0xdeadbeef 0x2002b911 0xdeadbeef 0x2002b910 0xdeadbeef 0x2002b90f 0xdeadbeef 0x2002b90e 0xdeadbeef 0x2002b90d 0xdeadbeef 0x2002b90c 0xdeadbeef 0x2002b90b 0xdeadbeef 0x2002b90a 0xdeadbeef 0x2002b909 0xdeadbeef 0x2002b908 0xdeadbeef 0x2002b907 0xdeadbeef 0x2002b906 0xdeadbeef [hardfault_log] -- 2000-01-01-00:06:01 END Fault Log -- pyulog-1.2.3/test/sample_appended_info.txt000066400000000000000000000622471521417275500207340ustar00rootroot00000000000000Logging start time: 0:00:05, duration: 0:01:54 Dropouts: count: 1, total duration: 0.0 s, max: 10 ms, mean: 10 ms Info Messages: perf_counter_preflight-00: navigator: 3 events, 80us elapsed, 26us avg, min 25us max 28us 1.528us rms perf_counter_preflight-01: mc_att_control: 766 events, 38087us elapsed, 49us avg, min 23us max 395us 32.174us rms perf_counter_preflight-02: logger_sd_fsync: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms perf_counter_preflight-03: logger_sd_write: 3 events, 72442us elapsed, 24147us avg, min 10us max 36356us 20904.014us rms perf_counter_preflight-04: mavlink_txe: 226 events perf_counter_preflight-05: mavlink_el: 1016 events, 163693us elapsed, 161us avg, min 84us max 2478us 191.598us rms perf_counter_preflight-06: mavlink_txe: 0 events perf_counter_preflight-07: mavlink_el: 286 events, 33394us elapsed, 116us avg, min 46us max 1851us 166.045us rms perf_counter_preflight-08: mavlink_txe: 0 events perf_counter_preflight-09: mavlink_el: 318 events, 48587us elapsed, 152us avg, min 66us max 2327us 259.293us rms perf_counter_preflight-10: mavlink_txe: 0 events perf_counter_preflight-11: mavlink_el: 1030 events, 214017us elapsed, 207us avg, min 79us max 4163us 310.871us rms perf_counter_preflight-12: ctl_lat: 321 events, 13187us elapsed, 41us avg, min 38us max 111us 11.183us rms perf_counter_preflight-13: stack_check: 7 events, 69us elapsed, 9us avg, min 2us max 16us 4.488us rms perf_counter_preflight-14: sensors: 826 events, 93853us elapsed, 113us avg, min 65us max 5118us 179.764us rms perf_counter_preflight-15: ctrl_latency: 321 events, 40037us elapsed, 124us avg, min 103us max 3022us 166.815us rms perf_counter_preflight-16: mpu9250_dupe: 898 events perf_counter_preflight-17: mpu9250_reset: 0 events perf_counter_preflight-18: mpu9250_good_trans: 3443 events perf_counter_preflight-19: mpu9250_bad_reg: 0 events perf_counter_preflight-20: mpu9250_bad_trans: 0 events perf_counter_preflight-21: mpu9250_read: 4342 events, 269357us elapsed, 62us avg, min 41us max 91us 13.632us rms perf_counter_preflight-22: mpu9250_gyro_read: 0 events perf_counter_preflight-23: mpu9250_acc_read: 2 events perf_counter_preflight-24: mpu9250_mag_duplicates: 3066 events perf_counter_preflight-25: mpu9250_mag_overflows: 0 events perf_counter_preflight-26: mpu9250_mag_overruns: 51 events perf_counter_preflight-27: mpu9250_mag_errors: 0 events perf_counter_preflight-28: mpu9250_mag_reads: 0 events perf_counter_preflight-29: adc_samples: 3024 events, 8046us elapsed, 2us avg, min 2us max 3us 0.474us rms perf_counter_preflight-30: ms5611_com_err: 0 events perf_counter_preflight-31: ms5611_measure: 321 events, 5603us elapsed, 17us avg, min 8us max 679us 54.355us rms perf_counter_preflight-32: ms5611_read: 320 events, 23168us elapsed, 72us avg, min 13us max 543us 49.197us rms perf_counter_preflight-33: dma_alloc: 4 events perf_top_preflight-00: PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE perf_top_preflight-01: 0 Idle Task 2922 53.339 596/ 748 0 ( 0) READY perf_top_preflight-02: 1 hpwork 207 4.486 928/ 1780 192 (192) w:sig perf_top_preflight-03: 2 lpwork 3 0.099 640/ 1780 50 ( 50) w:sig perf_top_preflight-04: 3 init 4816 0.000 1720/ 2580 100 (100) w:sem perf_top_preflight-05: 228 px4flow 1 0.000 728/ 1164 100 (100) w:sig perf_top_preflight-06: 104 gps 10 0.099 1032/ 1524 220 (220) w:sem perf_top_preflight-07: 108 dataman 1 0.000 720/ 1180 90 ( 90) w:sem perf_top_preflight-08: 152 sensors 161 3.389 1440/ 1980 250 (250) READY perf_top_preflight-09: 154 commander 59 2.093 2776/ 3652 140 (140) w:sig perf_top_preflight-10: 169 mavlink_if0 261 6.281 1648/ 2380 100 (100) READY perf_top_preflight-11: 170 mavlink_rcv_if0 14 0.299 1320/ 2140 175 (175) w:sem perf_top_preflight-12: 175 mavlink_if1 63 1.395 1616/ 2420 100 (100) w:sig perf_top_preflight-13: 176 mavlink_rcv_if1 16 0.398 1496/ 2140 175 (175) w:sem perf_top_preflight-14: 187 mavlink_if2 48 1.096 1632/ 2388 100 (100) w:sig perf_top_preflight-15: 188 mavlink_rcv_if2 15 0.299 1316/ 2140 175 (175) w:sem perf_top_preflight-16: 217 frsky_telemetry 0 0.000 544/ 1188 200 (200) w:sem perf_top_preflight-17: 254 log_writer_file 13 0.997 544/ 1060 60 ( 60) w:sem perf_top_preflight-18: 235 mavlink_if3 249 4.287 1576/ 2388 100 (100) READY perf_top_preflight-19: 237 mavlink_rcv_if3 62 2.093 1316/ 2140 175 (175) READY perf_top_preflight-20: 253 logger 115 6.779 3104/ 3532 250 (250) RUN perf_top_preflight-21: 341 commander_low_prio 0 0.000 592/ 2996 50 ( 50) w:sem perf_top_preflight-22: 295 ekf2 331 9.870 5056/ 5780 250 (250) w:sem perf_top_preflight-23: 305 mc_att_control 97 2.991 1136/ 1676 250 (250) READY perf_top_preflight-24: 307 mc_pos_control 12 0.299 552/ 1876 250 (250) w:sem perf_top_preflight-25: 310 navigator 4 0.000 904/ 1772 105 (105) w:sem perf_top_preflight-26: perf_top_preflight-27: Processes: 25 total, 7 running, 18 sleeping perf_top_preflight-28: CPU usage: 46.66% tasks, 0.00% sched, 53.34% idle perf_top_preflight-29: DMA Memory: 5120 total, 1536 used 1536 peak perf_top_preflight-30: Uptime: 6.236s total, 2.922s idle sys_mcu: STM32F42x, rev. 3 sys_name: PX4 sys_os_name: NuttX sys_os_ver: 8b81cf5c7ece0c228eaaea3e9d8e667fc4d21a06 sys_os_ver_release: 192 sys_toolchain: GNU GCC sys_toolchain_ver: 5.4.1 20160919 (release) [ARM/embedded-5-branch revision 240496] sys_uuid: 004F00413335510D30383336 time_ref_utc: 0 ver_hw: PX4FMU_V4 ver_sw: f54a6c2999e1e2fcbf56dd89de06b615b4186a6e ver_sw_branch: ulog_crash_dump ver_sw_release: 17170432 Info Multiple Messages: hardfault_plain: [['[hardfault_log] -- 2000-01-01-00:06:01 Begin Fault Log --\nSystem fault Occurred on: 2000-01-01-00:06:01\n Type:Hard Fault in file:armv7-m/up_hardfault.c at line: 171 running task: hardfault_log\n FW git-hash: f54a6c2999e1e2fcbf56dd89de06b615b4186a6e\n Build datetime: Jul 3 2017 17:04:33\n Build url: localhost \n Processor registers: from 0x2002b8e4\n r0:0x00000000 r1:0x00000000 r2:0x00000001 r3:0xe000ed14 r4:0x00000000 r5:0x20002854 r6:0x2002bba6 r7:0x2002bb8c\n r8:0x00000000 r9:0x00000000 r10:0x00000000 r11:0x00000000 r12:0x00000000 sp:0x2002b9b8 lr:0x080353ad pc:0x080353dc\n xpsr:0x21000000 basepri:0x000000f0 control:0x00000004\n exe return:0xffffffe9\n IRQ stack: \n top: 0x200068f0\n sp: 0x200068a0 Valid\n bottom: 0x20006604\n size: 0x000002ec\n used: 000000e0\n User stack: \n top: 0x2002bb88\n sp: 0x2002b9b8 Valid\n bottom: 0x2002b3ac\n size: 0x000007dc\n used: 000007dc\nInterrupt sp memory region, stack pointer lies within stack\n0x20006952 0x00000000\n0x20006951 0x00000000\n0x20006950 0x00000000\n0x2000694f 0x00000000\n0x2000694e 0x00000000\n0x2000694d 0x00000000\n0x2000694c 0x00000000\n0x2000694b 0x00000000\n0x2000694a 0x00000000\n0x20006949 0x00000000\n0x20006948 0x00000000\n0x20006947 0x00000000\n0x20006946 0x00000000\n0x20006945 0x00000000\n0x20006944 0x00000000\n0x20006943 0x00000000\n0x20006942 0x00000000\n0x20006941 0x00000000\n0x20006940 0x00000000\n0x2000693f 0x00000000\n0x2000693e 0x00000000\n0x2000693d 0x00000000\n0x2000693c 0x00000000\n0x2000693b 0x00000000\n0x2000693a 0x00000000\n0x20006939 0x2001ba90\n0x20006938 0x00000000\n0x20006937 0x00000000\n0x20006936 0x2001bac0\n0x20006935 0x00000000\n0x20006934 0x20007758\n0x20006933 0x20007640\n0x20006932 0x20007608\n0x20006931 0x20007590\n0x20006930 0x20007790\n0x2000692f 0x20007790\n0x2000692e 0x200078a8\n0x2000692d 0x20007794\n0x2000692c 0x00000000\n0x2000692b 0x00000603\n0x2000692a 0x100061b0\n0x20006929 0x10006060\n0x20006928 0x20006990\n0x20006927 0x10005460\n0x20006926 0x00400003\n0x20006925 0x0813b450\n0x20006924 0x00000002\n0x20006923 0x00000000\n0x20006922 0x00000000\n0x20006921 0x20006990\n0x20006920 0x00000000\n0x2000691f 0x00400002\n0x2000691e 0x0813b450\n0x2000691d 0x00000001\n0x2000691c 0x00000000\n0x2000691b 0x00000000\n0x2000691a 0x20006990\n0x20006919 0x00000000\n0x20006918 0x00400001\n0x20006917 0x0813b450\n0x20006916 0x00000000\n0x20006915 0x00000000\n0x20006914 0x00000000\n0x20006913 0x20006990\n0x20006912 0x20006990\n0x20006911 0x00400000\n0x20006910 0x0813b450\n0x2000690f 0x00001003\n0x2000690e 0x00000000\n0x2000690d 0x00000000\n0x2000690c 0x20006990\n0x2000690b 0x00000000\n0x2000690a 0x00400083\n0x20006909 0x0813b450\n0x20006908 0x00001602\n0x20006907 0x10006220\n0x20006906 0x100062b0\n0x20006905 0x20006990\n0x20006904 0x10005460\n0x20006903 0x00400082\n0x20006902 0x0813b450\n0x20006901 0x00001301\n0x20006900 0x00000000\n0x200068ff 0x00000000\n0x200068fe 0x20006990\n0x200068fd 0x10005460\n0x200068fc 0x00400081\n0x200068fb 0x0813b450\n0x200068fa 0x00001000\n0x200068f9 0x00000000\n0x200068f8 0x00000000\n0x200068f7 0x20006990\n0x200068f6 0x10005460\n0x200068f5 0x00400080\n0x200068f4 0x0813b450\n0x200068f3 0x00000000\n0x200068f2 0x00000000\n0x200068f1 0x00000000\n0x200068f0 0x00000000<-- Interrupt sp top\n0x200068ef 0x00000000\n0x200068ee 0x00000000\n0x200068ed 0x00000000\n0x200068ec 0x00000000\n0x200068eb 0x00000000\n0x200068ea 0x00000000\n0x200068e9 0x00000000\n0x200068e8 0x00000000\n0x200068e7 0x00000000\n0x200068e6 0x00000000\n0x200068e5 0x00000063\n0x200068e4 0x08000000\n0x200068e3 0x00258000\n0x200068e2 0x07000000\n0x200068e1 0x0020210e\n0x200068e0 0x0e00020c\n0x200068df 0x10005fa4\n0x200068de 0x00000002\n0x200068dd 0x200069f0\n0x200068dc 0x0813b434\n0x200068db 0x00000000\n0x200068da 0x00000000\n0x200068d9 0x00000000\n0x200068d8 0x00000000\n0x200068d7 0x00000000\n0x200068d6 0x00000000\n0x200068d5 0x00000000\n0x200068d4 0x00000000\n0x200068d3 0x00000000\n0x200068d2 0x00000000\n0x200068d1 0x00000000\n0x200068d0 0x00000000\n0x200068cf 0x00000000\n0x200068ce 0x00000000\n0x200068cd 0x00000000\n0x200068cc 0x00000000\n0x200068cb 0x00000000\n0x200068ca 0x00000000\n0x200068c9 0x10005130\n0x200068c8 0x00000001\n0x200068c7 0x20007570\n0x200068c6 0x20007500\n0x200068c5 0x200074e0\n0x200068c4 0x200073f0\n0x200068c3 0x200071a8\n0x200068c2 0x20007040\n0x200068c1 0x200073cc\n0x200068c0 0x200072a0\n0x200068bf 0x20007278\n0x200068be 0x200071d0\n0x200068bd 0x00000005\n0x200068bc 0x10004460\n0x200068bb 0x0000ffff\n0x200068ba 0x00000000\n0x200068b9 0x00000000\n0x200068b8 0x00000000\n0x200068b7 0x00000000\n0x200068b6 0x00000001\n0x200068b5 0x10000010\n0x200068b4 0x00000000\n0x200068b3 0x080f32b7\n0x200068b2 0x2002bb8c\n0x200068b1 0x2002bba6\n0x200068b0 0x20002854\n0x200068af 0x2002b8e4\n0x200068ae 0x000000f0\n0x200068ad 0x080fbca5\n0x200068ac 0x080f3331\n0x200068ab 0x080f3353\n0x200068aa 0x00000000\n0x200068a9 0x00000003\n0x200068a8 0x080f334b\n0x200068a7 0x200068c8\n0x200068a6 0x080353dc\n0x200068a5 0x080353ad\n0x200068a4 0x2002b9b8\n0x200068a3 0x00000000\n0x200068a2 0x00000000\n0x200068a1 0x00000000\n0x200068a0 0x000000f0<-- Interrupt sp\n0x2000689f 0x080f309d\n0x2000689e 0x000000ab\n0x2000689d 0x0813ad13\n0x2000689c 0x20003d88\n0x2000689b 0x20004628\n0x2000689a 0x00000000\n0x20006899 0x20004628\n0x20006898 0x000000ab\n0x20006897 0x08109da9\n0x20006896 0x20000010\n0x20006895 0x080f3429\n0x20006894 0x2002b9b8\n0x20006893 0x2001bb00\n0x20006892 0x080353ad\n0x20006891 0x0000015f\n0x20006890 0x200068a0\n0x2000688f 0x2002b8e4\n0x2000688e 0x2001bb00\n0x2000688d 0x20000000\n0x2000688c 0x20000000\n0x2000688b 0x080f0571\n0x2000688a 0x20006860\n0x20006889 0x20006860\n0x20006888 0x00000000\n0x20006887 0x080f0553\n0x20006886 0x0000015f\n0x20006885 0x2001bb00\n0x20006884 0x00000000\n0x20006883 0x0000003b\n0x20006882 0x080ff849\n0x20006881 0x080fe621\n0x20006880 0x080ff849\n0x2000687f 0x080f8ee1\n0x2000687e 0x2001bb00\n0x2000687d 0x080353ad\n0x2000687c 0x000000ab\n0x2000687b 0x20003c84\n0x2000687a 0x00000000\n0x20006879 0x080f2ec9\n0x20006878 0x20006844\n0x20006877 0x0813ab5a\n0x20006876 0x00000000\n0x20006875 0x00000000\n0x20006874 0x00000000\n0x20006873 0x00000004\n0x20006872 0x080ff849\n0x20006871 0x080f9a59\n0x20006870 0x080fe621\n0x2000686f 0x00000007\n0x2000686e 0x0813b3fe\n0x2000686d 0x080f9603\n0x2000686c 0x00000004\n0x2000686b 0x080f9603\n0x2000686a 0x20006824\n0x20006869 0x00000020\n0x20006868 0x080fe621\n0x20006867 0x080f90f3\n0x20006866 0x20006824\n0x20006865 0x00000002\n0x20006864 0x080fe621\n0x20006863 0x080f90f3\n0x20006862 0x20006824\n0x20006861 0x00000001\n0x20006860 0x080fe621\n0x2000685f 0x080f90f3\n0x2000685e 0x20006824\n0x2000685d 0x00000000\n0x2000685c 0x080fe621\n0x2000685b 0xfbff0f00\n0x2000685a 0xe2ffe425\n0x20006859 0xe4f7d600\n0x20006858 0xbdff01ff\n0x20006857 0xdeadfffb\n0x20006856 0x001e000f\n0x20006855 0x25e4f7e4\n0x20006854 0x004300d6\n0x20006853 0xc0a00000\n0x20006852 0x41700000\n0x20006851 0xc1f00000\n0x20006850 0xdeadbeef\n0x2000684f 0xdeadbeef\n0x2000684e 0x20006848\n0x2000684d 0x200067e0\n0x2000684c 0x200067c8\n0x2000684b 0x0800c071\n0x2000684a 0x00000000\n0x20006849 0x00000000\n0x20006848 0x10007f20\n0x20006847 0x00000000\n0x20006846 0x3a534ee0\n0x20006845 0x3c089f4a\n0x20006844 0x3a3737e0\n0x20006843 0x080accaf\n0x20006842 0x200067f8\n0x20006841 0x1000a730\n0x20006840 0x1000a9a0\n0x2000683f 0x080f3429\n0x2000683e 0x00000000\n0x2000683d 0x00000000\n0x2000683c 0x00000000\n0x2000683b 0x00000000\n0x2000683a 0x200067e0\n0x20006839 0x00000000\n0x20006838 0x00000000\n0x20006837 0x00000002\n0x20006836 0x1000a980\n0x20006835 0xa91ce0dd\n0x20006834 0x2ac590bd\n0x20006833 0x200066d8\n0x20006832 0x00000001\n0x20006831 0x00000003\n0x20006830 0xb34915f7\n0x2000682f 0x351ebdee\n0x2000682e 0x3316cf97\n0x2000682d 0x200066c0\n0x2000682c 0x00000001\n0x2000682b 0x00000003\n0x2000682a 0xb34915f7\n0x20006829 0x351ebdee\n0x20006828 0x3316cf97\n0x20006827 0x200066a8\n0x20006826 0x00000001\n0x20006825 0x00000003\n0x20006824 0x340f1c97\n0x20006823 0x36c307c3\n0x20006822 0x352ce320\n0x20006821 0x08107ccf\n0x20006820 0x075957d3\n0x2000681f 0x200067c8\n0x2000681e 0x10008178\n0x2000681d 0xdeadbeef\n0x2000681c 0xdeadbeef\n0x2000681b 0xdeadbeef\n0x2000681a 0xdeadbeef\n0x20006819 0xdeadbeef\n0x20006818 0xdeadbeef\n0x20006817 0xdeadbeef\n0x20006816 0xdeadbeef\n0x20006815 0xdeadbeef\n0x20006814 0xdeadbeef\n0x20006813 0xdeadbeef\n0x20006812 0xdeadbeef\n0x20006811 0xdeadbeef\n0x20006810 0xdeadbeef\n0x2000680f 0xdeadbeef\n0x2000680e 0xdeadbeef\n0x2000680d 0xdeadbeef\n0x2000680c 0xdeadbeef\n0x2000680b 0xdeadbeef\n0x2000680a 0xdeadbeef\n0x20006809 0xdeadbeef\n0x20006808 0xdeadbeef\n0x20006807 0xdeadbeef\n0x20006806 0xdeadbeef\n0x20006805 0xdeadbeef\n0x20006804 0xdeadbeef\n0x20006803 0xdeadbeef\n0x20006802 0xdeadbeef\n0x20006801 0xdeadbeef\n0x20006800 0xdeadbeef\n0x200067ff 0xdeadbeef\n0x200067fe 0xdeadbeef\n0x200067fd 0xdeadbeef\n0x200067fc 0xdeadbeef\n0x200067fb 0xdeadbeef\n0x200067fa 0xdeadbeef\n0x200067f9 0xdeadbeef\n0x200067f8 0xdeadbeef\n0x200067f7 0x00000000\n0x200067f6 0x00000000\n0x200067f5 0x00000000\n0x200067f4 0x00000000\n0x200067f3 0x00000000\n0x200067f2 0x00000000\n0x200067f1 0x00000000\n0x200067f0 0x00000000\n0x200067ef 0x00000000\n0x200067ee 0x00000000\n0x200067ed 0xfb98a0bf\n0x200067ec 0xda7d080a\n0x200067eb 0xe6b029e7\n0x200067ea 0x55a55b8b\n0x200067e9 0x26aff8f1\n0x200067e8 0x3a57dc4d\n0x200067e7 0xaa08710c\n0x200067e6 0x48cedaff\n0x200067e5 0xbac645a8\n0x200067e4 0xef1e6244\n0x200067e3 0x2528f8a6\n0x200067e2 0xd4a95a6b\n0x200067e1 0x1f3500b1\n0x200067e0 0xb69bbf87\n0x200067df 0xc97b8e02\n0x200067de 0xdcd13ab8\n0x200067dd 0x1d934129\n0x200067dc 0x1670d1c7\n0x200067db 0x858b8458\n0x200067da 0xb5dc6b2e\n0x200067d9 0x007cb39d\n0x200067d8 0x36910361\n0x200067d7 0x73110452\n0x200067d6 0xf2dccad0\n0x200067d5 0x26161caf\n0x200067d4 0xb8b9cbb7\n0x200067d3 0x25068328\nUser sp memory region, stack pointer lies within stack\n0x2002ba6a 0xfb98a0bf\n0x2002ba69 0xda7d080a\n0x2002ba68 0xe6b029e7\n0x2002ba67 0x55a55b8b\n0x2002ba66 0x26aff8f1\n0x2002ba65 0x3a57dc4d\n0x2002ba64 0xaa08710c\n0x2002ba63 0x48cedaff\n0x2002ba62 0xbac645a8\n0x2002ba61 0xef1e6244\n0x2002ba60 0x2528f8a6\n0x2002ba5f 0xd4a95a6b\n0x2002ba5e 0x1f3500b1\n0x2002ba5d 0xb69bbf87\n0x2002ba5c 0xc97b8e02\n0x2002ba5b 0xdcd13ab8\n0x2002ba5a 0x1d934129\n0x2002ba59 0x1670d1c7\n0x2002ba58 0x858b8458\n0x2002ba57 0xb5dc6b2e\n0x2002ba56 0x007cb39d\n0x2002ba55 0x36910361\n0x2002ba54 0x73110452\n0x2002ba53 0xf2dccad0\n0x2002ba52 0x26161caf\n0x2002ba51 0xb8b9cbb7\n0x2002ba50 0x25068328\n0x2002ba4f 0x487f6c1a\n0x2002ba4e 0x010301d1\n0x2002ba4d 0xbdab57fc\n0x2002ba4c 0x28f32129\n0x2002ba4b 0xd817af66\n0x2002ba4a 0x0a2be006\n0x2002ba49 0x13965cbd\n0x2002ba48 0x8fea0b38\n0x2002ba47 0x6dc4ad61\n0x2002ba46 0x0ccce009\n0x2002ba45 0x466bb2df\n0x2002ba44 0xeb861cb7\n0x2002ba43 0x35b476ef\n0x2002ba42 0x9fc05ab4\n0x2002ba41 0xeecbf38e\n0x2002ba40 0x721d10e7\n0x2002ba3f 0x79fefa9f\n0x2002ba3e 0x600a345f\n0x2002ba3d 0x41f054ed\n0x2002ba3c 0x213f5fcb\n0x2002ba3b 0x20004508\n0x2002ba3a 0x20004518\n0x2002ba39 0x00000810\n0x2002ba38 0x00004440\n0x2002ba37 0x4a3797f4\n0x2002ba36 0x1ce8cada\n0x2002ba35 0xbe0385f1\n0x2002ba34 0x00746c75\n0x2002ba33 0x61660067\n0x2002ba32 0x6f6c5f74\n0x2002ba31 0x6c756166\n0x2002ba30 0x64726168\n0x2002ba2f 0x00000000\n0x2002ba2e 0x2002bba6\n0x2002ba2d 0x2002bb98\n0x2002ba2c 0xdeadbeef\n0x2002ba2b 0x00000000\n0x2002ba2a 0x00000000\n0x2002ba29 0x080ecea5\n0x2002ba28 0x00000000\n0x2002ba27 0x00000000\n0x2002ba26 0x00000000\n0x2002ba25 0x00000000\n0x2002ba24 0x00000000\n0x2002ba23 0x00000000\n0x2002ba22 0x00000101\n0x2002ba21 0x00000000\n0x2002ba20 0x00000000\n0x2002ba1f 0x00000000\n0x2002ba1e 0x00000000\n0x2002ba1d 0x00000000\n0x2002ba1c 0x00000000\n0x2002ba1b 0x00000000\n0x2002ba1a 0x00000000\n0x2002ba19 0x01000000\n0x2002ba18 0x080ece80\n0x2002ba17 0x00000000\n0x2002ba16 0x00000000\n0x2002ba15 0x00000000\n0x2002ba14 0x00000000\n0x2002ba13 0x00000000\n0x2002ba12 0x00000000\n0x2002ba11 0xdeadbeef\n0x2002ba10 0xdeadbeef\n0x2002ba0f 0xdeadbeef\n0x2002ba0e 0xdeadbeef\n0x2002ba0d 0xdeadbeef\n0x2002ba0c 0xdeadbeef\n0x2002ba0b 0xdeadbeef\n0x2002ba0a 0xdeadbeef\n0x2002ba09 0xdeadbeef\n0x2002ba08 0xdeadbeef\n0x2002ba07 0xdeadbeef\n0x2002ba06 0xdeadbeef\n0x2002ba05 0xdeadbeef\n0x2002ba04 0xdeadbeef\n0x2002ba03 0xdeadbeef\n0x2002ba02 0xdeadbeef\n0x2002ba01 0xdeadbeef\n0x2002ba00 0xdeadbeef\n0x2002b9ff 0xdeadbeef\n0x2002b9fe 0xdeadbeef\n0x2002b9fd 0xdeadbeef\n0x2002b9fc 0xdeadbeef\n0x2002b9fb 0xdeadbeef\n0x2002b9fa 0xdeadbeef\n0x2002b9f9 0xdeadbeef\n0x2002b9f8 0xdeadbeef\n0x2002b9f7 0xdeadbeef\n0x2002b9f6 0xdeadbeef\n0x2002b9f5 0xdeadbeef\n0x2002b9f4 0xdeadbeef\n0x2002b9f3 0xdeadbeef\n0x2002b9f2 0xdeadbeef\n0x2002b9f1 0xdeadbeef\n0x2002b9f0 0xdeadbeef\n0x2002b9ef 0xdeadbeef\n0x2002b9ee 0xdeadbeef\n0x2002b9ed 0xdeadbeef\n0x2002b9ec 0xdeadbeef\n0x2002b9eb 0xdeadbeef\n0x2002b9ea 0xdeadbeef\n0x2002b9e9 0xdeadbeef\n0x2002b9e8 0xdeadbeef\n0x2002b9e7 0xdeadbeef\n0x2002b9e6 0xdeadbeef\n0x2002b9e5 0xdeadbeef\n0x2002b9e4 0xdeadbeef\n0x2002b9e3 0xdeadbeef\n0x2002b9e2 0xdeadbeef\n0x2002b9e1 0xdeadbeef\n0x2002b9e0 0xdeadbeef\n0x2002b9df 0xdeadbeef\n0x2002b9de 0xdeadbeef\n0x2002b9dd 0xdeadbeef\n0x2002b9dc 0xdeadbeef\n0x2002b9db 0xdeadbeef\n0x2002b9da 0xdeadbeef\n0x2002b9d9 0xdeadbeef\n0x2002b9d8 0xdeadbeef\n0x2002b9d7 0xdeadbeef\n0x2002b9d6 0xdeadbeef\n0x2002b9d5 0xdeadbeef\n0x2002b9d4 0xdeadbeef\n0x2002b9d3 0xdeadbeef\n0x2002b9d2 0xdeadbeef\n0x2002b9d1 0xdeadbeef\n0x2002b9d0 0xdeadbeef\n0x2002b9cf 0xdeadbeef\n0x2002b9ce 0xdeadbeef\n0x2002b9cd 0xdeadbeef\n0x2002b9cc 0xdeadbeef\n0x2002b9cb 0xdeadbeef\n0x2002b9ca 0xdeadbeef\n0x2002b9c9 0xdeadbeef\n0x2002b9c8 0xdeadbeef\n0x2002b9c7 0xdeadbeef\n0x2002b9c6 0xdeadbeef\n0x2002b9c5 0xdeadbeef\n0x2002b9c4 0xdeadbeef\n0x2002b9c3 0xdeadbeef\n0x2002b9c2 0xdeadbeef\n0x2002b9c1 0xdeadbeef\n0x2002b9c0 0xdeadbeef\n0x2002b9bf 0xdeadbeef\n0x2002b9be 0xdeadbeef\n0x2002b9bd 0xdeadbeef\n0x2002b9bc 0xdeadbeef\n0x2002b9bb 0xdeadbeef\n0x2002b9ba 0xdeadbeef\n0x2002b9b9 0xdeadbeef\n0x2002b9b8 0xdeadbeef<-- User sp\n0x2002b9b7 0xdeadbeef\n0x2002b9b6 0x00000000\n0x2002b9b5 0x00000000\n0x2002b9b4 0x00000000\n0x2002b9b3 0x00000000\n0x2002b9b2 0x00000000\n0x2002b9b1 0x00000000\n0x2002b9b0 0x00000000\n0x2002b9af 0x00000000\n0x2002b9ae 0x00000000\n0x2002b9ad 0x00000000\n0x2002b9ac 0x00000000\n0x2002b9ab 0x00000000\n0x2002b9aa 0x00000000\n0x2002b9a9 0x00000000\n0x2002b9a8 0x00000000\n0x2002b9a7 0x00000000\n0x2002b9a6 0x00000000\n0x2002b9a5 0x21000000\n0x2002b9a4 0x080353dc\n0x2002b9a3 0x080353ad\n0x2002b9a2 0x00000000\n0x2002b9a1 0xe000ed14\n0x2002b9a0 0x00000001\n0x2002b99f 0x00000000\n0x2002b99e 0x00000000\n0x2002b99d 0x00000000\n0x2002b99c 0x00000000\n0x2002b99b 0x00000000\n0x2002b99a 0x00000000\n0x2002b999 0x00000000\n0x2002b998 0x00000000\n0x2002b997 0x00000000\n0x2002b996 0x00000000\n0x2002b995 0x00000000\n0x2002b994 0x00000000\n0x2002b993 0x00000000\n0x2002b992 0x00000000\n0x2002b991 0x00000000\n0x2002b990 0x00000000\n0x2002b98f 0x00000000\n0x2002b98e 0x00000000\n0x2002b98d 0xffffffe9\n0x2002b98c 0x00000000\n0x2002b98b 0x00000000\n0x2002b98a 0x00000000\n0x2002b989 0x00000000\n0x2002b988 0x2002bb8c\n0x2002b987 0x2002bba6\n0x2002b986 0x20002854\n0x2002b985 0x00000000\n0x2002b984 0x000000f0\n0x2002b983 0x2002b9b8\n0x2002b982 0xdeadbeef\n0x2002b981 0xdeadbeef\n0x2002b980 0xdeadbeef\n0x2002b97f 0xdeadbeef\n0x2002b97e 0xdeadbeef\n0x2002b97d 0xdeadbeef\n0x2002b97c 0xdeadbeef\n0x2002b97b 0xdeadbeef\n0x2002b97a 0xdeadbeef\n0x2002b979 0xdeadbeef\n0x2002b978 0xdeadbeef\n0x2002b977 0xdeadbeef\n0x2002b976 0xdeadbeef\n0x2002b975 0xdeadbeef\n0x2002b974 0xdeadbeef\n0x2002b973 0xdeadbeef\n0x2002b972 0xdeadbeef\n0x2002b971 0xdeadbeef\n0x2002b970 0xdeadbeef\n0x2002b96f 0xdeadbeef\n0x2002b96e 0xdeadbeef\n0x2002b96d 0xdeadbeef\n0x2002b96c 0xdeadbeef\n0x2002b96b 0xdeadbeef\n0x2002b96a 0xdeadbeef\n0x2002b969 0xdeadbeef\n0x2002b968 0xdeadbeef\n0x2002b967 0xdeadbeef\n0x2002b966 0xdeadbeef\n0x2002b965 0xdeadbeef\n0x2002b964 0xdeadbeef\n0x2002b963 0xdeadbeef\n0x2002b962 0xdeadbeef\n0x2002b961 0xdeadbeef\n0x2002b960 0xdeadbeef\n0x2002b95f 0xdeadbeef\n0x2002b95e 0xdeadbeef\n0x2002b95d 0xdeadbeef\n0x2002b95c 0xdeadbeef\n0x2002b95b 0xdeadbeef\n0x2002b95a 0xdeadbeef\n0x2002b959 0xdeadbeef\n0x2002b958 0xdeadbeef\n0x2002b957 0xdeadbeef\n0x2002b956 0xdeadbeef\n0x2002b955 0xdeadbeef\n0x2002b954 0xdeadbeef\n0x2002b953 0xdeadbeef\n0x2002b952 0xdeadbeef\n0x2002b951 0xdeadbeef\n0x2002b950 0xdeadbeef\n0x2002b94f 0xdeadbeef\n0x2002b94e 0xdeadbeef\n0x2002b94d 0xdeadbeef\n0x2002b94c 0xdeadbeef\n0x2002b94b 0xdeadbeef\n0x2002b94a 0xdeadbeef\n0x2002b949 0xdeadbeef\n0x2002b948 0xdeadbeef\n0x2002b947 0xdeadbeef\n0x2002b946 0xdeadbeef\n0x2002b945 0xdeadbeef\n0x2002b944 0xdeadbeef\n0x2002b943 0xdeadbeef\n0x2002b942 0xdeadbeef\n0x2002b941 0xdeadbeef\n0x2002b940 0xdeadbeef\n0x2002b93f 0xdeadbeef\n0x2002b93e 0xdeadbeef\n0x2002b93d 0xdeadbeef\n0x2002b93c 0xdeadbeef\n0x2002b93b 0xdeadbeef\n0x2002b93a 0xdeadbeef\n0x2002b939 0xdeadbeef\n0x2002b938 0xdeadbeef\n0x2002b937 0xdeadbeef\n0x2002b936 0xdeadbeef\n0x2002b935 0xdeadbeef\n0x2002b934 0xdeadbeef\n0x2002b933 0xdeadbeef\n0x2002b932 0xdeadbeef\n0x2002b931 0xdeadbeef\n0x2002b930 0xdeadbeef\n0x2002b92f 0xdeadbeef\n0x2002b92e 0xdeadbeef\n0x2002b92d 0xdeadbeef\n0x2002b92c 0xdeadbeef\n0x2002b92b 0xdeadbeef\n0x2002b92a 0xdeadbeef\n0x2002b929 0xdeadbeef\n0x2002b928 0xdeadbeef\n0x2002b927 0xdeadbeef\n0x2002b926 0xdeadbeef\n0x2002b925 0xdeadbeef\n0x2002b924 0xdeadbeef\n0x2002b923 0xdeadbeef\n0x2002b922 0xdeadbeef\n0x2002b921 0xdeadbeef\n0x2002b920 0xdeadbeef\n0x2002b91f 0xdeadbeef\n0x2002b91e 0xdeadbeef\n0x2002b91d 0xdeadbeef\n0x2002b91c 0xdeadbeef\n0x2002b91b 0xdeadbeef\n0x2002b91a 0xdeadbeef\n0x2002b919 0xdeadbeef\n0x2002b918 0xdeadbeef\n0x2002b917 0xdeadbeef\n0x2002b916 0xdeadbeef\n0x2002b915 0xdeadbeef\n0x2002b914 0xdeadbeef\n0x2002b913 0xdeadbeef\n0x2002b912 0xdeadbeef\n0x2002b911 0xdeadbeef\n0x2002b910 0xdeadbeef\n0x2002b90f 0xdeadbeef\n0x2002b90e 0xdeadbeef\n0x2002b90d 0xdeadbeef\n0x2002b90c 0xdeadbeef\n0x2002b90b 0xdeadbeef\n0x2002b90a 0xdeadbeef\n0x2002b909 0xdeadbeef\n0x2002b908 0xdeadbeef\n0x2002b907 0xdeadbeef\n0x2002b906 0xdeadbeef\n[hardfault_log] -- 2000-01-01-00:06:01 END Fault Log --\n']] Name (multi id, message size in bytes) number of data points, total bytes actuator_controls_0 (0, 48) 1132 54336 actuator_outputs (0, 76) 1132 86032 battery_status (0, 42) 382 16044 commander_state (0, 9) 1132 10188 control_state (0, 134) 1110 148740 cpuload (0, 16) 115 1840 ekf2_innovations (0, 140) 2148 300720 ekf2_timestamps (0, 20) 28585 571700 estimator_status (0, 267) 556 148452 sensor_combined (0, 72) 28584 2058048 sensor_preflight (0, 16) 2189 35024 system_power (0, 17) 382 6494 task_stack_info (0, 26) 230 5980 vehicle_attitude (0, 36) 3576 128736 vehicle_attitude_setpoint (0, 55) 3645 200475 vehicle_land_detected (0, 15) 1 15 vehicle_local_position (0, 148) 1110 164280 vehicle_rates_setpoint (0, 24) 3645 87480 vehicle_status (0, 45) 493 22185 wind_estimate (0, 24) 1110 26640 pyulog-1.2.3/test/sample_appended_messages.txt000066400000000000000000000001221521417275500215700ustar00rootroot000000000000000:00:11 WARNING: [commander_tests] Not ready to fly: Sensors not set up correctly pyulog-1.2.3/test/sample_appended_multiple.ulg000066400000000000000000016665211521417275500216120ustar00rootroot00000000000000ULog5m(B!)8Ichar[40] ver_swf54a6c2999e1e2fcbf56dd89de06b615b4186a6eIuint32_t ver_sw_releaseIchar[12] ver_hwPX4FMU_V4PROIchar[3] sys_namePX4Ichar[5] sys_os_nameNuttX&Ichar[15] ver_sw_branchulog_crash_dump<Ichar[40] sys_os_ver8b81cf5c7ece0c228eaaea3e9d8e667fc4d21a06 Iuint32_t sys_os_ver_releaseIchar[7] sys_toolchainGNU GCC[Ichar[64] sys_toolchain_ver5.4.1 20160919 (release) [ARM/embedded-5-branch revision 240496]"Ichar[17] sys_mcuSTM32F???, rev. A*Ichar[24] sys_uuid0035002B3434511732343031Iint32_t time_ref_utc[Fmc_virtual_rates_setpoint:uint64_t timestamp;float roll;float pitch;float yaw;float thrust;wFsensor_baro:uint64_t timestamp;uint64_t error_count;float pressure;float altitude;float temperature;uint32_t device_id;fFmission:uint64_t timestamp;int32_t dataman_id;uint32_t count;int32_t current_seq;uint8_t[4] _padding0;[Ffw_virtual_rates_setpoint:uint64_t timestamp;float roll;float pitch;float yaw;float thrust;Ftransponder_report:uint64_t timestamp;double lat;double lon;uint32_t ICAO_address;float altitude;float heading;float hor_velocity;float ver_velocity;uint16_t flags;uint16_t squawk;uint8_t altitude_type;char[9] callsign;uint8_t emitter_type;uint8_t tslc;uint8_t[4] _padding0;TFfw_virtual_attitude_setpoint:uint64_t timestamp;float roll_body;float pitch_body;float yaw_body;float yaw_sp_move_rate;float[4] q_d;float thrust;float landing_gear;bool q_d_valid;bool roll_reset_integral;bool pitch_reset_integral;bool yaw_reset_integral;bool fw_control_yaw;bool disable_mc_yaw_control;bool apply_flaps;uint8_t[1] _padding0;PFactuator_controls:uint64_t timestamp;uint64_t timestamp_sample;float[8] control;PFfiltered_bottom_flow:uint64_t timestamp;float sumx;float sumy;float vx;float vy;nFonboard_mission:uint64_t timestamp;int32_t dataman_id;uint32_t count;int32_t current_seq;uint8_t[4] _padding0;Fcontrol_state:uint64_t timestamp;float x_acc;float y_acc;float z_acc;float x_vel;float y_vel;float z_vel;float x_pos;float y_pos;float z_pos;float airspeed;float[3] vel_variance;float[3] pos_variance;float[4] q;float[4] delta_q_reset;float roll_rate;float pitch_rate;float yaw_rate;float horz_acc_mag;float roll_rate_bias;float pitch_rate_bias;float yaw_rate_bias;bool airspeed_valid;uint8_t quat_reset_counter;uint8_t[2] _padding0;XFmount_orientation:uint64_t timestamp;float[3] attitude_euler_angle;uint8_t[4] _padding0;qFsubsystem_info:uint64_t timestamp;uint64_t subsystem_type;bool present;bool enabled;bool ok;uint8_t[5] _padding0;Fuavcan_parameter_value:uint64_t timestamp;int64_t int_value;float real_value;int16_t param_index;uint16_t param_count;uint8_t node_id;char[17] param_id;uint8_t param_type;uint8_t[5] _padding0;BFlog_message:uint64_t timestamp;uint8_t severity;uint8_t[127] text;\Factuator_outputs:uint64_t timestamp;uint32_t noutputs;float[16] output;uint8_t[4] _padding0;[Factuator_controls_virtual_fw:uint64_t timestamp;uint64_t timestamp_sample;float[8] control;Fesc_report:uint64_t timestamp;uint32_t esc_errorcount;int32_t esc_rpm;float esc_voltage;float esc_current;float esc_temperature;float esc_setpoint;uint16_t esc_setpoint_raw;uint16_t esc_address;uint16_t esc_version;uint16_t esc_state;uint8_t esc_vendor;uint8_t[7] _padding0;@Ftest_motor:uint64_t timestamp;uint32_t motor_number;float value;Fesc_status:uint64_t timestamp;uint16_t counter;uint8_t esc_count;uint8_t esc_connectiontype;uint8_t[4] _padding0;esc_report[8] esc;Fdifferential_pressure:uint64_t timestamp;uint64_t error_count;float differential_pressure_raw_pa;float differential_pressure_filtered_pa;float max_differential_pressure_pa;float temperature;WFfence:uint64_t timestamp;uint32_t count;uint8_t[4] _padding0;fence_vertex[16] vertices;KFadc_report:uint64_t timestamp;float[8] channel_value;int16_t[8] channel_id;Fsensor_selection:uint64_t timestamp;uint32_t accel_device_id;uint32_t baro_device_id;uint32_t gyro_device_id;uint32_t mag_device_id;6Fcpuload:uint64_t timestamp;float load;float ram_usage;Frc_channels:uint64_t timestamp;uint64_t timestamp_last_valid;float[18] channels;uint32_t frame_drop_count;uint8_t channel_count;int8_t[26] function;uint8_t rssi;bool signal_lost;uint8_t[7] _padding0;Fvehicle_status_flags:uint64_t timestamp;uint16_t conditions;uint16_t other_flags;uint8_t circuit_breakers;uint8_t[3] _padding0;Fekf2_replay:uint64_t timestamp;uint64_t magnetometer_timestamp;uint64_t baro_timestamp;uint64_t rng_timestamp;uint64_t flow_timestamp;uint64_t asp_timestamp;uint64_t ev_timestamp;uint64_t time_usec;float gyro_integral_dt;float accelerometer_integral_dt;float[3] gyro_rad;float[3] accelerometer_m_s2;float[3] magnetometer_ga;float baro_alt_meter;int32_t lat;int32_t lon;int32_t alt;float eph;float epv;float sacc;float vel_m_s;float vel_n_m_s;float vel_e_m_s;float vel_d_m_s;float range_to_ground;float[2] flow_pixel_integral;float[2] flow_gyro_integral;uint32_t flow_time_integral;float indicated_airspeed_m_s;float true_airspeed_m_s;float[3] pos_ev;float[4] quat_ev;float pos_err;float ang_err;uint8_t fix_type;uint8_t nsats;bool vel_ned_valid;uint8_t flow_quality;Fcamera_capture:uint64_t timestamp;uint64_t timestamp_utc;double lat;double lon;uint32_t seq;float alt;float ground_distance;float[4] q;int8_t result;uint8_t[3] _padding0;iFdebug_key_value:uint64_t timestamp;uint32_t timestamp_ms;float value;int8_t[10] key;uint8_t[6] _padding0;Fairspeed:uint64_t timestamp;float indicated_airspeed_m_s;float true_airspeed_m_s;float true_airspeed_unfiltered_m_s;float air_temperature_celsius;float confidence;float differential_pressure_filtered_pa;RFactuator_controls_0:uint64_t timestamp;uint64_t timestamp_sample;float[8] control;RFactuator_controls_1:uint64_t timestamp;uint64_t timestamp_sample;float[8] control;RFactuator_controls_2:uint64_t timestamp;uint64_t timestamp_sample;float[8] control;RFactuator_controls_3:uint64_t timestamp;uint64_t timestamp_sample;float[8] control;\Fsafety:uint64_t timestamp;bool safety_switch_available;bool safety_off;uint8_t[6] _padding0;[Fcamera_trigger:uint64_t timestamp;uint64_t timestamp_utc;uint32_t seq;uint8_t[4] _padding0;QFvehicle_attitude_setpoint:uint64_t timestamp;float roll_body;float pitch_body;float yaw_body;float yaw_sp_move_rate;float[4] q_d;float thrust;float landing_gear;bool q_d_valid;bool roll_reset_integral;bool pitch_reset_integral;bool yaw_reset_integral;bool fw_control_yaw;bool disable_mc_yaw_control;bool apply_flaps;uint8_t[1] _padding0; Ftelemetry_status:uint64_t timestamp;uint64_t heartbeat_time;uint64_t telem_time;uint16_t rxerrors;uint16_t fixed;uint8_t type;uint8_t rssi;uint8_t remote_rssi;uint8_t noise;uint8_t remote_noise;uint8_t txbuf;uint8_t system_id;uint8_t component_id;uint8_t[4] _padding0;[Fmultirotor_motor_limits:uint64_t timestamp;uint16_t saturation_status;uint8_t[6] _padding0;oFoffboard_mission:uint64_t timestamp;int32_t dataman_id;uint32_t count;int32_t current_seq;uint8_t[4] _padding0;Fsensor_accel:uint64_t timestamp;uint64_t integral_dt;uint64_t error_count;float x;float y;float z;float x_integral;float y_integral;float z_integral;float temperature;float range_m_s2;float scaling;uint32_t device_id;int16_t x_raw;int16_t y_raw;int16_t z_raw;int16_t temperature_raw;zFvehicle_global_position:uint64_t timestamp;uint64_t time_utc_usec;double lat;double lon;double[2] delta_lat_lon;float alt;float delta_alt;float vel_n;float vel_e;float vel_d;float pos_d_deriv;float yaw;float eph;float epv;float evh;float evv;float terrain_alt;float pressure_alt;uint8_t lat_lon_reset_counter;uint8_t alt_reset_counter;bool terrain_alt_valid;bool dead_reckoning;AFservorail_status:uint64_t timestamp;float voltage_v;float rssi_v;Factuator_armed:uint64_t timestamp;bool armed;bool prearmed;bool ready_to_arm;bool lockdown;bool manual_lockdown;bool force_failsafe;bool in_esc_calibration_mode;bool soft_stop;\Fvehicle_command_ack:uint64_t timestamp;uint16_t command;uint8_t result;uint8_t[5] _padding0;Fvehicle_global_position_groundtruth:uint64_t timestamp;uint64_t time_utc_usec;double lat;double lon;double[2] delta_lat_lon;float alt;float delta_alt;float vel_n;float vel_e;float vel_d;float pos_d_deriv;float yaw;float eph;float epv;float evh;float evv;float terrain_alt;float pressure_alt;uint8_t lat_lon_reset_counter;uint8_t alt_reset_counter;bool terrain_alt_valid;bool dead_reckoning;yFposition_setpoint_triplet:uint64_t timestamp;position_setpoint previous;position_setpoint current;position_setpoint next;Festimator_status:uint64_t timestamp;float[24] states;float n_states;float[3] vibe;float[24] covariances;uint32_t control_mode_flags;float pos_horiz_accuracy;float pos_vert_accuracy;float mag_test_ratio;float vel_test_ratio;float pos_test_ratio;float hgt_test_ratio;float tas_test_ratio;float hagl_test_ratio;float time_slip;uint16_t gps_check_fail_flags;uint16_t filter_fault_flags;uint16_t innovation_check_flags;uint16_t solution_status_flags;uint8_t nan_flags;uint8_t health_flags;uint8_t timeout_flags;uint8_t[5] _padding0;yFvehicle_control_mode:uint64_t timestamp;bool flag_armed;bool flag_external_manual_override_ok;bool flag_system_hil_enabled;bool flag_control_manual_enabled;bool flag_control_auto_enabled;bool flag_control_offboard_enabled;bool flag_control_rates_enabled;bool flag_control_attitude_enabled;bool flag_control_rattitude_enabled;bool flag_control_force_enabled;bool flag_control_acceleration_enabled;bool flag_control_velocity_enabled;bool flag_control_position_enabled;bool flag_control_altitude_enabled;bool flag_control_climb_rate_enabled;bool flag_control_termination_enabled;bool flag_control_fixed_hdg_enabled;uint8_t[7] _padding0;bFtask_stack_info:uint64_t timestamp;uint16_t stack_free;uint8_t[16] task_name;uint8_t[6] _padding0;AFvehicle_status:uint64_t timestamp;uint32_t system_id;uint32_t component_id;uint32_t onboard_control_sensors_present;uint32_t onboard_control_sensors_enabled;uint32_t onboard_control_sensors_health;uint8_t nav_state;uint8_t arming_state;uint8_t hil_state;bool failsafe;uint8_t system_type;bool is_rotary_wing;bool is_vtol;bool vtol_fw_permanent_stab;bool in_transition_mode;bool in_transition_to_fw;bool rc_signal_lost;uint8_t rc_input_mode;bool data_link_lost;uint8_t data_link_lost_counter;bool engine_failure;bool engine_failure_cmd;bool mission_failure;uint8_t[3] _padding0;Fsystem_power:uint64_t timestamp;float voltage5V_v;uint8_t usb_connected;uint8_t brick_valid;uint8_t servo_valid;uint8_t periph_5V_OC;uint8_t hipower_5V_OC;uint8_t[7] _padding0;LFvehicle_force_setpoint:uint64_t timestamp;float x;float y;float z;float yaw;?Fsensor_combined:uint64_t timestamp;float[3] gyro_rad;float gyro_integral_dt;int32_t accelerometer_timestamp_relative;float[3] accelerometer_m_s2;float accelerometer_integral_dt;int32_t magnetometer_timestamp_relative;float[3] magnetometer_ga;int32_t baro_timestamp_relative;float baro_alt_meter;float baro_temp_celcius;XFvehicle_rates_setpoint:uint64_t timestamp;float roll;float pitch;float yaw;float thrust;Fvehicle_local_position_groundtruth:uint64_t timestamp;uint64_t ref_timestamp;double ref_lat;double ref_lon;uint64_t surface_bottom_timestamp;float x;float y;float z;float[2] delta_xy;float delta_z;float vx;float vy;float vz;float z_deriv;float[2] delta_vxy;float delta_vz;float ax;float ay;float az;float yaw;float ref_alt;float dist_bottom;float dist_bottom_rate;float eph;float epv;float evh;float evv;uint8_t estimator_type;bool xy_valid;bool z_valid;bool v_xy_valid;bool v_z_valid;uint8_t xy_reset_counter;uint8_t z_reset_counter;uint8_t vxy_reset_counter;uint8_t vz_reset_counter;bool xy_global;bool z_global;bool dist_bottom_valid;uint8_t[4] _padding0;yFwind_estimate:uint64_t timestamp;float windspeed_north;float windspeed_east;float covariance_north;float covariance_east;Ftecs_status:uint64_t timestamp;float altitudeSp;float altitude_filtered;float flightPathAngleSp;float flightPathAngle;float flightPathAngleFiltered;float airspeedSp;float airspeed_filtered;float airspeedDerivativeSp;float airspeedDerivative;float totalEnergyError;float energyDistributionError;float totalEnergyRateError;float energyDistributionRateError;float throttle_integ;float pitch_integ;uint8_t mode;uint8_t[3] _padding0;jFsensor_correction:uint64_t timestamp;float[3] gyro_offset_0;float[3] gyro_scale_0;float[3] gyro_offset_1;float[3] gyro_scale_1;float[3] gyro_offset_2;float[3] gyro_scale_2;float[3] accel_offset_0;float[3] accel_scale_0;float[3] accel_offset_1;float[3] accel_scale_1;float[3] accel_offset_2;float[3] accel_scale_2;float baro_offset_0;float baro_scale_0;float baro_offset_1;float baro_scale_1;float baro_offset_2;float baro_scale_2;uint8_t selected_gyro_instance;uint8_t selected_accel_instance;uint8_t selected_baro_instance;uint8_t[3] gyro_mapping;uint8_t[3] accel_mapping;uint8_t[3] baro_mapping;uint8_t[4] _padding0;}Foptical_flow:uint64_t timestamp;float pixel_flow_x_integral;float pixel_flow_y_integral;float gyro_x_rate_integral;float gyro_y_rate_integral;float gyro_z_rate_integral;float ground_distance_m;uint32_t integration_timespan;uint32_t time_since_last_sonar_update;uint16_t frame_count_since_last_readout;int16_t gyro_temperature;uint8_t sensor_id;uint8_t quality;uint8_t[2] _padding0;WFpwm_input:uint64_t timestamp;uint64_t error_count;uint32_t pulse_width;uint32_t period;Fposition_setpoint:uint64_t timestamp;double lat;double lon;float x;float y;float z;float vx;float vy;float vz;float alt;float yaw;float yawspeed;float loiter_radius;float pitch_min;float a_x;float a_y;float a_z;float acceptance_radius;float cruising_speed;float cruising_throttle;bool valid;uint8_t type;bool position_valid;bool velocity_valid;uint8_t velocity_frame;bool alt_valid;bool yaw_valid;bool disable_mc_yaw_control;bool yawspeed_valid;int8_t loiter_direction;bool acceleration_valid;bool acceleration_is_force;Fcollision_report:uint64_t timestamp;uint32_t id;float time_to_minimum_delta;float altitude_minimum_delta;float horizontal_minimum_delta;uint8_t src;uint8_t action;uint8_t threat_level;uint8_t[5] _padding0;Fled_control:uint64_t timestamp;uint8_t led_mask;uint8_t color;uint8_t mode;uint8_t num_blinks;uint8_t priority;uint8_t[3] _padding0;}Fmc_att_ctrl_status:uint64_t timestamp;float roll_rate_integ;float pitch_rate_integ;float yaw_rate_integ;uint8_t[4] _padding0;Fekf2_innovations:uint64_t timestamp;float[6] vel_pos_innov;float[3] mag_innov;float heading_innov;float airspeed_innov;float beta_innov;float[2] flow_innov;float hagl_innov;float[6] vel_pos_innov_var;float[3] mag_innov_var;float heading_innov_var;float airspeed_innov_var;float beta_innov_var;float[2] flow_innov_var;float hagl_innov_var;float[3] output_tracking_error;uint8_t[4] _padding0;Fuavcan_parameter_request:uint64_t timestamp;int64_t int_value;float real_value;int16_t param_index;uint8_t message_type;uint8_t node_id;char[17] param_id;uint8_t param_type;uint8_t[6] _padding0;Fvehicle_gps_position:uint64_t timestamp;uint64_t time_utc_usec;int32_t lat;int32_t lon;int32_t alt;int32_t alt_ellipsoid;float s_variance_m_s;float c_variance_rad;float eph;float epv;float hdop;float vdop;int32_t noise_per_ms;int32_t jamming_indicator;float vel_m_s;float vel_n_m_s;float vel_e_m_s;float vel_d_m_s;float cog_rad;int32_t timestamp_time_relative;uint8_t fix_type;bool vel_ned_valid;uint8_t satellites_used;uint8_t[5] _padding0;Frc_parameter_map:uint64_t timestamp;int32_t[3] param_index;float[3] scale;float[3] value0;float[3] value_min;float[3] value_max;bool[3] valid;char[51] param_id;uint8_t[6] _padding0;HFparameter_update:uint64_t timestamp;uint32_t dummy;uint8_t[4] _padding0;zFgeofence_result:uint64_t timestamp;bool geofence_violated;uint8_t geofence_action;bool home_required;uint8_t[5] _padding0;tFvehicle_attitude:uint64_t timestamp;float rollspeed;float pitchspeed;float yawspeed;float[4] q;uint8_t[4] _padding0;lFatt_pos_mocap:uint64_t timestamp;uint64_t timestamp_received;uint32_t id;float[4] q;float x;float y;float z;Fbattery_status:uint64_t timestamp;float voltage_v;float voltage_filtered_v;float current_a;float current_filtered_a;float discharged_mah;float remaining;float scale;int32_t cell_count;bool connected;uint8_t warning;uint8_t[6] _padding0;zFvehicle_land_detected:uint64_t timestamp;float alt_max;bool landed;bool freefall;bool ground_contact;uint8_t[1] _padding0;2Ftime_offset:uint64_t timestamp;uint64_t offset_ns;;Fmission_result:uint64_t timestamp;uint32_t instance_count;uint32_t seq_reached;uint32_t seq_current;uint32_t seq_total;uint32_t item_changed_index;uint32_t item_do_jump_remaining;bool valid;bool warning;bool reached;bool finished;bool failure;bool stay_in_failsafe;bool flight_termination;bool item_do_jump_changed;Fsatellite_info:uint64_t timestamp;uint8_t count;uint8_t[20] svid;uint8_t[20] used;uint8_t[20] elevation;uint8_t[20] azimuth;uint8_t[20] snr;uint8_t[3] _padding0;Fvtol_vehicle_status:uint64_t timestamp;float airspeed_tot;bool vtol_in_rw_mode;bool vtol_in_trans_mode;bool in_transition_to_fw;bool vtol_transition_failsafe;bool fw_permanent_stab;uint8_t[7] _padding0;BFqshell_req:uint64_t timestamp;uint64_t strlen;int32_t[100] string;Fvehicle_local_position:uint64_t timestamp;uint64_t ref_timestamp;double ref_lat;double ref_lon;uint64_t surface_bottom_timestamp;float x;float y;float z;float[2] delta_xy;float delta_z;float vx;float vy;float vz;float z_deriv;float[2] delta_vxy;float delta_vz;float ax;float ay;float az;float yaw;float ref_alt;float dist_bottom;float dist_bottom_rate;float eph;float epv;float evh;float evv;uint8_t estimator_type;bool xy_valid;bool z_valid;bool v_xy_valid;bool v_z_valid;uint8_t xy_reset_counter;uint8_t z_reset_counter;uint8_t vxy_reset_counter;uint8_t vz_reset_counter;bool xy_global;bool z_global;bool dist_bottom_valid;uint8_t[4] _padding0;Fmanual_control_setpoint:uint64_t timestamp;float x;float y;float z;float r;float flaps;float aux1;float aux2;float aux3;float aux4;float aux5;uint8_t mode_switch;uint8_t return_switch;uint8_t rattitude_switch;uint8_t posctl_switch;uint8_t loiter_switch;uint8_t acro_switch;uint8_t offboard_switch;uint8_t kill_switch;uint8_t arm_switch;uint8_t transition_switch;uint8_t gear_switch;int8_t mode_slot;uint8_t data_source;uint8_t stab_switch;uint8_t man_switch;uint8_t[1] _padding0;AFhil_sensor:uint64_t timestamp;uint64_t accelerometer_timestamp;uint64_t magnetometer_timestamp;uint64_t gyro1_timestamp;uint64_t accelerometer1_timestamp;uint64_t magnetometer1_timestamp;uint64_t gyro2_timestamp;uint64_t accelerometer2_timestamp;uint64_t magnetometer2_timestamp;uint64_t baro_timestamp;uint64_t baro1_timestamp;uint64_t differential_pressure_timestamp;uint64_t differential_pressure1_timestamp;float[3] gyro_rad_s;uint32_t gyro_errcount;float gyro_temp;float[3] accelerometer_m_s2;float accelerometer_range_m_s2;uint32_t accelerometer_errcount;float accelerometer_temp;float[3] magnetometer_ga;float magnetometer_range_ga;float magnetometer_cuttoff_freq_hz;uint32_t magnetometer_errcount;float magnetometer_temp;float[3] gyro1_rad_s;uint32_t gyro1_errcount;float gyro1_temp;float[3] accelerometer1_m_s2;uint32_t accelerometer1_errcount;float accelerometer1_temp;float[3] magnetometer1_ga;uint32_t magnetometer1_errcount;float magnetometer1_temp;float[3] gyro2_rad_s;uint32_t gyro2_errcount;float gyro2_temp;float[3] accelerometer2_m_s2;uint32_t accelerometer2_errcount;float accelerometer2_temp;float[3] magnetometer2_ga;uint32_t magnetometer2_errcount;float magnetometer2_temp;float baro_pres_mbar;float baro_alt_meter;float baro_temp_celcius;float baro1_pres_mbar;float baro1_alt_meter;float baro1_temp_celcius;float[10] adc_voltage_v;float mcu_temp_celcius;float differential_pressure_pa;float differential_pressure_filtered_pa;float differential_pressure1_pa;float differential_pressure1_filtered_pa;int16_t[3] gyro_raw;int16_t[3] accelerometer_raw;int16_t accelerometer_mode;int16_t[3] magnetometer_raw;int16_t magnetometer_mode;int16_t[3] gyro1_raw;int16_t[3] accelerometer1_raw;int16_t[3] magnetometer1_raw;int16_t[3] gyro2_raw;int16_t[3] accelerometer2_raw;int16_t[3] magnetometer2_raw;uint16_t[10] adc_mapping;uint8_t[6] _padding0;Fvehicle_local_position_setpoint:uint64_t timestamp;float x;float y;float z;float yaw;float vx;float vy;float vz;float acc_x;float acc_y;float acc_z;Fvehicle_vision_position:uint64_t timestamp;uint64_t ref_timestamp;double ref_lat;double ref_lon;uint64_t surface_bottom_timestamp;float x;float y;float z;float[2] delta_xy;float delta_z;float vx;float vy;float vz;float z_deriv;float[2] delta_vxy;float delta_vz;float ax;float ay;float az;float yaw;float ref_alt;float dist_bottom;float dist_bottom_rate;float eph;float epv;float evh;float evv;uint8_t estimator_type;bool xy_valid;bool z_valid;bool v_xy_valid;bool v_z_valid;uint8_t xy_reset_counter;uint8_t z_reset_counter;uint8_t vxy_reset_counter;uint8_t vz_reset_counter;bool xy_global;bool z_global;bool dist_bottom_valid;uint8_t[4] _padding0;Fhome_position:uint64_t timestamp;double lat;double lon;float alt;float x;float y;float z;float yaw;float direction_x;float direction_y;float direction_z;.Ffw_pos_ctrl_status:uint64_t timestamp;float nav_roll;float nav_pitch;float nav_bearing;float target_bearing;float wp_dist;float xtrack_error;float turn_distance;float landing_horizontal_slope_displacement;float landing_slope_angle_rad;float landing_flare_length;bool abort_landing;uint8_t[7] _padding0;cFsensor_preflight:uint64_t timestamp;float accel_inconsistency_m_s_s;float gyro_inconsistency_rad_s;OFgps_inject_data:uint64_t timestamp;uint8_t len;uint8_t flags;uint8_t[182] data;Ffollow_target:uint64_t timestamp;double lat;double lon;float alt;float vy;float vx;float vz;uint8_t est_cap;uint8_t[7] _padding0;JFulog_stream_ack:uint64_t timestamp;uint16_t sequence;uint8_t[6] _padding0;Fsensor_gyro:uint64_t timestamp;uint64_t integral_dt;uint64_t error_count;float x;float y;float z;float x_integral;float y_integral;float z_integral;float temperature;float range_rad_s;float scaling;uint32_t device_id;int16_t x_raw;int16_t y_raw;int16_t z_raw;int16_t temperature_raw;KFcommander_state:uint64_t timestamp;uint8_t main_state;uint8_t[7] _padding0;Fulog_stream:uint64_t timestamp;uint16_t sequence;uint8_t length;uint8_t first_message_offset;uint8_t flags;uint8_t[249] data;uint8_t[2] _padding0;4Ffence_vertex:uint64_t timestamp;float lat;float lon;Fvehicle_command:uint64_t timestamp;double param5;double param6;float param1;float param2;float param3;float param4;float param7;uint32_t command;uint32_t target_system;uint32_t target_component;uint32_t source_system;uint32_t source_component;uint8_t confirmation;uint8_t[7] _padding0;[Factuator_controls_virtual_mc:uint64_t timestamp;uint64_t timestamp_sample;float[8] control;^Foutput_pwm:uint64_t timestamp;uint32_t channel_count;uint16_t[16] values;uint8_t[4] _padding0;Fekf2_timestamps:uint64_t timestamp;int16_t gps_timestamp_rel;int16_t optical_flow_timestamp_rel;int16_t distance_sensor_timestamp_rel;int16_t airspeed_timestamp_rel;int16_t vision_position_timestamp_rel;int16_t vision_attitude_timestamp_rel;uint8_t[4] _padding0;Fdistance_sensor:uint64_t timestamp;float min_distance;float max_distance;float current_distance;float covariance;uint8_t type;uint8_t id;uint8_t orientation;uint8_t[5] _padding0;Foffboard_control_mode:uint64_t timestamp;bool ignore_thrust;bool ignore_attitude;bool ignore_bodyrate;bool ignore_position;bool ignore_velocity;bool ignore_acceleration_force;bool ignore_alt_hold;uint8_t[1] _padding0;9Fgps_dump:uint64_t timestamp;uint8_t len;uint8_t[79] data;VFmavlink_log:uint64_t timestamp;uint8_t[50] text;uint8_t severity;uint8_t[5] _padding0;ZFactuator_direct:uint64_t timestamp;uint32_t nvalues;float[16] values;uint8_t[4] _padding0;{Fvehicle_vision_attitude:uint64_t timestamp;float rollspeed;float pitchspeed;float yawspeed;float[4] q;uint8_t[4] _padding0;Finput_rc:uint64_t timestamp;uint64_t timestamp_last_signal;uint32_t channel_count;int32_t rssi;uint16_t rc_lost_frame_count;uint16_t rc_total_frame_count;uint16_t rc_ppm_frame_length;uint16_t[18] values;bool rc_failsafe;bool rc_lost;uint8_t input_source;uint8_t[3] _padding0;Fvehicle_roi:uint64_t timestamp;double lat;double lon;uint32_t mission_seq;uint32_t target_seq;float alt;uint8_t mode;uint8_t[3] _padding0;Fvehicle_attitude_groundtruth:uint64_t timestamp;float rollspeed;float pitchspeed;float yawspeed;float[4] q;uint8_t[4] _padding0;Fsensor_mag:uint64_t timestamp;uint64_t error_count;float x;float y;float z;float range_ga;float scaling;float temperature;uint32_t device_id;int16_t x_raw;int16_t y_raw;int16_t z_raw;uint8_t is_external;uint8_t[5] _padding0;TFmc_virtual_attitude_setpoint:uint64_t timestamp;float roll_body;float pitch_body;float yaw_body;float yaw_sp_move_rate;float[4] q_d;float thrust;float landing_gear;bool q_d_valid;bool roll_reset_integral;bool pitch_reset_integral;bool yaw_reset_integral;bool fw_control_yaw;bool disable_mc_yaw_control;bool apply_flaps;uint8_t[1] _padding0;Pfloat ATT_VIBE_THRESHL>Pfloat BAT_A_PER_V33APfloat BAT_CAPACITYPfloat BAT_CNT_V_CURR33S:Pfloat BAT_CNT_V_VOLT33S:Pfloat BAT_CRIT_THR)\=Pfloat BAT_EMERGEN_THRL=Pfloat BAT_LOW_THR>Pint32_t BAT_N_CELLSPfloat BAT_R_INTERNALPint32_t BAT_SOURCEPfloat BAT_V_CHARGED@Pfloat BAT_V_DIV@Pfloat BAT_V_EMPTYY@Pfloat BAT_V_LOAD_DROP>Pfloat BAT_V_OFFS_CURRPint32_t BAT_V_SCALE_IO'Pint32_t CAL_ACC0_ID 7Pfloat CAL_ACC0_XOFFPfloat CAL_ACC0_XSCALEK?Pfloat CAL_ACC0_YOFF=>Pfloat CAL_ACC0_YSCALEh?Pfloat CAL_ACC0_ZOFF=Pfloat CAL_ACC0_ZSCALE=?Pint32_t CAL_ACC1_ID Pfloat CAL_ACC1_XOFF]Pfloat CAL_ACC1_XSCALEi?Pfloat CAL_ACC1_YOFF̤=Pfloat CAL_ACC1_YSCALE[?Pfloat CAL_ACC1_ZOFFa<Pfloat CAL_ACC1_ZSCALEtǃ?Pfloat CAL_ACC2_XOFFPfloat CAL_ACC2_XSCALE?Pfloat CAL_ACC2_YOFFPfloat CAL_ACC2_YSCALE?Pfloat CAL_ACC2_ZOFFPfloat CAL_ACC2_ZSCALE?Pint32_t CAL_ACC_PRIME 7Pint32_t CAL_BARO_PRIMEPint32_t CAL_GYRO0_ID 8Pfloat CAL_GYRO0_XOFFwPfloat CAL_GYRO0_XSCALE?Pfloat CAL_GYRO0_YOFF†Pfloat CAL_GYRO0_YSCALE?Pfloat CAL_GYRO0_ZOFFs+Pfloat CAL_GYRO0_ZSCALE?Pint32_t CAL_GYRO1_ID $Pfloat CAL_GYRO1_XOFFxsw<Pfloat CAL_GYRO1_XSCALE?Pfloat CAL_GYRO1_YOFFGPfloat CAL_GYRO1_YSCALE?Pfloat CAL_GYRO1_ZOFFGfKPfloat CAL_GYRO1_ZSCALE?Pfloat CAL_GYRO2_XOFFPfloat CAL_GYRO2_XSCALE?Pfloat CAL_GYRO2_YOFFPfloat CAL_GYRO2_YSCALE?Pfloat CAL_GYRO2_ZOFFPfloat CAL_GYRO2_ZSCALE?Pint32_t CAL_GYRO_PRIME 8Pint32_t CAL_MAG0_ID Pint32_t CAL_MAG0_ROTPfloat CAL_MAG0_XOFFY?Pfloat CAL_MAG0_XSCALE5;N?Pfloat CAL_MAG0_YOFFLM=Pfloat CAL_MAG0_YSCALER>Pfloat CAL_MAG0_ZOFF?Pfloat CAL_MAG0_ZSCALE=Pint32_t CAL_MAG1_ID Pint32_t CAL_MAG1_ROTPfloat CAL_MAG1_XOFF=Pfloat CAL_MAG1_XSCALEi E?Pfloat CAL_MAG1_YOFF?Pfloat CAL_MAG1_YSCALEc?Pfloat CAL_MAG1_ZOFF`>Pfloat CAL_MAG1_ZSCALE}a?Pint32_t CAL_MAG2_IDPint32_t CAL_MAG2_ROTPfloat CAL_MAG2_XOFF>Pfloat CAL_MAG2_XSCALEp?Pfloat CAL_MAG2_YOFFk>Pfloat CAL_MAG2_YSCALE(w?Pfloat CAL_MAG2_ZOFF<Pfloat CAL_MAG2_ZSCALEi8r?Pint32_t CAL_MAG3_IDPint32_t CAL_MAG3_ROTPfloat CAL_MAG3_XOFFPfloat CAL_MAG3_XSCALE?Pfloat CAL_MAG3_YOFFPfloat CAL_MAG3_YSCALE?Pfloat CAL_MAG3_ZOFFPfloat CAL_MAG3_ZSCALE?Pint32_t CAL_MAG_PRIMEPint32_t CAL_MAG_SIDES?Pint32_t CBRK_AIRSPD_CHKPint32_t CBRK_ENGINEFAILYPint32_t CBRK_FLIGHTTERM|Pint32_t CBRK_GPSFAILPint32_t CBRK_IO_SAFETYPint32_t CBRK_RATE_CTRLPint32_t CBRK_SUPPLY_CHKPint32_t CBRK_USB_CHKPint32_t CBRK_VELPOSERRPfloat COM_ARM_EKF_AB ף;Pfloat COM_ARM_EKF_GBd:Pfloat COM_ARM_EKF_HGT?Pfloat COM_ARM_EKF_POS?Pfloat COM_ARM_EKF_VEL?Pfloat COM_ARM_EKF_YAW?Pfloat COM_ARM_IMU_ACC333?Pfloat COM_ARM_IMU_GYRL>Pint32_t COM_ARM_MIS_REQPint32_t COM_ARM_SWISBTNPint32_t COM_ARM_WO_GPSPint32_t COM_DISARM_LANDPint32_t COM_DL_LOSS_T Pint32_t COM_DL_REG_TPfloat COM_EF_C2T@Pfloat COM_EF_THROT?Pfloat COM_EF_TIME APint32_t COM_FLTMODE1Pint32_t COM_FLTMODE2Pint32_t COM_FLTMODE3Pint32_t COM_FLTMODE4Pint32_t COM_FLTMODE5Pint32_t COM_FLTMODE6Pfloat COM_HOME_H_T@Pfloat COM_HOME_V_T APint32_t COM_LOW_BAT_ACTPint32_t COM_OBL_ACTPint32_t COM_OBL_RC_ACTPfloat COM_OF_LOSS_TPint32_t COM_POSCTL_NAVLPint32_t COM_RC_ARM_HYSTPint32_t COM_RC_IN_MODEPfloat COM_RC_LOSS_T?Pint32_t COM_RC_OVERRIDEPfloat COM_RC_STICK_OV@APfloat EKF2_ABIAS_INITL>Pfloat EKF2_ACC_B_NOISED;Pfloat EKF2_ACC_NOISE33>Pint32_t EKF2_AID_MASKPfloat EKF2_ANGERR_INIT=Pfloat EKF2_ARSP_THRPfloat EKF2_ASP_DELAYBPfloat EKF2_BARO_DELAYPfloat EKF2_BARO_GATE@Pfloat EKF2_BARO_NOISE@Pfloat EKF2_BETA_NOISE>Pint32_t EKF2_DECL_TYPEPfloat EKF2_EAS_NOISE33?Pfloat EKF2_EVA_NOISEL=Pfloat EKF2_EVP_NOISEL=Pfloat EKF2_EV_DELAY/CPfloat EKF2_EV_GATE@Pfloat EKF2_EV_POS_XPfloat EKF2_EV_POS_YPfloat EKF2_EV_POS_ZPint32_t EKF2_FUSE_BETAPfloat EKF2_GBIAS_INIT=Pint32_t EKF2_GPS_CHECKPfloat EKF2_GPS_DELAYBPfloat EKF2_GPS_POS_XPfloat EKF2_GPS_POS_YPfloat EKF2_GPS_POS_ZPfloat EKF2_GPS_P_GATE@Pfloat EKF2_GPS_P_NOISE?Pfloat EKF2_GPS_V_GATE@Pfloat EKF2_GPS_V_NOISE?Pfloat EKF2_GYR_B_NOISEo:Pfloat EKF2_GYR_NOISEu<Pfloat EKF2_HDG_GATEff&@Pfloat EKF2_HEAD_NOISE>Pint32_t EKF2_HGT_MODEPfloat EKF2_IMU_POS_XPfloat EKF2_IMU_POS_YPfloat EKF2_IMU_POS_ZPint32_t EKF2_MAGBIAS_ID Pfloat EKF2_MAGBIAS_XPfloat EKF2_MAGBIAS_YPfloat EKF2_MAGBIAS_ZPfloat EKF2_MAGB_KL>Pfloat EKF2_MAGB_VREF74Pfloat EKF2_MAG_ACCLIM?Pfloat EKF2_MAG_B_NOISE8Pfloat EKF2_MAG_DECLPfloat EKF2_MAG_DELAYPfloat EKF2_MAG_E_NOISEo:Pfloat EKF2_MAG_GATE@@Pfloat EKF2_MAG_NOISEL=Pint32_t EKF2_MAG_TYPEPfloat EKF2_MAG_YAWLIM>Pint32_t EKF2_MIN_OBS_DTPfloat EKF2_MIN_RNG=Pfloat EKF2_NOAID_NOISE APfloat EKF2_OF_DELAY@Pfloat EKF2_OF_GATE@@Pfloat EKF2_OF_N_MAX?Pfloat EKF2_OF_N_MIN>Pfloat EKF2_OF_POS_XPfloat EKF2_OF_POS_YPfloat EKF2_OF_POS_ZPint32_t EKF2_OF_QMINPfloat EKF2_OF_RMAX @Pint32_t EKF2_REC_RPLPfloat EKF2_REQ_EPH@Pfloat EKF2_REQ_EPVAPfloat EKF2_REQ_GDOP @Pfloat EKF2_REQ_HDRIFT>Pint32_t EKF2_REQ_NSATSPfloat EKF2_REQ_SACC?Pfloat EKF2_REQ_VDRIFT?Pint32_t EKF2_RNG_AIDPfloat EKF2_RNG_A_HMAX@Pfloat EKF2_RNG_A_VMAX?Pfloat EKF2_RNG_DELAY@Pfloat EKF2_RNG_GATE@Pfloat EKF2_RNG_NOISE=Pfloat EKF2_RNG_PITCHPfloat EKF2_RNG_POS_XPfloat EKF2_RNG_POS_YPfloat EKF2_RNG_POS_ZPfloat EKF2_RNG_SFEL=Pfloat EKF2_TAS_GATE@@Pfloat EKF2_TAU_POS>Pfloat EKF2_TAU_VEL>Pfloat EKF2_TERR_GRAD?Pfloat EKF2_TERR_NOISE@Pfloat EKF2_WIND_NOISE=Pint32_t FW_ARSP_MODEPfloat FW_CLMBOUT_DIFF APfloat FW_MAN_P_SC?Pfloat FW_MAN_R_SC?Pfloat FW_MAN_Y_SC?Pint32_t GF_ACTIONPint32_t GF_ALTMODEPint32_t GF_COUNTPfloat GF_MAX_HOR_DISTPfloat GF_MAX_VER_DISTPint32_t GF_SOURCEPint32_t GPS_DUMP_COMMPint32_t GPS_UBX_DYNMODELPint32_t LED_RGB_MAXBRTPfloat LNDMC_ALT_MAX@FPfloat LNDMC_FFALL_THR@Pfloat LNDMC_FFALL_TTRI>Pfloat LNDMC_MAN_DWNTHR>Pfloat LNDMC_POS_UPTHRff&?Pfloat LNDMC_ROT_MAXAPfloat LNDMC_THR_RANGE=Pfloat LNDMC_XY_VEL_MAX?Pfloat LNDMC_Z_VEL_MAX?Pint32_t LND_FLIGHT_T_HIPint32_t LND_FLIGHT_T_LOPint32_t MAV_BROADCASTPint32_t MAV_COMP_IDPint32_t MAV_FWDEXTSPPint32_t MAV_PROTO_VERPint32_t MAV_RADIO_IDPint32_t MAV_SYS_IDPint32_t MAV_TEST_PARPint32_t MAV_TYPEPint32_t MAV_USEHILGPSPfloat MC_ACRO_P_MAXCPfloat MC_ACRO_R_MAXCPfloat MC_ACRO_Y_MAXCPint32_t MC_BAT_SCALE_ENPfloat MC_PITCHRATE_DD;Pfloat MC_PITCHRATE_FFPfloat MC_PITCHRATE_IL=Pfloat MC_PITCHRATE_MAX\CPfloat MC_PITCHRATE_P>Pfloat MC_PITCH_P@Pfloat MC_PITCH_TCL>Pfloat MC_PR_INT_LIM>Pfloat MC_RATT_THL?Pfloat MC_ROLLRATE_DD;Pfloat MC_ROLLRATE_FFPfloat MC_ROLLRATE_IL=Pfloat MC_ROLLRATE_MAX\CPfloat MC_ROLLRATE_P>Pfloat MC_ROLL_P@Pfloat MC_ROLL_TCL>Pfloat MC_RR_INT_LIM>Pfloat MC_TPA_BREAK_D?Pfloat MC_TPA_BREAK_I?Pfloat MC_TPA_BREAK_P?Pfloat MC_TPA_RATE_DPfloat MC_TPA_RATE_IPfloat MC_TPA_RATE_PPfloat MC_YAWRATE_DPfloat MC_YAWRATE_FFPfloat MC_YAWRATE_I=Pfloat MC_YAWRATE_MAXHCPfloat MC_YAWRATE_PL>Pfloat MC_YAWRAUTO_MAX4BPfloat MC_YAW_FF?Pfloat MC_YAW_P333@Pfloat MC_YR_INT_LIM>Pint32_t MIS_ALTMODEPfloat MIS_DIST_1WPaDPfloat MIS_LTRMIN_ALTPint32_t MIS_ONBOARD_ENPfloat MIS_TAKEOFF_ALT @Pint32_t MIS_YAWMODEPfloat MIS_YAW_ERR@APfloat MIS_YAW_TMTPint32_t MNT_MODE_INPfloat MOT_SLEW_MAXPfloat MPC_ACC_DOWN_MAX@Pfloat MPC_ACC_HOR_MAX@Pfloat MPC_ACC_UP_MAX@Pint32_t MPC_ALT_MODEPfloat MPC_DEC_HOR_MAX APfloat MPC_HOLD_DZ=Pfloat MPC_HOLD_MAX_XYL?Pfloat MPC_HOLD_MAX_Z?Pfloat MPC_LAND_ALT1 APfloat MPC_LAND_ALT2@Pfloat MPC_LAND_SPEED?Pfloat MPC_MANTHR_MAXfff?Pfloat MPC_MANTHR_MIN ף=Pfloat MPC_MAN_TILT_MAX BPfloat MPC_MAN_Y_MAXHCPfloat MPC_TARGET_THREpAPfloat MPC_THR_HOVER?Pfloat MPC_THR_MAXfff?Pfloat MPC_THR_MIN=Pfloat MPC_TILTMAX_AIR4BPfloat MPC_TILTMAX_LND@APfloat MPC_TKO_RAMP_T>Pfloat MPC_TKO_SPEED?Pfloat MPC_VELD_LP@Pfloat MPC_VEL_MAN_MAX APfloat MPC_XY_CRUISE@Pfloat MPC_XY_MAN_EXPOPfloat MPC_XY_P33s?Pfloat MPC_XY_VEL_D #<Pfloat MPC_XY_VEL_I ף<Pfloat MPC_XY_VEL_MAXAPfloat MPC_XY_VEL_PQ=Pfloat MPC_Z_MAN_EXPOP float MPC_Z_P?Pfloat MPC_Z_VEL_DPfloat MPC_Z_VEL_I ף<Pfloat MPC_Z_VEL_MAX_DN?Pfloat MPC_Z_VEL_MAX_UP@@Pfloat MPC_Z_VEL_PL>Pfloat NAV_ACC_RAD@Pfloat NAV_AH_ALTDPint32_t NAV_AH_LAT{'Pint32_t NAV_AH_LONLZPint32_t NAV_DLL_ACTPfloat NAV_DLL_AH_TBPint32_t NAV_DLL_CHSKPfloat NAV_DLL_CH_ALTDPint32_t NAV_DLL_CH_LAT$Pint32_t NAV_DLL_CH_LONāZPfloat NAV_DLL_CH_TBPint32_t NAV_DLL_NPint32_t NAV_FORCE_VTPfloat NAV_FT_DSTAPint32_t NAV_FT_FSPfloat NAV_FT_RS?Pfloat NAV_FW_ALT_RAD APfloat NAV_GPSF_LTAPfloat NAV_GPSF_PPfloat NAV_GPSF_RpAPfloat NAV_GPSF_TR333?Pfloat NAV_LOITER_RADHBPfloat NAV_MC_ALT_RADL?Pfloat NAV_MIN_FT_HTAPint32_t NAV_RCL_ACTPfloat NAV_RCL_LTBPint32_t PWM_AUX_DISARMEDPint32_t PWM_AUX_MAXPint32_t PWM_AUX_MINPint32_t PWM_AUX_REV1Pint32_t PWM_AUX_REV2Pint32_t PWM_AUX_REV3Pint32_t PWM_AUX_REV4Pint32_t PWM_AUX_REV5Pint32_t PWM_AUX_REV6Pfloat PWM_AUX_TRIM1Pfloat PWM_AUX_TRIM2Pfloat PWM_AUX_TRIM3Pfloat PWM_AUX_TRIM4Pfloat PWM_AUX_TRIM5Pfloat PWM_AUX_TRIM6Pint32_t PWM_DISARMEDPint32_t PWM_MAIN_REV1Pint32_t PWM_MAIN_REV2Pint32_t PWM_MAIN_REV3Pint32_t PWM_MAIN_REV4Pint32_t PWM_MAIN_REV5Pint32_t PWM_MAIN_REV6Pint32_t PWM_MAIN_REV7Pint32_t PWM_MAIN_REV8Pfloat PWM_MAIN_TRIM1Pfloat PWM_MAIN_TRIM2Pfloat PWM_MAIN_TRIM3Pfloat PWM_MAIN_TRIM4Pfloat PWM_MAIN_TRIM5Pfloat PWM_MAIN_TRIM6Pfloat PWM_MAIN_TRIM7Pfloat PWM_MAIN_TRIM8Pint32_t PWM_MAXPint32_t PWM_MIN3Pint32_t PWM_RATEPint32_t PWM_SBUS_MODEP float RC10_DZPfloat RC10_MAXDPfloat RC10_MINzDPfloat RC10_REV?Pfloat RC10_TRIMDP float RC11_DZPfloat RC11_MAXDPfloat RC11_MINzDPfloat RC11_REV?Pfloat RC11_TRIMDP float RC12_DZPfloat RC12_MAXDPfloat RC12_MINzDPfloat RC12_REV?Pfloat RC12_TRIMDP float RC13_DZPfloat RC13_MAXDPfloat RC13_MINzDPfloat RC13_REV?Pfloat RC13_TRIMDP float RC14_DZPfloat RC14_MAXDPfloat RC14_MINzDPfloat RC14_REV?Pfloat RC14_TRIMDP float RC15_DZPfloat RC15_MAXDPfloat RC15_MINzDPfloat RC15_REV?Pfloat RC15_TRIMDP float RC16_DZPfloat RC16_MAXDPfloat RC16_MINzDPfloat RC16_REV?Pfloat RC16_TRIMDP float RC17_DZPfloat RC17_MAXDPfloat RC17_MINzDPfloat RC17_REV?Pfloat RC17_TRIMDP float RC18_DZPfloat RC18_MAXDPfloat RC18_MINzDPfloat RC18_REV?Pfloat RC18_TRIMDP float RC1_DZ AP float RC1_MAXDP float RC1_MINzDP float RC1_REV?Pfloat RC1_TRIMDP float RC2_DZ AP float RC2_MAXDP float RC2_MINzDP float RC2_REV?Pfloat RC2_TRIMDP float RC3_DZ AP float RC3_MAXDP float RC3_MINzDP float RC3_REV?Pfloat RC3_TRIMDP float RC4_DZ AP float RC4_MAXDP float RC4_MINzDP float RC4_REV?Pfloat RC4_TRIMDP float RC5_DZ AP float RC5_MAXDP float RC5_MINzDP float RC5_REV?Pfloat RC5_TRIMDP float RC6_DZ AP float RC6_MAXDP float RC6_MINzDP float RC6_REV?Pfloat RC6_TRIMDP float RC7_DZ AP float RC7_MAXDP float RC7_MINzDP float RC7_REV?Pfloat RC7_TRIMDP float RC8_DZ AP float RC8_MAXDP float RC8_MINzDP float RC8_REV?Pfloat RC8_TRIMDP float RC9_DZP float RC9_MAXDP float RC9_MINzDP float RC9_REV?Pfloat RC9_TRIMDPfloat RC_ACRO_TH?Pfloat RC_ARMSWITCH_TH>Pfloat RC_ASSIST_TH>Pfloat RC_AUTO_TH@?Pint32_t RC_CHAN_CNTPint32_t RC_DSM_BINDPint32_t RC_FAILS_THRPfloat RC_FLT_CUTOFF APfloat RC_FLT_SMP_RATEHBPfloat RC_GEAR_TH>Pfloat RC_KILLSWITCH_TH>Pfloat RC_LOITER_TH?Pfloat RC_MAN_TH?Pint32_t RC_MAP_ACRO_SWPint32_t RC_MAP_ARM_SWPint32_t RC_MAP_AUX1Pint32_t RC_MAP_AUX2Pint32_t RC_MAP_AUX3Pint32_t RC_MAP_AUX4Pint32_t RC_MAP_AUX5Pint32_t RC_MAP_FAILSAFEPint32_t RC_MAP_FLAPSPint32_t RC_MAP_FLTMODEPint32_t RC_MAP_GEAR_SWPint32_t RC_MAP_KILL_SWPint32_t RC_MAP_LOITER_SWPint32_t RC_MAP_MAN_SWPint32_t RC_MAP_MODE_SWPint32_t RC_MAP_OFFB_SWPint32_t RC_MAP_PARAM1Pint32_t RC_MAP_PARAM2Pint32_t RC_MAP_PARAM3Pint32_t RC_MAP_PITCHPint32_t RC_MAP_POSCTL_SWPint32_t RC_MAP_RATT_SWPint32_t RC_MAP_RETURN_SWPint32_t RC_MAP_ROLLPint32_t RC_MAP_STAB_SWPint32_t RC_MAP_THROTTLEPint32_t RC_MAP_TRANS_SWPint32_t RC_MAP_YAWPfloat RC_OFFB_TH?Pfloat RC_POSCTL_TH?Pfloat RC_RATT_TH?Pfloat RC_RETURN_TH?Pint32_t RC_RSSI_PWM_CHANPint32_t RC_RSSI_PWM_MAXPint32_t RC_RSSI_PWM_MINPfloat RC_STAB_TH?Pint32_t RC_TH_USERPfloat RC_TRANS_TH>Pfloat RTL_DESCEND_ALT APfloat RTL_LAND_DELAYPfloat RTL_MIN_DIST@Pfloat RTL_RETURN_ALTAPint32_t SDLOG_DIRS_MAXPint32_t SDLOG_MODEPint32_t SDLOG_UTC_OFFSETPint32_t SDLOG_UUIDPfloat SENS_BARO_QNHP}DPint32_t SENS_BOARD_ROTPfloat SENS_BOARD_X_OFFPfloat SENS_BOARD_Y_OFFPfloat SENS_BOARD_Z_OFFPfloat SENS_DPRES_ANSCPfloat SENS_DPRES_OFFPint32_t SENS_EN_LL40LSPint32_t SENS_EN_MB12XXPint32_t SENS_EN_SF0XPint32_t SENS_EN_SF1XXPint32_t SENS_EN_THERMALPint32_t SENS_EN_TRONEPint32_t SYS_AUTOCONFIGPint32_t SYS_AUTOSTARTPint32_t SYS_CAL_ACCELPint32_t SYS_CAL_BAROPint32_t SYS_CAL_GYROPint32_t SYS_CAL_TDELPint32_t SYS_CAL_TMAX Pint32_t SYS_CAL_TMINPint32_t SYS_COMPANIONgPint32_t SYS_LOGGERPint32_t SYS_MC_EST_GROUPPint32_t SYS_PARAM_VERPint32_t SYS_RESTART_TYPEPint32_t SYS_STCK_ENPint32_t SYS_USE_IOPint32_t TC_A0_IDPfloat TC_A0_SCL_0?Pfloat TC_A0_SCL_1?Pfloat TC_A0_SCL_2?Pfloat TC_A0_TMAXBPfloat TC_A0_TMINPfloat TC_A0_TREFAPfloat TC_A0_X0_0Pfloat TC_A0_X0_1Pfloat TC_A0_X0_2Pfloat TC_A0_X1_0Pfloat TC_A0_X1_1Pfloat TC_A0_X1_2Pfloat TC_A0_X2_0Pfloat TC_A0_X2_1Pfloat TC_A0_X2_2Pfloat TC_A0_X3_0Pfloat TC_A0_X3_1Pfloat TC_A0_X3_2Pint32_t TC_A1_IDPfloat TC_A1_SCL_0?Pfloat TC_A1_SCL_1?Pfloat TC_A1_SCL_2?Pfloat TC_A1_TMAXBPfloat TC_A1_TMINPfloat TC_A1_TREFAPfloat TC_A1_X0_0Pfloat TC_A1_X0_1Pfloat TC_A1_X0_2Pfloat TC_A1_X1_0Pfloat TC_A1_X1_1Pfloat TC_A1_X1_2Pfloat TC_A1_X2_0Pfloat TC_A1_X2_1Pfloat TC_A1_X2_2Pfloat TC_A1_X3_0Pfloat TC_A1_X3_1Pfloat TC_A1_X3_2Pint32_t TC_A2_IDPfloat TC_A2_SCL_0?Pfloat TC_A2_SCL_1?Pfloat TC_A2_SCL_2?Pfloat TC_A2_TMAXBPfloat TC_A2_TMINPfloat TC_A2_TREFAPfloat TC_A2_X0_0Pfloat TC_A2_X0_1Pfloat TC_A2_X0_2Pfloat TC_A2_X1_0Pfloat TC_A2_X1_1Pfloat TC_A2_X1_2Pfloat TC_A2_X2_0Pfloat TC_A2_X2_1Pfloat TC_A2_X2_2Pfloat TC_A2_X3_0Pfloat TC_A2_X3_1Pfloat TC_A2_X3_2Pint32_t TC_A_ENABLEPint32_t TC_B0_IDPfloat TC_B0_SCL?Pfloat TC_B0_TMAXBPfloat TC_B0_TMIN@Pfloat TC_B0_TREF BPfloat TC_B0_X0Pfloat TC_B0_X1Pfloat TC_B0_X2Pfloat TC_B0_X3Pfloat TC_B0_X4Pfloat TC_B0_X5Pint32_t TC_B1_IDPfloat TC_B1_SCL?Pfloat TC_B1_TMAXBPfloat TC_B1_TMIN@Pfloat TC_B1_TREF BPfloat TC_B1_X0Pfloat TC_B1_X1Pfloat TC_B1_X2Pfloat TC_B1_X3Pfloat TC_B1_X4Pfloat TC_B1_X5Pint32_t TC_B2_IDPfloat TC_B2_SCL?Pfloat TC_B2_TMAXBPfloat TC_B2_TMIN@Pfloat TC_B2_TREF BPfloat TC_B2_X0Pfloat TC_B2_X1Pfloat TC_B2_X2Pfloat TC_B2_X3Pfloat TC_B2_X4Pfloat TC_B2_X5Pint32_t TC_B_ENABLEPint32_t TC_G0_IDPfloat TC_G0_SCL_0?Pfloat TC_G0_SCL_1?Pfloat TC_G0_SCL_2?Pfloat TC_G0_TMAXBPfloat TC_G0_TMINPfloat TC_G0_TREFAPfloat TC_G0_X0_0Pfloat TC_G0_X0_1Pfloat TC_G0_X0_2Pfloat TC_G0_X1_0Pfloat TC_G0_X1_1Pfloat TC_G0_X1_2Pfloat TC_G0_X2_0Pfloat TC_G0_X2_1Pfloat TC_G0_X2_2Pfloat TC_G0_X3_0Pfloat TC_G0_X3_1Pfloat TC_G0_X3_2Pint32_t TC_G1_IDPfloat TC_G1_SCL_0?Pfloat TC_G1_SCL_1?Pfloat TC_G1_SCL_2?Pfloat TC_G1_TMAXBPfloat TC_G1_TMINPfloat TC_G1_TREFAPfloat TC_G1_X0_0Pfloat TC_G1_X0_1Pfloat TC_G1_X0_2Pfloat TC_G1_X1_0Pfloat TC_G1_X1_1Pfloat TC_G1_X1_2Pfloat TC_G1_X2_0Pfloat TC_G1_X2_1Pfloat TC_G1_X2_2Pfloat TC_G1_X3_0Pfloat TC_G1_X3_1Pfloat TC_G1_X3_2Pint32_t TC_G2_IDPfloat TC_G2_SCL_0?Pfloat TC_G2_SCL_1?Pfloat TC_G2_SCL_2?Pfloat TC_G2_TMAXBPfloat TC_G2_TMINPfloat TC_G2_TREFAPfloat TC_G2_X0_0Pfloat TC_G2_X0_1Pfloat TC_G2_X0_2Pfloat TC_G2_X1_0Pfloat TC_G2_X1_1Pfloat TC_G2_X1_2Pfloat TC_G2_X2_0Pfloat TC_G2_X2_1Pfloat TC_G2_X2_2Pfloat TC_G2_X3_0Pfloat TC_G2_X3_1Pfloat TC_G2_X3_2Pint32_t TC_G_ENABLEPfloat THR_MDL_FACPint32_t TRIG_MODEPfloat TRIM_PITCHPfloat TRIM_ROLLPfloat TRIM_YAWPint32_t UAVCAN_ENABLEPfloat VT_B_TRANS_DUR@Pint32_t VT_OPT_RECOV_ENPint32_t VT_TYPEPint32_t VT_WV_LND_ENPint32_t VT_WV_LTR_ENPint32_t VT_WV_TKO_ENPfloat VT_WV_YAWR_SCL>oI"char[76] perf_counter_preflight-00navigator: 9 events, 275us elapsed, 30us avg, min 21us max 75us 16.883us rms{I"char[88] perf_counter_preflight-01mc_att_control: 2465 events, 188639us elapsed, 76us avg, min 18us max 392us 31.226us rmsgI"char[68] perf_counter_preflight-02ctl_lat: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rmsoI"char[76] perf_counter_preflight-03logger_sd_fsync: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rmsI"char[92] perf_counter_preflight-04logger_sd_write: 3 events, 73113us elapsed, 24371us avg, min 9us max 37955us 21144.707us rms:I"char[23] perf_counter_preflight-05mavlink_txe: 569 eventszI"char[87] perf_counter_preflight-06mavlink_el: 3104 events, 474097us elapsed, 152us avg, min 78us max 3448us 209.233us rms9I"char[22] perf_counter_preflight-07mavlink_txe: 12 eventsyI"char[86] perf_counter_preflight-08mavlink_el: 883 events, 113212us elapsed, 128us avg, min 44us max 2234us 210.405us rms8I"char[21] perf_counter_preflight-09mavlink_txe: 0 eventsyI"char[86] perf_counter_preflight-10mavlink_el: 995 events, 174125us elapsed, 175us avg, min 62us max 4784us 329.831us rmsI#char[103] perf_counter_preflight-11io latency: 2044 events, 5113031102us elapsed, 2501482us avg, min 987us max 7524739us 2916104.750us rmshI"char[69] perf_counter_preflight-12io write: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms|I"char[89] perf_counter_preflight-13io update: 2132 events, 1319684us elapsed, 618us avg, min 256us max 18515us 733.727us rmsyI"char[86] perf_counter_preflight-14io_txns: 3950 events, 1243786us elapsed, 314us avg, min 131us max 2714us 139.806us rmspI"char[77] perf_counter_preflight-15stack_check: 21 events, 252us elapsed, 12us avg, min 1us max 29us 6.380us rmswI"char[84] perf_counter_preflight-16sensors: 2543 events, 361486us elapsed, 142us avg, min 78us max 6150us 126.879us rms@I"char[29] perf_counter_preflight-17lis3mdl_conf_errors: 3 eventsAI"char[30] perf_counter_preflight-18lis3mdl_range_errors: 0 eventsAI"char[30] perf_counter_preflight-19lis3mdl_comms_errors: 0 eventswI"char[84] perf_counter_preflight-20lis3mdl_read: 475 events, 16303us elapsed, 34us avg, min 28us max 259us 27.699us rms<I"char[25] perf_counter_preflight-21mpu9250_dupe: 2848 events:I"char[23] perf_counter_preflight-22mpu9250_reset: 0 eventsCI"char[32] perf_counter_preflight-23mpu9250_good_trans: 10151 events<I"char[25] perf_counter_preflight-24mpu9250_bad_reg: 0 events>I"char[27] perf_counter_preflight-25mpu9250_bad_trans: 0 eventsxI"char[85] perf_counter_preflight-26mpu9250_read: 13000 events, 973697us elapsed, 74us avg, min 58us max 91us 9.448us rms>I"char[27] perf_counter_preflight-27mpu9250_gyro_read: 0 events=I"char[26] perf_counter_preflight-28mpu9250_acc_read: 9 eventsFI"char[35] perf_counter_preflight-29mpu9250_mag_duplicates: 9077 eventsBI"char[31] perf_counter_preflight-30mpu9250_mag_overflows: 0 eventsCI"char[32] perf_counter_preflight-31mpu9250_mag_overruns: 142 events?I"char[28] perf_counter_preflight-32mpu9250_mag_errors: 0 events>I"char[27] perf_counter_preflight-33mpu9250_mag_reads: 0 events{I"char[88] perf_counter_preflight-34ctrl_latency: 2044 events, 583836us elapsed, 285us avg, min 198us max 904us 53.847us rms@I"char[29] perf_counter_preflight-35mpu6k_duplicates: 2925 events8I"char[21] perf_counter_preflight-36mpu6k_reset: 0 eventsAI"char[30] perf_counter_preflight-37mpu6k_good_trans: 10111 events:I"char[23] perf_counter_preflight-38mpu6k_bad_reg: 0 events<I"char[25] perf_counter_preflight-39mpu6k_bad_trans: 0 eventswI"char[84] perf_counter_preflight-40mpu6k_read: 13036 events, 791547us elapsed, 60us avg, min 43us max 82us 11.774us rms<I"char[25] perf_counter_preflight-41mpu6k_gyro_read: 0 events;I"char[24] perf_counter_preflight-42mpu6k_acc_read: 9 eventsrI"char[79] perf_counter_preflight-43adc_samples: 9324 events, 23193us elapsed, 2us avg, min 2us max 3us 0.500us rms;I"char[24] perf_counter_preflight-44ms5611_com_err: 0 eventsvI"char[83] perf_counter_preflight-45ms5611_measure: 950 events, 7047us elapsed, 7us avg, min 5us max 240us 16.192us rmsvI"char[83] perf_counter_preflight-46ms5611_read: 949 events, 63895us elapsed, 67us avg, min 10us max 331us 49.056us rms6I"char[19] perf_counter_preflight-47dma_alloc: 7 eventsAvehicle_attitudeAactuator_outputsAtelemetry_statusAvehicle_commandAvtol_vehicle_statusAcommander_stateAsatellite_infoAvehicle_attitude_setpointAvehicle_rates_setpointA actuator_controls_0A actuator_controls_1A vehicle_local_position"A vehicle_local_position_setpointA vehicle_global_positionAvehicle_vision_positionAvehicle_vision_attitudeAbattery_statusAsystem_powerAposition_setpoint_tripletAatt_pos_mocapAoptical_flowArc_channels Ainput_rcAdifferential_pressure Aesc_statusAestimator_statusAekf2_innovationsAtecs_statusAwind_estimateAcontrol_stateAcamera_triggerAcamera_capture A cpuload A!gps_dumpA"sensor_preflightA#task_stack_info A$airspeedA%distance_sensorA&ekf2_timestampsA'sensor_combinedA(vehicle_gps_positionA)vehicle_land_detectedA*vehicle_status&D@;Y;Dw:YC?2<B%?NDֺaDaDaDaD DҶ9D̢;?ʢ:DyL>Tf_2D R@< ^ӱ2D Nm̬n;*һ-?==Df@ D4WC?60&8Aw:\8<,9,9/'9 K>y@4= 9;+:DD?آ>~;o2u?D"}>1<D#mc_att_controlD&JD'ZW;<o;'>*p>>eC(AD)!@F/D*RIL4ĵ[commander_tests] Not ready to fly: Sensors not set up correctlyD# mc_pos_controlA+actuator_outputsND+DDDDND+YDDDDD&'\JD''\;&<;;?N7>P;6>\>:zC(AJD'kԺ;;Մ; ;`?Kj>O ;v6>\>zC(AD&kD&f{JD'f{tjÔ;';o;W?>eo;6>\>zC(AD&JD''\C;^:o;US?>`yo;66>\>[zC(A&D=AYC?A1<B%?9D眻̢;?ʢ:DK>Zf_D&JD'Cq:h(:o;#?Ֆ>o;6>\>zC(AD&QJD'Q',żYi :n;zl ?٠>G n;>=dX>"C(AD&湻JD'湻٬/νa:(; ??>6(;7>=dX>\"C(A/D*D&ɻJD'ɻ6o;*:o;& ?>ׂo;>=dX>"C(AJD',ٻʻ+;f*/;D; ?驰>(WD;>=dX>eC(AD&,ٻD)2J:D>p1>1>߂@>=97 ;F;D"~>i<D&JD'+; <҄;;7v?`>b;W>=dX>NeC(AD&fJD'f4ao;>=dX>eC(AD&JD'yo;>ץ>C(A&D<.;xpP;\YC?1Ǵf_D&JD'o;,>ץ>QC(AD&G'JD'G'z<F<;; ?j>8;>ץ>C(AD&6JD'6#,

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file:armv7-m/up_hardfault.c at line: 171 running task: hardfault_log FW git-hash: f54a6c2999e1e2fcbf56dd89de06b615b4186a6e Build datetime: Jul 3 2017 16:02:41 Build url: localhost Processor registers: from 0x20029c64 r0:0x00000000 r1:0x00000000 r2:0x00000001 r3:0xe000ed14 r4:0x00000000 r5:0x20001800 r6:0x20029f26 r7:0x20029f0c r8:0x00000000 r9:0x00000000 r10:0x00000000 r11:0x00000000 r12:0x00000000 sp:0x20029d38 lr:0x080381f5 pc:0x08038224 xpsr:0x21000000 basepri:0x000000f0 control:0x00000004 exe return:0xffffffe9 IRQ stack: top: 0x200037f0 sp: 0x200037a0 Valid bottom: 0x20003504 size: 0x000002ec used: 000000c8 User stack: top: 0x20029f08 sp: 0x20029d38 Valid bottom: 0x2002972c size: 0x000007dc used: 000007dc Interrupt sp memory region, stack pointer lies within stack 0x20003852 0x00000000 0x20003851 0x00000000 0x20003850 0x00000000 0x2000384f 0x00000000 0x2000384e 0x00000000 0x2000384d 0x00000000 0x2000384c 0x00000000 0x2000384b 0x00000000 0x2000384a 0x00000000 0x20003849 0x00000000 0x20003848 0x00000000 0x20003847 0x00000000 0x20003846 0x00000000 0x20003845 0x00000000 0x20003844 0x00000000 0x20003843 0x00000000 0x20003842 0x00000000 0x20003841 0x00000000 0x20003840 0x00000000 0x2000383f 0x00000000 0x2000383e 0x00000000 0x2000383d 0x00000000 0x2000383c 0x00000000 0x2000383b 0x00000000 0x2000383a 0x00000000 0x20003839 0x00000000 0x20003838 0x00000000 0x20003837 0x00000000 0x20003836 0x00000000 0x20003835 0x00000000 0x20003834 0x00000000 0x20003833 0x00000000 0x20003832 0x00000000 0x20003831 0x00000000 0x20003830 0x00000000 0x2000382f 0x00000000 0x2000382e 0x00000000 0x2000382d 0x00000000 0x2000382c 0x00000000 0x2000382b 0x00000000 0x2000382a 0x00000000 0x20003829 0x00000000 0x20003828 0x00000000 0x20003827 0x00000603 0x20003826 0x100061a0 0x20003825 0x10006050 0x20003824 0x20003880 0x20003823 0x10005450 0x20003822 0x00400003 0x20003821 0x0812db88 0x20003820 0x00000002 0x2000381f 0x00000000 0x2000381e 0x00000000 0x2000381d 0x20003880 0x2000381c 0x00000000 0x2000381b 0x00400002 0x2000381a 0x0812db88 0x20003819 0x00000001 0x20003818 0x00000000 0x20003817 0x00000000 0x20003816 0x20003880 0x20003815 0x00000000 0x20003814 0x00400001 0x20003813 0x0812db88 0x20003812 0x00000000 0x20003811 0x00000000 0x20003810 0x00000000 0x2000380f 0x20003880 0x2000380e 0x20003880 0x2000380d 0x00400000 0x2000380c 0x0812db88 0x2000380b 0x00001003 0x2000380a 0x00000000 0x20003809 0x00000000 0x20003808 0x20003880 0x20003807 0x00000000 0x20003806 0x00400083 0x20003805 0x0812db88 0x20003804 0x00001602 0x20003803 0x10006210 0x20003802 0x100062a0 0x20003801 0x20003880 0x20003800 0x10005450 0x200037ff 0x00400082 0x200037fe 0x0812db88 0x200037fd 0x00001301 0x200037fc 0x00000000 0x200037fb 0x00000000 0x200037fa 0x20003880 0x200037f9 0x10005450 0x200037f8 0x00400081 0x200037f7 0x0812db88 0x200037f6 0x00001000 0x200037f5 0x00000000 0x200037f4 0x00000000 0x200037f3 0x20003880 0x200037f2 0x10005450 0x200037f1 0x00400080 0x200037f0 0x0812db88<-- Interrupt sp top 0x200037ef 0x00000000 0x200037ee 0x00000000 0x200037ed 0x00000000 0x200037ec 0x00000000 0x200037eb 0x00000000 0x200037ea 0x00000000 0x200037e9 0x00000000 0x200037e8 0x00000000 0x200037e7 0x00000000 0x200037e6 0x00000000 0x200037e5 0x00000000 0x200037e4 0x00000000 0x200037e3 0x00000000 0x200037e2 0x00000000 0x200037e1 0x00000063 0x200037e0 0x08000000 0x200037df 0x00258000 0x200037de 0x07000000 0x200037dd 0x0020210e 0x200037dc 0x0e00020c 0x200037db 0x10005f94 0x200037da 0x00000002 0x200037d9 0x200038e0 0x200037d8 0x0812db6c 0x200037d7 0x10000830 0x200037d6 0x00000000 0x200037d5 0x10000070 0x200037d4 0x00000000 0x200037d3 0x00000002 0x200037d2 0x0000ffff 0x200037d1 0x00000000 0x200037d0 0x00000000 0x200037cf 0x00000000 0x200037ce 0x00000000 0x200037cd 0x00000001 0x200037cc 0x01a40204 0x200037cb 0x00000000 0x200037ca 0x00000000 0x200037c9 0x100050f0 0x200037c8 0x00000001 0x200037c7 0x20007630 0x200037c6 0x200075c0 0x200037c5 0x200075a0 0x200037c4 0x200074b0 0x200037c3 0x20007268 0x200037c2 0x20007100 0x200037c1 0x2000748c 0x200037c0 0x20007360 0x200037bf 0x20007338 0x200037be 0x20007290 0x200037bd 0x00000005 0x200037bc 0x10004450 0x200037bb 0x0000ffff 0x200037ba 0x00000000 0x200037b9 0x00000000 0x200037b8 0x00000000 0x200037b7 0x00000000 0x200037b6 0x00000001 0x200037b5 0x10000010 0x200037b4 0x00000000 0x200037b3 0x080e50a7 0x200037b2 0x20029f0c 0x200037b1 0x20029f26 0x200037b0 0x20001800 0x200037af 0x20029c64 0x200037ae 0x000000f0 0x200037ad 0x080edf69 0x200037ac 0x080e5121 0x200037ab 0x080e5143 0x200037aa 0x00000000 0x200037a9 0x00000003 0x200037a8 0x080e513b 0x200037a7 0x200037c8 0x200037a6 0x08038224 0x200037a5 0x080381f5 0x200037a4 0x20029d38 0x200037a3 0x00000000 0x200037a2 0x00000000 0x200037a1 0x00000000 0x200037a0 0x000000f0<-- Interrupt sp 0x2000379f 0x080e4e8d 0x2000379e 0x000000ab 0x2000379d 0x0812d43b 0x2000379c 0x20002c58 0x2000379b 0x20003468 0x2000379a 0x00000000 0x20003799 0x20003468 0x20003798 0x000000ab 0x20003797 0x080fa4bd 0x20003796 0x20000010 0x20003795 0x080e5219 0x20003794 0x20029d38 0x20003793 0x20028ed0 0x20003792 0x080381f5 0x20003791 0x00000147 0x20003790 0x200037a0 0x2000378f 0x20029c64 0x2000378e 0x20028ed0 0x2000378d 0x20000000 0x2000378c 0x20000000 0x2000378b 0x080e3091 0x2000378a 0x20003760 0x20003789 0x20003760 0x20003788 0x00000000 0x20003787 0x080e3073 0x20003786 0x0000011f 0x20003785 0x20019680 0x20003784 0x00000000 0x20003783 0x0000003d 0x20003782 0x080f1cd9 0x20003781 0x080f0aa9 0x20003780 0x080f1cd9 0x2000377f 0x080ead1f 0x2000377e 0x20028ed0 0x2000377d 0x080381f5 0x2000377c 0x000000ab 0x2000377b 0x20002b54 0x2000377a 0x00000000 0x20003779 0x080e4cb9 0x20003778 0x20003744 0x20003777 0x0812d286 0x20003776 0x00000000 0x20003775 0x00000000 0x20003774 0x2000375c 0x20003773 0x00000004 0x20003772 0x080f1cd9 0x20003771 0x080eb8b5 0x20003770 0x0000000a 0x2000376f 0x080ed765 0x2000376e 0x0812db4c 0x2000376d 0x00000039 0x2000376c 0x00000004 0x2000376b 0x080eb45f 0x2000376a 0x20003724 0x20003769 0x00000020 0x20003768 0x080f0aa9 0x20003767 0x080f0ab5 0x20003766 0x20003724 0x20003765 0x0000000a 0x20003764 0x0000000a 0x20003763 0x080edef5 0x20003762 0x0000000a 0x20003761 0x080ed765 0x20003760 0x00000010 0x2000375f 0x080edef5 0x2000375e 0x00000037 0x2000375d 0x080ed765 0x2000375c 0x00000010 0x2000375b 0x080edef5 0x2000375a 0x00000036 0x20003759 0x080ed765 0x20003758 0x00000010 0x20003757 0x080edef5 0x20003756 0x00000031 0x20003755 0x080ed765 0x20003754 0x00000010 0x20003753 0xc22c0000 0x20003752 0xc1f00000 0x20003751 0xffffff45 0x20003750 0xdeadbeef 0x2000374f 0x00000000 0x2000374e 0x00000000 0x2000374d 0x200036e0 0x2000374c 0x20003738 0x2000374b 0x200036d0 0x2000374a 0x200036b8 0x20003749 0x0801be95 0x20003748 0x00000000 0x20003747 0x200036d0 0x20003746 0x100099f0 0x20003745 0x00000000 0x20003744 0xbd2a126a 0x20003743 0xbc6508ee 0x20003742 0xbb5e8c88 0x20003741 0x080b18c7 0x20003740 0x00000000 0x2000373f 0x1000a4b0 0x2000373e 0x1000a7b0 0x2000373d 0x080e5219 0x2000373c 0x00000000 0x2000373b 0x00000ac9 0x2000373a 0x000000dd 0x20003739 0x0000002b 0x20003738 0x200036a0 0x20003737 0x00000000 0x20003736 0x00000002 0x20003735 0x00000001 0x20003734 0x1000a700 0x20003733 0x2cd0851c 0x20003732 0xac5200a5 0x20003731 0x200035d0 0x20003730 0x00000001 0x2000372f 0x00000003 0x2000372e 0xb532ad1f 0x2000372d 0xb60b5e08 0x2000372c 0xb6d8b642 0x2000372b 0x200035b8 0x2000372a 0x00000001 0x20003729 0x00000003 0x20003728 0xb532ad1f 0x20003727 0xb60b5e08 0x20003726 0xb6d8b642 0x20003725 0x200035a0 0x20003724 0x00000001 0x20003723 0x00000003 0x20003722 0xb6d3ef16 0x20003721 0xb7caeb2c 0x20003720 0xb8933275 0x2000371f 0x08009c6f 0x2000371e 0x0153278e 0x2000371d 0x200036b8 0x2000371c 0x10009c48 0x2000371b 0xdeadbeef 0x2000371a 0xdeadbeef 0x20003719 0xdeadbeef 0x20003718 0xdeadbeef 0x20003717 0xdeadbeef 0x20003716 0xdeadbeef 0x20003715 0xdeadbeef 0x20003714 0xdeadbeef 0x20003713 0xdeadbeef 0x20003712 0xdeadbeef 0x20003711 0xdeadbeef 0x20003710 0xdeadbeef 0x2000370f 0xdeadbeef 0x2000370e 0xdeadbeef 0x2000370d 0xdeadbeef 0x2000370c 0xdeadbeef 0x2000370b 0xdeadbeef 0x2000370a 0xdeadbeef 0x20003709 0xdeadbeef 0x20003708 0xdeadbeef 0x20003707 0xdeadbeef 0x20003706 0xdeadbeef 0x20003705 0xdeadbeef 0x20003704 0xdeadbeef 0x20003703 0xdeadbeef 0x20003702 0xdeadbeef 0x20003701 0xdeadbeef 0x20003700 0xdeadbeef 0x200036ff 0xdeadbeef 0x200036fe 0xdeadbeef 0x200036fd 0xdeadbeef 0x200036fc 0xdeadbeef 0x200036fb 0xdeadbeef 0x200036fa 0xdeadbeef 0x200036f9 0xdeadbeef 0x200036f8 0xdeadbeef 0x200036f7 0x00000000 0x200036f6 0x00000000 0x200036f5 0x00000000 0x200036f4 0x00000000 0x200036f3 0x00000000 0x200036f2 0x00000000 0x200036f1 0x00000000 0x200036f0 0x00000000 0x200036ef 0x00000000 0x200036ee 0x00000000 0x200036ed 0xacc3dceb 0x200036ec 0x1974741c 0x200036eb 0xd57bc68f 0x200036ea 0x161002aa 0x200036e9 0x19749b3c 0x200036e8 0xb2c87a55 0x200036e7 0xe3c5b19f 0x200036e6 0x34814b92 0x200036e5 0x547525f9 0x200036e4 0x0d7c6875 0x200036e3 0x370d6b04 0x200036e2 0x80459c98 0x200036e1 0x70e2f10e 0x200036e0 0x01ba6748 0x200036df 0x368a881d 0x200036de 0xf3da0521 0x200036dd 0xfcd7f19c 0x200036dc 0x1ef20172 0x200036db 0x737caabc 0x200036da 0x01229a1d 0x200036d9 0xa84718df 0x200036d8 0x21dce316 0x200036d7 0x82941d7a 0x200036d6 0x808a9014 0x200036d5 0x69770529 0x200036d4 0xcb14de92 0x200036d3 0x0e67affc User sp memory region, stack pointer lies within stack 0x20029dea 0xacc3dceb 0x20029de9 0x1974741c 0x20029de8 0xd57bc68f 0x20029de7 0x161002aa 0x20029de6 0x19749b3c 0x20029de5 0xb2c87a55 0x20029de4 0xe3c5b19f 0x20029de3 0x34814b92 0x20029de2 0x547525f9 0x20029de1 0x0d7c6875 0x20029de0 0x370d6b04 0x20029ddf 0x80459c98 0x20029dde 0x70e2f10e 0x20029ddd 0x01ba6748 0x20029ddc 0x368a881d 0x20029ddb 0xf3da0521 0x20029dda 0xfcd7f19c 0x20029dd9 0x1ef20172 0x20029dd8 0x737caabc 0x20029dd7 0x01229a1d 0x20029dd6 0xa84718df 0x20029dd5 0x21dce316 0x20029dd4 0x82941d7a 0x20029dd3 0x808a9014 0x20029dd2 0x69770529 0x20029dd1 0xcb14de92 0x20029dd0 0x0e67affc 0x20029dcf 0x8b00640c 0x20029dce 0xd428dca5 0x20029dcd 0x90e27e77 0x20029dcc 0xb9e06175 0x20029dcb 0x229c4241 0x20029dca 0xfa9ef04e 0x20029dc9 0x389b3c63 0x20029dc8 0xe09e3de1 0x20029dc7 0x0b27a02a 0x20029dc6 0xbb9d1572 0x20029dc5 0x28b65c8d 0x20029dc4 0x9ea88bda 0x20029dc3 0x253c280d 0x20029dc2 0x84f8875e 0x20029dc1 0x385196d7 0x20029dc0 0xbe812788 0x20029dbf 0xeea9e62c 0x20029dbe 0xe67de43e 0x20029dbd 0xd1d02b76 0x20029dbc 0xada3063a 0x20029dbb 0x20003408 0x20029dba 0x20003418 0x20029db9 0x00000810 0x20029db8 0x000260c0 0x20029db7 0xac037a13 0x20029db6 0x3ee2b20b 0x20029db5 0x3c177304 0x20029db4 0x00746c75 0x20029db3 0x61660067 0x20029db2 0x6f6c5f74 0x20029db1 0x6c756166 0x20029db0 0x64726168 0x20029daf 0x00000000 0x20029dae 0x20029f26 0x20029dad 0x20029f18 0x20029dac 0xdeadbeef 0x20029dab 0x00000000 0x20029daa 0x00000000 0x20029da9 0x080e02f9 0x20029da8 0x00000000 0x20029da7 0x00000000 0x20029da6 0x00000000 0x20029da5 0x00000000 0x20029da4 0x00000000 0x20029da3 0x00000000 0x20029da2 0x00000101 0x20029da1 0x00000000 0x20029da0 0x00000000 0x20029d9f 0x00000000 0x20029d9e 0x00000000 0x20029d9d 0x00000000 0x20029d9c 0x00000000 0x20029d9b 0x00000000 0x20029d9a 0x00000000 0x20029d99 0x01000000 0x20029d98 0x080e02d4 0x20029d97 0x00000000 0x20029d96 0x00000000 0x20029d95 0x00000000 0x20029d94 0x00000000 0x20029d93 0x00000000 0x20029d92 0x00000000 0x20029d91 0xdeadbeef 0x20029d90 0xdeadbeef 0x20029d8f 0xdeadbeef 0x20029d8e 0xdeadbeef 0x20029d8d 0xdeadbeef 0x20029d8c 0xdeadbeef 0x20029d8b 0xdeadbeef 0x20029d8a 0xdeadbeef 0x20029d89 0xdeadbeef 0x20029d88 0xdeadbeef 0x20029d87 0xdeadbeef 0x20029d86 0xdeadbeef 0x20029d85 0xdeadbeef 0x20029d84 0xdeadbeef 0x20029d83 0xdeadbeef 0x20029d82 0xdeadbeef 0x20029d81 0xdeadbeef 0x20029d80 0xdeadbeef 0x20029d7f 0xdeadbeef 0x20029d7e 0xdeadbeef 0x20029d7d 0xdeadbeef 0x20029d7c 0xdeadbeef 0x20029d7b 0xdeadbeef 0x20029d7a 0xdeadbeef 0x20029d79 0xdeadbeef 0x20029d78 0xdeadbeef 0x20029d77 0xdeadbeef 0x20029d76 0xdeadbeef 0x20029d75 0xdeadbeef 0x20029d74 0xdeadbeef 0x20029d73 0xdeadbeef 0x20029d72 0xdeadbeef 0x20029d71 0xdeadbeef 0x20029d70 0xdeadbeef 0x20029d6f 0xdeadbeef 0x20029d6e 0xdeadbeef 0x20029d6d 0xdeadbeef 0x20029d6c 0xdeadbeef 0x20029d6b 0xdeadbeef 0x20029d6a 0xdeadbeef 0x20029d69 0xdeadbeef 0x20029d68 0xdeadbeef 0x20029d67 0xdeadbeef 0x20029d66 0xdeadbeef 0x20029d65 0xdeadbeef 0x20029d64 0xdeadbeef 0x20029d63 0xdeadbeef 0x20029d62 0xdeadbeef 0x20029d61 0xdeadbeef 0x20029d60 0xdeadbeef 0x20029d5f 0xdeadbeef 0x20029d5e 0xdeadbeef 0x20029d5d 0xdeadbeef 0x20029d5c 0xdeadbeef 0x20029d5b 0xdeadbeef 0x20029d5a 0xdeadbeef 0x20029d59 0xdeadbeef 0x20029d58 0xdeadbeef 0x20029d57 0xdeadbeef 0x20029d56 0xdeadbeef 0x20029d55 0xdeadbeef 0x20029d54 0xdeadbeef 0x20029d53 0xdeadbeef 0x20029d52 0xdeadbeef 0x20029d51 0xdeadbeef 0x20029d50 0xdeadbeef 0x20029d4f 0xdeadbeef 0x20029d4e 0xdeadbeef 0x20029d4d 0xdeadbeef 0x20029d4c 0xdeadbeef 0x20029d4b 0xdeadbeef 0x20029d4a 0xdeadbeef 0x20029d49 0xdeadbeef 0x20029d48 0xdeadbeef 0x20029d47 0xdeadbeef 0x20029d46 0xdeadbeef 0x20029d45 0xdeadbeef 0x20029d44 0xdeadbeef 0x20029d43 0xdeadbeef 0x20029d42 0xdeadbeef 0x20029d41 0xdeadbeef 0x20029d40 0xdeadbeef 0x20029d3f 0xdeadbeef 0x20029d3e 0xdeadbeef 0x20029d3d 0xdeadbeef 0x20029d3c 0xdeadbeef 0x20029d3b 0xdeadbeef 0x20029d3a 0xdeadbeef 0x20029d39 0xdeadbeef 0x20029d38 0xdeadbeef<-- User sp 0x20029d37 0xdeadbeef 0x20029d36 0x00000000 0x20029d35 0x00000000 0x20029d34 0x00000000 0x20029d33 0x00000000 0x20029d32 0x00000000 0x20029d31 0x00000000 0x20029d30 0x00000000 0x20029d2f 0x00000000 0x20029d2e 0x00000000 0x20029d2d 0x00000000 0x20029d2c 0x00000000 0x20029d2b 0x00000000 0x20029d2a 0x00000000 0x20029d29 0x00000000 0x20029d28 0x00000000 0x20029d27 0x00000000 0x20029d26 0x00000000 0x20029d25 0x21000000 0x20029d24 0x08038224 0x20029d23 0x080381f5 0x20029d22 0x00000000 0x20029d21 0xe000ed14 0x20029d20 0x00000001 0x20029d1f 0x00000000 0x20029d1e 0x00000000 0x20029d1d 0x00000000 0x20029d1c 0x00000000 0x20029d1b 0x00000000 0x20029d1a 0x00000000 0x20029d19 0x00000000 0x20029d18 0x00000000 0x20029d17 0x00000000 0x20029d16 0x00000000 0x20029d15 0x00000000 0x20029d14 0x00000000 0x20029d13 0x00000000 0x20029d12 0x00000000 0x20029d11 0x00000000 0x20029d10 0x00000000 0x20029d0f 0x00000000 0x20029d0e 0x00000000 0x20029d0d 0xffffffe9 0x20029d0c 0x00000000 0x20029d0b 0x00000000 0x20029d0a 0x00000000 0x20029d09 0x00000000 0x20029d08 0x20029f0c 0x20029d07 0x20029f26 0x20029d06 0x20001800 0x20029d05 0x00000000 0x20029d04 0x000000f0 0x20029d03 0x20029d38 0x20029d02 0xdeadbeef 0x20029d01 0xdeadbeef 0x20029d00 0xdeadbeef 0x20029cff 0xdeadbeef 0x20029cfe 0xdeadbeef 0x20029cfd 0xdeadbeef 0x20029cfc 0xdeadbeef 0x20029cfb 0xdeadbeef 0x20029cfa 0xdeadbeef 0x20029cf9 0xdeadbeef 0x20029cf8 0xdeadbeef 0x20029cf7 0xdeadbeef 0x20029cf6 0xdeadbeef 0x20029cf5 0xdeadbeef 0x20029cf4 0xdeadbeef 0x20029cf3 0xdeadbeef 0x20029cf2 0xdeadbeef 0x20029cf1 0xdeadbeef 0x20029cf0 0xdeadbeef 0x20029cef 0xdeadbeef 0x20029cee 0xdeadbeef 0x20029ced 0xdeadbeef 0x20029cec 0xdeadbeef 0x20029ceb 0xdeadbeef 0x20029cea 0xdeadbeef 0x20029ce9 0xdeadbeef 0x20029ce8 0xdeadbeef 0x20029ce7 0xdeadbeef 0x20029ce6 0xdeadbeef 0x20029ce5 0xdeadbeef 0x20029ce4 0xdeadbeef 0x20029ce3 0xdeadbeef 0x20029ce2 0xdeadbeef 0x20029ce1 0xdeadbeef 0x20029ce0 0xdeadbeef 0x20029cdf 0xdeadbeef 0x20029cde 0xdeadbeef 0x20029cdd 0xdeadbeef 0x20029cdc 0xdeadbeef 0x20029cdb 0xdeadbeef 0x20029cda 0xdeadbeef 0x20029cd9 0xdeadbeef 0x20029cd8 0xdeadbeef 0x20029cd7 0xdeadbeef 0x20029cd6 0xdeadbeef 0x20029cd5 0xdeadbeef 0x20029cd4 0xdeadbeef 0x20029cd3 0xdeadbeef 0x20029cd2 0xdeadbeef 0x20029cd1 0xdeadbeef 0x20029cd0 0xdeadbeef 0x20029ccf 0xdeadbeef 0x20029cce 0xdeadbeef 0x20029ccd 0xdeadbeef 0x20029ccc 0xdeadbeef 0x20029ccb 0xdeadbeef 0x20029cca 0xdeadbeef 0x20029cc9 0xdeadbeef 0x20029cc8 0xdeadbeef 0x20029cc7 0xdeadbeef 0x20029cc6 0xdeadbeef 0x20029cc5 0xdeadbeef 0x20029cc4 0xdeadbeef 0x20029cc3 0xdeadbeef 0x20029cc2 0xdeadbeef 0x20029cc1 0xdeadbeef 0x20029cc0 0xdeadbeef 0x20029cbf 0xdeadbeef 0x20029cbe 0xdeadbeef 0x20029cbd 0xdeadbeef 0x20029cbc 0xdeadbeef 0x20029cbb 0xdeadbeef 0x20029cba 0xdeadbeef 0x20029cb9 0xdeadbeef 0x20029cb8 0xdeadbeef 0x20029cb7 0xdeadbeef 0x20029cb6 0xdeadbeef 0x20029cb5 0xdeadbeef 0x20029cb4 0xdeadbeef 0x20029cb3 0xdeadbeef 0x20029cb2 0xdeadbeef 0x20029cb1 0xdeadbeef 0x20029cb0 0xdeadbeef 0x20029caf 0xdeadbeef 0x20029cae 0xdeadbeef 0x20029cad 0xdeadbeef 0x20029cac 0xdeadbeef 0x20029cab 0xdeadbeef 0x20029caa 0xdeadbeef 0x20029ca9 0xdeadbeef 0x20029ca8 0xdeadbeef 0x20029ca7 0xdeadbeef 0x20029ca6 0xdeadbeef 0x20029ca5 0xdeadbeef 0x20029ca4 0xdeadbeef 0x20029ca3 0xdeadbeef 0x20029ca2 0xdeadbeef 0x20029ca1 0xdeadbeef 0x20029ca0 0xdeadbeef 0x20029c9f 0xdeadbeef 0x20029c9e 0xdeadbeef 0x20029c9d 0xdeadbeef 0x20029c9c 0xdeadbeef 0x20029c9b 0xdeadbeef 0x20029c9a 0xdeadbeef 0x20029c99 0xdeadbeef 0x20029c98 0xdeadbeef 0x20029c97 0xdeadbeef 0x20029c96 0xdeadbeef 0x20029c95 0xdeadbeef 0x20029c94 0xdeadbeef 0x20029c93 0xdeadbeef 0x20029c92 0xdeadbeef 0x20029c91 0xdeadbeef 0x20029c90 0xdeadbeef 0x20029c8f 0xdeadbeef 0x20029c8e 0xdeadbeef 0x20029c8d 0xdeadbeef 0x20029c8c 0xdeadbeef 0x20029c8b 0xdeadbeef 0x20029c8a 0xdeadbeef 0x20029c89 0xdeadbeef 0x20029c88 0xdeadbeef 0x20029c87 0xdeadbeef 0x20029c86 0xdeadbeef [hardfault_log] -- 2000-01-01-00:00:36 END Fault Log -- -DMchar[17424] hardfault_plain[hardfault_log] -- 2000-01-01-00:00:57 Begin Fault Log -- System fault Occurred on: 2000-01-01-00:00:57 Type:Hard Fault in file:armv7-m/up_hardfault.c at line: 171 running task: hardfault_log FW git-hash: f54a6c2999e1e2fcbf56dd89de06b615b4186a6e Build datetime: Jul 3 2017 16:02:41 Build url: localhost Processor registers: from 0x20025b84 r0:0x00000000 r1:0x00000000 r2:0x00000001 r3:0xe000ed14 r4:0x00000000 r5:0x20001800 r6:0x20025e46 r7:0x20025e2c r8:0x00000000 r9:0x00000000 r10:0x00000000 r11:0x00000000 r12:0x00000000 sp:0x20025c58 lr:0x080381f5 pc:0x08038224 xpsr:0x21000000 basepri:0x000000f0 control:0x00000004 exe return:0xffffffe9 IRQ stack: top: 0x200037f0 sp: 0x200037a0 Valid bottom: 0x20003504 size: 0x000002ec used: 000000c8 User stack: top: 0x20025e28 sp: 0x20025c58 Valid bottom: 0x2002564c size: 0x000007dc used: 000007dc Interrupt sp memory region, stack pointer lies within stack 0x20003852 0x00000000 0x20003851 0x00000000 0x20003850 0x00000000 0x2000384f 0x00000000 0x2000384e 0x00000000 0x2000384d 0x00000000 0x2000384c 0x00000000 0x2000384b 0x00000000 0x2000384a 0x00000000 0x20003849 0x00000000 0x20003848 0x00000000 0x20003847 0x00000000 0x20003846 0x00000000 0x20003845 0x00000000 0x20003844 0x00000000 0x20003843 0x00000000 0x20003842 0x00000000 0x20003841 0x00000000 0x20003840 0x00000000 0x2000383f 0x00000000 0x2000383e 0x00000000 0x2000383d 0x00000000 0x2000383c 0x00000000 0x2000383b 0x00000000 0x2000383a 0x00000000 0x20003839 0x00000000 0x20003838 0x00000000 0x20003837 0x00000000 0x20003836 0x00000000 0x20003835 0x00000000 0x20003834 0x00000000 0x20003833 0x00000000 0x20003832 0x00000000 0x20003831 0x00000000 0x20003830 0x00000000 0x2000382f 0x00000000 0x2000382e 0x00000000 0x2000382d 0x00000000 0x2000382c 0x00000000 0x2000382b 0x00000000 0x2000382a 0x00000000 0x20003829 0x00000000 0x20003828 0x00000000 0x20003827 0x00000603 0x20003826 0x100061a0 0x20003825 0x10006050 0x20003824 0x20003880 0x20003823 0x10005450 0x20003822 0x00400003 0x20003821 0x0812db88 0x20003820 0x00000002 0x2000381f 0x00000000 0x2000381e 0x00000000 0x2000381d 0x20003880 0x2000381c 0x00000000 0x2000381b 0x00400002 0x2000381a 0x0812db88 0x20003819 0x00000001 0x20003818 0x00000000 0x20003817 0x00000000 0x20003816 0x20003880 0x20003815 0x00000000 0x20003814 0x00400001 0x20003813 0x0812db88 0x20003812 0x00000000 0x20003811 0x00000000 0x20003810 0x00000000 0x2000380f 0x20003880 0x2000380e 0x20003880 0x2000380d 0x00400000 0x2000380c 0x0812db88 0x2000380b 0x00001003 0x2000380a 0x00000000 0x20003809 0x00000000 0x20003808 0x20003880 0x20003807 0x00000000 0x20003806 0x00400083 0x20003805 0x0812db88 0x20003804 0x00001602 0x20003803 0x10006210 0x20003802 0x100062a0 0x20003801 0x20003880 0x20003800 0x10005450 0x200037ff 0x00400082 0x200037fe 0x0812db88 0x200037fd 0x00001301 0x200037fc 0x00000000 0x200037fb 0x00000000 0x200037fa 0x20003880 0x200037f9 0x10005450 0x200037f8 0x00400081 0x200037f7 0x0812db88 0x200037f6 0x00001000 0x200037f5 0x00000000 0x200037f4 0x00000000 0x200037f3 0x20003880 0x200037f2 0x10005450 0x200037f1 0x00400080 0x200037f0 0x0812db88<-- Interrupt sp top 0x200037ef 0x00000000 0x200037ee 0x00000000 0x200037ed 0x00000000 0x200037ec 0x00000000 0x200037eb 0x00000000 0x200037ea 0x00000000 0x200037e9 0x00000000 0x200037e8 0x00000000 0x200037e7 0x00000000 0x200037e6 0x00000000 0x200037e5 0x00000000 0x200037e4 0x00000000 0x200037e3 0x00000000 0x200037e2 0x00000000 0x200037e1 0x00000063 0x200037e0 0x08000000 0x200037df 0x00258000 0x200037de 0x07000000 0x200037dd 0x0020210e 0x200037dc 0x0e00020c 0x200037db 0x10005f94 0x200037da 0x00000002 0x200037d9 0x200038e0 0x200037d8 0x0812db6c 0x200037d7 0x10000830 0x200037d6 0x00000000 0x200037d5 0x10000070 0x200037d4 0x00000000 0x200037d3 0x00000002 0x200037d2 0x0000ffff 0x200037d1 0x00000000 0x200037d0 0x00000000 0x200037cf 0x00000000 0x200037ce 0x00000000 0x200037cd 0x00000001 0x200037cc 0x01a40204 0x200037cb 0x00000000 0x200037ca 0x00000000 0x200037c9 0x100050f0 0x200037c8 0x00000001 0x200037c7 0x20007630 0x200037c6 0x200075c0 0x200037c5 0x200075a0 0x200037c4 0x200074b0 0x200037c3 0x20007268 0x200037c2 0x20007100 0x200037c1 0x2000748c 0x200037c0 0x20007360 0x200037bf 0x20007338 0x200037be 0x20007290 0x200037bd 0x00000005 0x200037bc 0x10004450 0x200037bb 0x0000ffff 0x200037ba 0x00000000 0x200037b9 0x00000000 0x200037b8 0x00000000 0x200037b7 0x00000000 0x200037b6 0x00000001 0x200037b5 0x10000010 0x200037b4 0x00000000 0x200037b3 0x080e50a7 0x200037b2 0x20025e2c 0x200037b1 0x20025e46 0x200037b0 0x20001800 0x200037af 0x20025b84 0x200037ae 0x000000f0 0x200037ad 0x080edf69 0x200037ac 0x080e5121 0x200037ab 0x080e5143 0x200037aa 0x00000000 0x200037a9 0x00000003 0x200037a8 0x080e513b 0x200037a7 0x200037c8 0x200037a6 0x08038224 0x200037a5 0x080381f5 0x200037a4 0x20025c58 0x200037a3 0x00000000 0x200037a2 0x00000000 0x200037a1 0x00000000 0x200037a0 0x000000f0<-- Interrupt sp 0x2000379f 0x080e4e8d 0x2000379e 0x000000ab 0x2000379d 0x0812d43b 0x2000379c 0x20002c58 0x2000379b 0x20003468 0x2000379a 0x00000000 0x20003799 0x20003468 0x20003798 0x000000ab 0x20003797 0x080fa4bd 0x20003796 0x20000010 0x20003795 0x080e5219 0x20003794 0x20025c58 0x20003793 0x20024df0 0x20003792 0x080381f5 0x20003791 0x00000144 0x20003790 0x200037a0 0x2000378f 0x20025b84 0x2000378e 0x20024df0 0x2000378d 0x20000000 0x2000378c 0x20000000 0x2000378b 0x080e3091 0x2000378a 0x20003760 0x20003789 0x20003760 0x20003788 0x00000000 0x20003787 0x080e3073 0x20003786 0x0000011f 0x20003785 0x200196a0 0x20003784 0x00000000 0x20003783 0x0000003d 0x20003782 0x080f1cd9 0x20003781 0x080f0aa9 0x20003780 0x080f1cd9 0x2000377f 0x080ead1f 0x2000377e 0x20024df0 0x2000377d 0x080381f5 0x2000377c 0x000000ab 0x2000377b 0x20002b54 0x2000377a 0x00000000 0x20003779 0x080e4cb9 0x20003778 0x20003744 0x20003777 0x0812d286 0x20003776 0x00000000 0x20003775 0x00000000 0x20003774 0x2000375c 0x20003773 0x00000004 0x20003772 0x080f1cd9 0x20003771 0x080eb8b5 0x20003770 0x0000000a 0x2000376f 0x080ed765 0x2000376e 0x0812db4c 0x2000376d 0x00000039 0x2000376c 0x00000004 0x2000376b 0x080eb45f 0x2000376a 0x20003724 0x20003769 0x00000020 0x20003768 0x080f0aa9 0x20003767 0x080f0ab5 0x20003766 0x20003724 0x20003765 0x0000000a 0x20003764 0x0000000a 0x20003763 0x080edef5 0x20003762 0x0000000a 0x20003761 0x080ed765 0x20003760 0x00000010 0x2000375f 0x080edef5 0x2000375e 0x00000037 0x2000375d 0x080ed765 0x2000375c 0x00000010 0x2000375b 0x080edef5 0x2000375a 0x00000036 0x20003759 0x080ed765 0x20003758 0x00000010 0x20003757 0x080edef5 0x20003756 0x00000031 0x20003755 0x080ed765 0x20003754 0x00000010 0x20003753 0x41a80000 0x20003752 0xc1400000 0x20003751 0xffffff40 0x20003750 0xdeadbeef 0x2000374f 0x00000000 0x2000374e 0x00000000 0x2000374d 0x200036e0 0x2000374c 0x20003738 0x2000374b 0x200036d0 0x2000374a 0x200036b8 0x20003749 0x0801be95 0x20003748 0x00000000 0x20003747 0x200036d0 0x20003746 0x100099f0 0x20003745 0x00000000 0x20003744 0x3cd9d04c 0x20003743 0x3ba9a1e7 0x20003742 0x3ba7b44c 0x20003741 0x080b18c7 0x20003740 0x00000000 0x2000373f 0x1000a4b0 0x2000373e 0x1000a7b0 0x2000373d 0x080e5219 0x2000373c 0x00000000 0x2000373b 0x00000c47 0x2000373a 0x000000e4 0x20003739 0xffffffeb 0x20003738 0x200036a0 0x20003737 0x00000000 0x20003736 0x00000002 0x20003735 0x00000001 0x20003734 0x1000a700 0x20003733 0x2c14b502 0x20003732 0x2ba7a4d3 0x20003731 0x200035d0 0x20003730 0x00000001 0x2000372f 0x00000003 0x2000372e 0x35294313 0x2000372d 0x3579fe8a 0x2000372c 0x362bb1e6 0x2000372b 0x200035b8 0x2000372a 0x00000001 0x20003729 0x00000003 0x20003728 0x35294313 0x20003727 0x3579fe8a 0x20003726 0x362bb1e6 0x20003725 0x200035a0 0x20003724 0x00000001 0x20003723 0x00000003 0x20003722 0x36882e66 0x20003721 0x3689bf39 0x20003720 0x37a640ac 0x2000371f 0x08009c6f 0x2000371e 0x011503d4 0x2000371d 0x200036b8 0x2000371c 0x10009c48 0x2000371b 0xdeadbeef 0x2000371a 0xdeadbeef 0x20003719 0xdeadbeef 0x20003718 0xdeadbeef 0x20003717 0xdeadbeef 0x20003716 0xdeadbeef 0x20003715 0xdeadbeef 0x20003714 0xdeadbeef 0x20003713 0xdeadbeef 0x20003712 0xdeadbeef 0x20003711 0xdeadbeef 0x20003710 0xdeadbeef 0x2000370f 0xdeadbeef 0x2000370e 0xdeadbeef 0x2000370d 0xdeadbeef 0x2000370c 0xdeadbeef 0x2000370b 0xdeadbeef 0x2000370a 0xdeadbeef 0x20003709 0xdeadbeef 0x20003708 0xdeadbeef 0x20003707 0xdeadbeef 0x20003706 0xdeadbeef 0x20003705 0xdeadbeef 0x20003704 0xdeadbeef 0x20003703 0xdeadbeef 0x20003702 0xdeadbeef 0x20003701 0xdeadbeef 0x20003700 0xdeadbeef 0x200036ff 0xdeadbeef 0x200036fe 0xdeadbeef 0x200036fd 0xdeadbeef 0x200036fc 0xdeadbeef 0x200036fb 0xdeadbeef 0x200036fa 0xdeadbeef 0x200036f9 0xdeadbeef 0x200036f8 0xdeadbeef 0x200036f7 0x00000000 0x200036f6 0x00000000 0x200036f5 0x00000000 0x200036f4 0x00000000 0x200036f3 0x00000000 0x200036f2 0x00000000 0x200036f1 0x00000000 0x200036f0 0x00000000 0x200036ef 0x00000000 0x200036ee 0x00000000 0x200036ed 0xc120804d 0x200036ec 0x3ed41cc3 0x200036eb 0x3f0a2bd6 0x200036ea 0x00000000 0x200036e9 0x3b845996 0x200036e8 0x3c4e20fc 0x200036e7 0x3cf4fd72 0x200036e6 0x3d683d94 0x200036e5 0x00000000 0x200036e4 0x0152a14d 0x200036e3 0x00274400 0x200036e2 0x4a7fff7f 0x200036e1 0xff7fff7f 0x200036e0 0xff7fff7f 0x200036df 0xff000000 0x200036de 0x000152a1 0x200036dd 0x4d002644 0x200036dc 0x001641df 0x200036db 0xd70a43a4 0x200036da 0x9bf9ffff 0x200036d9 0xb2463edf 0x200036d8 0x8510bf8a 0x200036d7 0x99ea3e1d 0x200036d6 0x1394ffff 0x200036d5 0xe9013b9d 0x200036d4 0x4951c121 0x200036d3 0x68923eed User sp memory region, stack pointer lies within stack 0x20025d0a 0xc120804d 0x20025d09 0x3ed41cc3 0x20025d08 0x3f0a2bd6 0x20025d07 0x00000000 0x20025d06 0x3b845996 0x20025d05 0x3c4e20fc 0x20025d04 0x3cf4fd72 0x20025d03 0x3d683d94 0x20025d02 0x00000000 0x20025d01 0x0152a14d 0x20025d00 0x00274400 0x20025cff 0x4a7fff7f 0x20025cfe 0xff7fff7f 0x20025cfd 0xff7fff7f 0x20025cfc 0xff000000 0x20025cfb 0x000152a1 0x20025cfa 0x4d002644 0x20025cf9 0x001641df 0x20025cf8 0xd70a43a4 0x20025cf7 0x9bf9ffff 0x20025cf6 0xb2463edf 0x20025cf5 0x8510bf8a 0x20025cf4 0x99ea3e1d 0x20025cf3 0x1394ffff 0x20025cf2 0xe9013b9d 0x20025cf1 0x4951c121 0x20025cf0 0x68923eed 0x20025cef 0x27fd3f06 0x20025cee 0x433a0000 0x20025ced 0x00003b9d 0x20025cec 0x49513bbc 0x20025ceb 0x365e3c4c 0x20025cea 0x24093c51 0x20025ce9 0x5e8d0000 0x20025ce8 0x00000152 0x20025ce7 0x91860027 0x20025ce6 0x44004a7f 0x20025ce5 0xff7fff7f 0x20025ce4 0xff7fff7f 0x20025ce3 0xff7fff00 0x20025ce2 0x00000001 0x20025ce1 0x52918600 0x20025ce0 0x26440016 0x20025cdf 0x00000000 0x20025cde 0xc05f66f4 0x20025cdd 0xbeb2c02c 0x20025cdc 0x3e551542 0x20025cdb 0x20003408 0x20025cda 0x20003418 0x20025cd9 0x00000810 0x20025cd8 0x0002a1a0 0x20025cd7 0x00000001 0x20025cd6 0xbf800000 0x20025cd5 0x00000000 0x20025cd4 0x00746c75 0x20025cd3 0x61660067 0x20025cd2 0x6f6c5f74 0x20025cd1 0x6c756166 0x20025cd0 0x64726168 0x20025ccf 0x00000000 0x20025cce 0x20025e46 0x20025ccd 0x20025e38 0x20025ccc 0xdeadbeef 0x20025ccb 0x00000000 0x20025cca 0x00000000 0x20025cc9 0x080e02f9 0x20025cc8 0x00000000 0x20025cc7 0x00000000 0x20025cc6 0x00000000 0x20025cc5 0x00000000 0x20025cc4 0x00000000 0x20025cc3 0x00000000 0x20025cc2 0x00000101 0x20025cc1 0x00000000 0x20025cc0 0x00000000 0x20025cbf 0x00000000 0x20025cbe 0x00000000 0x20025cbd 0x00000000 0x20025cbc 0x00000000 0x20025cbb 0x00000000 0x20025cba 0x00000000 0x20025cb9 0x01000000 0x20025cb8 0x080e02d4 0x20025cb7 0x00000000 0x20025cb6 0x00000000 0x20025cb5 0x00000000 0x20025cb4 0x00000000 0x20025cb3 0x00000000 0x20025cb2 0x00000000 0x20025cb1 0xdeadbeef 0x20025cb0 0xdeadbeef 0x20025caf 0xdeadbeef 0x20025cae 0xdeadbeef 0x20025cad 0xdeadbeef 0x20025cac 0xdeadbeef 0x20025cab 0xdeadbeef 0x20025caa 0xdeadbeef 0x20025ca9 0xdeadbeef 0x20025ca8 0xdeadbeef 0x20025ca7 0xdeadbeef 0x20025ca6 0xdeadbeef 0x20025ca5 0xdeadbeef 0x20025ca4 0xdeadbeef 0x20025ca3 0xdeadbeef 0x20025ca2 0xdeadbeef 0x20025ca1 0xdeadbeef 0x20025ca0 0xdeadbeef 0x20025c9f 0xdeadbeef 0x20025c9e 0xdeadbeef 0x20025c9d 0xdeadbeef 0x20025c9c 0xdeadbeef 0x20025c9b 0xdeadbeef 0x20025c9a 0xdeadbeef 0x20025c99 0xdeadbeef 0x20025c98 0xdeadbeef 0x20025c97 0xdeadbeef 0x20025c96 0xdeadbeef 0x20025c95 0xdeadbeef 0x20025c94 0xdeadbeef 0x20025c93 0xdeadbeef 0x20025c92 0xdeadbeef 0x20025c91 0xdeadbeef 0x20025c90 0xdeadbeef 0x20025c8f 0xdeadbeef 0x20025c8e 0xdeadbeef 0x20025c8d 0xdeadbeef 0x20025c8c 0xdeadbeef 0x20025c8b 0xdeadbeef 0x20025c8a 0xdeadbeef 0x20025c89 0xdeadbeef 0x20025c88 0xdeadbeef 0x20025c87 0xdeadbeef 0x20025c86 0xdeadbeef 0x20025c85 0xdeadbeef 0x20025c84 0xdeadbeef 0x20025c83 0xdeadbeef 0x20025c82 0xdeadbeef 0x20025c81 0xdeadbeef 0x20025c80 0xdeadbeef 0x20025c7f 0xdeadbeef 0x20025c7e 0xdeadbeef 0x20025c7d 0xdeadbeef 0x20025c7c 0xdeadbeef 0x20025c7b 0xdeadbeef 0x20025c7a 0xdeadbeef 0x20025c79 0xdeadbeef 0x20025c78 0xdeadbeef 0x20025c77 0xdeadbeef 0x20025c76 0xdeadbeef 0x20025c75 0xdeadbeef 0x20025c74 0xdeadbeef 0x20025c73 0xdeadbeef 0x20025c72 0xdeadbeef 0x20025c71 0xdeadbeef 0x20025c70 0xdeadbeef 0x20025c6f 0xdeadbeef 0x20025c6e 0xdeadbeef 0x20025c6d 0xdeadbeef 0x20025c6c 0xdeadbeef 0x20025c6b 0xdeadbeef 0x20025c6a 0xdeadbeef 0x20025c69 0xdeadbeef 0x20025c68 0xdeadbeef 0x20025c67 0xdeadbeef 0x20025c66 0xdeadbeef 0x20025c65 0xdeadbeef 0x20025c64 0xdeadbeef 0x20025c63 0xdeadbeef 0x20025c62 0xdeadbeef 0x20025c61 0xdeadbeef 0x20025c60 0xdeadbeef 0x20025c5f 0xdeadbeef 0x20025c5e 0xdeadbeef 0x20025c5d 0xdeadbeef 0x20025c5c 0xdeadbeef 0x20025c5b 0xdeadbeef 0x20025c5a 0xdeadbeef 0x20025c59 0xdeadbeef 0x20025c58 0xdeadbeef<-- User sp 0x20025c57 0xdeadbeef 0x20025c56 0x00000000 0x20025c55 0x00000000 0x20025c54 0x00000000 0x20025c53 0x00000000 0x20025c52 0x00000000 0x20025c51 0x00000000 0x20025c50 0x00000000 0x20025c4f 0x00000000 0x20025c4e 0x00000000 0x20025c4d 0x00000000 0x20025c4c 0x00000000 0x20025c4b 0x00000000 0x20025c4a 0x00000000 0x20025c49 0x00000000 0x20025c48 0x00000000 0x20025c47 0x00000000 0x20025c46 0x00000000 0x20025c45 0x21000000 0x20025c44 0x08038224 0x20025c43 0x080381f5 0x20025c42 0x00000000 0x20025c41 0xe000ed14 0x20025c40 0x00000001 0x20025c3f 0x00000000 0x20025c3e 0x00000000 0x20025c3d 0x00000000 0x20025c3c 0x00000000 0x20025c3b 0x00000000 0x20025c3a 0x00000000 0x20025c39 0x00000000 0x20025c38 0x00000000 0x20025c37 0x00000000 0x20025c36 0x00000000 0x20025c35 0x00000000 0x20025c34 0x00000000 0x20025c33 0x00000000 0x20025c32 0x00000000 0x20025c31 0x00000000 0x20025c30 0x00000000 0x20025c2f 0x00000000 0x20025c2e 0x00000000 0x20025c2d 0xffffffe9 0x20025c2c 0x00000000 0x20025c2b 0x00000000 0x20025c2a 0x00000000 0x20025c29 0x00000000 0x20025c28 0x20025e2c 0x20025c27 0x20025e46 0x20025c26 0x20001800 0x20025c25 0x00000000 0x20025c24 0x000000f0 0x20025c23 0x20025c58 0x20025c22 0xdeadbeef 0x20025c21 0xdeadbeef 0x20025c20 0xdeadbeef 0x20025c1f 0xdeadbeef 0x20025c1e 0xdeadbeef 0x20025c1d 0xdeadbeef 0x20025c1c 0xdeadbeef 0x20025c1b 0xdeadbeef 0x20025c1a 0xdeadbeef 0x20025c19 0xdeadbeef 0x20025c18 0xdeadbeef 0x20025c17 0xdeadbeef 0x20025c16 0xdeadbeef 0x20025c15 0xdeadbeef 0x20025c14 0xdeadbeef 0x20025c13 0xdeadbeef 0x20025c12 0xdeadbeef 0x20025c11 0xdeadbeef 0x20025c10 0xdeadbeef 0x20025c0f 0xdeadbeef 0x20025c0e 0xdeadbeef 0x20025c0d 0xdeadbeef 0x20025c0c 0xdeadbeef 0x20025c0b 0xdeadbeef 0x20025c0a 0xdeadbeef 0x20025c09 0xdeadbeef 0x20025c08 0xdeadbeef 0x20025c07 0xdeadbeef 0x20025c06 0xdeadbeef 0x20025c05 0xdeadbeef 0x20025c04 0xdeadbeef 0x20025c03 0xdeadbeef 0x20025c02 0xdeadbeef 0x20025c01 0xdeadbeef 0x20025c00 0xdeadbeef 0x20025bff 0xdeadbeef 0x20025bfe 0xdeadbeef 0x20025bfd 0xdeadbeef 0x20025bfc 0xdeadbeef 0x20025bfb 0xdeadbeef 0x20025bfa 0xdeadbeef 0x20025bf9 0xdeadbeef 0x20025bf8 0xdeadbeef 0x20025bf7 0xdeadbeef 0x20025bf6 0xdeadbeef 0x20025bf5 0xdeadbeef 0x20025bf4 0xdeadbeef 0x20025bf3 0xdeadbeef 0x20025bf2 0xdeadbeef 0x20025bf1 0xdeadbeef 0x20025bf0 0xdeadbeef 0x20025bef 0xdeadbeef 0x20025bee 0xdeadbeef 0x20025bed 0xdeadbeef 0x20025bec 0xdeadbeef 0x20025beb 0xdeadbeef 0x20025bea 0xdeadbeef 0x20025be9 0xdeadbeef 0x20025be8 0xdeadbeef 0x20025be7 0xdeadbeef 0x20025be6 0xdeadbeef 0x20025be5 0xdeadbeef 0x20025be4 0xdeadbeef 0x20025be3 0xdeadbeef 0x20025be2 0xdeadbeef 0x20025be1 0xdeadbeef 0x20025be0 0xdeadbeef 0x20025bdf 0xdeadbeef 0x20025bde 0xdeadbeef 0x20025bdd 0xdeadbeef 0x20025bdc 0xdeadbeef 0x20025bdb 0xdeadbeef 0x20025bda 0xdeadbeef 0x20025bd9 0xdeadbeef 0x20025bd8 0xdeadbeef 0x20025bd7 0xdeadbeef 0x20025bd6 0xdeadbeef 0x20025bd5 0xdeadbeef 0x20025bd4 0xdeadbeef 0x20025bd3 0xdeadbeef 0x20025bd2 0xdeadbeef 0x20025bd1 0xdeadbeef 0x20025bd0 0xdeadbeef 0x20025bcf 0xdeadbeef 0x20025bce 0xdeadbeef 0x20025bcd 0xdeadbeef 0x20025bcc 0xdeadbeef 0x20025bcb 0xdeadbeef 0x20025bca 0xdeadbeef 0x20025bc9 0xdeadbeef 0x20025bc8 0xdeadbeef 0x20025bc7 0xdeadbeef 0x20025bc6 0xdeadbeef 0x20025bc5 0xdeadbeef 0x20025bc4 0xdeadbeef 0x20025bc3 0xdeadbeef 0x20025bc2 0xdeadbeef 0x20025bc1 0xdeadbeef 0x20025bc0 0xdeadbeef 0x20025bbf 0xdeadbeef 0x20025bbe 0xdeadbeef 0x20025bbd 0xdeadbeef 0x20025bbc 0xdeadbeef 0x20025bbb 0xdeadbeef 0x20025bba 0xdeadbeef 0x20025bb9 0xdeadbeef 0x20025bb8 0xdeadbeef 0x20025bb7 0xdeadbeef 0x20025bb6 0xdeadbeef 0x20025bb5 0xdeadbeef 0x20025bb4 0xdeadbeef 0x20025bb3 0xdeadbeef 0x20025bb2 0xdeadbeef 0x20025bb1 0xdeadbeef 0x20025bb0 0xdeadbeef 0x20025baf 0xdeadbeef 0x20025bae 0xdeadbeef 0x20025bad 0xdeadbeef 0x20025bac 0xdeadbeef 0x20025bab 0xdeadbeef 0x20025baa 0xdeadbeef 0x20025ba9 0xdeadbeef 0x20025ba8 0xdeadbeef 0x20025ba7 0xdeadbeef 0x20025ba6 0xdeadbeef [hardfault_log] -- 2000-01-01-00:00:57 END Fault Log -- -DMchar[17424] hardfault_plain[hardfault_log] -- 2000-01-01-00:01:16 Begin Fault Log -- System fault Occurred on: 2000-01-01-00:01:16 Type:Hard Fault in file:armv7-m/up_hardfault.c at line: 171 running task: hardfault_log FW git-hash: f54a6c2999e1e2fcbf56dd89de06b615b4186a6e Build datetime: Jul 3 2017 16:02:41 Build url: localhost Processor registers: from 0x200259e4 r0:0x00000000 r1:0x00000000 r2:0x00000001 r3:0xe000ed14 r4:0x00000000 r5:0x20001800 r6:0x20025ca6 r7:0x20025c8c r8:0x00000000 r9:0x00000000 r10:0x00000000 r11:0x00000000 r12:0x00000000 sp:0x20025ab8 lr:0x080381f5 pc:0x08038224 xpsr:0x21000000 basepri:0x000000f0 control:0x00000004 exe return:0xffffffe9 IRQ stack: top: 0x200037f0 sp: 0x200037a0 Valid bottom: 0x20003504 size: 0x000002ec used: 000000c8 User stack: top: 0x20025c88 sp: 0x20025ab8 Valid bottom: 0x200254ac size: 0x000007dc used: 000007dc Interrupt sp memory region, stack pointer lies within stack 0x20003852 0x00000000 0x20003851 0x00000000 0x20003850 0x00000000 0x2000384f 0x00000000 0x2000384e 0x00000000 0x2000384d 0x00000000 0x2000384c 0x00000000 0x2000384b 0x00000000 0x2000384a 0x00000000 0x20003849 0x00000000 0x20003848 0x00000000 0x20003847 0x00000000 0x20003846 0x00000000 0x20003845 0x00000000 0x20003844 0x00000000 0x20003843 0x00000000 0x20003842 0x00000000 0x20003841 0x00000000 0x20003840 0x00000000 0x2000383f 0x00000000 0x2000383e 0x00000000 0x2000383d 0x00000000 0x2000383c 0x00000000 0x2000383b 0x00000000 0x2000383a 0x00000000 0x20003839 0x00000000 0x20003838 0x00000000 0x20003837 0x00000000 0x20003836 0x00000000 0x20003835 0x00000000 0x20003834 0x00000000 0x20003833 0x00000000 0x20003832 0x00000000 0x20003831 0x00000000 0x20003830 0x00000000 0x2000382f 0x00000000 0x2000382e 0x00000000 0x2000382d 0x00000000 0x2000382c 0x00000000 0x2000382b 0x00000000 0x2000382a 0x00000000 0x20003829 0x00000000 0x20003828 0x00000000 0x20003827 0x00000603 0x20003826 0x100061a0 0x20003825 0x10006050 0x20003824 0x20003880 0x20003823 0x10005450 0x20003822 0x00400003 0x20003821 0x0812db88 0x20003820 0x00000002 0x2000381f 0x00000000 0x2000381e 0x00000000 0x2000381d 0x20003880 0x2000381c 0x00000000 0x2000381b 0x00400002 0x2000381a 0x0812db88 0x20003819 0x00000001 0x20003818 0x00000000 0x20003817 0x00000000 0x20003816 0x20003880 0x20003815 0x00000000 0x20003814 0x00400001 0x20003813 0x0812db88 0x20003812 0x00000000 0x20003811 0x00000000 0x20003810 0x00000000 0x2000380f 0x20003880 0x2000380e 0x20003880 0x2000380d 0x00400000 0x2000380c 0x0812db88 0x2000380b 0x00001003 0x2000380a 0x00000000 0x20003809 0x00000000 0x20003808 0x20003880 0x20003807 0x00000000 0x20003806 0x00400083 0x20003805 0x0812db88 0x20003804 0x00001602 0x20003803 0x10006210 0x20003802 0x100062a0 0x20003801 0x20003880 0x20003800 0x10005450 0x200037ff 0x00400082 0x200037fe 0x0812db88 0x200037fd 0x00001301 0x200037fc 0x00000000 0x200037fb 0x00000000 0x200037fa 0x20003880 0x200037f9 0x10005450 0x200037f8 0x00400081 0x200037f7 0x0812db88 0x200037f6 0x00001000 0x200037f5 0x00000000 0x200037f4 0x00000000 0x200037f3 0x20003880 0x200037f2 0x10005450 0x200037f1 0x00400080 0x200037f0 0x0812db88<-- Interrupt sp top 0x200037ef 0x00000000 0x200037ee 0x00000000 0x200037ed 0x00000000 0x200037ec 0x00000000 0x200037eb 0x00000000 0x200037ea 0x00000000 0x200037e9 0x00000000 0x200037e8 0x00000000 0x200037e7 0x00000000 0x200037e6 0x00000000 0x200037e5 0x00000000 0x200037e4 0x00000000 0x200037e3 0x00000000 0x200037e2 0x00000000 0x200037e1 0x00000063 0x200037e0 0x08000000 0x200037df 0x00258000 0x200037de 0x07000000 0x200037dd 0x0020210e 0x200037dc 0x0e00020c 0x200037db 0x10005f94 0x200037da 0x00000002 0x200037d9 0x200038e0 0x200037d8 0x0812db6c 0x200037d7 0x10000830 0x200037d6 0x00000000 0x200037d5 0x10000070 0x200037d4 0x00000000 0x200037d3 0x00000002 0x200037d2 0x0000ffff 0x200037d1 0x00000000 0x200037d0 0x00000000 0x200037cf 0x00000000 0x200037ce 0x00000000 0x200037cd 0x00000001 0x200037cc 0x01a40204 0x200037cb 0x00000000 0x200037ca 0x00000000 0x200037c9 0x100050f0 0x200037c8 0x00000001 0x200037c7 0x20007630 0x200037c6 0x200075c0 0x200037c5 0x200075a0 0x200037c4 0x200074b0 0x200037c3 0x20007268 0x200037c2 0x20007100 0x200037c1 0x2000748c 0x200037c0 0x20007360 0x200037bf 0x20007338 0x200037be 0x20007290 0x200037bd 0x00000005 0x200037bc 0x10004450 0x200037bb 0x0000ffff 0x200037ba 0x00000000 0x200037b9 0x00000000 0x200037b8 0x00000000 0x200037b7 0x00000000 0x200037b6 0x00000001 0x200037b5 0x10000010 0x200037b4 0x00000000 0x200037b3 0x080e50a7 0x200037b2 0x20025c8c 0x200037b1 0x20025ca6 0x200037b0 0x20001800 0x200037af 0x200259e4 0x200037ae 0x000000f0 0x200037ad 0x080edf69 0x200037ac 0x080e5121 0x200037ab 0x080e5143 0x200037aa 0x00000000 0x200037a9 0x00000003 0x200037a8 0x080e513b 0x200037a7 0x200037c8 0x200037a6 0x08038224 0x200037a5 0x080381f5 0x200037a4 0x20025ab8 0x200037a3 0x00000000 0x200037a2 0x00000000 0x200037a1 0x00000000 0x200037a0 0x000000f0<-- Interrupt sp 0x2000379f 0x080e4e8d 0x2000379e 0x000000ab 0x2000379d 0x0812d43b 0x2000379c 0x20002c58 0x2000379b 0x20003468 0x2000379a 0x00000000 0x20003799 0x20003468 0x20003798 0x000000ab 0x20003797 0x080fa4bd 0x20003796 0x20000010 0x20003795 0x080e5219 0x20003794 0x20025ab8 0x20003793 0x200190a0 0x20003792 0x080381f5 0x20003791 0x00000144 0x20003790 0x200037a0 0x2000378f 0x200259e4 0x2000378e 0x200190a0 0x2000378d 0x20000000 0x2000378c 0x20000000 0x2000378b 0x080e3091 0x2000378a 0x20003760 0x20003789 0x20003760 0x20003788 0x00000000 0x20003787 0x080e3073 0x20003786 0x0000011f 0x20003785 0x20019680 0x20003784 0x00000000 0x20003783 0x0000003d 0x20003782 0x080f1cd9 0x20003781 0x080f0aa9 0x20003780 0x080f1cd9 0x2000377f 0x080ead1f 0x2000377e 0x200190a0 0x2000377d 0x080381f5 0x2000377c 0x000000ab 0x2000377b 0x20002b54 0x2000377a 0x00000000 0x20003779 0x080e4cb9 0x20003778 0x20003744 0x20003777 0x0812d286 0x20003776 0x00000000 0x20003775 0x00000000 0x20003774 0x2000375c 0x20003773 0x00000004 0x20003772 0x080f1cd9 0x20003771 0x080eb8b5 0x20003770 0x0000000a 0x2000376f 0x080ed765 0x2000376e 0x0812db4c 0x2000376d 0x00000039 0x2000376c 0x00000004 0x2000376b 0x080eb45f 0x2000376a 0x20003724 0x20003769 0x00000020 0x20003768 0x080f0aa9 0x20003767 0x080f0ab5 0x20003766 0x20003724 0x20003765 0x0000000a 0x20003764 0x0000000a 0x20003763 0x080edef5 0x20003762 0x0000000a 0x20003761 0x080ed765 0x20003760 0x00000010 0x2000375f 0x080edef5 0x2000375e 0x00000037 0x2000375d 0x080ed765 0x2000375c 0x00000010 0x2000375b 0x080edef5 0x2000375a 0x00000036 0x20003759 0x080ed765 0x20003758 0x00000010 0x20003757 0x080edef5 0x20003756 0x00000031 0x20003755 0x080ed765 0x20003754 0x00000010 0x20003753 0x42a00000 0x20003752 0x41880000 0x20003751 0xffffff50 0x20003750 0xdeadbeef 0x2000374f 0x00000000 0x2000374e 0x00000000 0x2000374d 0x200036e0 0x2000374c 0x20003738 0x2000374b 0x200036d0 0x2000374a 0x200036b8 0x20003749 0x0801be95 0x20003748 0x00000000 0x20003747 0x200036d0 0x20003746 0x100099f0 0x20003745 0x00000000 0x20003744 0x3db70b91 0x20003743 0x3d0ae5f2 0x20003742 0x3c70c717 0x20003741 0x080b18c7 0x20003740 0x00000000 0x2000373f 0x1000a4b0 0x2000373e 0x1000a7b0 0x2000373d 0x080e5219 0x2000373c 0x00000000 0x2000373b 0x00000d60 0x2000373a 0x0000008b 0x20003739 0xffffffb0 0x20003738 0x200036a0 0x20003737 0x00000000 0x20003736 0x00000002 0x20003735 0x00000001 0x20003734 0x1000a700 0x20003733 0xaf48d96c 0x20003732 0xaeb94218 0x20003731 0x200035d0 0x20003730 0x00000001 0x2000372f 0x00000003 0x2000372e 0x37661e88 0x2000372d 0x37c938fc 0x2000372c 0x38d6d158 0x2000372b 0x200035b8 0x2000372a 0x00000001 0x20003729 0x00000003 0x20003728 0x36037f2a 0x20003727 0x36896e20 0x20003726 0x37621ef7 0x20003725 0x200035a0 0x20003724 0x00000001 0x20003723 0x00000003 0x20003722 0x37453ebe 0x20003721 0x37dffff9 0x20003720 0x389c3322 0x2000371f 0x08009c6f 0x2000371e 0x00f548e6 0x2000371d 0x200036b8 0x2000371c 0x10009c48 0x2000371b 0xdeadbeef 0x2000371a 0xdeadbeef 0x20003719 0xdeadbeef 0x20003718 0xdeadbeef 0x20003717 0xdeadbeef 0x20003716 0xdeadbeef 0x20003715 0xdeadbeef 0x20003714 0xdeadbeef 0x20003713 0xdeadbeef 0x20003712 0xdeadbeef 0x20003711 0xdeadbeef 0x20003710 0xdeadbeef 0x2000370f 0xdeadbeef 0x2000370e 0xdeadbeef 0x2000370d 0xdeadbeef 0x2000370c 0xdeadbeef 0x2000370b 0xdeadbeef 0x2000370a 0xdeadbeef 0x20003709 0xdeadbeef 0x20003708 0xdeadbeef 0x20003707 0xdeadbeef 0x20003706 0xdeadbeef 0x20003705 0xdeadbeef 0x20003704 0xdeadbeef 0x20003703 0xdeadbeef 0x20003702 0xdeadbeef 0x20003701 0xdeadbeef 0x20003700 0xdeadbeef 0x200036ff 0xdeadbeef 0x200036fe 0xdeadbeef 0x200036fd 0xdeadbeef 0x200036fc 0xdeadbeef 0x200036fb 0xdeadbeef 0x200036fa 0xdeadbeef 0x200036f9 0xdeadbeef 0x200036f8 0xdeadbeef 0x200036f7 0x00000000 0x200036f6 0x00000000 0x200036f5 0x00000000 0x200036f4 0x00000000 0x200036f3 0x00000000 0x200036f2 0x00000000 0x200036f1 0x00000000 0x200036f0 0x00000000 0x200036ef 0x00000000 0x200036ee 0x00000000 0x200036ed 0xdeadbeef 0x200036ec 0xdeadbeef 0x200036eb 0xdeadbeef 0x200036ea 0xdeadbeef 0x200036e9 0xdeadbeef 0x200036e8 0xdeadbeef 0x200036e7 0xdeadbeef 0x200036e6 0xdeadbeef 0x200036e5 0xdeadbeef 0x200036e4 0xdeadbeef 0x200036e3 0xdeadbeef 0x200036e2 0xdeadbeef 0x200036e1 0xdeadbeef 0x200036e0 0xdeadbeef 0x200036df 0xdeadbeef 0x200036de 0xdeadbeef 0x200036dd 0xdeadbeef 0x200036dc 0xdeadbeef 0x200036db 0xdeadbeef 0x200036da 0xdeadbeef 0x200036d9 0xdeadbeef 0x200036d8 0xdeadbeef 0x200036d7 0xdeadbeef 0x200036d6 0xdeadbeef 0x200036d5 0xdeadbeef 0x200036d4 0xdeadbeef 0x200036d3 0xdeadbeef User sp memory region, stack pointer lies within stack 0x20025b6a 0xdeadbeef 0x20025b69 0xdeadbeef 0x20025b68 0xdeadbeef 0x20025b67 0xdeadbeef 0x20025b66 0xdeadbeef 0x20025b65 0xdeadbeef 0x20025b64 0xdeadbeef 0x20025b63 0xdeadbeef 0x20025b62 0xdeadbeef 0x20025b61 0xdeadbeef 0x20025b60 0xdeadbeef 0x20025b5f 0xdeadbeef 0x20025b5e 0xdeadbeef 0x20025b5d 0xdeadbeef 0x20025b5c 0xdeadbeef 0x20025b5b 0xdeadbeef 0x20025b5a 0xdeadbeef 0x20025b59 0xdeadbeef 0x20025b58 0xdeadbeef 0x20025b57 0xdeadbeef 0x20025b56 0xdeadbeef 0x20025b55 0xdeadbeef 0x20025b54 0xdeadbeef 0x20025b53 0xdeadbeef 0x20025b52 0xdeadbeef 0x20025b51 0xdeadbeef 0x20025b50 0xdeadbeef 0x20025b4f 0xdeadbeef 0x20025b4e 0xdeadbeef 0x20025b4d 0xdeadbeef 0x20025b4c 0xdeadbeef 0x20025b4b 0xdeadbeef 0x20025b4a 0xdeadbeef 0x20025b49 0xdeadbeef 0x20025b48 0xdeadbeef 0x20025b47 0xdeadbeef 0x20025b46 0xdeadbeef 0x20025b45 0xdeadbeef 0x20025b44 0xdeadbeef 0x20025b43 0xdeadbeef 0x20025b42 0xdeadbeef 0x20025b41 0xdeadbeef 0x20025b40 0xdeadbeef 0x20025b3f 0xdeadbeef 0x20025b3e 0xdeadbeef 0x20025b3d 0xdeadbeef 0x20025b3c 0xdeadbeef 0x20025b3b 0x20003408 0x20025b3a 0x20003418 0x20025b39 0x00000810 0x20025b38 0x0002a340 0x20025b37 0xdeadbeef 0x20025b36 0xdeadbeef 0x20025b35 0xdeadbeef 0x20025b34 0x00746c75 0x20025b33 0x61660067 0x20025b32 0x6f6c5f74 0x20025b31 0x6c756166 0x20025b30 0x64726168 0x20025b2f 0x00000000 0x20025b2e 0x20025ca6 0x20025b2d 0x20025c98 0x20025b2c 0xdeadbeef 0x20025b2b 0x00000000 0x20025b2a 0x00000000 0x20025b29 0x080e02f9 0x20025b28 0x00000000 0x20025b27 0x00000000 0x20025b26 0x00000000 0x20025b25 0x00000000 0x20025b24 0x00000000 0x20025b23 0x00000000 0x20025b22 0x00000101 0x20025b21 0x00000000 0x20025b20 0x00000000 0x20025b1f 0x00000000 0x20025b1e 0x00000000 0x20025b1d 0x00000000 0x20025b1c 0x00000000 0x20025b1b 0x00000000 0x20025b1a 0x00000000 0x20025b19 0x01000000 0x20025b18 0x080e02d4 0x20025b17 0x00000000 0x20025b16 0x00000000 0x20025b15 0x00000000 0x20025b14 0x00000000 0x20025b13 0x00000000 0x20025b12 0x00000000 0x20025b11 0xdeadbeef 0x20025b10 0xdeadbeef 0x20025b0f 0xdeadbeef 0x20025b0e 0xdeadbeef 0x20025b0d 0xdeadbeef 0x20025b0c 0xdeadbeef 0x20025b0b 0xdeadbeef 0x20025b0a 0xdeadbeef 0x20025b09 0xdeadbeef 0x20025b08 0xdeadbeef 0x20025b07 0xdeadbeef 0x20025b06 0xdeadbeef 0x20025b05 0xdeadbeef 0x20025b04 0xdeadbeef 0x20025b03 0xdeadbeef 0x20025b02 0xdeadbeef 0x20025b01 0xdeadbeef 0x20025b00 0xdeadbeef 0x20025aff 0xdeadbeef 0x20025afe 0xdeadbeef 0x20025afd 0xdeadbeef 0x20025afc 0xdeadbeef 0x20025afb 0xdeadbeef 0x20025afa 0xdeadbeef 0x20025af9 0xdeadbeef 0x20025af8 0xdeadbeef 0x20025af7 0xdeadbeef 0x20025af6 0xdeadbeef 0x20025af5 0xdeadbeef 0x20025af4 0xdeadbeef 0x20025af3 0xdeadbeef 0x20025af2 0xdeadbeef 0x20025af1 0xdeadbeef 0x20025af0 0xdeadbeef 0x20025aef 0xdeadbeef 0x20025aee 0xdeadbeef 0x20025aed 0xdeadbeef 0x20025aec 0xdeadbeef 0x20025aeb 0xdeadbeef 0x20025aea 0xdeadbeef 0x20025ae9 0xdeadbeef 0x20025ae8 0xdeadbeef 0x20025ae7 0xdeadbeef 0x20025ae6 0xdeadbeef 0x20025ae5 0xdeadbeef 0x20025ae4 0xdeadbeef 0x20025ae3 0xdeadbeef 0x20025ae2 0xdeadbeef 0x20025ae1 0xdeadbeef 0x20025ae0 0xdeadbeef 0x20025adf 0xdeadbeef 0x20025ade 0xdeadbeef 0x20025add 0xdeadbeef 0x20025adc 0xdeadbeef 0x20025adb 0xdeadbeef 0x20025ada 0xdeadbeef 0x20025ad9 0xdeadbeef 0x20025ad8 0xdeadbeef 0x20025ad7 0xdeadbeef 0x20025ad6 0xdeadbeef 0x20025ad5 0xdeadbeef 0x20025ad4 0xdeadbeef 0x20025ad3 0xdeadbeef 0x20025ad2 0xdeadbeef 0x20025ad1 0xdeadbeef 0x20025ad0 0xdeadbeef 0x20025acf 0xdeadbeef 0x20025ace 0xdeadbeef 0x20025acd 0xdeadbeef 0x20025acc 0xdeadbeef 0x20025acb 0xdeadbeef 0x20025aca 0xdeadbeef 0x20025ac9 0xdeadbeef 0x20025ac8 0xdeadbeef 0x20025ac7 0xdeadbeef 0x20025ac6 0xdeadbeef 0x20025ac5 0xdeadbeef 0x20025ac4 0xdeadbeef 0x20025ac3 0xdeadbeef 0x20025ac2 0xdeadbeef 0x20025ac1 0xdeadbeef 0x20025ac0 0xdeadbeef 0x20025abf 0xdeadbeef 0x20025abe 0xdeadbeef 0x20025abd 0xdeadbeef 0x20025abc 0xdeadbeef 0x20025abb 0xdeadbeef 0x20025aba 0xdeadbeef 0x20025ab9 0xdeadbeef 0x20025ab8 0xdeadbeef<-- User sp 0x20025ab7 0xdeadbeef 0x20025ab6 0x00000000 0x20025ab5 0x00000000 0x20025ab4 0x00000000 0x20025ab3 0x00000000 0x20025ab2 0x00000000 0x20025ab1 0x00000000 0x20025ab0 0x00000000 0x20025aaf 0x00000000 0x20025aae 0x00000000 0x20025aad 0x00000000 0x20025aac 0x00000000 0x20025aab 0x00000000 0x20025aaa 0x00000000 0x20025aa9 0x00000000 0x20025aa8 0x00000000 0x20025aa7 0x00000000 0x20025aa6 0x00000000 0x20025aa5 0x21000000 0x20025aa4 0x08038224 0x20025aa3 0x080381f5 0x20025aa2 0x00000000 0x20025aa1 0xe000ed14 0x20025aa0 0x00000001 0x20025a9f 0x00000000 0x20025a9e 0x00000000 0x20025a9d 0x00000000 0x20025a9c 0x00000000 0x20025a9b 0x00000000 0x20025a9a 0x00000000 0x20025a99 0x00000000 0x20025a98 0x00000000 0x20025a97 0x00000000 0x20025a96 0x00000000 0x20025a95 0x00000000 0x20025a94 0x00000000 0x20025a93 0x00000000 0x20025a92 0x00000000 0x20025a91 0x00000000 0x20025a90 0x00000000 0x20025a8f 0x00000000 0x20025a8e 0x00000000 0x20025a8d 0xffffffe9 0x20025a8c 0x00000000 0x20025a8b 0x00000000 0x20025a8a 0x00000000 0x20025a89 0x00000000 0x20025a88 0x20025c8c 0x20025a87 0x20025ca6 0x20025a86 0x20001800 0x20025a85 0x00000000 0x20025a84 0x000000f0 0x20025a83 0x20025ab8 0x20025a82 0xdeadbeef 0x20025a81 0xdeadbeef 0x20025a80 0xdeadbeef 0x20025a7f 0xdeadbeef 0x20025a7e 0xdeadbeef 0x20025a7d 0xdeadbeef 0x20025a7c 0xdeadbeef 0x20025a7b 0xdeadbeef 0x20025a7a 0xdeadbeef 0x20025a79 0xdeadbeef 0x20025a78 0xdeadbeef 0x20025a77 0xdeadbeef 0x20025a76 0xdeadbeef 0x20025a75 0xdeadbeef 0x20025a74 0xdeadbeef 0x20025a73 0xdeadbeef 0x20025a72 0xdeadbeef 0x20025a71 0xdeadbeef 0x20025a70 0xdeadbeef 0x20025a6f 0xdeadbeef 0x20025a6e 0xdeadbeef 0x20025a6d 0xdeadbeef 0x20025a6c 0xdeadbeef 0x20025a6b 0xdeadbeef 0x20025a6a 0xdeadbeef 0x20025a69 0xdeadbeef 0x20025a68 0xdeadbeef 0x20025a67 0xdeadbeef 0x20025a66 0xdeadbeef 0x20025a65 0xdeadbeef 0x20025a64 0xdeadbeef 0x20025a63 0xdeadbeef 0x20025a62 0xdeadbeef 0x20025a61 0xdeadbeef 0x20025a60 0xdeadbeef 0x20025a5f 0xdeadbeef 0x20025a5e 0xdeadbeef 0x20025a5d 0xdeadbeef 0x20025a5c 0xdeadbeef 0x20025a5b 0xdeadbeef 0x20025a5a 0xdeadbeef 0x20025a59 0xdeadbeef 0x20025a58 0xdeadbeef 0x20025a57 0xdeadbeef 0x20025a56 0xdeadbeef 0x20025a55 0xdeadbeef 0x20025a54 0xdeadbeef 0x20025a53 0xdeadbeef 0x20025a52 0xdeadbeef 0x20025a51 0xdeadbeef 0x20025a50 0xdeadbeef 0x20025a4f 0xdeadbeef 0x20025a4e 0xdeadbeef 0x20025a4d 0xdeadbeef 0x20025a4c 0xdeadbeef 0x20025a4b 0xdeadbeef 0x20025a4a 0xdeadbeef 0x20025a49 0xdeadbeef 0x20025a48 0xdeadbeef 0x20025a47 0xdeadbeef 0x20025a46 0xdeadbeef 0x20025a45 0xdeadbeef 0x20025a44 0xdeadbeef 0x20025a43 0xdeadbeef 0x20025a42 0xdeadbeef 0x20025a41 0xdeadbeef 0x20025a40 0xdeadbeef 0x20025a3f 0xdeadbeef 0x20025a3e 0xdeadbeef 0x20025a3d 0xdeadbeef 0x20025a3c 0xdeadbeef 0x20025a3b 0xdeadbeef 0x20025a3a 0xdeadbeef 0x20025a39 0xdeadbeef 0x20025a38 0xdeadbeef 0x20025a37 0xdeadbeef 0x20025a36 0xdeadbeef 0x20025a35 0xdeadbeef 0x20025a34 0xdeadbeef 0x20025a33 0xdeadbeef 0x20025a32 0xdeadbeef 0x20025a31 0xdeadbeef 0x20025a30 0xdeadbeef 0x20025a2f 0xdeadbeef 0x20025a2e 0xdeadbeef 0x20025a2d 0xdeadbeef 0x20025a2c 0xdeadbeef 0x20025a2b 0xdeadbeef 0x20025a2a 0xdeadbeef 0x20025a29 0xdeadbeef 0x20025a28 0xdeadbeef 0x20025a27 0xdeadbeef 0x20025a26 0xdeadbeef 0x20025a25 0xdeadbeef 0x20025a24 0xdeadbeef 0x20025a23 0xdeadbeef 0x20025a22 0xdeadbeef 0x20025a21 0xdeadbeef 0x20025a20 0xdeadbeef 0x20025a1f 0xdeadbeef 0x20025a1e 0xdeadbeef 0x20025a1d 0xdeadbeef 0x20025a1c 0xdeadbeef 0x20025a1b 0xdeadbeef 0x20025a1a 0xdeadbeef 0x20025a19 0xdeadbeef 0x20025a18 0xdeadbeef 0x20025a17 0xdeadbeef 0x20025a16 0xdeadbeef 0x20025a15 0xdeadbeef 0x20025a14 0xdeadbeef 0x20025a13 0xdeadbeef 0x20025a12 0xdeadbeef 0x20025a11 0xdeadbeef 0x20025a10 0xdeadbeef 0x20025a0f 0xdeadbeef 0x20025a0e 0xdeadbeef 0x20025a0d 0xdeadbeef 0x20025a0c 0xdeadbeef 0x20025a0b 0xdeadbeef 0x20025a0a 0xdeadbeef 0x20025a09 0xdeadbeef 0x20025a08 0xdeadbeef 0x20025a07 0xdeadbeef 0x20025a06 0xdeadbeef [hardfault_log] -- 2000-01-01-00:01:16 END Fault Log -- pyulog-1.2.3/test/sample_appended_multiple_info.txt000066400000000000000000001726541521417275500226530ustar00rootroot00000000000000Logging start time: 0:00:12, duration: 0:00:09 No Dropouts Info Messages: perf_counter_preflight-00: navigator: 9 events, 275us elapsed, 30us avg, min 21us max 75us 16.883us rms perf_counter_preflight-01: mc_att_control: 2465 events, 188639us elapsed, 76us avg, min 18us max 392us 31.226us rms perf_counter_preflight-02: ctl_lat: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms perf_counter_preflight-03: logger_sd_fsync: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms perf_counter_preflight-04: logger_sd_write: 3 events, 73113us elapsed, 24371us avg, min 9us max 37955us 21144.707us rms perf_counter_preflight-05: mavlink_txe: 569 events perf_counter_preflight-06: mavlink_el: 3104 events, 474097us elapsed, 152us avg, min 78us max 3448us 209.233us rms perf_counter_preflight-07: mavlink_txe: 12 events perf_counter_preflight-08: mavlink_el: 883 events, 113212us elapsed, 128us avg, min 44us max 2234us 210.405us rms perf_counter_preflight-09: mavlink_txe: 0 events perf_counter_preflight-10: mavlink_el: 995 events, 174125us elapsed, 175us avg, min 62us max 4784us 329.831us rms perf_counter_preflight-11: io latency: 2044 events, 5113031102us elapsed, 2501482us avg, min 987us max 7524739us 2916104.750us rms perf_counter_preflight-12: io write: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms perf_counter_preflight-13: io update: 2132 events, 1319684us elapsed, 618us avg, min 256us max 18515us 733.727us rms perf_counter_preflight-14: io_txns: 3950 events, 1243786us elapsed, 314us avg, min 131us max 2714us 139.806us rms perf_counter_preflight-15: stack_check: 21 events, 252us elapsed, 12us avg, min 1us max 29us 6.380us rms perf_counter_preflight-16: sensors: 2543 events, 361486us elapsed, 142us avg, min 78us max 6150us 126.879us rms perf_counter_preflight-17: lis3mdl_conf_errors: 3 events perf_counter_preflight-18: lis3mdl_range_errors: 0 events perf_counter_preflight-19: lis3mdl_comms_errors: 0 events perf_counter_preflight-20: lis3mdl_read: 475 events, 16303us elapsed, 34us avg, min 28us max 259us 27.699us rms perf_counter_preflight-21: mpu9250_dupe: 2848 events perf_counter_preflight-22: mpu9250_reset: 0 events perf_counter_preflight-23: mpu9250_good_trans: 10151 events perf_counter_preflight-24: mpu9250_bad_reg: 0 events perf_counter_preflight-25: mpu9250_bad_trans: 0 events perf_counter_preflight-26: mpu9250_read: 13000 events, 973697us elapsed, 74us avg, min 58us max 91us 9.448us rms perf_counter_preflight-27: mpu9250_gyro_read: 0 events perf_counter_preflight-28: mpu9250_acc_read: 9 events perf_counter_preflight-29: mpu9250_mag_duplicates: 9077 events perf_counter_preflight-30: mpu9250_mag_overflows: 0 events perf_counter_preflight-31: mpu9250_mag_overruns: 142 events perf_counter_preflight-32: mpu9250_mag_errors: 0 events perf_counter_preflight-33: mpu9250_mag_reads: 0 events perf_counter_preflight-34: ctrl_latency: 2044 events, 583836us elapsed, 285us avg, min 198us max 904us 53.847us rms perf_counter_preflight-35: mpu6k_duplicates: 2925 events perf_counter_preflight-36: mpu6k_reset: 0 events perf_counter_preflight-37: mpu6k_good_trans: 10111 events perf_counter_preflight-38: mpu6k_bad_reg: 0 events perf_counter_preflight-39: mpu6k_bad_trans: 0 events perf_counter_preflight-40: mpu6k_read: 13036 events, 791547us elapsed, 60us avg, min 43us max 82us 11.774us rms perf_counter_preflight-41: mpu6k_gyro_read: 0 events perf_counter_preflight-42: mpu6k_acc_read: 9 events perf_counter_preflight-43: adc_samples: 9324 events, 23193us elapsed, 2us avg, min 2us max 3us 0.500us rms perf_counter_preflight-44: ms5611_com_err: 0 events perf_counter_preflight-45: ms5611_measure: 950 events, 7047us elapsed, 7us avg, min 5us max 240us 16.192us rms perf_counter_preflight-46: ms5611_read: 949 events, 63895us elapsed, 67us avg, min 10us max 331us 49.056us rms perf_counter_preflight-47: dma_alloc: 7 events perf_top_preflight-00: PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE perf_top_preflight-01: 0 Idle Task 7229 49.950 604/ 748 0 ( 0) READY perf_top_preflight-02: 1 hpwork 375 3.396 816/ 1780 192 (192) w:sig perf_top_preflight-03: 2 lpwork 28 0.099 640/ 1780 50 ( 50) w:sig perf_top_preflight-04: 3 init 3747 0.000 1680/ 2484 100 (100) w:sem perf_top_preflight-05: 239 log_writer_file 64 3.396 544/ 1060 60 ( 60) w:sem perf_top_preflight-06: 106 gps 91 0.099 944/ 1524 220 (220) w:sem perf_top_preflight-07: 110 dataman 142 0.000 704/ 1180 90 ( 90) w:sem perf_top_preflight-08: 147 sensors 511 4.295 1464/ 1980 250 (250) w:sem perf_top_preflight-09: 149 commander 222 2.497 2792/ 3652 140 (140) w:sig perf_top_preflight-10: 156 px4io 324 2.997 1072/ 1380 240 (240) w:sem perf_top_preflight-11: 168 mavlink_if0 201 1.398 1656/ 2436 100 (100) READY perf_top_preflight-12: 169 mavlink_rcv_if0 39 0.299 1320/ 2140 175 (175) READY perf_top_preflight-13: 182 mavlink_if1 138 1.098 1640/ 2388 100 (100) w:sig perf_top_preflight-14: 183 mavlink_rcv_if1 39 0.399 1496/ 2140 175 (175) READY perf_top_preflight-15: 219 mavlink_if2 522 3.896 1600/ 2388 100 (100) READY perf_top_preflight-16: 221 mavlink_rcv_if2 190 1.898 1320/ 2140 175 (175) READY perf_top_preflight-17: 237 logger 195 5.794 3104/ 3532 250 (250) RUN perf_top_preflight-18: 318 commander_low_prio 0 0.000 592/ 2996 50 ( 50) w:sem perf_top_preflight-19: 282 ekf2 1091 11.588 5056/ 5780 250 (250) w:sem perf_top_preflight-20: 287 mc_att_control 287 3.196 1176/ 1676 250 (250) READY perf_top_preflight-21: 293 mc_pos_control 145 2.397 584/ 1876 250 (250) w:sem perf_top_preflight-22: 299 navigator 4 0.000 872/ 1772 105 (105) w:sem perf_top_preflight-23: perf_top_preflight-24: Processes: 22 total, 8 running, 14 sleeping perf_top_preflight-25: CPU usage: 48.75% tasks, 1.30% sched, 49.95% idle perf_top_preflight-26: DMA Memory: 5120 total, 1536 used 1536 peak perf_top_preflight-27: Uptime: 13.266s total, 7.229s idle sys_mcu: STM32F???, rev. A sys_name: PX4 sys_os_name: NuttX sys_os_ver: 8b81cf5c7ece0c228eaaea3e9d8e667fc4d21a06 sys_os_ver_release: 192 sys_toolchain: GNU GCC sys_toolchain_ver: 5.4.1 20160919 (release) [ARM/embedded-5-branch revision 240496] sys_uuid: 0035002B3434511732343031 time_ref_utc: 0 ver_hw: PX4FMU_V4PRO ver_sw: f54a6c2999e1e2fcbf56dd89de06b615b4186a6e ver_sw_branch: ulog_crash_dump ver_sw_release: 17170432 Info Multiple Messages: hardfault_plain: [['[hardfault_log] -- 2000-01-01-00:00:36 Begin Fault Log --\nSystem fault Occurred on: 2000-01-01-00:00:36\n Type:Hard Fault in file:armv7-m/up_hardfault.c at line: 171 running task: hardfault_log\n FW git-hash: f54a6c2999e1e2fcbf56dd89de06b615b4186a6e\n Build datetime: Jul 3 2017 16:02:41\n Build url: localhost \n Processor registers: from 0x20029c64\n r0:0x00000000 r1:0x00000000 r2:0x00000001 r3:0xe000ed14 r4:0x00000000 r5:0x20001800 r6:0x20029f26 r7:0x20029f0c\n r8:0x00000000 r9:0x00000000 r10:0x00000000 r11:0x00000000 r12:0x00000000 sp:0x20029d38 lr:0x080381f5 pc:0x08038224\n xpsr:0x21000000 basepri:0x000000f0 control:0x00000004\n exe return:0xffffffe9\n IRQ stack: \n top: 0x200037f0\n sp: 0x200037a0 Valid\n bottom: 0x20003504\n size: 0x000002ec\n used: 000000c8\n User stack: \n top: 0x20029f08\n sp: 0x20029d38 Valid\n bottom: 0x2002972c\n size: 0x000007dc\n used: 000007dc\nInterrupt sp memory region, stack pointer lies within stack\n0x20003852 0x00000000\n0x20003851 0x00000000\n0x20003850 0x00000000\n0x2000384f 0x00000000\n0x2000384e 0x00000000\n0x2000384d 0x00000000\n0x2000384c 0x00000000\n0x2000384b 0x00000000\n0x2000384a 0x00000000\n0x20003849 0x00000000\n0x20003848 0x00000000\n0x20003847 0x00000000\n0x20003846 0x00000000\n0x20003845 0x00000000\n0x20003844 0x00000000\n0x20003843 0x00000000\n0x20003842 0x00000000\n0x20003841 0x00000000\n0x20003840 0x00000000\n0x2000383f 0x00000000\n0x2000383e 0x00000000\n0x2000383d 0x00000000\n0x2000383c 0x00000000\n0x2000383b 0x00000000\n0x2000383a 0x00000000\n0x20003839 0x00000000\n0x20003838 0x00000000\n0x20003837 0x00000000\n0x20003836 0x00000000\n0x20003835 0x00000000\n0x20003834 0x00000000\n0x20003833 0x00000000\n0x20003832 0x00000000\n0x20003831 0x00000000\n0x20003830 0x00000000\n0x2000382f 0x00000000\n0x2000382e 0x00000000\n0x2000382d 0x00000000\n0x2000382c 0x00000000\n0x2000382b 0x00000000\n0x2000382a 0x00000000\n0x20003829 0x00000000\n0x20003828 0x00000000\n0x20003827 0x00000603\n0x20003826 0x100061a0\n0x20003825 0x10006050\n0x20003824 0x20003880\n0x20003823 0x10005450\n0x20003822 0x00400003\n0x20003821 0x0812db88\n0x20003820 0x00000002\n0x2000381f 0x00000000\n0x2000381e 0x00000000\n0x2000381d 0x20003880\n0x2000381c 0x00000000\n0x2000381b 0x00400002\n0x2000381a 0x0812db88\n0x20003819 0x00000001\n0x20003818 0x00000000\n0x20003817 0x00000000\n0x20003816 0x20003880\n0x20003815 0x00000000\n0x20003814 0x00400001\n0x20003813 0x0812db88\n0x20003812 0x00000000\n0x20003811 0x00000000\n0x20003810 0x00000000\n0x2000380f 0x20003880\n0x2000380e 0x20003880\n0x2000380d 0x00400000\n0x2000380c 0x0812db88\n0x2000380b 0x00001003\n0x2000380a 0x00000000\n0x20003809 0x00000000\n0x20003808 0x20003880\n0x20003807 0x00000000\n0x20003806 0x00400083\n0x20003805 0x0812db88\n0x20003804 0x00001602\n0x20003803 0x10006210\n0x20003802 0x100062a0\n0x20003801 0x20003880\n0x20003800 0x10005450\n0x200037ff 0x00400082\n0x200037fe 0x0812db88\n0x200037fd 0x00001301\n0x200037fc 0x00000000\n0x200037fb 0x00000000\n0x200037fa 0x20003880\n0x200037f9 0x10005450\n0x200037f8 0x00400081\n0x200037f7 0x0812db88\n0x200037f6 0x00001000\n0x200037f5 0x00000000\n0x200037f4 0x00000000\n0x200037f3 0x20003880\n0x200037f2 0x10005450\n0x200037f1 0x00400080\n0x200037f0 0x0812db88<-- Interrupt sp top\n0x200037ef 0x00000000\n0x200037ee 0x00000000\n0x200037ed 0x00000000\n0x200037ec 0x00000000\n0x200037eb 0x00000000\n0x200037ea 0x00000000\n0x200037e9 0x00000000\n0x200037e8 0x00000000\n0x200037e7 0x00000000\n0x200037e6 0x00000000\n0x200037e5 0x00000000\n0x200037e4 0x00000000\n0x200037e3 0x00000000\n0x200037e2 0x00000000\n0x200037e1 0x00000063\n0x200037e0 0x08000000\n0x200037df 0x00258000\n0x200037de 0x07000000\n0x200037dd 0x0020210e\n0x200037dc 0x0e00020c\n0x200037db 0x10005f94\n0x200037da 0x00000002\n0x200037d9 0x200038e0\n0x200037d8 0x0812db6c\n0x200037d7 0x10000830\n0x200037d6 0x00000000\n0x200037d5 0x10000070\n0x200037d4 0x00000000\n0x200037d3 0x00000002\n0x200037d2 0x0000ffff\n0x200037d1 0x00000000\n0x200037d0 0x00000000\n0x200037cf 0x00000000\n0x200037ce 0x00000000\n0x200037cd 0x00000001\n0x200037cc 0x01a40204\n0x200037cb 0x00000000\n0x200037ca 0x00000000\n0x200037c9 0x100050f0\n0x200037c8 0x00000001\n0x200037c7 0x20007630\n0x200037c6 0x200075c0\n0x200037c5 0x200075a0\n0x200037c4 0x200074b0\n0x200037c3 0x20007268\n0x200037c2 0x20007100\n0x200037c1 0x2000748c\n0x200037c0 0x20007360\n0x200037bf 0x20007338\n0x200037be 0x20007290\n0x200037bd 0x00000005\n0x200037bc 0x10004450\n0x200037bb 0x0000ffff\n0x200037ba 0x00000000\n0x200037b9 0x00000000\n0x200037b8 0x00000000\n0x200037b7 0x00000000\n0x200037b6 0x00000001\n0x200037b5 0x10000010\n0x200037b4 0x00000000\n0x200037b3 0x080e50a7\n0x200037b2 0x20029f0c\n0x200037b1 0x20029f26\n0x200037b0 0x20001800\n0x200037af 0x20029c64\n0x200037ae 0x000000f0\n0x200037ad 0x080edf69\n0x200037ac 0x080e5121\n0x200037ab 0x080e5143\n0x200037aa 0x00000000\n0x200037a9 0x00000003\n0x200037a8 0x080e513b\n0x200037a7 0x200037c8\n0x200037a6 0x08038224\n0x200037a5 0x080381f5\n0x200037a4 0x20029d38\n0x200037a3 0x00000000\n0x200037a2 0x00000000\n0x200037a1 0x00000000\n0x200037a0 0x000000f0<-- Interrupt sp\n0x2000379f 0x080e4e8d\n0x2000379e 0x000000ab\n0x2000379d 0x0812d43b\n0x2000379c 0x20002c58\n0x2000379b 0x20003468\n0x2000379a 0x00000000\n0x20003799 0x20003468\n0x20003798 0x000000ab\n0x20003797 0x080fa4bd\n0x20003796 0x20000010\n0x20003795 0x080e5219\n0x20003794 0x20029d38\n0x20003793 0x20028ed0\n0x20003792 0x080381f5\n0x20003791 0x00000147\n0x20003790 0x200037a0\n0x2000378f 0x20029c64\n0x2000378e 0x20028ed0\n0x2000378d 0x20000000\n0x2000378c 0x20000000\n0x2000378b 0x080e3091\n0x2000378a 0x20003760\n0x20003789 0x20003760\n0x20003788 0x00000000\n0x20003787 0x080e3073\n0x20003786 0x0000011f\n0x20003785 0x20019680\n0x20003784 0x00000000\n0x20003783 0x0000003d\n0x20003782 0x080f1cd9\n0x20003781 0x080f0aa9\n0x20003780 0x080f1cd9\n0x2000377f 0x080ead1f\n0x2000377e 0x20028ed0\n0x2000377d 0x080381f5\n0x2000377c 0x000000ab\n0x2000377b 0x20002b54\n0x2000377a 0x00000000\n0x20003779 0x080e4cb9\n0x20003778 0x20003744\n0x20003777 0x0812d286\n0x20003776 0x00000000\n0x20003775 0x00000000\n0x20003774 0x2000375c\n0x20003773 0x00000004\n0x20003772 0x080f1cd9\n0x20003771 0x080eb8b5\n0x20003770 0x0000000a\n0x2000376f 0x080ed765\n0x2000376e 0x0812db4c\n0x2000376d 0x00000039\n0x2000376c 0x00000004\n0x2000376b 0x080eb45f\n0x2000376a 0x20003724\n0x20003769 0x00000020\n0x20003768 0x080f0aa9\n0x20003767 0x080f0ab5\n0x20003766 0x20003724\n0x20003765 0x0000000a\n0x20003764 0x0000000a\n0x20003763 0x080edef5\n0x20003762 0x0000000a\n0x20003761 0x080ed765\n0x20003760 0x00000010\n0x2000375f 0x080edef5\n0x2000375e 0x00000037\n0x2000375d 0x080ed765\n0x2000375c 0x00000010\n0x2000375b 0x080edef5\n0x2000375a 0x00000036\n0x20003759 0x080ed765\n0x20003758 0x00000010\n0x20003757 0x080edef5\n0x20003756 0x00000031\n0x20003755 0x080ed765\n0x20003754 0x00000010\n0x20003753 0xc22c0000\n0x20003752 0xc1f00000\n0x20003751 0xffffff45\n0x20003750 0xdeadbeef\n0x2000374f 0x00000000\n0x2000374e 0x00000000\n0x2000374d 0x200036e0\n0x2000374c 0x20003738\n0x2000374b 0x200036d0\n0x2000374a 0x200036b8\n0x20003749 0x0801be95\n0x20003748 0x00000000\n0x20003747 0x200036d0\n0x20003746 0x100099f0\n0x20003745 0x00000000\n0x20003744 0xbd2a126a\n0x20003743 0xbc6508ee\n0x20003742 0xbb5e8c88\n0x20003741 0x080b18c7\n0x20003740 0x00000000\n0x2000373f 0x1000a4b0\n0x2000373e 0x1000a7b0\n0x2000373d 0x080e5219\n0x2000373c 0x00000000\n0x2000373b 0x00000ac9\n0x2000373a 0x000000dd\n0x20003739 0x0000002b\n0x20003738 0x200036a0\n0x20003737 0x00000000\n0x20003736 0x00000002\n0x20003735 0x00000001\n0x20003734 0x1000a700\n0x20003733 0x2cd0851c\n0x20003732 0xac5200a5\n0x20003731 0x200035d0\n0x20003730 0x00000001\n0x2000372f 0x00000003\n0x2000372e 0xb532ad1f\n0x2000372d 0xb60b5e08\n0x2000372c 0xb6d8b642\n0x2000372b 0x200035b8\n0x2000372a 0x00000001\n0x20003729 0x00000003\n0x20003728 0xb532ad1f\n0x20003727 0xb60b5e08\n0x20003726 0xb6d8b642\n0x20003725 0x200035a0\n0x20003724 0x00000001\n0x20003723 0x00000003\n0x20003722 0xb6d3ef16\n0x20003721 0xb7caeb2c\n0x20003720 0xb8933275\n0x2000371f 0x08009c6f\n0x2000371e 0x0153278e\n0x2000371d 0x200036b8\n0x2000371c 0x10009c48\n0x2000371b 0xdeadbeef\n0x2000371a 0xdeadbeef\n0x20003719 0xdeadbeef\n0x20003718 0xdeadbeef\n0x20003717 0xdeadbeef\n0x20003716 0xdeadbeef\n0x20003715 0xdeadbeef\n0x20003714 0xdeadbeef\n0x20003713 0xdeadbeef\n0x20003712 0xdeadbeef\n0x20003711 0xdeadbeef\n0x20003710 0xdeadbeef\n0x2000370f 0xdeadbeef\n0x2000370e 0xdeadbeef\n0x2000370d 0xdeadbeef\n0x2000370c 0xdeadbeef\n0x2000370b 0xdeadbeef\n0x2000370a 0xdeadbeef\n0x20003709 0xdeadbeef\n0x20003708 0xdeadbeef\n0x20003707 0xdeadbeef\n0x20003706 0xdeadbeef\n0x20003705 0xdeadbeef\n0x20003704 0xdeadbeef\n0x20003703 0xdeadbeef\n0x20003702 0xdeadbeef\n0x20003701 0xdeadbeef\n0x20003700 0xdeadbeef\n0x200036ff 0xdeadbeef\n0x200036fe 0xdeadbeef\n0x200036fd 0xdeadbeef\n0x200036fc 0xdeadbeef\n0x200036fb 0xdeadbeef\n0x200036fa 0xdeadbeef\n0x200036f9 0xdeadbeef\n0x200036f8 0xdeadbeef\n0x200036f7 0x00000000\n0x200036f6 0x00000000\n0x200036f5 0x00000000\n0x200036f4 0x00000000\n0x200036f3 0x00000000\n0x200036f2 0x00000000\n0x200036f1 0x00000000\n0x200036f0 0x00000000\n0x200036ef 0x00000000\n0x200036ee 0x00000000\n0x200036ed 0xacc3dceb\n0x200036ec 0x1974741c\n0x200036eb 0xd57bc68f\n0x200036ea 0x161002aa\n0x200036e9 0x19749b3c\n0x200036e8 0xb2c87a55\n0x200036e7 0xe3c5b19f\n0x200036e6 0x34814b92\n0x200036e5 0x547525f9\n0x200036e4 0x0d7c6875\n0x200036e3 0x370d6b04\n0x200036e2 0x80459c98\n0x200036e1 0x70e2f10e\n0x200036e0 0x01ba6748\n0x200036df 0x368a881d\n0x200036de 0xf3da0521\n0x200036dd 0xfcd7f19c\n0x200036dc 0x1ef20172\n0x200036db 0x737caabc\n0x200036da 0x01229a1d\n0x200036d9 0xa84718df\n0x200036d8 0x21dce316\n0x200036d7 0x82941d7a\n0x200036d6 0x808a9014\n0x200036d5 0x69770529\n0x200036d4 0xcb14de92\n0x200036d3 0x0e67affc\nUser sp memory region, stack pointer lies within stack\n0x20029dea 0xacc3dceb\n0x20029de9 0x1974741c\n0x20029de8 0xd57bc68f\n0x20029de7 0x161002aa\n0x20029de6 0x19749b3c\n0x20029de5 0xb2c87a55\n0x20029de4 0xe3c5b19f\n0x20029de3 0x34814b92\n0x20029de2 0x547525f9\n0x20029de1 0x0d7c6875\n0x20029de0 0x370d6b04\n0x20029ddf 0x80459c98\n0x20029dde 0x70e2f10e\n0x20029ddd 0x01ba6748\n0x20029ddc 0x368a881d\n0x20029ddb 0xf3da0521\n0x20029dda 0xfcd7f19c\n0x20029dd9 0x1ef20172\n0x20029dd8 0x737caabc\n0x20029dd7 0x01229a1d\n0x20029dd6 0xa84718df\n0x20029dd5 0x21dce316\n0x20029dd4 0x82941d7a\n0x20029dd3 0x808a9014\n0x20029dd2 0x69770529\n0x20029dd1 0xcb14de92\n0x20029dd0 0x0e67affc\n0x20029dcf 0x8b00640c\n0x20029dce 0xd428dca5\n0x20029dcd 0x90e27e77\n0x20029dcc 0xb9e06175\n0x20029dcb 0x229c4241\n0x20029dca 0xfa9ef04e\n0x20029dc9 0x389b3c63\n0x20029dc8 0xe09e3de1\n0x20029dc7 0x0b27a02a\n0x20029dc6 0xbb9d1572\n0x20029dc5 0x28b65c8d\n0x20029dc4 0x9ea88bda\n0x20029dc3 0x253c280d\n0x20029dc2 0x84f8875e\n0x20029dc1 0x385196d7\n0x20029dc0 0xbe812788\n0x20029dbf 0xeea9e62c\n0x20029dbe 0xe67de43e\n0x20029dbd 0xd1d02b76\n0x20029dbc 0xada3063a\n0x20029dbb 0x20003408\n0x20029dba 0x20003418\n0x20029db9 0x00000810\n0x20029db8 0x000260c0\n0x20029db7 0xac037a13\n0x20029db6 0x3ee2b20b\n0x20029db5 0x3c177304\n0x20029db4 0x00746c75\n0x20029db3 0x61660067\n0x20029db2 0x6f6c5f74\n0x20029db1 0x6c756166\n0x20029db0 0x64726168\n0x20029daf 0x00000000\n0x20029dae 0x20029f26\n0x20029dad 0x20029f18\n0x20029dac 0xdeadbeef\n0x20029dab 0x00000000\n0x20029daa 0x00000000\n0x20029da9 0x080e02f9\n0x20029da8 0x00000000\n0x20029da7 0x00000000\n0x20029da6 0x00000000\n0x20029da5 0x00000000\n0x20029da4 0x00000000\n0x20029da3 0x00000000\n0x20029da2 0x00000101\n0x20029da1 0x00000000\n0x20029da0 0x00000000\n0x20029d9f 0x00000000\n0x20029d9e 0x00000000\n0x20029d9d 0x00000000\n0x20029d9c 0x00000000\n0x20029d9b 0x00000000\n0x20029d9a 0x00000000\n0x20029d99 0x01000000\n0x20029d98 0x080e02d4\n0x20029d97 0x00000000\n0x20029d96 0x00000000\n0x20029d95 0x00000000\n0x20029d94 0x00000000\n0x20029d93 0x00000000\n0x20029d92 0x00000000\n0x20029d91 0xdeadbeef\n0x20029d90 0xdeadbeef\n0x20029d8f 0xdeadbeef\n0x20029d8e 0xdeadbeef\n0x20029d8d 0xdeadbeef\n0x20029d8c 0xdeadbeef\n0x20029d8b 0xdeadbeef\n0x20029d8a 0xdeadbeef\n0x20029d89 0xdeadbeef\n0x20029d88 0xdeadbeef\n0x20029d87 0xdeadbeef\n0x20029d86 0xdeadbeef\n0x20029d85 0xdeadbeef\n0x20029d84 0xdeadbeef\n0x20029d83 0xdeadbeef\n0x20029d82 0xdeadbeef\n0x20029d81 0xdeadbeef\n0x20029d80 0xdeadbeef\n0x20029d7f 0xdeadbeef\n0x20029d7e 0xdeadbeef\n0x20029d7d 0xdeadbeef\n0x20029d7c 0xdeadbeef\n0x20029d7b 0xdeadbeef\n0x20029d7a 0xdeadbeef\n0x20029d79 0xdeadbeef\n0x20029d78 0xdeadbeef\n0x20029d77 0xdeadbeef\n0x20029d76 0xdeadbeef\n0x20029d75 0xdeadbeef\n0x20029d74 0xdeadbeef\n0x20029d73 0xdeadbeef\n0x20029d72 0xdeadbeef\n0x20029d71 0xdeadbeef\n0x20029d70 0xdeadbeef\n0x20029d6f 0xdeadbeef\n0x20029d6e 0xdeadbeef\n0x20029d6d 0xdeadbeef\n0x20029d6c 0xdeadbeef\n0x20029d6b 0xdeadbeef\n0x20029d6a 0xdeadbeef\n0x20029d69 0xdeadbeef\n0x20029d68 0xdeadbeef\n0x20029d67 0xdeadbeef\n0x20029d66 0xdeadbeef\n0x20029d65 0xdeadbeef\n0x20029d64 0xdeadbeef\n0x20029d63 0xdeadbeef\n0x20029d62 0xdeadbeef\n0x20029d61 0xdeadbeef\n0x20029d60 0xdeadbeef\n0x20029d5f 0xdeadbeef\n0x20029d5e 0xdeadbeef\n0x20029d5d 0xdeadbeef\n0x20029d5c 0xdeadbeef\n0x20029d5b 0xdeadbeef\n0x20029d5a 0xdeadbeef\n0x20029d59 0xdeadbeef\n0x20029d58 0xdeadbeef\n0x20029d57 0xdeadbeef\n0x20029d56 0xdeadbeef\n0x20029d55 0xdeadbeef\n0x20029d54 0xdeadbeef\n0x20029d53 0xdeadbeef\n0x20029d52 0xdeadbeef\n0x20029d51 0xdeadbeef\n0x20029d50 0xdeadbeef\n0x20029d4f 0xdeadbeef\n0x20029d4e 0xdeadbeef\n0x20029d4d 0xdeadbeef\n0x20029d4c 0xdeadbeef\n0x20029d4b 0xdeadbeef\n0x20029d4a 0xdeadbeef\n0x20029d49 0xdeadbeef\n0x20029d48 0xdeadbeef\n0x20029d47 0xdeadbeef\n0x20029d46 0xdeadbeef\n0x20029d45 0xdeadbeef\n0x20029d44 0xdeadbeef\n0x20029d43 0xdeadbeef\n0x20029d42 0xdeadbeef\n0x20029d41 0xdeadbeef\n0x20029d40 0xdeadbeef\n0x20029d3f 0xdeadbeef\n0x20029d3e 0xdeadbeef\n0x20029d3d 0xdeadbeef\n0x20029d3c 0xdeadbeef\n0x20029d3b 0xdeadbeef\n0x20029d3a 0xdeadbeef\n0x20029d39 0xdeadbeef\n0x20029d38 0xdeadbeef<-- User sp\n0x20029d37 0xdeadbeef\n0x20029d36 0x00000000\n0x20029d35 0x00000000\n0x20029d34 0x00000000\n0x20029d33 0x00000000\n0x20029d32 0x00000000\n0x20029d31 0x00000000\n0x20029d30 0x00000000\n0x20029d2f 0x00000000\n0x20029d2e 0x00000000\n0x20029d2d 0x00000000\n0x20029d2c 0x00000000\n0x20029d2b 0x00000000\n0x20029d2a 0x00000000\n0x20029d29 0x00000000\n0x20029d28 0x00000000\n0x20029d27 0x00000000\n0x20029d26 0x00000000\n0x20029d25 0x21000000\n0x20029d24 0x08038224\n0x20029d23 0x080381f5\n0x20029d22 0x00000000\n0x20029d21 0xe000ed14\n0x20029d20 0x00000001\n0x20029d1f 0x00000000\n0x20029d1e 0x00000000\n0x20029d1d 0x00000000\n0x20029d1c 0x00000000\n0x20029d1b 0x00000000\n0x20029d1a 0x00000000\n0x20029d19 0x00000000\n0x20029d18 0x00000000\n0x20029d17 0x00000000\n0x20029d16 0x00000000\n0x20029d15 0x00000000\n0x20029d14 0x00000000\n0x20029d13 0x00000000\n0x20029d12 0x00000000\n0x20029d11 0x00000000\n0x20029d10 0x00000000\n0x20029d0f 0x00000000\n0x20029d0e 0x00000000\n0x20029d0d 0xffffffe9\n0x20029d0c 0x00000000\n0x20029d0b 0x00000000\n0x20029d0a 0x00000000\n0x20029d09 0x00000000\n0x20029d08 0x20029f0c\n0x20029d07 0x20029f26\n0x20029d06 0x20001800\n0x20029d05 0x00000000\n0x20029d04 0x000000f0\n0x20029d03 0x20029d38\n0x20029d02 0xdeadbeef\n0x20029d01 0xdeadbeef\n0x20029d00 0xdeadbeef\n0x20029cff 0xdeadbeef\n0x20029cfe 0xdeadbeef\n0x20029cfd 0xdeadbeef\n0x20029cfc 0xdeadbeef\n0x20029cfb 0xdeadbeef\n0x20029cfa 0xdeadbeef\n0x20029cf9 0xdeadbeef\n0x20029cf8 0xdeadbeef\n0x20029cf7 0xdeadbeef\n0x20029cf6 0xdeadbeef\n0x20029cf5 0xdeadbeef\n0x20029cf4 0xdeadbeef\n0x20029cf3 0xdeadbeef\n0x20029cf2 0xdeadbeef\n0x20029cf1 0xdeadbeef\n0x20029cf0 0xdeadbeef\n0x20029cef 0xdeadbeef\n0x20029cee 0xdeadbeef\n0x20029ced 0xdeadbeef\n0x20029cec 0xdeadbeef\n0x20029ceb 0xdeadbeef\n0x20029cea 0xdeadbeef\n0x20029ce9 0xdeadbeef\n0x20029ce8 0xdeadbeef\n0x20029ce7 0xdeadbeef\n0x20029ce6 0xdeadbeef\n0x20029ce5 0xdeadbeef\n0x20029ce4 0xdeadbeef\n0x20029ce3 0xdeadbeef\n0x20029ce2 0xdeadbeef\n0x20029ce1 0xdeadbeef\n0x20029ce0 0xdeadbeef\n0x20029cdf 0xdeadbeef\n0x20029cde 0xdeadbeef\n0x20029cdd 0xdeadbeef\n0x20029cdc 0xdeadbeef\n0x20029cdb 0xdeadbeef\n0x20029cda 0xdeadbeef\n0x20029cd9 0xdeadbeef\n0x20029cd8 0xdeadbeef\n0x20029cd7 0xdeadbeef\n0x20029cd6 0xdeadbeef\n0x20029cd5 0xdeadbeef\n0x20029cd4 0xdeadbeef\n0x20029cd3 0xdeadbeef\n0x20029cd2 0xdeadbeef\n0x20029cd1 0xdeadbeef\n0x20029cd0 0xdeadbeef\n0x20029ccf 0xdeadbeef\n0x20029cce 0xdeadbeef\n0x20029ccd 0xdeadbeef\n0x20029ccc 0xdeadbeef\n0x20029ccb 0xdeadbeef\n0x20029cca 0xdeadbeef\n0x20029cc9 0xdeadbeef\n0x20029cc8 0xdeadbeef\n0x20029cc7 0xdeadbeef\n0x20029cc6 0xdeadbeef\n0x20029cc5 0xdeadbeef\n0x20029cc4 0xdeadbeef\n0x20029cc3 0xdeadbeef\n0x20029cc2 0xdeadbeef\n0x20029cc1 0xdeadbeef\n0x20029cc0 0xdeadbeef\n0x20029cbf 0xdeadbeef\n0x20029cbe 0xdeadbeef\n0x20029cbd 0xdeadbeef\n0x20029cbc 0xdeadbeef\n0x20029cbb 0xdeadbeef\n0x20029cba 0xdeadbeef\n0x20029cb9 0xdeadbeef\n0x20029cb8 0xdeadbeef\n0x20029cb7 0xdeadbeef\n0x20029cb6 0xdeadbeef\n0x20029cb5 0xdeadbeef\n0x20029cb4 0xdeadbeef\n0x20029cb3 0xdeadbeef\n0x20029cb2 0xdeadbeef\n0x20029cb1 0xdeadbeef\n0x20029cb0 0xdeadbeef\n0x20029caf 0xdeadbeef\n0x20029cae 0xdeadbeef\n0x20029cad 0xdeadbeef\n0x20029cac 0xdeadbeef\n0x20029cab 0xdeadbeef\n0x20029caa 0xdeadbeef\n0x20029ca9 0xdeadbeef\n0x20029ca8 0xdeadbeef\n0x20029ca7 0xdeadbeef\n0x20029ca6 0xdeadbeef\n0x20029ca5 0xdeadbeef\n0x20029ca4 0xdeadbeef\n0x20029ca3 0xdeadbeef\n0x20029ca2 0xdeadbeef\n0x20029ca1 0xdeadbeef\n0x20029ca0 0xdeadbeef\n0x20029c9f 0xdeadbeef\n0x20029c9e 0xdeadbeef\n0x20029c9d 0xdeadbeef\n0x20029c9c 0xdeadbeef\n0x20029c9b 0xdeadbeef\n0x20029c9a 0xdeadbeef\n0x20029c99 0xdeadbeef\n0x20029c98 0xdeadbeef\n0x20029c97 0xdeadbeef\n0x20029c96 0xdeadbeef\n0x20029c95 0xdeadbeef\n0x20029c94 0xdeadbeef\n0x20029c93 0xdeadbeef\n0x20029c92 0xdeadbeef\n0x20029c91 0xdeadbeef\n0x20029c90 0xdeadbeef\n0x20029c8f 0xdeadbeef\n0x20029c8e 0xdeadbeef\n0x20029c8d 0xdeadbeef\n0x20029c8c 0xdeadbeef\n0x20029c8b 0xdeadbeef\n0x20029c8a 0xdeadbeef\n0x20029c89 0xdeadbeef\n0x20029c88 0xdeadbeef\n0x20029c87 0xdeadbeef\n0x20029c86 0xdeadbeef\n[hardfault_log] -- 2000-01-01-00:00:36 END Fault Log --\n'], ['[hardfault_log] -- 2000-01-01-00:00:57 Begin Fault Log --\nSystem fault Occurred on: 2000-01-01-00:00:57\n Type:Hard Fault in file:armv7-m/up_hardfault.c at line: 171 running task: hardfault_log\n FW git-hash: f54a6c2999e1e2fcbf56dd89de06b615b4186a6e\n Build datetime: Jul 3 2017 16:02:41\n Build url: localhost \n Processor registers: from 0x20025b84\n r0:0x00000000 r1:0x00000000 r2:0x00000001 r3:0xe000ed14 r4:0x00000000 r5:0x20001800 r6:0x20025e46 r7:0x20025e2c\n r8:0x00000000 r9:0x00000000 r10:0x00000000 r11:0x00000000 r12:0x00000000 sp:0x20025c58 lr:0x080381f5 pc:0x08038224\n xpsr:0x21000000 basepri:0x000000f0 control:0x00000004\n exe return:0xffffffe9\n IRQ stack: \n top: 0x200037f0\n sp: 0x200037a0 Valid\n bottom: 0x20003504\n size: 0x000002ec\n used: 000000c8\n User stack: \n top: 0x20025e28\n sp: 0x20025c58 Valid\n bottom: 0x2002564c\n size: 0x000007dc\n used: 000007dc\nInterrupt sp memory region, stack pointer lies within stack\n0x20003852 0x00000000\n0x20003851 0x00000000\n0x20003850 0x00000000\n0x2000384f 0x00000000\n0x2000384e 0x00000000\n0x2000384d 0x00000000\n0x2000384c 0x00000000\n0x2000384b 0x00000000\n0x2000384a 0x00000000\n0x20003849 0x00000000\n0x20003848 0x00000000\n0x20003847 0x00000000\n0x20003846 0x00000000\n0x20003845 0x00000000\n0x20003844 0x00000000\n0x20003843 0x00000000\n0x20003842 0x00000000\n0x20003841 0x00000000\n0x20003840 0x00000000\n0x2000383f 0x00000000\n0x2000383e 0x00000000\n0x2000383d 0x00000000\n0x2000383c 0x00000000\n0x2000383b 0x00000000\n0x2000383a 0x00000000\n0x20003839 0x00000000\n0x20003838 0x00000000\n0x20003837 0x00000000\n0x20003836 0x00000000\n0x20003835 0x00000000\n0x20003834 0x00000000\n0x20003833 0x00000000\n0x20003832 0x00000000\n0x20003831 0x00000000\n0x20003830 0x00000000\n0x2000382f 0x00000000\n0x2000382e 0x00000000\n0x2000382d 0x00000000\n0x2000382c 0x00000000\n0x2000382b 0x00000000\n0x2000382a 0x00000000\n0x20003829 0x00000000\n0x20003828 0x00000000\n0x20003827 0x00000603\n0x20003826 0x100061a0\n0x20003825 0x10006050\n0x20003824 0x20003880\n0x20003823 0x10005450\n0x20003822 0x00400003\n0x20003821 0x0812db88\n0x20003820 0x00000002\n0x2000381f 0x00000000\n0x2000381e 0x00000000\n0x2000381d 0x20003880\n0x2000381c 0x00000000\n0x2000381b 0x00400002\n0x2000381a 0x0812db88\n0x20003819 0x00000001\n0x20003818 0x00000000\n0x20003817 0x00000000\n0x20003816 0x20003880\n0x20003815 0x00000000\n0x20003814 0x00400001\n0x20003813 0x0812db88\n0x20003812 0x00000000\n0x20003811 0x00000000\n0x20003810 0x00000000\n0x2000380f 0x20003880\n0x2000380e 0x20003880\n0x2000380d 0x00400000\n0x2000380c 0x0812db88\n0x2000380b 0x00001003\n0x2000380a 0x00000000\n0x20003809 0x00000000\n0x20003808 0x20003880\n0x20003807 0x00000000\n0x20003806 0x00400083\n0x20003805 0x0812db88\n0x20003804 0x00001602\n0x20003803 0x10006210\n0x20003802 0x100062a0\n0x20003801 0x20003880\n0x20003800 0x10005450\n0x200037ff 0x00400082\n0x200037fe 0x0812db88\n0x200037fd 0x00001301\n0x200037fc 0x00000000\n0x200037fb 0x00000000\n0x200037fa 0x20003880\n0x200037f9 0x10005450\n0x200037f8 0x00400081\n0x200037f7 0x0812db88\n0x200037f6 0x00001000\n0x200037f5 0x00000000\n0x200037f4 0x00000000\n0x200037f3 0x20003880\n0x200037f2 0x10005450\n0x200037f1 0x00400080\n0x200037f0 0x0812db88<-- Interrupt sp top\n0x200037ef 0x00000000\n0x200037ee 0x00000000\n0x200037ed 0x00000000\n0x200037ec 0x00000000\n0x200037eb 0x00000000\n0x200037ea 0x00000000\n0x200037e9 0x00000000\n0x200037e8 0x00000000\n0x200037e7 0x00000000\n0x200037e6 0x00000000\n0x200037e5 0x00000000\n0x200037e4 0x00000000\n0x200037e3 0x00000000\n0x200037e2 0x00000000\n0x200037e1 0x00000063\n0x200037e0 0x08000000\n0x200037df 0x00258000\n0x200037de 0x07000000\n0x200037dd 0x0020210e\n0x200037dc 0x0e00020c\n0x200037db 0x10005f94\n0x200037da 0x00000002\n0x200037d9 0x200038e0\n0x200037d8 0x0812db6c\n0x200037d7 0x10000830\n0x200037d6 0x00000000\n0x200037d5 0x10000070\n0x200037d4 0x00000000\n0x200037d3 0x00000002\n0x200037d2 0x0000ffff\n0x200037d1 0x00000000\n0x200037d0 0x00000000\n0x200037cf 0x00000000\n0x200037ce 0x00000000\n0x200037cd 0x00000001\n0x200037cc 0x01a40204\n0x200037cb 0x00000000\n0x200037ca 0x00000000\n0x200037c9 0x100050f0\n0x200037c8 0x00000001\n0x200037c7 0x20007630\n0x200037c6 0x200075c0\n0x200037c5 0x200075a0\n0x200037c4 0x200074b0\n0x200037c3 0x20007268\n0x200037c2 0x20007100\n0x200037c1 0x2000748c\n0x200037c0 0x20007360\n0x200037bf 0x20007338\n0x200037be 0x20007290\n0x200037bd 0x00000005\n0x200037bc 0x10004450\n0x200037bb 0x0000ffff\n0x200037ba 0x00000000\n0x200037b9 0x00000000\n0x200037b8 0x00000000\n0x200037b7 0x00000000\n0x200037b6 0x00000001\n0x200037b5 0x10000010\n0x200037b4 0x00000000\n0x200037b3 0x080e50a7\n0x200037b2 0x20025e2c\n0x200037b1 0x20025e46\n0x200037b0 0x20001800\n0x200037af 0x20025b84\n0x200037ae 0x000000f0\n0x200037ad 0x080edf69\n0x200037ac 0x080e5121\n0x200037ab 0x080e5143\n0x200037aa 0x00000000\n0x200037a9 0x00000003\n0x200037a8 0x080e513b\n0x200037a7 0x200037c8\n0x200037a6 0x08038224\n0x200037a5 0x080381f5\n0x200037a4 0x20025c58\n0x200037a3 0x00000000\n0x200037a2 0x00000000\n0x200037a1 0x00000000\n0x200037a0 0x000000f0<-- Interrupt sp\n0x2000379f 0x080e4e8d\n0x2000379e 0x000000ab\n0x2000379d 0x0812d43b\n0x2000379c 0x20002c58\n0x2000379b 0x20003468\n0x2000379a 0x00000000\n0x20003799 0x20003468\n0x20003798 0x000000ab\n0x20003797 0x080fa4bd\n0x20003796 0x20000010\n0x20003795 0x080e5219\n0x20003794 0x20025c58\n0x20003793 0x20024df0\n0x20003792 0x080381f5\n0x20003791 0x00000144\n0x20003790 0x200037a0\n0x2000378f 0x20025b84\n0x2000378e 0x20024df0\n0x2000378d 0x20000000\n0x2000378c 0x20000000\n0x2000378b 0x080e3091\n0x2000378a 0x20003760\n0x20003789 0x20003760\n0x20003788 0x00000000\n0x20003787 0x080e3073\n0x20003786 0x0000011f\n0x20003785 0x200196a0\n0x20003784 0x00000000\n0x20003783 0x0000003d\n0x20003782 0x080f1cd9\n0x20003781 0x080f0aa9\n0x20003780 0x080f1cd9\n0x2000377f 0x080ead1f\n0x2000377e 0x20024df0\n0x2000377d 0x080381f5\n0x2000377c 0x000000ab\n0x2000377b 0x20002b54\n0x2000377a 0x00000000\n0x20003779 0x080e4cb9\n0x20003778 0x20003744\n0x20003777 0x0812d286\n0x20003776 0x00000000\n0x20003775 0x00000000\n0x20003774 0x2000375c\n0x20003773 0x00000004\n0x20003772 0x080f1cd9\n0x20003771 0x080eb8b5\n0x20003770 0x0000000a\n0x2000376f 0x080ed765\n0x2000376e 0x0812db4c\n0x2000376d 0x00000039\n0x2000376c 0x00000004\n0x2000376b 0x080eb45f\n0x2000376a 0x20003724\n0x20003769 0x00000020\n0x20003768 0x080f0aa9\n0x20003767 0x080f0ab5\n0x20003766 0x20003724\n0x20003765 0x0000000a\n0x20003764 0x0000000a\n0x20003763 0x080edef5\n0x20003762 0x0000000a\n0x20003761 0x080ed765\n0x20003760 0x00000010\n0x2000375f 0x080edef5\n0x2000375e 0x00000037\n0x2000375d 0x080ed765\n0x2000375c 0x00000010\n0x2000375b 0x080edef5\n0x2000375a 0x00000036\n0x20003759 0x080ed765\n0x20003758 0x00000010\n0x20003757 0x080edef5\n0x20003756 0x00000031\n0x20003755 0x080ed765\n0x20003754 0x00000010\n0x20003753 0x41a80000\n0x20003752 0xc1400000\n0x20003751 0xffffff40\n0x20003750 0xdeadbeef\n0x2000374f 0x00000000\n0x2000374e 0x00000000\n0x2000374d 0x200036e0\n0x2000374c 0x20003738\n0x2000374b 0x200036d0\n0x2000374a 0x200036b8\n0x20003749 0x0801be95\n0x20003748 0x00000000\n0x20003747 0x200036d0\n0x20003746 0x100099f0\n0x20003745 0x00000000\n0x20003744 0x3cd9d04c\n0x20003743 0x3ba9a1e7\n0x20003742 0x3ba7b44c\n0x20003741 0x080b18c7\n0x20003740 0x00000000\n0x2000373f 0x1000a4b0\n0x2000373e 0x1000a7b0\n0x2000373d 0x080e5219\n0x2000373c 0x00000000\n0x2000373b 0x00000c47\n0x2000373a 0x000000e4\n0x20003739 0xffffffeb\n0x20003738 0x200036a0\n0x20003737 0x00000000\n0x20003736 0x00000002\n0x20003735 0x00000001\n0x20003734 0x1000a700\n0x20003733 0x2c14b502\n0x20003732 0x2ba7a4d3\n0x20003731 0x200035d0\n0x20003730 0x00000001\n0x2000372f 0x00000003\n0x2000372e 0x35294313\n0x2000372d 0x3579fe8a\n0x2000372c 0x362bb1e6\n0x2000372b 0x200035b8\n0x2000372a 0x00000001\n0x20003729 0x00000003\n0x20003728 0x35294313\n0x20003727 0x3579fe8a\n0x20003726 0x362bb1e6\n0x20003725 0x200035a0\n0x20003724 0x00000001\n0x20003723 0x00000003\n0x20003722 0x36882e66\n0x20003721 0x3689bf39\n0x20003720 0x37a640ac\n0x2000371f 0x08009c6f\n0x2000371e 0x011503d4\n0x2000371d 0x200036b8\n0x2000371c 0x10009c48\n0x2000371b 0xdeadbeef\n0x2000371a 0xdeadbeef\n0x20003719 0xdeadbeef\n0x20003718 0xdeadbeef\n0x20003717 0xdeadbeef\n0x20003716 0xdeadbeef\n0x20003715 0xdeadbeef\n0x20003714 0xdeadbeef\n0x20003713 0xdeadbeef\n0x20003712 0xdeadbeef\n0x20003711 0xdeadbeef\n0x20003710 0xdeadbeef\n0x2000370f 0xdeadbeef\n0x2000370e 0xdeadbeef\n0x2000370d 0xdeadbeef\n0x2000370c 0xdeadbeef\n0x2000370b 0xdeadbeef\n0x2000370a 0xdeadbeef\n0x20003709 0xdeadbeef\n0x20003708 0xdeadbeef\n0x20003707 0xdeadbeef\n0x20003706 0xdeadbeef\n0x20003705 0xdeadbeef\n0x20003704 0xdeadbeef\n0x20003703 0xdeadbeef\n0x20003702 0xdeadbeef\n0x20003701 0xdeadbeef\n0x20003700 0xdeadbeef\n0x200036ff 0xdeadbeef\n0x200036fe 0xdeadbeef\n0x200036fd 0xdeadbeef\n0x200036fc 0xdeadbeef\n0x200036fb 0xdeadbeef\n0x200036fa 0xdeadbeef\n0x200036f9 0xdeadbeef\n0x200036f8 0xdeadbeef\n0x200036f7 0x00000000\n0x200036f6 0x00000000\n0x200036f5 0x00000000\n0x200036f4 0x00000000\n0x200036f3 0x00000000\n0x200036f2 0x00000000\n0x200036f1 0x00000000\n0x200036f0 0x00000000\n0x200036ef 0x00000000\n0x200036ee 0x00000000\n0x200036ed 0xc120804d\n0x200036ec 0x3ed41cc3\n0x200036eb 0x3f0a2bd6\n0x200036ea 0x00000000\n0x200036e9 0x3b845996\n0x200036e8 0x3c4e20fc\n0x200036e7 0x3cf4fd72\n0x200036e6 0x3d683d94\n0x200036e5 0x00000000\n0x200036e4 0x0152a14d\n0x200036e3 0x00274400\n0x200036e2 0x4a7fff7f\n0x200036e1 0xff7fff7f\n0x200036e0 0xff7fff7f\n0x200036df 0xff000000\n0x200036de 0x000152a1\n0x200036dd 0x4d002644\n0x200036dc 0x001641df\n0x200036db 0xd70a43a4\n0x200036da 0x9bf9ffff\n0x200036d9 0xb2463edf\n0x200036d8 0x8510bf8a\n0x200036d7 0x99ea3e1d\n0x200036d6 0x1394ffff\n0x200036d5 0xe9013b9d\n0x200036d4 0x4951c121\n0x200036d3 0x68923eed\nUser sp memory region, stack pointer lies within stack\n0x20025d0a 0xc120804d\n0x20025d09 0x3ed41cc3\n0x20025d08 0x3f0a2bd6\n0x20025d07 0x00000000\n0x20025d06 0x3b845996\n0x20025d05 0x3c4e20fc\n0x20025d04 0x3cf4fd72\n0x20025d03 0x3d683d94\n0x20025d02 0x00000000\n0x20025d01 0x0152a14d\n0x20025d00 0x00274400\n0x20025cff 0x4a7fff7f\n0x20025cfe 0xff7fff7f\n0x20025cfd 0xff7fff7f\n0x20025cfc 0xff000000\n0x20025cfb 0x000152a1\n0x20025cfa 0x4d002644\n0x20025cf9 0x001641df\n0x20025cf8 0xd70a43a4\n0x20025cf7 0x9bf9ffff\n0x20025cf6 0xb2463edf\n0x20025cf5 0x8510bf8a\n0x20025cf4 0x99ea3e1d\n0x20025cf3 0x1394ffff\n0x20025cf2 0xe9013b9d\n0x20025cf1 0x4951c121\n0x20025cf0 0x68923eed\n0x20025cef 0x27fd3f06\n0x20025cee 0x433a0000\n0x20025ced 0x00003b9d\n0x20025cec 0x49513bbc\n0x20025ceb 0x365e3c4c\n0x20025cea 0x24093c51\n0x20025ce9 0x5e8d0000\n0x20025ce8 0x00000152\n0x20025ce7 0x91860027\n0x20025ce6 0x44004a7f\n0x20025ce5 0xff7fff7f\n0x20025ce4 0xff7fff7f\n0x20025ce3 0xff7fff00\n0x20025ce2 0x00000001\n0x20025ce1 0x52918600\n0x20025ce0 0x26440016\n0x20025cdf 0x00000000\n0x20025cde 0xc05f66f4\n0x20025cdd 0xbeb2c02c\n0x20025cdc 0x3e551542\n0x20025cdb 0x20003408\n0x20025cda 0x20003418\n0x20025cd9 0x00000810\n0x20025cd8 0x0002a1a0\n0x20025cd7 0x00000001\n0x20025cd6 0xbf800000\n0x20025cd5 0x00000000\n0x20025cd4 0x00746c75\n0x20025cd3 0x61660067\n0x20025cd2 0x6f6c5f74\n0x20025cd1 0x6c756166\n0x20025cd0 0x64726168\n0x20025ccf 0x00000000\n0x20025cce 0x20025e46\n0x20025ccd 0x20025e38\n0x20025ccc 0xdeadbeef\n0x20025ccb 0x00000000\n0x20025cca 0x00000000\n0x20025cc9 0x080e02f9\n0x20025cc8 0x00000000\n0x20025cc7 0x00000000\n0x20025cc6 0x00000000\n0x20025cc5 0x00000000\n0x20025cc4 0x00000000\n0x20025cc3 0x00000000\n0x20025cc2 0x00000101\n0x20025cc1 0x00000000\n0x20025cc0 0x00000000\n0x20025cbf 0x00000000\n0x20025cbe 0x00000000\n0x20025cbd 0x00000000\n0x20025cbc 0x00000000\n0x20025cbb 0x00000000\n0x20025cba 0x00000000\n0x20025cb9 0x01000000\n0x20025cb8 0x080e02d4\n0x20025cb7 0x00000000\n0x20025cb6 0x00000000\n0x20025cb5 0x00000000\n0x20025cb4 0x00000000\n0x20025cb3 0x00000000\n0x20025cb2 0x00000000\n0x20025cb1 0xdeadbeef\n0x20025cb0 0xdeadbeef\n0x20025caf 0xdeadbeef\n0x20025cae 0xdeadbeef\n0x20025cad 0xdeadbeef\n0x20025cac 0xdeadbeef\n0x20025cab 0xdeadbeef\n0x20025caa 0xdeadbeef\n0x20025ca9 0xdeadbeef\n0x20025ca8 0xdeadbeef\n0x20025ca7 0xdeadbeef\n0x20025ca6 0xdeadbeef\n0x20025ca5 0xdeadbeef\n0x20025ca4 0xdeadbeef\n0x20025ca3 0xdeadbeef\n0x20025ca2 0xdeadbeef\n0x20025ca1 0xdeadbeef\n0x20025ca0 0xdeadbeef\n0x20025c9f 0xdeadbeef\n0x20025c9e 0xdeadbeef\n0x20025c9d 0xdeadbeef\n0x20025c9c 0xdeadbeef\n0x20025c9b 0xdeadbeef\n0x20025c9a 0xdeadbeef\n0x20025c99 0xdeadbeef\n0x20025c98 0xdeadbeef\n0x20025c97 0xdeadbeef\n0x20025c96 0xdeadbeef\n0x20025c95 0xdeadbeef\n0x20025c94 0xdeadbeef\n0x20025c93 0xdeadbeef\n0x20025c92 0xdeadbeef\n0x20025c91 0xdeadbeef\n0x20025c90 0xdeadbeef\n0x20025c8f 0xdeadbeef\n0x20025c8e 0xdeadbeef\n0x20025c8d 0xdeadbeef\n0x20025c8c 0xdeadbeef\n0x20025c8b 0xdeadbeef\n0x20025c8a 0xdeadbeef\n0x20025c89 0xdeadbeef\n0x20025c88 0xdeadbeef\n0x20025c87 0xdeadbeef\n0x20025c86 0xdeadbeef\n0x20025c85 0xdeadbeef\n0x20025c84 0xdeadbeef\n0x20025c83 0xdeadbeef\n0x20025c82 0xdeadbeef\n0x20025c81 0xdeadbeef\n0x20025c80 0xdeadbeef\n0x20025c7f 0xdeadbeef\n0x20025c7e 0xdeadbeef\n0x20025c7d 0xdeadbeef\n0x20025c7c 0xdeadbeef\n0x20025c7b 0xdeadbeef\n0x20025c7a 0xdeadbeef\n0x20025c79 0xdeadbeef\n0x20025c78 0xdeadbeef\n0x20025c77 0xdeadbeef\n0x20025c76 0xdeadbeef\n0x20025c75 0xdeadbeef\n0x20025c74 0xdeadbeef\n0x20025c73 0xdeadbeef\n0x20025c72 0xdeadbeef\n0x20025c71 0xdeadbeef\n0x20025c70 0xdeadbeef\n0x20025c6f 0xdeadbeef\n0x20025c6e 0xdeadbeef\n0x20025c6d 0xdeadbeef\n0x20025c6c 0xdeadbeef\n0x20025c6b 0xdeadbeef\n0x20025c6a 0xdeadbeef\n0x20025c69 0xdeadbeef\n0x20025c68 0xdeadbeef\n0x20025c67 0xdeadbeef\n0x20025c66 0xdeadbeef\n0x20025c65 0xdeadbeef\n0x20025c64 0xdeadbeef\n0x20025c63 0xdeadbeef\n0x20025c62 0xdeadbeef\n0x20025c61 0xdeadbeef\n0x20025c60 0xdeadbeef\n0x20025c5f 0xdeadbeef\n0x20025c5e 0xdeadbeef\n0x20025c5d 0xdeadbeef\n0x20025c5c 0xdeadbeef\n0x20025c5b 0xdeadbeef\n0x20025c5a 0xdeadbeef\n0x20025c59 0xdeadbeef\n0x20025c58 0xdeadbeef<-- User sp\n0x20025c57 0xdeadbeef\n0x20025c56 0x00000000\n0x20025c55 0x00000000\n0x20025c54 0x00000000\n0x20025c53 0x00000000\n0x20025c52 0x00000000\n0x20025c51 0x00000000\n0x20025c50 0x00000000\n0x20025c4f 0x00000000\n0x20025c4e 0x00000000\n0x20025c4d 0x00000000\n0x20025c4c 0x00000000\n0x20025c4b 0x00000000\n0x20025c4a 0x00000000\n0x20025c49 0x00000000\n0x20025c48 0x00000000\n0x20025c47 0x00000000\n0x20025c46 0x00000000\n0x20025c45 0x21000000\n0x20025c44 0x08038224\n0x20025c43 0x080381f5\n0x20025c42 0x00000000\n0x20025c41 0xe000ed14\n0x20025c40 0x00000001\n0x20025c3f 0x00000000\n0x20025c3e 0x00000000\n0x20025c3d 0x00000000\n0x20025c3c 0x00000000\n0x20025c3b 0x00000000\n0x20025c3a 0x00000000\n0x20025c39 0x00000000\n0x20025c38 0x00000000\n0x20025c37 0x00000000\n0x20025c36 0x00000000\n0x20025c35 0x00000000\n0x20025c34 0x00000000\n0x20025c33 0x00000000\n0x20025c32 0x00000000\n0x20025c31 0x00000000\n0x20025c30 0x00000000\n0x20025c2f 0x00000000\n0x20025c2e 0x00000000\n0x20025c2d 0xffffffe9\n0x20025c2c 0x00000000\n0x20025c2b 0x00000000\n0x20025c2a 0x00000000\n0x20025c29 0x00000000\n0x20025c28 0x20025e2c\n0x20025c27 0x20025e46\n0x20025c26 0x20001800\n0x20025c25 0x00000000\n0x20025c24 0x000000f0\n0x20025c23 0x20025c58\n0x20025c22 0xdeadbeef\n0x20025c21 0xdeadbeef\n0x20025c20 0xdeadbeef\n0x20025c1f 0xdeadbeef\n0x20025c1e 0xdeadbeef\n0x20025c1d 0xdeadbeef\n0x20025c1c 0xdeadbeef\n0x20025c1b 0xdeadbeef\n0x20025c1a 0xdeadbeef\n0x20025c19 0xdeadbeef\n0x20025c18 0xdeadbeef\n0x20025c17 0xdeadbeef\n0x20025c16 0xdeadbeef\n0x20025c15 0xdeadbeef\n0x20025c14 0xdeadbeef\n0x20025c13 0xdeadbeef\n0x20025c12 0xdeadbeef\n0x20025c11 0xdeadbeef\n0x20025c10 0xdeadbeef\n0x20025c0f 0xdeadbeef\n0x20025c0e 0xdeadbeef\n0x20025c0d 0xdeadbeef\n0x20025c0c 0xdeadbeef\n0x20025c0b 0xdeadbeef\n0x20025c0a 0xdeadbeef\n0x20025c09 0xdeadbeef\n0x20025c08 0xdeadbeef\n0x20025c07 0xdeadbeef\n0x20025c06 0xdeadbeef\n0x20025c05 0xdeadbeef\n0x20025c04 0xdeadbeef\n0x20025c03 0xdeadbeef\n0x20025c02 0xdeadbeef\n0x20025c01 0xdeadbeef\n0x20025c00 0xdeadbeef\n0x20025bff 0xdeadbeef\n0x20025bfe 0xdeadbeef\n0x20025bfd 0xdeadbeef\n0x20025bfc 0xdeadbeef\n0x20025bfb 0xdeadbeef\n0x20025bfa 0xdeadbeef\n0x20025bf9 0xdeadbeef\n0x20025bf8 0xdeadbeef\n0x20025bf7 0xdeadbeef\n0x20025bf6 0xdeadbeef\n0x20025bf5 0xdeadbeef\n0x20025bf4 0xdeadbeef\n0x20025bf3 0xdeadbeef\n0x20025bf2 0xdeadbeef\n0x20025bf1 0xdeadbeef\n0x20025bf0 0xdeadbeef\n0x20025bef 0xdeadbeef\n0x20025bee 0xdeadbeef\n0x20025bed 0xdeadbeef\n0x20025bec 0xdeadbeef\n0x20025beb 0xdeadbeef\n0x20025bea 0xdeadbeef\n0x20025be9 0xdeadbeef\n0x20025be8 0xdeadbeef\n0x20025be7 0xdeadbeef\n0x20025be6 0xdeadbeef\n0x20025be5 0xdeadbeef\n0x20025be4 0xdeadbeef\n0x20025be3 0xdeadbeef\n0x20025be2 0xdeadbeef\n0x20025be1 0xdeadbeef\n0x20025be0 0xdeadbeef\n0x20025bdf 0xdeadbeef\n0x20025bde 0xdeadbeef\n0x20025bdd 0xdeadbeef\n0x20025bdc 0xdeadbeef\n0x20025bdb 0xdeadbeef\n0x20025bda 0xdeadbeef\n0x20025bd9 0xdeadbeef\n0x20025bd8 0xdeadbeef\n0x20025bd7 0xdeadbeef\n0x20025bd6 0xdeadbeef\n0x20025bd5 0xdeadbeef\n0x20025bd4 0xdeadbeef\n0x20025bd3 0xdeadbeef\n0x20025bd2 0xdeadbeef\n0x20025bd1 0xdeadbeef\n0x20025bd0 0xdeadbeef\n0x20025bcf 0xdeadbeef\n0x20025bce 0xdeadbeef\n0x20025bcd 0xdeadbeef\n0x20025bcc 0xdeadbeef\n0x20025bcb 0xdeadbeef\n0x20025bca 0xdeadbeef\n0x20025bc9 0xdeadbeef\n0x20025bc8 0xdeadbeef\n0x20025bc7 0xdeadbeef\n0x20025bc6 0xdeadbeef\n0x20025bc5 0xdeadbeef\n0x20025bc4 0xdeadbeef\n0x20025bc3 0xdeadbeef\n0x20025bc2 0xdeadbeef\n0x20025bc1 0xdeadbeef\n0x20025bc0 0xdeadbeef\n0x20025bbf 0xdeadbeef\n0x20025bbe 0xdeadbeef\n0x20025bbd 0xdeadbeef\n0x20025bbc 0xdeadbeef\n0x20025bbb 0xdeadbeef\n0x20025bba 0xdeadbeef\n0x20025bb9 0xdeadbeef\n0x20025bb8 0xdeadbeef\n0x20025bb7 0xdeadbeef\n0x20025bb6 0xdeadbeef\n0x20025bb5 0xdeadbeef\n0x20025bb4 0xdeadbeef\n0x20025bb3 0xdeadbeef\n0x20025bb2 0xdeadbeef\n0x20025bb1 0xdeadbeef\n0x20025bb0 0xdeadbeef\n0x20025baf 0xdeadbeef\n0x20025bae 0xdeadbeef\n0x20025bad 0xdeadbeef\n0x20025bac 0xdeadbeef\n0x20025bab 0xdeadbeef\n0x20025baa 0xdeadbeef\n0x20025ba9 0xdeadbeef\n0x20025ba8 0xdeadbeef\n0x20025ba7 0xdeadbeef\n0x20025ba6 0xdeadbeef\n[hardfault_log] -- 2000-01-01-00:00:57 END Fault Log --\n'], ['[hardfault_log] -- 2000-01-01-00:01:16 Begin Fault Log --\nSystem fault Occurred on: 2000-01-01-00:01:16\n Type:Hard Fault in file:armv7-m/up_hardfault.c at line: 171 running task: hardfault_log\n FW git-hash: f54a6c2999e1e2fcbf56dd89de06b615b4186a6e\n Build datetime: Jul 3 2017 16:02:41\n Build url: localhost \n Processor registers: from 0x200259e4\n r0:0x00000000 r1:0x00000000 r2:0x00000001 r3:0xe000ed14 r4:0x00000000 r5:0x20001800 r6:0x20025ca6 r7:0x20025c8c\n r8:0x00000000 r9:0x00000000 r10:0x00000000 r11:0x00000000 r12:0x00000000 sp:0x20025ab8 lr:0x080381f5 pc:0x08038224\n xpsr:0x21000000 basepri:0x000000f0 control:0x00000004\n exe return:0xffffffe9\n IRQ stack: \n top: 0x200037f0\n sp: 0x200037a0 Valid\n bottom: 0x20003504\n size: 0x000002ec\n used: 000000c8\n User stack: \n top: 0x20025c88\n sp: 0x20025ab8 Valid\n bottom: 0x200254ac\n size: 0x000007dc\n used: 000007dc\nInterrupt sp memory region, stack pointer lies within stack\n0x20003852 0x00000000\n0x20003851 0x00000000\n0x20003850 0x00000000\n0x2000384f 0x00000000\n0x2000384e 0x00000000\n0x2000384d 0x00000000\n0x2000384c 0x00000000\n0x2000384b 0x00000000\n0x2000384a 0x00000000\n0x20003849 0x00000000\n0x20003848 0x00000000\n0x20003847 0x00000000\n0x20003846 0x00000000\n0x20003845 0x00000000\n0x20003844 0x00000000\n0x20003843 0x00000000\n0x20003842 0x00000000\n0x20003841 0x00000000\n0x20003840 0x00000000\n0x2000383f 0x00000000\n0x2000383e 0x00000000\n0x2000383d 0x00000000\n0x2000383c 0x00000000\n0x2000383b 0x00000000\n0x2000383a 0x00000000\n0x20003839 0x00000000\n0x20003838 0x00000000\n0x20003837 0x00000000\n0x20003836 0x00000000\n0x20003835 0x00000000\n0x20003834 0x00000000\n0x20003833 0x00000000\n0x20003832 0x00000000\n0x20003831 0x00000000\n0x20003830 0x00000000\n0x2000382f 0x00000000\n0x2000382e 0x00000000\n0x2000382d 0x00000000\n0x2000382c 0x00000000\n0x2000382b 0x00000000\n0x2000382a 0x00000000\n0x20003829 0x00000000\n0x20003828 0x00000000\n0x20003827 0x00000603\n0x20003826 0x100061a0\n0x20003825 0x10006050\n0x20003824 0x20003880\n0x20003823 0x10005450\n0x20003822 0x00400003\n0x20003821 0x0812db88\n0x20003820 0x00000002\n0x2000381f 0x00000000\n0x2000381e 0x00000000\n0x2000381d 0x20003880\n0x2000381c 0x00000000\n0x2000381b 0x00400002\n0x2000381a 0x0812db88\n0x20003819 0x00000001\n0x20003818 0x00000000\n0x20003817 0x00000000\n0x20003816 0x20003880\n0x20003815 0x00000000\n0x20003814 0x00400001\n0x20003813 0x0812db88\n0x20003812 0x00000000\n0x20003811 0x00000000\n0x20003810 0x00000000\n0x2000380f 0x20003880\n0x2000380e 0x20003880\n0x2000380d 0x00400000\n0x2000380c 0x0812db88\n0x2000380b 0x00001003\n0x2000380a 0x00000000\n0x20003809 0x00000000\n0x20003808 0x20003880\n0x20003807 0x00000000\n0x20003806 0x00400083\n0x20003805 0x0812db88\n0x20003804 0x00001602\n0x20003803 0x10006210\n0x20003802 0x100062a0\n0x20003801 0x20003880\n0x20003800 0x10005450\n0x200037ff 0x00400082\n0x200037fe 0x0812db88\n0x200037fd 0x00001301\n0x200037fc 0x00000000\n0x200037fb 0x00000000\n0x200037fa 0x20003880\n0x200037f9 0x10005450\n0x200037f8 0x00400081\n0x200037f7 0x0812db88\n0x200037f6 0x00001000\n0x200037f5 0x00000000\n0x200037f4 0x00000000\n0x200037f3 0x20003880\n0x200037f2 0x10005450\n0x200037f1 0x00400080\n0x200037f0 0x0812db88<-- Interrupt sp top\n0x200037ef 0x00000000\n0x200037ee 0x00000000\n0x200037ed 0x00000000\n0x200037ec 0x00000000\n0x200037eb 0x00000000\n0x200037ea 0x00000000\n0x200037e9 0x00000000\n0x200037e8 0x00000000\n0x200037e7 0x00000000\n0x200037e6 0x00000000\n0x200037e5 0x00000000\n0x200037e4 0x00000000\n0x200037e3 0x00000000\n0x200037e2 0x00000000\n0x200037e1 0x00000063\n0x200037e0 0x08000000\n0x200037df 0x00258000\n0x200037de 0x07000000\n0x200037dd 0x0020210e\n0x200037dc 0x0e00020c\n0x200037db 0x10005f94\n0x200037da 0x00000002\n0x200037d9 0x200038e0\n0x200037d8 0x0812db6c\n0x200037d7 0x10000830\n0x200037d6 0x00000000\n0x200037d5 0x10000070\n0x200037d4 0x00000000\n0x200037d3 0x00000002\n0x200037d2 0x0000ffff\n0x200037d1 0x00000000\n0x200037d0 0x00000000\n0x200037cf 0x00000000\n0x200037ce 0x00000000\n0x200037cd 0x00000001\n0x200037cc 0x01a40204\n0x200037cb 0x00000000\n0x200037ca 0x00000000\n0x200037c9 0x100050f0\n0x200037c8 0x00000001\n0x200037c7 0x20007630\n0x200037c6 0x200075c0\n0x200037c5 0x200075a0\n0x200037c4 0x200074b0\n0x200037c3 0x20007268\n0x200037c2 0x20007100\n0x200037c1 0x2000748c\n0x200037c0 0x20007360\n0x200037bf 0x20007338\n0x200037be 0x20007290\n0x200037bd 0x00000005\n0x200037bc 0x10004450\n0x200037bb 0x0000ffff\n0x200037ba 0x00000000\n0x200037b9 0x00000000\n0x200037b8 0x00000000\n0x200037b7 0x00000000\n0x200037b6 0x00000001\n0x200037b5 0x10000010\n0x200037b4 0x00000000\n0x200037b3 0x080e50a7\n0x200037b2 0x20025c8c\n0x200037b1 0x20025ca6\n0x200037b0 0x20001800\n0x200037af 0x200259e4\n0x200037ae 0x000000f0\n0x200037ad 0x080edf69\n0x200037ac 0x080e5121\n0x200037ab 0x080e5143\n0x200037aa 0x00000000\n0x200037a9 0x00000003\n0x200037a8 0x080e513b\n0x200037a7 0x200037c8\n0x200037a6 0x08038224\n0x200037a5 0x080381f5\n0x200037a4 0x20025ab8\n0x200037a3 0x00000000\n0x200037a2 0x00000000\n0x200037a1 0x00000000\n0x200037a0 0x000000f0<-- Interrupt sp\n0x2000379f 0x080e4e8d\n0x2000379e 0x000000ab\n0x2000379d 0x0812d43b\n0x2000379c 0x20002c58\n0x2000379b 0x20003468\n0x2000379a 0x00000000\n0x20003799 0x20003468\n0x20003798 0x000000ab\n0x20003797 0x080fa4bd\n0x20003796 0x20000010\n0x20003795 0x080e5219\n0x20003794 0x20025ab8\n0x20003793 0x200190a0\n0x20003792 0x080381f5\n0x20003791 0x00000144\n0x20003790 0x200037a0\n0x2000378f 0x200259e4\n0x2000378e 0x200190a0\n0x2000378d 0x20000000\n0x2000378c 0x20000000\n0x2000378b 0x080e3091\n0x2000378a 0x20003760\n0x20003789 0x20003760\n0x20003788 0x00000000\n0x20003787 0x080e3073\n0x20003786 0x0000011f\n0x20003785 0x20019680\n0x20003784 0x00000000\n0x20003783 0x0000003d\n0x20003782 0x080f1cd9\n0x20003781 0x080f0aa9\n0x20003780 0x080f1cd9\n0x2000377f 0x080ead1f\n0x2000377e 0x200190a0\n0x2000377d 0x080381f5\n0x2000377c 0x000000ab\n0x2000377b 0x20002b54\n0x2000377a 0x00000000\n0x20003779 0x080e4cb9\n0x20003778 0x20003744\n0x20003777 0x0812d286\n0x20003776 0x00000000\n0x20003775 0x00000000\n0x20003774 0x2000375c\n0x20003773 0x00000004\n0x20003772 0x080f1cd9\n0x20003771 0x080eb8b5\n0x20003770 0x0000000a\n0x2000376f 0x080ed765\n0x2000376e 0x0812db4c\n0x2000376d 0x00000039\n0x2000376c 0x00000004\n0x2000376b 0x080eb45f\n0x2000376a 0x20003724\n0x20003769 0x00000020\n0x20003768 0x080f0aa9\n0x20003767 0x080f0ab5\n0x20003766 0x20003724\n0x20003765 0x0000000a\n0x20003764 0x0000000a\n0x20003763 0x080edef5\n0x20003762 0x0000000a\n0x20003761 0x080ed765\n0x20003760 0x00000010\n0x2000375f 0x080edef5\n0x2000375e 0x00000037\n0x2000375d 0x080ed765\n0x2000375c 0x00000010\n0x2000375b 0x080edef5\n0x2000375a 0x00000036\n0x20003759 0x080ed765\n0x20003758 0x00000010\n0x20003757 0x080edef5\n0x20003756 0x00000031\n0x20003755 0x080ed765\n0x20003754 0x00000010\n0x20003753 0x42a00000\n0x20003752 0x41880000\n0x20003751 0xffffff50\n0x20003750 0xdeadbeef\n0x2000374f 0x00000000\n0x2000374e 0x00000000\n0x2000374d 0x200036e0\n0x2000374c 0x20003738\n0x2000374b 0x200036d0\n0x2000374a 0x200036b8\n0x20003749 0x0801be95\n0x20003748 0x00000000\n0x20003747 0x200036d0\n0x20003746 0x100099f0\n0x20003745 0x00000000\n0x20003744 0x3db70b91\n0x20003743 0x3d0ae5f2\n0x20003742 0x3c70c717\n0x20003741 0x080b18c7\n0x20003740 0x00000000\n0x2000373f 0x1000a4b0\n0x2000373e 0x1000a7b0\n0x2000373d 0x080e5219\n0x2000373c 0x00000000\n0x2000373b 0x00000d60\n0x2000373a 0x0000008b\n0x20003739 0xffffffb0\n0x20003738 0x200036a0\n0x20003737 0x00000000\n0x20003736 0x00000002\n0x20003735 0x00000001\n0x20003734 0x1000a700\n0x20003733 0xaf48d96c\n0x20003732 0xaeb94218\n0x20003731 0x200035d0\n0x20003730 0x00000001\n0x2000372f 0x00000003\n0x2000372e 0x37661e88\n0x2000372d 0x37c938fc\n0x2000372c 0x38d6d158\n0x2000372b 0x200035b8\n0x2000372a 0x00000001\n0x20003729 0x00000003\n0x20003728 0x36037f2a\n0x20003727 0x36896e20\n0x20003726 0x37621ef7\n0x20003725 0x200035a0\n0x20003724 0x00000001\n0x20003723 0x00000003\n0x20003722 0x37453ebe\n0x20003721 0x37dffff9\n0x20003720 0x389c3322\n0x2000371f 0x08009c6f\n0x2000371e 0x00f548e6\n0x2000371d 0x200036b8\n0x2000371c 0x10009c48\n0x2000371b 0xdeadbeef\n0x2000371a 0xdeadbeef\n0x20003719 0xdeadbeef\n0x20003718 0xdeadbeef\n0x20003717 0xdeadbeef\n0x20003716 0xdeadbeef\n0x20003715 0xdeadbeef\n0x20003714 0xdeadbeef\n0x20003713 0xdeadbeef\n0x20003712 0xdeadbeef\n0x20003711 0xdeadbeef\n0x20003710 0xdeadbeef\n0x2000370f 0xdeadbeef\n0x2000370e 0xdeadbeef\n0x2000370d 0xdeadbeef\n0x2000370c 0xdeadbeef\n0x2000370b 0xdeadbeef\n0x2000370a 0xdeadbeef\n0x20003709 0xdeadbeef\n0x20003708 0xdeadbeef\n0x20003707 0xdeadbeef\n0x20003706 0xdeadbeef\n0x20003705 0xdeadbeef\n0x20003704 0xdeadbeef\n0x20003703 0xdeadbeef\n0x20003702 0xdeadbeef\n0x20003701 0xdeadbeef\n0x20003700 0xdeadbeef\n0x200036ff 0xdeadbeef\n0x200036fe 0xdeadbeef\n0x200036fd 0xdeadbeef\n0x200036fc 0xdeadbeef\n0x200036fb 0xdeadbeef\n0x200036fa 0xdeadbeef\n0x200036f9 0xdeadbeef\n0x200036f8 0xdeadbeef\n0x200036f7 0x00000000\n0x200036f6 0x00000000\n0x200036f5 0x00000000\n0x200036f4 0x00000000\n0x200036f3 0x00000000\n0x200036f2 0x00000000\n0x200036f1 0x00000000\n0x200036f0 0x00000000\n0x200036ef 0x00000000\n0x200036ee 0x00000000\n0x200036ed 0xdeadbeef\n0x200036ec 0xdeadbeef\n0x200036eb 0xdeadbeef\n0x200036ea 0xdeadbeef\n0x200036e9 0xdeadbeef\n0x200036e8 0xdeadbeef\n0x200036e7 0xdeadbeef\n0x200036e6 0xdeadbeef\n0x200036e5 0xdeadbeef\n0x200036e4 0xdeadbeef\n0x200036e3 0xdeadbeef\n0x200036e2 0xdeadbeef\n0x200036e1 0xdeadbeef\n0x200036e0 0xdeadbeef\n0x200036df 0xdeadbeef\n0x200036de 0xdeadbeef\n0x200036dd 0xdeadbeef\n0x200036dc 0xdeadbeef\n0x200036db 0xdeadbeef\n0x200036da 0xdeadbeef\n0x200036d9 0xdeadbeef\n0x200036d8 0xdeadbeef\n0x200036d7 0xdeadbeef\n0x200036d6 0xdeadbeef\n0x200036d5 0xdeadbeef\n0x200036d4 0xdeadbeef\n0x200036d3 0xdeadbeef\nUser sp memory region, stack pointer lies within stack\n0x20025b6a 0xdeadbeef\n0x20025b69 0xdeadbeef\n0x20025b68 0xdeadbeef\n0x20025b67 0xdeadbeef\n0x20025b66 0xdeadbeef\n0x20025b65 0xdeadbeef\n0x20025b64 0xdeadbeef\n0x20025b63 0xdeadbeef\n0x20025b62 0xdeadbeef\n0x20025b61 0xdeadbeef\n0x20025b60 0xdeadbeef\n0x20025b5f 0xdeadbeef\n0x20025b5e 0xdeadbeef\n0x20025b5d 0xdeadbeef\n0x20025b5c 0xdeadbeef\n0x20025b5b 0xdeadbeef\n0x20025b5a 0xdeadbeef\n0x20025b59 0xdeadbeef\n0x20025b58 0xdeadbeef\n0x20025b57 0xdeadbeef\n0x20025b56 0xdeadbeef\n0x20025b55 0xdeadbeef\n0x20025b54 0xdeadbeef\n0x20025b53 0xdeadbeef\n0x20025b52 0xdeadbeef\n0x20025b51 0xdeadbeef\n0x20025b50 0xdeadbeef\n0x20025b4f 0xdeadbeef\n0x20025b4e 0xdeadbeef\n0x20025b4d 0xdeadbeef\n0x20025b4c 0xdeadbeef\n0x20025b4b 0xdeadbeef\n0x20025b4a 0xdeadbeef\n0x20025b49 0xdeadbeef\n0x20025b48 0xdeadbeef\n0x20025b47 0xdeadbeef\n0x20025b46 0xdeadbeef\n0x20025b45 0xdeadbeef\n0x20025b44 0xdeadbeef\n0x20025b43 0xdeadbeef\n0x20025b42 0xdeadbeef\n0x20025b41 0xdeadbeef\n0x20025b40 0xdeadbeef\n0x20025b3f 0xdeadbeef\n0x20025b3e 0xdeadbeef\n0x20025b3d 0xdeadbeef\n0x20025b3c 0xdeadbeef\n0x20025b3b 0x20003408\n0x20025b3a 0x20003418\n0x20025b39 0x00000810\n0x20025b38 0x0002a340\n0x20025b37 0xdeadbeef\n0x20025b36 0xdeadbeef\n0x20025b35 0xdeadbeef\n0x20025b34 0x00746c75\n0x20025b33 0x61660067\n0x20025b32 0x6f6c5f74\n0x20025b31 0x6c756166\n0x20025b30 0x64726168\n0x20025b2f 0x00000000\n0x20025b2e 0x20025ca6\n0x20025b2d 0x20025c98\n0x20025b2c 0xdeadbeef\n0x20025b2b 0x00000000\n0x20025b2a 0x00000000\n0x20025b29 0x080e02f9\n0x20025b28 0x00000000\n0x20025b27 0x00000000\n0x20025b26 0x00000000\n0x20025b25 0x00000000\n0x20025b24 0x00000000\n0x20025b23 0x00000000\n0x20025b22 0x00000101\n0x20025b21 0x00000000\n0x20025b20 0x00000000\n0x20025b1f 0x00000000\n0x20025b1e 0x00000000\n0x20025b1d 0x00000000\n0x20025b1c 0x00000000\n0x20025b1b 0x00000000\n0x20025b1a 0x00000000\n0x20025b19 0x01000000\n0x20025b18 0x080e02d4\n0x20025b17 0x00000000\n0x20025b16 0x00000000\n0x20025b15 0x00000000\n0x20025b14 0x00000000\n0x20025b13 0x00000000\n0x20025b12 0x00000000\n0x20025b11 0xdeadbeef\n0x20025b10 0xdeadbeef\n0x20025b0f 0xdeadbeef\n0x20025b0e 0xdeadbeef\n0x20025b0d 0xdeadbeef\n0x20025b0c 0xdeadbeef\n0x20025b0b 0xdeadbeef\n0x20025b0a 0xdeadbeef\n0x20025b09 0xdeadbeef\n0x20025b08 0xdeadbeef\n0x20025b07 0xdeadbeef\n0x20025b06 0xdeadbeef\n0x20025b05 0xdeadbeef\n0x20025b04 0xdeadbeef\n0x20025b03 0xdeadbeef\n0x20025b02 0xdeadbeef\n0x20025b01 0xdeadbeef\n0x20025b00 0xdeadbeef\n0x20025aff 0xdeadbeef\n0x20025afe 0xdeadbeef\n0x20025afd 0xdeadbeef\n0x20025afc 0xdeadbeef\n0x20025afb 0xdeadbeef\n0x20025afa 0xdeadbeef\n0x20025af9 0xdeadbeef\n0x20025af8 0xdeadbeef\n0x20025af7 0xdeadbeef\n0x20025af6 0xdeadbeef\n0x20025af5 0xdeadbeef\n0x20025af4 0xdeadbeef\n0x20025af3 0xdeadbeef\n0x20025af2 0xdeadbeef\n0x20025af1 0xdeadbeef\n0x20025af0 0xdeadbeef\n0x20025aef 0xdeadbeef\n0x20025aee 0xdeadbeef\n0x20025aed 0xdeadbeef\n0x20025aec 0xdeadbeef\n0x20025aeb 0xdeadbeef\n0x20025aea 0xdeadbeef\n0x20025ae9 0xdeadbeef\n0x20025ae8 0xdeadbeef\n0x20025ae7 0xdeadbeef\n0x20025ae6 0xdeadbeef\n0x20025ae5 0xdeadbeef\n0x20025ae4 0xdeadbeef\n0x20025ae3 0xdeadbeef\n0x20025ae2 0xdeadbeef\n0x20025ae1 0xdeadbeef\n0x20025ae0 0xdeadbeef\n0x20025adf 0xdeadbeef\n0x20025ade 0xdeadbeef\n0x20025add 0xdeadbeef\n0x20025adc 0xdeadbeef\n0x20025adb 0xdeadbeef\n0x20025ada 0xdeadbeef\n0x20025ad9 0xdeadbeef\n0x20025ad8 0xdeadbeef\n0x20025ad7 0xdeadbeef\n0x20025ad6 0xdeadbeef\n0x20025ad5 0xdeadbeef\n0x20025ad4 0xdeadbeef\n0x20025ad3 0xdeadbeef\n0x20025ad2 0xdeadbeef\n0x20025ad1 0xdeadbeef\n0x20025ad0 0xdeadbeef\n0x20025acf 0xdeadbeef\n0x20025ace 0xdeadbeef\n0x20025acd 0xdeadbeef\n0x20025acc 0xdeadbeef\n0x20025acb 0xdeadbeef\n0x20025aca 0xdeadbeef\n0x20025ac9 0xdeadbeef\n0x20025ac8 0xdeadbeef\n0x20025ac7 0xdeadbeef\n0x20025ac6 0xdeadbeef\n0x20025ac5 0xdeadbeef\n0x20025ac4 0xdeadbeef\n0x20025ac3 0xdeadbeef\n0x20025ac2 0xdeadbeef\n0x20025ac1 0xdeadbeef\n0x20025ac0 0xdeadbeef\n0x20025abf 0xdeadbeef\n0x20025abe 0xdeadbeef\n0x20025abd 0xdeadbeef\n0x20025abc 0xdeadbeef\n0x20025abb 0xdeadbeef\n0x20025aba 0xdeadbeef\n0x20025ab9 0xdeadbeef\n0x20025ab8 0xdeadbeef<-- User sp\n0x20025ab7 0xdeadbeef\n0x20025ab6 0x00000000\n0x20025ab5 0x00000000\n0x20025ab4 0x00000000\n0x20025ab3 0x00000000\n0x20025ab2 0x00000000\n0x20025ab1 0x00000000\n0x20025ab0 0x00000000\n0x20025aaf 0x00000000\n0x20025aae 0x00000000\n0x20025aad 0x00000000\n0x20025aac 0x00000000\n0x20025aab 0x00000000\n0x20025aaa 0x00000000\n0x20025aa9 0x00000000\n0x20025aa8 0x00000000\n0x20025aa7 0x00000000\n0x20025aa6 0x00000000\n0x20025aa5 0x21000000\n0x20025aa4 0x08038224\n0x20025aa3 0x080381f5\n0x20025aa2 0x00000000\n0x20025aa1 0xe000ed14\n0x20025aa0 0x00000001\n0x20025a9f 0x00000000\n0x20025a9e 0x00000000\n0x20025a9d 0x00000000\n0x20025a9c 0x00000000\n0x20025a9b 0x00000000\n0x20025a9a 0x00000000\n0x20025a99 0x00000000\n0x20025a98 0x00000000\n0x20025a97 0x00000000\n0x20025a96 0x00000000\n0x20025a95 0x00000000\n0x20025a94 0x00000000\n0x20025a93 0x00000000\n0x20025a92 0x00000000\n0x20025a91 0x00000000\n0x20025a90 0x00000000\n0x20025a8f 0x00000000\n0x20025a8e 0x00000000\n0x20025a8d 0xffffffe9\n0x20025a8c 0x00000000\n0x20025a8b 0x00000000\n0x20025a8a 0x00000000\n0x20025a89 0x00000000\n0x20025a88 0x20025c8c\n0x20025a87 0x20025ca6\n0x20025a86 0x20001800\n0x20025a85 0x00000000\n0x20025a84 0x000000f0\n0x20025a83 0x20025ab8\n0x20025a82 0xdeadbeef\n0x20025a81 0xdeadbeef\n0x20025a80 0xdeadbeef\n0x20025a7f 0xdeadbeef\n0x20025a7e 0xdeadbeef\n0x20025a7d 0xdeadbeef\n0x20025a7c 0xdeadbeef\n0x20025a7b 0xdeadbeef\n0x20025a7a 0xdeadbeef\n0x20025a79 0xdeadbeef\n0x20025a78 0xdeadbeef\n0x20025a77 0xdeadbeef\n0x20025a76 0xdeadbeef\n0x20025a75 0xdeadbeef\n0x20025a74 0xdeadbeef\n0x20025a73 0xdeadbeef\n0x20025a72 0xdeadbeef\n0x20025a71 0xdeadbeef\n0x20025a70 0xdeadbeef\n0x20025a6f 0xdeadbeef\n0x20025a6e 0xdeadbeef\n0x20025a6d 0xdeadbeef\n0x20025a6c 0xdeadbeef\n0x20025a6b 0xdeadbeef\n0x20025a6a 0xdeadbeef\n0x20025a69 0xdeadbeef\n0x20025a68 0xdeadbeef\n0x20025a67 0xdeadbeef\n0x20025a66 0xdeadbeef\n0x20025a65 0xdeadbeef\n0x20025a64 0xdeadbeef\n0x20025a63 0xdeadbeef\n0x20025a62 0xdeadbeef\n0x20025a61 0xdeadbeef\n0x20025a60 0xdeadbeef\n0x20025a5f 0xdeadbeef\n0x20025a5e 0xdeadbeef\n0x20025a5d 0xdeadbeef\n0x20025a5c 0xdeadbeef\n0x20025a5b 0xdeadbeef\n0x20025a5a 0xdeadbeef\n0x20025a59 0xdeadbeef\n0x20025a58 0xdeadbeef\n0x20025a57 0xdeadbeef\n0x20025a56 0xdeadbeef\n0x20025a55 0xdeadbeef\n0x20025a54 0xdeadbeef\n0x20025a53 0xdeadbeef\n0x20025a52 0xdeadbeef\n0x20025a51 0xdeadbeef\n0x20025a50 0xdeadbeef\n0x20025a4f 0xdeadbeef\n0x20025a4e 0xdeadbeef\n0x20025a4d 0xdeadbeef\n0x20025a4c 0xdeadbeef\n0x20025a4b 0xdeadbeef\n0x20025a4a 0xdeadbeef\n0x20025a49 0xdeadbeef\n0x20025a48 0xdeadbeef\n0x20025a47 0xdeadbeef\n0x20025a46 0xdeadbeef\n0x20025a45 0xdeadbeef\n0x20025a44 0xdeadbeef\n0x20025a43 0xdeadbeef\n0x20025a42 0xdeadbeef\n0x20025a41 0xdeadbeef\n0x20025a40 0xdeadbeef\n0x20025a3f 0xdeadbeef\n0x20025a3e 0xdeadbeef\n0x20025a3d 0xdeadbeef\n0x20025a3c 0xdeadbeef\n0x20025a3b 0xdeadbeef\n0x20025a3a 0xdeadbeef\n0x20025a39 0xdeadbeef\n0x20025a38 0xdeadbeef\n0x20025a37 0xdeadbeef\n0x20025a36 0xdeadbeef\n0x20025a35 0xdeadbeef\n0x20025a34 0xdeadbeef\n0x20025a33 0xdeadbeef\n0x20025a32 0xdeadbeef\n0x20025a31 0xdeadbeef\n0x20025a30 0xdeadbeef\n0x20025a2f 0xdeadbeef\n0x20025a2e 0xdeadbeef\n0x20025a2d 0xdeadbeef\n0x20025a2c 0xdeadbeef\n0x20025a2b 0xdeadbeef\n0x20025a2a 0xdeadbeef\n0x20025a29 0xdeadbeef\n0x20025a28 0xdeadbeef\n0x20025a27 0xdeadbeef\n0x20025a26 0xdeadbeef\n0x20025a25 0xdeadbeef\n0x20025a24 0xdeadbeef\n0x20025a23 0xdeadbeef\n0x20025a22 0xdeadbeef\n0x20025a21 0xdeadbeef\n0x20025a20 0xdeadbeef\n0x20025a1f 0xdeadbeef\n0x20025a1e 0xdeadbeef\n0x20025a1d 0xdeadbeef\n0x20025a1c 0xdeadbeef\n0x20025a1b 0xdeadbeef\n0x20025a1a 0xdeadbeef\n0x20025a19 0xdeadbeef\n0x20025a18 0xdeadbeef\n0x20025a17 0xdeadbeef\n0x20025a16 0xdeadbeef\n0x20025a15 0xdeadbeef\n0x20025a14 0xdeadbeef\n0x20025a13 0xdeadbeef\n0x20025a12 0xdeadbeef\n0x20025a11 0xdeadbeef\n0x20025a10 0xdeadbeef\n0x20025a0f 0xdeadbeef\n0x20025a0e 0xdeadbeef\n0x20025a0d 0xdeadbeef\n0x20025a0c 0xdeadbeef\n0x20025a0b 0xdeadbeef\n0x20025a0a 0xdeadbeef\n0x20025a09 0xdeadbeef\n0x20025a08 0xdeadbeef\n0x20025a07 0xdeadbeef\n0x20025a06 0xdeadbeef\n[hardfault_log] -- 2000-01-01-00:01:16 END Fault Log --\n']] Name (multi id, message size in bytes) number of data points, total bytes actuator_controls_0 (0, 48) 95 4560 actuator_outputs (0, 76) 95 7220 actuator_outputs (1, 76) 96 7296 commander_state (0, 9) 95 855 control_state (0, 134) 95 12730 cpuload (0, 16) 10 160 ekf2_innovations (0, 140) 184 25760 ekf2_timestamps (0, 20) 2373 47460 estimator_status (0, 267) 48 12816 sensor_combined (0, 72) 2373 170856 sensor_preflight (0, 16) 184 2944 system_power (0, 17) 32 544 task_stack_info (0, 26) 20 520 vehicle_attitude (0, 36) 306 11016 vehicle_attitude_setpoint (0, 55) 306 16830 vehicle_land_detected (0, 15) 1 15 vehicle_local_position (0, 148) 95 14060 vehicle_rates_setpoint (0, 24) 306 7344 vehicle_status (0, 45) 43 1935 wind_estimate (0, 24) 95 2280 pyulog-1.2.3/test/sample_appended_multiple_messages.txt000066400000000000000000000001221521417275500235030ustar00rootroot000000000000000:00:11 WARNING: [commander_tests] Not ready to fly: Sensors not set up correctly pyulog-1.2.3/test/sample_info.txt000066400000000000000000000023061521417275500170620ustar00rootroot00000000000000Logging start time: 0:01:52, duration: 0:01:08 Dropouts: count: 4, total duration: 0.1 s, max: 62 ms, mean: 29 ms Info Messages: sys_name: PX4 time_ref_utc: 0 ver_hw: AUAV_X21 ver_sw: fd483321a5cf50ead91164356d15aa474643aa73 Name (multi id, message size in bytes) number of data points, total bytes actuator_controls_0 (0, 48) 3269 156912 actuator_outputs (0, 76) 1311 99636 commander_state (0, 9) 678 6102 control_state (0, 122) 3268 398696 cpuload (0, 16) 69 1104 ekf2_innovations (0, 140) 3271 457940 estimator_status (0, 309) 1311 405099 sensor_combined (0, 72) 17070 1229040 sensor_preflight (0, 16) 17072 273152 telemetry_status (0, 36) 70 2520 vehicle_attitude (0, 36) 6461 232596 vehicle_attitude_setpoint (0, 55) 3272 179960 vehicle_local_position (0, 123) 678 83394 vehicle_rates_setpoint (0, 24) 6448 154752 vehicle_status (0, 45) 294 13230 pyulog-1.2.3/test/sample_log_small.ulg000066400000000000000000034100371521417275500200570ustar00rootroot00000000000000ULog5Z5(B8Ichar[40] ver_sw8583f1da30b63154d6ba0bc187d86135dfe33cf9Iuint32_t ver_sw_release $Ichar[20] ver_hwCUBEPILOT_CUBEORANGEIchar[3] sys_namePX4Ichar[5] sys_os_nameNuttX)Ichar[18] ver_sw_branchv1.11.2_w_rc_sysid<Ichar[40] sys_os_verec20f2e6c5cc35b2b9bbe942dea55eabb81297b6 Iuint32_t sys_os_ver_releaseIchar[7] sys_toolchainGNU GCC3Ichar[24] sys_toolchain_ver9.3.1 20200408 (release)(Ichar[23] sys_mcuSTM32H7[4|5]xxx, rev. VIint32_t ver_data_format6Ichar[36] sys_uuid000600000000383638393239510d0035002dIint32_t time_ref_utcFactuator_armed:uint64_t timestamp;uint32_t armed_time_ms;bool armed;bool prearmed;bool ready_to_arm;bool lockdown;bool manual_lockdown;bool force_failsafe;bool in_esc_calibration_mode;bool soft_stop;uint8_t[4] _padding0;RFactuator_controls_0:uint64_t timestamp;uint64_t timestamp_sample;float[8] control;RFactuator_controls_1:uint64_t timestamp;uint64_t timestamp_sample;float[8] control;Fairspeed:uint64_t timestamp;float indicated_airspeed_m_s;float true_airspeed_m_s;float air_temperature_celsius;float confidence;Fairspeed_validated:uint64_t timestamp;float indicated_airspeed_m_s;float equivalent_airspeed_m_s;float true_airspeed_m_s;float equivalent_ground_minus_wind_m_s;float true_ground_minus_wind_m_s;bool airspeed_sensor_measurement_valid;int8_t selected_airspeed_index;uint8_t[2] _padding0;Fcamera_capture:uint64_t timestamp;uint64_t timestamp_utc;double lat;double lon;uint32_t seq;float alt;float ground_distance;float[4] q;int8_t result;uint8_t[3] _padding0;iFcamera_trigger:uint64_t timestamp;uint64_t timestamp_utc;uint32_t seq;bool feedback;uint8_t[3] _padding0;sFcamera_trigger_secondary:uint64_t timestamp;uint64_t timestamp_utc;uint32_t seq;bool feedback;uint8_t[3] _padding0;Fcellular_status:uint64_t timestamp;uint16_t status;uint16_t mcc;uint16_t mnc;uint16_t lac;uint8_t failure_reason;uint8_t type;uint8_t quality;uint8_t[5] _padding0;KFcommander_state:uint64_t timestamp;uint8_t main_state;uint8_t[7] _padding0;6Fcpuload:uint64_t timestamp;float load;float ram_usage;zFekf_gps_drift:uint64_t timestamp;float hpos_drift_rate;float vpos_drift_rate;float hspd;bool blocked;uint8_t[3] _padding0;Fesc_status:uint64_t timestamp;uint16_t counter;uint8_t esc_count;uint8_t esc_connectiontype;uint8_t esc_online_flags;uint8_t esc_armed_flags;uint8_t[2] _padding0;esc_report[8] esc;Fesc_report:uint64_t timestamp;uint32_t esc_errorcount;int32_t esc_rpm;float esc_voltage;float esc_current;uint8_t esc_temperature;uint8_t esc_address;uint8_t esc_state;uint8_t failures;uint8_t[4] _padding0;Festimator_innovation_test_ratios:uint64_t timestamp;float[2] gps_hvel;float gps_vvel;float[2] gps_hpos;float gps_vpos;float[2] ev_hvel;float ev_vvel;float[2] ev_hpos;float ev_vpos;float[2] fake_hvel;float fake_vvel;float[2] fake_hpos;float fake_vpos;float rng_vpos;float baro_vpos;float[2] aux_hvel;float aux_vvel;float[2] flow;float heading;float[3] mag_field;float[2] drag;float airspeed;float beta;float hagl;Festimator_innovation_variances:uint64_t timestamp;float[2] gps_hvel;float gps_vvel;float[2] gps_hpos;float gps_vpos;float[2] ev_hvel;float ev_vvel;float[2] ev_hpos;float ev_vpos;float[2] fake_hvel;float fake_vvel;float[2] fake_hpos;float fake_vpos;float rng_vpos;float baro_vpos;float[2] aux_hvel;float aux_vvel;float[2] flow;float heading;float[3] mag_field;float[2] drag;float airspeed;float beta;float hagl;Festimator_innovations:uint64_t timestamp;float[2] gps_hvel;float gps_vvel;float[2] gps_hpos;float gps_vpos;float[2] ev_hvel;float ev_vvel;float[2] ev_hpos;float ev_vpos;float[2] fake_hvel;float fake_vvel;float[2] fake_hpos;float fake_vpos;float rng_vpos;float baro_vpos;float[2] aux_hvel;float aux_vvel;float[2] flow;float heading;float[3] mag_field;float[2] drag;float airspeed;float beta;float hagl;Festimator_sensor_bias:uint64_t timestamp;uint32_t gyro_device_id;float[3] gyro_bias;uint32_t accel_device_id;float[3] accel_bias;uint32_t mag_device_id;float[3] mag_bias;Festimator_status:uint64_t timestamp;float[24] states;float[3] vibe;float[24] covariances;float[3] output_tracking_error;uint32_t control_mode_flags;float pos_horiz_accuracy;float pos_vert_accuracy;float mag_test_ratio;float vel_test_ratio;float pos_test_ratio;float hgt_test_ratio;float tas_test_ratio;float hagl_test_ratio;float beta_test_ratio;float time_slip;uint16_t gps_check_fail_flags;uint16_t filter_fault_flags;uint16_t innovation_check_flags;uint16_t solution_status_flags;uint8_t n_states;bool pre_flt_fail_innov_heading;bool pre_flt_fail_innov_vel_horiz;bool pre_flt_fail_innov_vel_vert;bool pre_flt_fail_innov_height;bool pre_flt_fail_mag_field_disturbed;uint8_t health_flags;uint8_t timeout_flags;uint8_t[4] _padding0;Fhome_position:uint64_t timestamp;double lat;double lon;float alt;float x;float y;float z;float yaw;bool valid_alt;bool valid_hpos;bool manual_home;uint8_t[1] _padding0;Fhover_thrust_estimate:uint64_t timestamp;uint64_t timestamp_sample;float hover_thrust;float hover_thrust_var;float accel_innov;float accel_innov_var;float accel_innov_test_ratio;float accel_noise_var;bool valid;uint8_t[7] _padding0;Finput_rc:uint64_t timestamp;uint64_t timestamp_last_signal;int32_t rssi;uint16_t rc_lost_frame_count;uint16_t rc_total_frame_count;uint16_t rc_ppm_frame_length;uint16_t[18] values;uint8_t channel_count;bool rc_failsafe;bool rc_lost;uint8_t input_source;uint8_t[6] _padding0;Fmanual_control_setpoint:uint64_t timestamp;float x;float y;float z;float r;float flaps;float aux1;float aux2;float aux3;float aux4;float aux5;float aux6;uint8_t mode_switch;uint8_t return_switch;uint8_t rattitude_switch;uint8_t posctl_switch;uint8_t loiter_switch;uint8_t acro_switch;uint8_t offboard_switch;uint8_t kill_switch;uint8_t arm_switch;uint8_t transition_switch;uint8_t gear_switch;uint8_t mode_slot;uint8_t data_source;uint8_t stab_switch;uint8_t man_switch;uint8_t sysid_switch;uint8_t[4] _padding0;fFmission:uint64_t timestamp;int32_t current_seq;uint16_t count;uint8_t dataman_id;uint8_t[1] _padding0;DFmission_result:uint64_t timestamp;uint32_t instance_count;int32_t seq_reached;uint16_t seq_current;uint16_t seq_total;uint16_t item_changed_index;uint16_t item_do_jump_remaining;bool valid;bool warning;bool finished;bool failure;bool stay_in_failsafe;bool flight_termination;bool item_do_jump_changed;uint8_t execution_mode; Foffboard_control_mode:uint64_t timestamp;bool ignore_thrust;bool ignore_attitude;bool ignore_bodyrate_x;bool ignore_bodyrate_y;bool ignore_bodyrate_z;bool ignore_position;bool ignore_velocity;bool ignore_acceleration_force;bool ignore_alt_hold;uint8_t[7] _padding0;Fonboard_computer_status:uint64_t timestamp;uint32_t uptime;uint32_t ram_usage;uint32_t ram_total;uint32_t[4] storage_type;uint32_t[4] storage_usage;uint32_t[4] storage_total;uint32_t[6] link_type;uint32_t[6] link_tx_rate;uint32_t[6] link_rx_rate;uint32_t[6] link_tx_max;uint32_t[6] link_rx_max;int16_t[4] fan_speed;uint8_t type;uint8_t[8] cpu_cores;uint8_t[10] cpu_combined;uint8_t[4] gpu_cores;uint8_t[10] gpu_combined;int8_t temperature_board;int8_t[8] temperature_core;uint8_t[2] _padding0;Fposition_controller_status:uint64_t timestamp;float nav_roll;float nav_pitch;float nav_bearing;float target_bearing;float xtrack_error;float wp_dist;float acceptance_radius;float yaw_acceptance;float altitude_acceptance;uint8_t[4] _padding0;yFposition_setpoint_triplet:uint64_t timestamp;position_setpoint previous;position_setpoint current;position_setpoint next;/Fposition_setpoint:uint64_t timestamp;double lat;double lon;float x;float y;float z;float vx;float vy;float vz;float alt;float yaw;float yawspeed;float loiter_radius;float pitch_min;float a_x;float a_y;float a_z;float acceptance_radius;float cruising_speed;float cruising_throttle;bool valid;uint8_t type;bool position_valid;bool velocity_valid;uint8_t velocity_frame;bool alt_valid;bool yaw_valid;bool yawspeed_valid;int8_t landing_gear;int8_t loiter_direction;bool acceleration_valid;bool acceleration_is_force;bool disable_weather_vane;uint8_t[7] _padding0;Fpx4io_status:uint64_t timestamp;float voltage_v;float rssi_v;uint16_t free_memory_bytes;int16_t[8] actuators;uint16_t[8] servos;uint16_t[18] raw_inputs;bool status_outputs_armed;bool status_override;bool status_rc_ok;bool status_rc_ppm;bool status_rc_dsm;bool status_rc_sbus;bool status_fmu_ok;bool status_raw_pwm;bool status_mixer_ok;bool status_arm_sync;bool status_init_ok;bool status_failsafe;bool status_safety_off;bool status_fmu_initialized;bool status_rc_st24;bool status_rc_sumd;bool alarm_vbatt_low;bool alarm_temperature;bool alarm_servo_current;bool alarm_acc_current;bool alarm_fmu_lost;bool alarm_rc_lost;bool alarm_pwm_error;bool alarm_vservo_fault;bool arming_io_arm_ok;bool arming_fmu_armed;bool arming_fmu_prearmed;bool arming_manual_override_ok;bool arming_failsafe_custom;bool arming_inair_restart_ok;bool arming_always_pwm_enable;bool arming_rc_handling_disabled;bool arming_lockdown;bool arming_force_failsafe;bool arming_termination_failsafe;bool arming_override_immediate;uint8_t[6] _padding0;Fradio_status:uint64_t timestamp;uint16_t rxerrors;uint16_t fix;uint8_t rssi;uint8_t remote_rssi;uint8_t txbuf;uint8_t noise;uint8_t remote_noise;uint8_t[7] _padding0;~Frate_ctrl_status:uint64_t timestamp;float rollspeed_integ;float pitchspeed_integ;float yawspeed_integ;float additional_integ1;SFrpm:uint64_t timestamp;float indicated_frequency_rpm;float estimated_accurancy_rpm;Fsafety:uint64_t timestamp;bool safety_switch_available;bool safety_off;bool override_available;bool override_enabled;uint8_t[4] _padding0;Fsensor_combined:uint64_t timestamp;float[3] gyro_rad;uint32_t gyro_integral_dt;int32_t accelerometer_timestamp_relative;float[3] accelerometer_m_s2;uint32_t accelerometer_integral_dt;uint8_t accelerometer_clipping;uint8_t[3] _padding0;CFsensor_correction:uint64_t timestamp;uint32_t[3] gyro_device_ids;float[3] gyro_offset_0;float[3] gyro_offset_1;float[3] gyro_offset_2;uint32_t[3] accel_device_ids;float[3] accel_offset_0;float[3] accel_offset_1;float[3] accel_offset_2;uint32_t[3] baro_device_ids;float baro_offset_0;float baro_offset_1;float baro_offset_2;Fsensor_preflight:uint64_t timestamp;float accel_inconsistency_m_s_s;float gyro_inconsistency_rad_s;float mag_inconsistency_angle;uint8_t[4] _padding0;Fsensor_selection:uint64_t timestamp;uint32_t accel_device_id;uint32_t gyro_device_id;uint32_t mag_device_id;uint8_t[4] _padding0;Fsystem_power:uint64_t timestamp;float voltage5v_v;float voltage3v3_v;uint8_t v3v3_valid;uint8_t usb_connected;uint8_t brick_valid;uint8_t usb_valid;uint8_t servo_valid;uint8_t periph_5v_oc;uint8_t hipower_5v_oc;uint8_t[1] _padding0;Ftecs_status:uint64_t timestamp;float altitude_sp;float altitude_filtered;float height_rate_setpoint;float height_rate;float airspeed_sp;float airspeed_filtered;float airspeed_derivative_sp;float airspeed_derivative;float total_energy_error;float energy_distribution_error;float total_energy_rate_error;float energy_distribution_rate_error;float throttle_integ;float pitch_integ;uint8_t mode;uint8_t[7] _padding0;Ftest_motor:uint64_t timestamp;uint32_t motor_number;float value;uint32_t timeout_ms;uint8_t action;uint8_t driver_instance;uint8_t[2] _padding0;Ftrajectory_setpoint:uint64_t timestamp;float x;float y;float z;float yaw;float yawspeed;float vx;float vy;float vz;float[3] acceleration;float[3] jerk;float[3] thrust;uint8_t[4] _padding0;Fvehicle_air_data:uint64_t timestamp;uint64_t timestamp_sample;uint32_t baro_device_id;float baro_alt_meter;float baro_temp_celcius;float baro_pressure_pa;float rho;uint8_t[4] _padding0;hFvehicle_angular_velocity:uint64_t timestamp;uint64_t timestamp_sample;float[3] xyz;uint8_t[4] _padding0;vFvehicle_attitude:uint64_t timestamp;float[4] q;float[4] delta_q_reset;uint8_t quat_reset_counter;uint8_t[7] _padding0;Fvehicle_attitude_setpoint:uint64_t timestamp;float roll_body;float pitch_body;float yaw_body;float yaw_sp_move_rate;float[4] q_d;float[3] thrust_body;bool roll_reset_integral;bool pitch_reset_integral;bool yaw_reset_integral;bool fw_control_yaw;uint8_t apply_flaps;uint8_t[7] _padding0;,Fvehicle_command:uint64_t timestamp;double param5;double param6;float param1;float param2;float param3;float param4;float param7;uint16_t command;uint8_t target_system;uint8_t target_component;uint8_t source_system;uint8_t source_component;uint8_t confirmation;bool from_external;uint8_t[4] _padding0;Fvehicle_control_mode:uint64_t timestamp;bool flag_armed;bool flag_external_manual_override_ok;bool flag_sysid_maneuver_active;bool flag_control_manual_enabled;bool flag_control_auto_enabled;bool flag_control_offboard_enabled;bool flag_control_rates_enabled;bool flag_control_attitude_enabled;bool flag_control_yawrate_override_enabled;bool flag_control_rattitude_enabled;bool flag_control_force_enabled;bool flag_control_acceleration_enabled;bool flag_control_velocity_enabled;bool flag_control_position_enabled;bool flag_control_altitude_enabled;bool flag_control_climb_rate_enabled;bool flag_control_termination_enabled;bool flag_control_fixed_hdg_enabled;uint8_t[6] _padding0; Fvehicle_global_position:uint64_t timestamp;double lat;double lon;float alt;float alt_ellipsoid;float delta_alt;float eph;float epv;float terrain_alt;uint8_t lat_lon_reset_counter;uint8_t alt_reset_counter;bool terrain_alt_valid;bool dead_reckoning;uint8_t[4] _padding0;Fvehicle_land_detected:uint64_t timestamp;float alt_max;bool freefall;bool ground_contact;bool maybe_landed;bool landed;bool in_ground_effect;uint8_t[7] _padding0;Fvehicle_local_position:uint64_t timestamp;uint64_t ref_timestamp;double ref_lat;double ref_lon;float x;float y;float z;float[2] delta_xy;float delta_z;float vx;float vy;float vz;float z_deriv;float[2] delta_vxy;float delta_vz;float ax;float ay;float az;float heading;float delta_heading;float ref_alt;float dist_bottom;float eph;float epv;float evh;float evv;float vxy_max;float vz_max;float hagl_min;float hagl_max;bool xy_valid;bool z_valid;bool v_xy_valid;bool v_z_valid;uint8_t xy_reset_counter;uint8_t z_reset_counter;uint8_t vxy_reset_counter;uint8_t vz_reset_counter;uint8_t heading_reset_counter;bool xy_global;bool z_global;bool dist_bottom_valid;uint8_t[4] _padding0;Fvehicle_local_position_setpoint:uint64_t timestamp;float x;float y;float z;float yaw;float yawspeed;float vx;float vy;float vz;float[3] acceleration;float[3] jerk;float[3] thrust;uint8_t[4] _padding0;VFvehicle_magnetometer:uint64_t timestamp;float[3] magnetometer_ga;uint8_t[4] _padding0;`Fvehicle_rates_setpoint:uint64_t timestamp;float roll;float pitch;float yaw;float[3] thrust_body;Fvehicle_roi:uint64_t timestamp;double lat;double lon;float alt;float roll_offset;float pitch_offset;float yaw_offset;uint8_t mode;uint8_t[7] _padding0;Fvehicle_status:uint64_t timestamp;uint64_t nav_state_timestamp;uint32_t onboard_control_sensors_present;uint32_t onboard_control_sensors_enabled;uint32_t onboard_control_sensors_health;uint8_t nav_state;uint8_t arming_state;uint8_t hil_state;bool failsafe;uint8_t system_type;uint8_t system_id;uint8_t component_id;uint8_t vehicle_type;bool is_vtol;bool is_vtol_tailsitter;bool vtol_fw_permanent_stab;bool in_transition_mode;bool in_transition_to_fw;bool rc_signal_lost;uint8_t rc_input_mode;bool data_link_lost;uint8_t data_link_lost_counter;bool high_latency_data_link_lost;bool engine_failure;bool mission_failure;uint8_t failure_detector_status;uint8_t latest_arming_reason;uint8_t latest_disarming_reason;uint8_t[5] _padding0;cFvehicle_status_flags:uint64_t timestamp;bool condition_calibration_enabled;bool condition_system_sensors_initialized;bool condition_system_hotplug_timeout;bool condition_system_returned_to_home;bool condition_auto_mission_available;bool condition_global_position_valid;bool condition_home_position_valid;bool condition_local_position_valid;bool condition_local_velocity_valid;bool condition_local_altitude_valid;bool condition_power_input_valid;bool condition_battery_healthy;bool condition_escs_error;bool circuit_breaker_engaged_power_check;bool circuit_breaker_engaged_airspd_check;bool circuit_breaker_engaged_enginefailure_check;bool circuit_breaker_flight_termination_disabled;bool circuit_breaker_engaged_usb_check;bool circuit_breaker_engaged_posfailure_check;bool circuit_breaker_vtol_fw_arming_check;bool offboard_control_signal_found_once;bool offboard_control_signal_lost;bool offboard_control_set_by_command;bool rc_signal_found_once;bool rc_input_blocked;bool rc_calibration_valid;bool vtol_transition_failure;bool usb_connected;bool avoidance_system_required;bool avoidance_system_valid;uint8_t[2] _padding0;Fvtol_vehicle_status:uint64_t timestamp;bool vtol_in_rw_mode;bool vtol_in_trans_mode;bool in_transition_to_fw;bool vtol_transition_failsafe;bool fw_permanent_stab;uint8_t[3] _padding0;Fyaw_estimator_status:uint64_t timestamp;float yaw_composite;float yaw_variance;float[5] yaw;float[5] innov_vn;float[5] innov_ve;float[5] weight;\Factuator_outputs:uint64_t timestamp;uint32_t noutputs;float[16] output;uint8_t[4] _padding0;Flogger_status:uint64_t timestamp;float total_written_kb;float write_rate_kb_s;uint32_t dropouts;uint32_t message_gaps;uint32_t buffer_used_bytes;uint32_t buffer_size_bytes;uint8_t type;uint8_t backend;uint8_t num_messages;uint8_t[5] _padding0;[Fmultirotor_motor_limits:uint64_t timestamp;uint16_t saturation_status;uint8_t[6] _padding0;Ftelemetry_status:uint64_t timestamp;float data_rate;float rate_multiplier;float rate_rx;float rate_tx;float rate_txerr;uint8_t type;uint8_t mode;bool flow_control;bool forwarding;bool mavlink_v2;bool ftp;uint8_t streams;uint8_t[5] _padding0;telemetry_heartbeat[4] heartbeats;~Ftelemetry_heartbeat:uint64_t timestamp;uint8_t system_id;uint8_t component_id;uint8_t type;uint8_t state;uint8_t[4] _padding0;Fwind_estimate:uint64_t timestamp;float windspeed_north;float windspeed_east;float variance_north;float variance_east;float tas_innov;float tas_innov_var;float tas_scale;float beta_innov;float beta_innov_var;uint8_t[4] _padding0;Fbattery_status:uint64_t timestamp;float voltage_v;float voltage_filtered_v;float current_a;float current_filtered_a;float average_current_a;float discharged_mah;float remaining;float scale;float temperature;int32_t cell_count;float[10] voltage_cell_v;float max_cell_voltage_delta;uint16_t capacity;uint16_t cycle_count;uint16_t run_time_to_empty;uint16_t average_time_to_empty;uint16_t serial_number;uint16_t state_of_health;uint16_t max_error;bool connected;uint8_t source;uint8_t priority;uint8_t id;bool is_powering_off;uint8_t warning;Fdifferential_pressure:uint64_t timestamp;uint64_t error_count;float differential_pressure_raw_pa;float differential_pressure_filtered_pa;float temperature;uint32_t device_id;Fdistance_sensor:uint64_t timestamp;float min_distance;float max_distance;float current_distance;float variance;float h_fov;float v_fov;float[4] q;int8_t signal_quality;uint8_t type;uint8_t id;uint8_t orientation;uint8_t[4] _padding0;Foptical_flow:uint64_t timestamp;float pixel_flow_x_integral;float pixel_flow_y_integral;float gyro_x_rate_integral;float gyro_y_rate_integral;float gyro_z_rate_integral;float ground_distance_m;uint32_t integration_timespan;uint32_t time_since_last_sonar_update;float max_flow_rate;float min_ground_distance;float max_ground_distance;uint16_t frame_count_since_last_readout;int16_t gyro_temperature;uint8_t sensor_id;uint8_t quality;uint8_t[6] _padding0;Fsensor_accel:uint64_t timestamp;uint64_t timestamp_sample;uint32_t device_id;float x;float y;float z;float temperature;uint32_t error_count;uint8_t[3] clip_counter;uint8_t[5] _padding0;Fsensor_baro:uint64_t timestamp;uint64_t timestamp_sample;uint32_t device_id;uint32_t error_count;float pressure;float temperature;Fsensor_gyro:uint64_t timestamp;uint64_t timestamp_sample;uint32_t device_id;float x;float y;float z;float temperature;uint32_t error_count;Fsensor_mag:uint64_t timestamp;uint64_t timestamp_sample;uint32_t device_id;float x;float y;float z;float temperature;uint32_t error_count;bool is_external;uint8_t[7] _padding0;Fvehicle_gps_position:uint64_t timestamp;uint64_t time_utc_usec;int32_t lat;int32_t lon;int32_t alt;int32_t alt_ellipsoid;float s_variance_m_s;float c_variance_rad;float eph;float epv;float hdop;float vdop;int32_t noise_per_ms;int32_t jamming_indicator;float vel_m_s;float vel_n_m_s;float vel_e_m_s;float vel_d_m_s;float cog_rad;int32_t timestamp_time_relative;float heading;float heading_offset;uint8_t fix_type;bool vel_ned_valid;uint8_t satellites_used;uint8_t[5] _padding0;Fvehicle_imu:uint64_t timestamp;uint64_t timestamp_sample;uint32_t accel_device_id;uint32_t gyro_device_id;float[3] delta_angle;float[3] delta_velocity;uint16_t delta_angle_dt;uint16_t delta_velocity_dt;uint8_t delta_velocity_clipping;uint8_t[3] _padding0;>Fvehicle_imu_status:uint64_t timestamp;uint32_t accel_device_id;uint32_t gyro_device_id;uint32_t[3] accel_clipping;uint32_t accel_error_count;uint32_t gyro_error_count;float accel_vibration_metric;float gyro_vibration_metric;float gyro_coning_vibration;uint16_t accel_rate_hz;uint16_t gyro_rate_hz;uint8_t[4] _padding0;Fekf2_timestamps:uint64_t timestamp;int16_t airspeed_timestamp_rel;int16_t distance_sensor_timestamp_rel;int16_t optical_flow_timestamp_rel;int16_t vehicle_air_data_timestamp_rel;int16_t vehicle_magnetometer_timestamp_rel;int16_t visual_odometry_timestamp_rel;uint8_t[4] _padding0;5Fekf_gps_position:uint64_t timestamp;int32_t lat;int32_t lon;int32_t alt;int32_t alt_ellipsoid;float s_variance_m_s;float eph;float epv;float vel_m_s;float vel_n_m_s;float vel_e_m_s;float vel_d_m_s;float heading;float heading_offset;uint8_t fix_type;bool vel_ned_valid;uint8_t satellites_used;uint8_t selected;=Fvehicle_visual_odometry:uint64_t timestamp;uint64_t timestamp_sample;float x;float y;float z;float[4] q;float[4] q_offset;float[21] pose_covariance;float vx;float vy;float vz;float rollspeed;float pitchspeed;float yawspeed;float[21] velocity_covariance;uint8_t local_frame;uint8_t velocity_frame;uint8_t[2] _padding0;EFvehicle_visual_odometry_aligned:uint64_t timestamp;uint64_t timestamp_sample;float x;float y;float z;float[4] q;float[4] q_offset;float[21] pose_covariance;float vx;float vy;float vz;float rollspeed;float pitchspeed;float yawspeed;float[21] velocity_covariance;uint8_t local_frame;uint8_t velocity_frame;uint8_t[2] _padding0;lFvehicle_angular_acceleration:uint64_t timestamp;uint64_t timestamp_sample;float[3] xyz;uint8_t[4] _padding0;Pint32_t ASPD_BETA_GATEPfloat ASPD_BETA_NOISE>Pint32_t ASPD_DO_CHECKSPint32_t ASPD_FALLBACKPfloat ASPD_FS_INNOV?Pfloat ASPD_FS_INTEGPint32_t ASPD_FS_T1Pint32_t ASPD_FS_T2dPint32_t ASPD_PRIMARYPfloat ASPD_SCALE?Pint32_t ASPD_SCALE_ESTPfloat ASPD_SC_P_NOISE8Pfloat ASPD_STALL APint32_t ASPD_TAS_GATEPfloat ASPD_TAS_NOISE33?Pfloat ASPD_W_P_NOISE=Pfloat BAT1_A_PER_VAPfloat BAT1_CAPACITY`FPint32_t BAT1_I_CHANNELPint32_t BAT1_N_CELLSPfloat BAT1_R_INTERNAL;Pint32_t BAT1_SOURCEPint32_t BAT1_V_CHANNELPfloat BAT1_V_CHARGED@Pfloat BAT1_V_DIVAPfloat BAT1_V_EMPTY`@Pfloat BAT1_V_LOAD_DROP>Pfloat BAT2_A_PER_VuBPfloat BAT2_CAPACITYEPint32_t BAT2_I_CHANNELPint32_t BAT2_N_CELLS Pfloat BAT2_R_INTERNALE;Pint32_t BAT2_SOURCEPint32_t BAT2_V_CHANNELPfloat BAT2_V_CHARGED@Pfloat BAT2_V_DIVחAPfloat BAT2_V_EMPTY`@Pfloat BAT2_V_LOAD_DROP>Pint32_t BAT_ADC_CHANNELPfloat BAT_A_PER_VAPfloat BAT_CAPACITY`FPfloat BAT_CRIT_THR= ?Pfloat BAT_EMERGEN_THR)\=Pfloat BAT_LOW_THR?Pint32_t BAT_N_CELLSPfloat BAT_R_INTERNAL;Pint32_t BAT_SOURCEPfloat BAT_V_CHARGED@Pfloat BAT_V_DIVAPfloat BAT_V_EMPTY`@Pfloat BAT_V_LOAD_DROP>Pfloat BAT_V_OFFS_CURRPint32_t CAL_ACC0_ENPint32_t CAL_ACC0_ID %Pfloat CAL_ACC0_XOFF!>Pfloat CAL_ACC0_XSCALE?Pfloat CAL_ACC0_YOFF2Pfloat CAL_ACC0_YSCALE|?Pfloat CAL_ACC0_ZOFFR=Pfloat CAL_ACC0_ZSCALE}y?Pint32_t CAL_ACC1_ENPint32_t CAL_ACC1_ID"8Pfloat CAL_ACC1_XOFF8Pfloat CAL_ACC1_XSCALE%?Pfloat CAL_ACC1_YOFFcwPfloat CAL_ACC1_YSCALEڛ|?Pfloat CAL_ACC1_ZOFFҽPfloat CAL_ACC1_ZSCALEz?Pint32_t CAL_ACC2_ENPint32_t CAL_ACC2_ID"(Pfloat CAL_ACC2_XOFF`&>Pfloat CAL_ACC2_XSCALEZ'?Pfloat CAL_ACC2_YOFFmPfloat CAL_ACC2_YSCALE}?Pfloat CAL_ACC2_ZOFF<Pfloat CAL_ACC2_ZSCALE]*z?Pint32_t CAL_ACC_PRIME %Pint32_t CAL_AIR_CMODELPfloat CAL_AIR_TUBED_MM?Pfloat CAL_AIR_TUBELENL>Pint32_t CAL_GYRO0_ENPint32_t CAL_GYRO0_ID %Pfloat CAL_GYRO0_XOFFs(Pfloat CAL_GYRO0_YOFF<Pfloat CAL_GYRO0_ZOFF <Pint32_t CAL_GYRO1_ENPint32_t CAL_GYRO1_ID"8Pfloat CAL_GYRO1_XOFF<Pfloat CAL_GYRO1_YOFF?8Pfloat CAL_GYRO1_ZOFFԻPint32_t CAL_GYRO2_ENPint32_t CAL_GYRO2_ID"(Pfloat CAL_GYRO2_XOFFPfloat CAL_GYRO2_YOFF ՍPfloat CAL_GYRO2_ZOFFDPint32_t CAL_GYRO_PRIME %Pint32_t CAL_MAG0_ENPint32_t CAL_MAG0_ID" Pint32_t CAL_MAG0_ROTPfloat CAL_MAG0_XCOMPPfloat CAL_MAG0_XOFF8&Pfloat CAL_MAG0_XSCALEn?Pfloat CAL_MAG0_YCOMPPfloat CAL_MAG0_YOFF cPfloat CAL_MAG0_YSCALE~?Pfloat CAL_MAG0_ZCOMPPfloat CAL_MAG0_ZOFFJ<Pfloat CAL_MAG0_ZSCALE?Pint32_t CAL_MAG1_ENPint32_t CAL_MAG1_ID Pint32_t CAL_MAG1_ROTPfloat CAL_MAG1_XCOMPPfloat CAL_MAG1_XOFFc<Pfloat CAL_MAG1_XSCALEK}?Pfloat CAL_MAG1_YCOMPPfloat CAL_MAG1_YOFFo5?Pfloat CAL_MAG1_YSCALEI?Pfloat CAL_MAG1_ZCOMPPfloat CAL_MAG1_ZOFFƾPfloat CAL_MAG1_ZSCALEmـ?Pint32_t CAL_MAG2_IDPint32_t CAL_MAG2_ROTPfloat CAL_MAG2_XCOMPPfloat CAL_MAG2_YCOMPPfloat CAL_MAG2_ZCOMPPint32_t CAL_MAG3_IDPint32_t CAL_MAG3_ROTPfloat CAL_MAG3_XCOMPPfloat CAL_MAG3_YCOMPPfloat CAL_MAG3_ZCOMPPint32_t CAL_MAG_COMP_TYPPint32_t CAL_MAG_PRIME Pint32_t CAL_MAG_SIDES?Pint32_t CAM_CAP_FBACKPint32_t CBRK_AIRSPD_CHKPint32_t CBRK_BUZZERPint32_t CBRK_ENGINEFAILYPint32_t CBRK_FLIGHTTERM|Pint32_t CBRK_IO_SAFETYPint32_t CBRK_RATE_CTRLPint32_t CBRK_SUPPLY_CHKPint32_t CBRK_USB_CHKPint32_t CBRK_VELPOSERRPint32_t CBRK_VTOLARMINGPint32_t COM_ARM_AUTH Pint32_t COM_ARM_AUTH_REQPint32_t COM_ARM_CHK_ESCSPfloat COM_ARM_EKF_AB-;Pfloat COM_ARM_EKF_GB-:Pfloat COM_ARM_EKF_HGT?Pfloat COM_ARM_EKF_POS?Pfloat COM_ARM_EKF_VEL?Pfloat COM_ARM_EKF_YAW?Pfloat COM_ARM_IMU_ACC333?Pfloat COM_ARM_IMU_GYR>Pint32_t COM_ARM_MAG_ANGPint32_t COM_ARM_MAG_STRPint32_t COM_ARM_MIS_REQPint32_t COM_ARM_SWISBTNPint32_t COM_ARM_WO_GPSPfloat COM_CPU_MAXBPfloat COM_DISARM_LAND@Pfloat COM_DISARM_PRFLT APint32_t COM_DL_LOSS_TPfloat COM_EF_C2T@Pfloat COM_EF_THROT?Pfloat COM_EF_TIME APint32_t COM_FLIGHT_UUIDAPint32_t COM_FLTMODE1Pint32_t COM_FLTMODE2Pint32_t COM_FLTMODE3Pint32_t COM_FLTMODE4Pint32_t COM_FLTMODE5Pint32_t COM_FLTMODE6Pint32_t COM_FLT_PROFILEPint32_t COM_HLDL_LOSS_TxPint32_t COM_HLDL_REG_TPfloat COM_HOME_H_T@Pfloat COM_HOME_V_T APfloat COM_KILL_DISARM@Pfloat COM_LKDOWN_TKO@@Pint32_t COM_LOW_BAT_ACTPint32_t COM_MOT_TEST_ENPint32_t COM_OBL_ACTPint32_t COM_OBL_RC_ACTPint32_t COM_OBS_AVOIDPfloat COM_OF_LOSS_T?Pint32_t COM_POSCTL_NAVLPint32_t COM_POS_FS_DELAYPfloat COM_POS_FS_EPHAPfloat COM_POS_FS_EPVAPint32_t COM_POS_FS_GAINPint32_t COM_POS_FS_PROBPint32_t COM_POWER_COUNTPint32_t COM_PREARM_MODEPint32_t COM_RC_ARM_HYSTPint32_t COM_RC_IN_MODEPfloat COM_RC_LOSS_T APint32_t COM_RC_OVERRIDEPfloat COM_RC_STICK_OV@APint32_t COM_TAKEOFF_ACTPfloat COM_VEL_FS_EVH?Pfloat CP_DELAY>P float CP_DISTPfloat CP_GO_NO_DATAPfloat CP_GUIDE_ANGAPint32_t DSHOT_CONFIGPint32_t DSHOT_TEL_CFGPfloat EKF2_ABIAS_INITL>Pfloat EKF2_ABL_ACCLIMAPfloat EKF2_ABL_GYRLIM@@Pfloat EKF2_ABL_LIM>Pfloat EKF2_ABL_TAU?Pfloat EKF2_ACC_B_NOISED;Pfloat EKF2_ACC_NOISE33>Pint32_t EKF2_AID_MASKPfloat EKF2_ANGERR_INIT=Pfloat EKF2_ARSP_THRPfloat EKF2_ASPD_MAXAPfloat EKF2_ASP_DELAYBPfloat EKF2_AVEL_DELAY@Pfloat EKF2_BARO_DELAYPfloat EKF2_BARO_GATE@Pfloat EKF2_BARO_NOISE`@Pfloat EKF2_BCOEF_XAPfloat EKF2_BCOEF_YAPfloat EKF2_BETA_GATE@Pfloat EKF2_BETA_NOISE>Pint32_t EKF2_DECL_TYPEPfloat EKF2_DRAG_NOISE @Pfloat EKF2_EAS_NOISE33?Pfloat EKF2_EVA_NOISEL=Pfloat EKF2_EVP_GATE@Pfloat EKF2_EVP_NOISE=Pfloat EKF2_EVV_GATE@@Pfloat EKF2_EVV_NOISE=Pfloat EKF2_EV_DELAY/CPint32_t EKF2_EV_NOISE_MDPfloat EKF2_EV_POS_XPfloat EKF2_EV_POS_YPfloat EKF2_EV_POS_ZPint32_t EKF2_FUSE_BETAPfloat EKF2_GBIAS_INIT=Pfloat EKF2_GND_EFF_DZPfloat EKF2_GND_MAX_HGT?Pint32_t EKF2_GPS_CHECKPfloat EKF2_GPS_DELAYBPint32_t EKF2_GPS_MASKPfloat EKF2_GPS_POS_XPfloat EKF2_GPS_POS_YPfloat EKF2_GPS_POS_ZPfloat EKF2_GPS_P_GATE APfloat EKF2_GPS_P_NOISE?Pfloat EKF2_GPS_TAU APfloat EKF2_GPS_V_GATE@Pfloat EKF2_GPS_V_NOISE>Pfloat EKF2_GSF_TASpAPfloat EKF2_GYR_B_NOISEo:Pfloat EKF2_GYR_NOISEu<Pfloat EKF2_HDG_GATEff&@Pfloat EKF2_HEAD_NOISE>Pint32_t EKF2_HGT_MODEPint32_t EKF2_IMU_IDPfloat EKF2_IMU_POS_XPfloat EKF2_IMU_POS_YPfloat EKF2_IMU_POS_ZPint32_t EKF2_MAGBIAS_ID Pfloat EKF2_MAGBIAS_X;Pfloat EKF2_MAGBIAS_YjPfloat EKF2_MAGBIAS_Zq̃=Pfloat EKF2_MAGB_KL>Pfloat EKF2_MAGB_VREF74Pfloat EKF2_MAG_ACCLIM?Pfloat EKF2_MAG_B_NOISE8Pint32_t EKF2_MAG_CHECKPfloat EKF2_MAG_DECLi@Pfloat EKF2_MAG_DELAYPfloat EKF2_MAG_E_NOISEo:Pfloat EKF2_MAG_GATE@@Pfloat EKF2_MAG_NOISEL=Pint32_t EKF2_MAG_TYPEPfloat EKF2_MAG_YAWLIM>Pint32_t EKF2_MIN_OBS_DTPfloat EKF2_MIN_RNG=Pfloat EKF2_MOVE_TEST?Pfloat EKF2_NOAID_NOISE APint32_t EKF2_NOAID_TOUT@KLPfloat EKF2_OF_DELAY@Pfloat EKF2_OF_GATE@@Pfloat EKF2_OF_N_MAX?Pfloat EKF2_OF_N_MIN>Pfloat EKF2_OF_POS_XPfloat EKF2_OF_POS_YPfloat EKF2_OF_POS_ZPint32_t EKF2_OF_QMINPfloat EKF2_PCOEF_XNPfloat EKF2_PCOEF_XPPfloat EKF2_PCOEF_YNPfloat EKF2_PCOEF_YPPfloat EKF2_PCOEF_ZPfloat EKF2_REQ_EPH@@Pfloat EKF2_REQ_EPV@Pfloat EKF2_REQ_GPS_H APfloat EKF2_REQ_HDRIFT=Pint32_t EKF2_REQ_NSATSPfloat EKF2_REQ_PDOP @Pfloat EKF2_REQ_SACC?Pfloat EKF2_REQ_VDRIFTL>Pint32_t EKF2_RNG_AIDPfloat EKF2_RNG_A_HMAX@Pfloat EKF2_RNG_A_IGATE?Pfloat EKF2_RNG_A_VMAX?Pfloat EKF2_RNG_DELAY@Pfloat EKF2_RNG_GATE@Pfloat EKF2_RNG_NOISE=Pfloat EKF2_RNG_PITCHPfloat EKF2_RNG_POS_XPfloat EKF2_RNG_POS_YPfloat EKF2_RNG_POS_ZPfloat EKF2_RNG_SFEL=Pfloat EKF2_TAS_GATE@@Pfloat EKF2_TAU_POS>Pfloat EKF2_TAU_VEL>Pfloat EKF2_TERR_GRAD?Pint32_t EKF2_TERR_MASKPfloat EKF2_TERR_NOISE@Pfloat EKF2_WIND_NOISE=Pint32_t EV_TSK_RC_LOSSPint32_t EV_TSK_STAT_DISPint32_t FD_ESCS_ENPint32_t FD_EXT_ATS_ENPint32_t FD_EXT_ATS_TRIGlPint32_t FD_FAIL_P<Pfloat FD_FAIL_P_TTRI>Pint32_t FD_FAIL_R<Pfloat FD_FAIL_R_TTRI>Pfloat FW_ACRO_X_MAXBPfloat FW_ACRO_Y_MAXBPfloat FW_ACRO_Z_MAX4BPfloat FW_AIRSPD_MAXAPfloat FW_AIRSPD_MINAPfloat FW_AIRSPD_TRIMAPint32_t FW_ARSP_MODEPint32_t FW_ARSP_SCALE_ENPint32_t FW_BAT_SCALE_ENPfloat FW_CLMBOUT_DIFF APfloat FW_DTRIM_P_FLPSPfloat FW_DTRIM_P_VMAXPfloat FW_DTRIM_P_VMINPfloat FW_DTRIM_R_FLPSPfloat FW_DTRIM_R_VMAXPfloat FW_DTRIM_R_VMINPfloat FW_DTRIM_Y_VMAXPfloat FW_DTRIM_Y_VMINPfloat FW_FLAPERON_SCLPfloat FW_FLAPS_LND_SCL?Pfloat FW_FLAPS_SCL?Pfloat FW_FLAPS_TO_SCLPfloat FW_GND_SPD_MIN@Pfloat FW_L1_DAMPING@?Pfloat FW_L1_PERIODAPfloat FW_L1_R_SLEW_MAX BPfloat FW_LND_AIRSPD_SCff?Pfloat FW_LND_ANG@Pint32_t FW_LND_EARLYCFGPfloat FW_LND_FLALT@@Pfloat FW_LND_FL_PMAXpAPfloat FW_LND_FL_PMIN @Pfloat FW_LND_HHDISTpAPfloat FW_LND_HVIRT APfloat FW_LND_THRTC_SC?Pfloat FW_LND_TLALTPint32_t FW_LND_USETERPfloat FW_MAN_P_MAX4BPfloat FW_MAN_P_SC?Pfloat FW_MAN_R_MAX4BPfloat FW_MAN_R_SC?Pfloat FW_MAN_Y_SC?Pfloat FW_PR_FF?P float FW_PR_I=Pfloat FW_PR_IMAX>P float FW_PR_P ף=Pfloat FW_PSP_OFF@@Pfloat FW_P_LIM_MAXAPfloat FW_P_LIM_MINPfloat FW_P_RMAX_NEGpBPfloat FW_P_RMAX_POSpBP float FW_P_TC>Pfloat FW_RATT_THL?Pfloat FW_RLL_TO_YAW_FFPfloat FW_RR_FF?P float FW_RR_I=Pfloat FW_RR_IMAXL>P float FW_RR_PL=Pfloat FW_RSP_OFFPfloat FW_R_LIM BPfloat FW_R_RMAXHBP float FW_R_TC>Pfloat FW_THR_ALT_SCLPfloat FW_THR_CRUISE?Pfloat FW_THR_IDLE>Pfloat FW_THR_LND_MAX?Pfloat FW_THR_MAX?Pfloat FW_THR_MINPfloat FW_THR_SLEW_MAX?Pfloat FW_T_CLMB_MAX@Pfloat FW_T_HRATE_FF>Pfloat FW_T_HRATE_PL=Pfloat FW_T_INTEG_GAIN=Pfloat FW_T_PTCH_DAMPPfloat FW_T_RLL2THRpAPfloat FW_T_SINK_MAX@Pfloat FW_T_SINK_MIN@Pfloat FW_T_SPDWEIGHT?Pfloat FW_T_SPD_OMEGA@Pfloat FW_T_SRATE_P ף<Pfloat FW_T_THRO_CONSTAPfloat FW_T_THR_DAMP?Pfloat FW_T_TIME_CONST@Pfloat FW_T_VERT_ACC@Pfloat FW_WR_FFL>P float FW_WR_I=Pfloat FW_WR_IMAX?P float FW_WR_P?Pint32_t FW_W_ENPfloat FW_W_RMAXAPfloat FW_YR_FF>P float FW_YR_I=Pfloat FW_YR_IMAXL>P float FW_YR_PL=Pfloat FW_Y_RMAXHBPint32_t GF_ACTIONPint32_t GF_ALTMODEPint32_t GF_COUNTPfloat GF_MAX_HOR_DISTPfloat GF_MAX_VER_DISTPint32_t GF_SOURCEPint32_t GPS_1_CONFIGPint32_t GPS_2_CONFIGPint32_t GPS_DUMP_COMMPint32_t GPS_UBX_DYNMODELPfloat GPS_YAW_OFFSETPfloat HTE_ACC_GATE@@Pfloat HTE_HT_ERR_INIT=Pfloat HTE_HT_NOISEo:Pfloat IMU_ACCEL_CUTOFFAPfloat IMU_DGYRO_CUTOFFpAPfloat IMU_GYRO_CUTOFF BPfloat IMU_GYRO_NF_BWAPfloat IMU_GYRO_NF_FREQPint32_t IMU_GYRO_RATEMAXPint32_t IMU_INTEG_RATEPint32_t ISBD_CONFIGPint32_t LAUN_ALL_ONPfloat LAUN_CAT_AAPfloat LAUN_CAT_MDELPfloat LAUN_CAT_PMAXAPfloat LAUN_CAT_TL=Pint32_t LED_RGB_MAXBRTPint32_t LIGHT_EN_BLINKMPfloat LNDFW_AIRSPD_MAXAPfloat LNDMC_ALT_MAXPfloat LNDMC_ROT_MAXAPfloat LNDMC_XY_VEL_MAX?Pfloat LNDMC_Z_VEL_MAX?Pint32_t LND_FLIGHT_T_HIPint32_t LND_FLIGHT_T_LOi!Pint32_t MAV_0_CONFIGePint32_t MAV_0_FORWARDPint32_t MAV_0_MODEPint32_t MAV_0_RADIO_CTLPint32_t MAV_0_RATEPint32_t MAV_1_CONFIGfPint32_t MAV_1_FORWARDPint32_t MAV_1_MODEPint32_t MAV_1_RADIO_CTLPint32_t MAV_1_RATEPint32_t MAV_2_CONFIGPint32_t MAV_COMP_IDPint32_t MAV_FWDEXTSPPint32_t MAV_HASH_CHK_ENPint32_t MAV_HB_FORW_ENPint32_t MAV_ODOM_LPPint32_t MAV_PROTO_VERPint32_t MAV_RADIO_TOUTPint32_t MAV_SIK_RADIO_IDPint32_t MAV_SYS_IDPint32_t MAV_TYPEPint32_t MAV_USEHILGPSPfloat MC_ACRO_EXPOף0?Pfloat MC_ACRO_EXPO_Yף0?Pfloat MC_ACRO_P_MAX4DPfloat MC_ACRO_R_MAX4DPfloat MC_ACRO_SUPEXPO333?Pfloat MC_ACRO_SUPEXPOY333?Pfloat MC_ACRO_Y_MAXDPint32_t MC_AIRMODEPint32_t MC_BAT_SCALE_ENPfloat MC_MAN_TILT_TAUPfloat MC_PITCHRATE_DD;Pfloat MC_PITCHRATE_FFPfloat MC_PITCHRATE_IL>Pfloat MC_PITCHRATE_K?Pfloat MC_PITCHRATE_MAXpBPfloat MC_PITCHRATE_P>Pfloat MC_PITCH_P@Pfloat MC_PR_INT_LIM>Pfloat MC_RATT_THL?Pfloat MC_ROLLRATE_DD;Pfloat MC_ROLLRATE_FFPfloat MC_ROLLRATE_IL>Pfloat MC_ROLLRATE_K?Pfloat MC_ROLLRATE_MAXpBPfloat MC_ROLLRATE_P>Pfloat MC_ROLL_P@Pfloat MC_RR_INT_LIM>Pfloat MC_YAWRATE_DPfloat MC_YAWRATE_FFPfloat MC_YAWRATE_I>Pfloat MC_YAWRATE_K?Pfloat MC_YAWRATE_MAX BPfloat MC_YAWRATE_P>Pfloat MC_YAW_P333@Pfloat MC_YAW_WEIGHT>Pfloat MC_YR_INT_LIM>Pint32_t MIS_ALTMODEPfloat MIS_DIST_1WPaDPfloat MIS_DIST_WPSaDPfloat MIS_LTRMIN_ALTPint32_t MIS_MNT_YAW_CTLPfloat MIS_TAKEOFF_ALTAPint32_t MIS_TAKEOFF_REQPfloat MIS_YAW_ERR@APfloat MIS_YAW_TMT APint32_t MNT_MODE_INPint32_t MOT_ORDERINGPfloat MOT_SLEW_MAXPfloat MPC_ACC_DOWN_MAX@@Pfloat MPC_ACC_HOR@@Pfloat MPC_ACC_HOR_MAX@Pfloat MPC_ACC_UP_MAX@Pint32_t MPC_ALT_MODEPfloat MPC_DEC_HOR_SLOW@Pfloat MPC_HOLD_DZ=Pfloat MPC_HOLD_MAX_XYL?Pfloat MPC_HOLD_MAX_Z?Pfloat MPC_JERK_AUTO@Pfloat MPC_JERK_MAX@Pfloat MPC_JERK_MINAPfloat MPC_LAND_ALT1@Pfloat MPC_LAND_ALT2@Pint32_t MPC_LAND_RC_HELPPfloat MPC_LAND_SPEED?Pfloat MPC_LAND_VEL_XY APfloat MPC_MANTHR_MIN ף=Pfloat MPC_MAN_TILT_MAXAPfloat MPC_MAN_Y_MAX BPfloat MPC_MAN_Y_TAU ף=Pint32_t MPC_POS_MODEPfloat MPC_SPOOLUP_TIME?Pint32_t MPC_THR_CURVEPfloat MPC_THR_HOVERff>Pfloat MPC_THR_MAX?Pfloat MPC_THR_MIN=Pfloat MPC_TILTMAX_AIRAPfloat MPC_TILTMAX_LND@APfloat MPC_TKO_RAMP_Tff?Pfloat MPC_TKO_SPEED?Pint32_t MPC_USE_HTEPfloat MPC_VELD_LP@Pfloat MPC_VEL_MANUAL@@Pfloat MPC_XY_CRUISE@@Pfloat MPC_XY_MAN_EXPO?Pfloat MPC_XY_P33s?Pfloat MPC_XY_TRAJ_P?Pfloat MPC_XY_VEL_D_ACCL>Pfloat MPC_XY_VEL_I_ACC>Pfloat MPC_XY_VEL_MAX`@Pfloat MPC_XY_VEL_P_ACCff?Pfloat MPC_YAWRAUTO_MAX BPfloat MPC_YAW_EXPO?Pint32_t MPC_YAW_MODEPfloat MPC_Z_MAN_EXPO?P float MPC_Z_P?Pfloat MPC_Z_VEL_D_ACCPfloat MPC_Z_VEL_I_ACC@Pfloat MPC_Z_VEL_MAX_DN?Pfloat MPC_Z_VEL_MAX_UP@Pfloat MPC_Z_VEL_P_ACC@Pfloat NAV_ACC_RAD@@Pint32_t NAV_DLL_ACTPint32_t NAV_FORCE_VTPfloat NAV_FT_DSTAPint32_t NAV_FT_FSPfloat NAV_FT_RS?Pfloat NAV_FW_ALTL_RAD@Pfloat NAV_FW_ALT_RAD APfloat NAV_GPSF_LTPfloat NAV_GPSF_PPfloat NAV_GPSF_RpAPfloat NAV_GPSF_TRPfloat NAV_LOITER_RADBPfloat NAV_MC_ALT_RADL?Pfloat NAV_MIN_FT_HTAPint32_t NAV_RCL_ACTPint32_t NAV_TRAFF_AVOIDPfloat NAV_TRAFF_A_RADMCPfloat NAV_TRAFF_A_RADU APfloat PLD_BTOUT@Pfloat PLD_FAPPR_ALT=Pfloat PLD_HACC_RADL>Pint32_t PLD_MAX_SRCHPfloat PLD_SRCH_ALT APfloat PLD_SRCH_TOUT APint32_t PWM_AUX_DIS1Pint32_t PWM_AUX_DIS2Pint32_t PWM_AUX_DIS3Pint32_t PWM_AUX_DIS4Pint32_t PWM_AUX_DIS5Pint32_t PWM_AUX_DIS6Pint32_t PWM_AUX_DIS7Pint32_t PWM_AUX_DIS8Pint32_t PWM_AUX_FAIL1Pint32_t PWM_AUX_FAIL2Pint32_t PWM_AUX_FAIL3Pint32_t PWM_AUX_FAIL4Pint32_t PWM_AUX_FAIL5Pint32_t PWM_AUX_FAIL6Pint32_t PWM_AUX_FAIL7Pint32_t PWM_AUX_FAIL8Pint32_t PWM_AUX_MAX1Pint32_t PWM_AUX_MAX2Pint32_t PWM_AUX_MAX3Pint32_t PWM_AUX_MAX4Pint32_t PWM_AUX_MAX5Pint32_t PWM_AUX_MAX6Pint32_t PWM_AUX_MAX7Pint32_t PWM_AUX_MAX8Pint32_t PWM_AUX_MIN1Pint32_t PWM_AUX_MIN2Pint32_t PWM_AUX_MIN3Pint32_t PWM_AUX_MIN4Pint32_t PWM_AUX_MIN5Pint32_t PWM_AUX_MIN6Pint32_t PWM_AUX_MIN7Pint32_t PWM_AUX_MIN8Pint32_t PWM_AUX_REV1Pint32_t PWM_AUX_REV2Pint32_t PWM_AUX_REV3Pint32_t PWM_AUX_REV4Pint32_t PWM_AUX_REV5Pint32_t PWM_AUX_REV6Pfloat PWM_AUX_TRIM1Pfloat PWM_AUX_TRIM2Pfloat PWM_AUX_TRIM3Pfloat PWM_AUX_TRIM4Pfloat PWM_AUX_TRIM5Pfloat PWM_AUX_TRIM6Pint32_t PWM_DISARMEDPint32_t PWM_MAIN_DIS1Pint32_t PWM_MAIN_DIS2Pint32_t PWM_MAIN_DIS3Pint32_t PWM_MAIN_DIS4Pint32_t PWM_MAIN_DIS5Pint32_t PWM_MAIN_DIS6Pint32_t PWM_MAIN_DIS7Pint32_t PWM_MAIN_DIS8Pint32_t PWM_MAIN_FAIL1Pint32_t PWM_MAIN_FAIL2Pint32_t PWM_MAIN_FAIL3Pint32_t PWM_MAIN_FAIL4Pint32_t PWM_MAIN_FAIL5Pint32_t PWM_MAIN_FAIL6Pint32_t PWM_MAIN_FAIL7Pint32_t PWM_MAIN_FAIL8Pint32_t PWM_MAIN_MAX1Pint32_t PWM_MAIN_MAX2Pint32_t PWM_MAIN_MAX3Pint32_t PWM_MAIN_MAX4Pint32_t PWM_MAIN_MAX5Pint32_t PWM_MAIN_MAX6Pint32_t PWM_MAIN_MAX7Pint32_t PWM_MAIN_MAX8Pint32_t PWM_MAIN_MIN1Pint32_t PWM_MAIN_MIN2Pint32_t PWM_MAIN_MIN3Pint32_t PWM_MAIN_MIN4Pint32_t PWM_MAIN_MIN5Pint32_t PWM_MAIN_MIN6Pint32_t PWM_MAIN_MIN7Pint32_t PWM_MAIN_MIN8Pint32_t PWM_MAIN_REV1Pint32_t PWM_MAIN_REV2Pint32_t PWM_MAIN_REV3Pint32_t PWM_MAIN_REV4Pint32_t PWM_MAIN_REV5Pint32_t PWM_MAIN_REV6Pint32_t PWM_MAIN_REV7Pint32_t PWM_MAIN_REV8Pfloat PWM_MAIN_TRIM1Pfloat PWM_MAIN_TRIM2Pfloat PWM_MAIN_TRIM3Pfloat PWM_MAIN_TRIM4Pfloat PWM_MAIN_TRIM5Pfloat PWM_MAIN_TRIM6Pfloat PWM_MAIN_TRIM7Pfloat PWM_MAIN_TRIM8Pint32_t PWM_MAXPint32_t PWM_MINPint32_t PWM_RATEPint32_t PWM_SBUS_MODEPint32_t RBCLW_SER_CFGP float RC10_DZPfloat RC10_MAX`DPfloat RC10_MINxDPfloat RC10_REV?Pfloat RC10_TRIMDP float RC11_DZPfloat RC11_MAXDPfloat RC11_MINzDPfloat RC11_REV?Pfloat RC11_TRIMDP float RC12_DZPfloat RC12_MAXDPfloat RC12_MINzDPfloat RC12_REV?Pfloat RC12_TRIMDP float RC13_DZPfloat RC13_MAXDPfloat RC13_MINzDPfloat RC13_REV?Pfloat RC13_TRIMDP float RC14_DZPfloat RC14_MAX`DPfloat RC14_MINxDPfloat RC14_REV?Pfloat RC14_TRIMDP float RC15_DZPfloat RC15_MAXDPfloat RC15_MINzDPfloat RC15_REV?Pfloat RC15_TRIMDP float RC16_DZPfloat RC16_MAXDPfloat RC16_MINzDPfloat RC16_REV?Pfloat RC16_TRIMDP float RC17_DZPfloat RC17_MAXDPfloat RC17_MINzDPfloat RC17_REV?Pfloat RC17_TRIMDP float RC18_DZPfloat RC18_MAXDPfloat RC18_MINzDPfloat RC18_REV?Pfloat RC18_TRIMDP float RC1_DZ AP float RC1_MAX`DP float RC1_MINxDP float RC1_REV?Pfloat RC1_TRIMDP float RC2_DZ AP float RC2_MAX`DP float RC2_MINxDP float RC2_REV?Pfloat RC2_TRIMDP float RC3_DZ AP float RC3_MAX`DP float RC3_MINxDP float RC3_REV?Pfloat RC3_TRIMxDP float RC4_DZ AP float RC4_MAX`DP float RC4_MINzDP float RC4_REV?Pfloat RC4_TRIMDP float RC5_DZ AP float RC5_MAX`DP float RC5_MINxDP float RC5_REV?Pfloat RC5_TRIMDP float RC6_DZ AP float RC6_MAX`DP float RC6_MINxDP float RC6_REV?Pfloat RC6_TRIMDP float RC7_DZ AP float RC7_MAX`DP float RC7_MINxDP float RC7_REV?Pfloat RC7_TRIMDP float RC8_DZ AP float RC8_MAX`DP float RC8_MINxDP float RC8_REV?Pfloat RC8_TRIMDP float RC9_DZP float RC9_MAX`DP float RC9_MINxDP float RC9_REV?Pfloat RC9_TRIMDPfloat RC_ACRO_TH@?Pfloat RC_ARMSWITCH_TH@?Pfloat RC_ASSIST_TH>Pfloat RC_AUTO_TH@?Pint32_t RC_CHAN_CNTPint32_t RC_FAILS_THRPfloat RC_GEAR_TH@?Pfloat RC_KILLSWITCH_TH@?Pfloat RC_LOITER_TH@?Pfloat RC_MAN_TH@?Pint32_t RC_MAP_ACRO_SWPint32_t RC_MAP_ARM_SWPint32_t RC_MAP_AUX1Pint32_t RC_MAP_AUX2Pint32_t RC_MAP_AUX3Pint32_t RC_MAP_AUX4Pint32_t RC_MAP_AUX5Pint32_t RC_MAP_AUX6Pint32_t RC_MAP_FAILSAFEPint32_t RC_MAP_FLAPSPint32_t RC_MAP_FLTMODEPint32_t RC_MAP_GEAR_SWPint32_t RC_MAP_KILL_SWPint32_t RC_MAP_LOITER_SWPint32_t RC_MAP_MAN_SWPint32_t RC_MAP_MODE_SWPint32_t RC_MAP_OFFB_SWPint32_t RC_MAP_PARAM1Pint32_t RC_MAP_PARAM2Pint32_t RC_MAP_PARAM3Pint32_t RC_MAP_PITCHPint32_t RC_MAP_POSCTL_SWPint32_t RC_MAP_RATT_SWPint32_t RC_MAP_RETURN_SW Pint32_t RC_MAP_ROLLPint32_t RC_MAP_STAB_SWPint32_t RC_MAP_SYSID_SWPint32_t RC_MAP_THROTTLEPint32_t RC_MAP_TRANS_SW Pint32_t RC_MAP_YAWPfloat RC_OFFB_TH@?Pfloat RC_POSCTL_TH@?Pfloat RC_RATT_TH@?Pfloat RC_RETURN_TH@?Pint32_t RC_RSSI_PWM_CHANPint32_t RC_RSSI_PWM_MAXPint32_t RC_RSSI_PWM_MINPfloat RC_STAB_TH?Pfloat RC_SYSID_TH@?Pfloat RC_TRANS_TH@?Pint32_t RTL_CONE_ANGPfloat RTL_DESCEND_ALTAPfloat RTL_LAND_DELAYPfloat RTL_MIN_DIST@Pint32_t RTL_PLD_MDPfloat RTL_RETURN_ALTpBPint32_t RTL_TYPEPfloat RWTO_AIRSPD_SCLff?Pint32_t RWTO_HDGPfloat RWTO_MAX_PITCHAPfloat RWTO_MAX_ROLLAPfloat RWTO_MAX_THR?Pfloat RWTO_NAV_ALT@Pfloat RWTO_PSPPfloat RWTO_RAMP_TIME@Pint32_t RWTO_TKOFFPint32_t SDLOG_BOOT_BATPint32_t SDLOG_DIRS_MAXPint32_t SDLOG_MISSIONPint32_t SDLOG_MODEPint32_t SDLOG_PROFILE Pint32_t SDLOG_UTC_OFFSETPint32_t SDLOG_UUIDPfloat SENS_BARO_QNHP}DPfloat SENS_BARO_RATEAPint32_t SENS_BOARD_ROTPfloat SENS_BOARD_X_OFFn`C?Pfloat SENS_BOARD_Y_OFFq<Pfloat SENS_BOARD_Z_OFFPint32_t SENS_CM8JL65_CFGPfloat SENS_DPRES_OFF{ BPint32_t SENS_EN_BATTPint32_t SENS_EN_LL40LSPint32_t SENS_EN_MB12XXPint32_t SENS_EN_MPDTPint32_t SENS_EN_PAW3902Pint32_t SENS_EN_PGA460Pint32_t SENS_EN_PMW3901Pint32_t SENS_EN_PX4FLOWPint32_t SENS_EN_SF1XXPint32_t SENS_EN_THERMALPint32_t SENS_EN_TRANGERPint32_t SENS_EXT_I2C_PRBPfloat SENS_FLOW_MAXHGT@@Pfloat SENS_FLOW_MAXR @Pfloat SENS_FLOW_MINHGT333?Pint32_t SENS_FLOW_ROTPint32_t SENS_LEDDAR1_CFGPint32_t SENS_SF0X_CFGPint32_t SENS_TFMINI_CFGPint32_t SENS_ULAND_CFGPint32_t SER_GPS1_BAUDPint32_t SER_TEL1_BAUDPint32_t SER_TEL2_BAUDPint32_t SYSID_ACT_AXPint32_t SYSID_AUTO_INVPint32_t SYSID_ENABLEPint32_t SYSID_FSTART_UPPfloat SYSID_IDLE_T_APfloat SYSID_IDLE_T_BPint32_t SYSID_SIG_TYPEPfloat SYSID_STEP_AMPL>Pfloat SYSID_STEP_LNGTH?Pint32_t SYSID_SWP_BOTHPint32_t SYS_AUTOCONFIGPint32_t SYS_AUTOSTART2Pint32_t SYS_BL_UPDATEPint32_t SYS_CAL_ACCELPint32_t SYS_CAL_BAROPint32_t SYS_CAL_GYROPint32_t SYS_CAL_TDELPint32_t SYS_CAL_TMAX Pint32_t SYS_CAL_TMINPint32_t SYS_HAS_BAROPint32_t SYS_HAS_MAGPint32_t SYS_HITLPint32_t SYS_PARAM_VERPint32_t SYS_RESTART_TYPEPint32_t SYS_STCK_ENPint32_t SYS_USE_IOPint32_t TC_A_ENABLEPint32_t TC_B_ENABLEPint32_t TC_G_ENABLEPint32_t TEL_BST_ENPint32_t TEL_FRSKY_CONFIGPint32_t TEL_HOTT_CONFIGPfloat THR_MDL_FACPint32_t TRIG_MODEPfloat TRIM_PITCHPfloat TRIM_ROLLPfloat TRIM_YAWüPint32_t UAVCAN_ENABLEPfloat VT_ARSP_BLEND`APfloat VT_ARSP_TRANSAPfloat VT_B_DEC_FF=Pfloat VT_B_DEC_I=Pfloat VT_B_DEC_MSS?Pfloat VT_B_REV_DELPfloat VT_B_REV_OUTPfloat VT_B_TRANS_DUR@APfloat VT_B_TRANS_RAMP@@Pfloat VT_B_TRANS_THRPfloat VT_DWN_PITCH_MAX@Pint32_t VT_ELEV_MC_LOCKPint32_t VT_FWD_THRUST_ENPfloat VT_FWD_THRUST_SC?Pfloat VT_FW_ALT_ERR@APint32_t VT_FW_DIFTHR_ENPfloat VT_FW_DIFTHR_SC=Pfloat VT_FW_MIN_ALTPint32_t VT_FW_MOT_OFFID.Pint32_t VT_FW_PERM_STABPint32_t VT_FW_QC_PPint32_t VT_FW_QC_RPfloat VT_F_TRANS_DUR@Pfloat VT_F_TRANS_THR?Pfloat VT_F_TR_OL_TMAPint32_t VT_IDLE_PWM_MCPint32_t VT_MC_ON_FMUPint32_t VT_MOT_ID.Pfloat VT_PSHER_RMP_DT@Pfloat VT_TRANS_MIN_TM@Pfloat VT_TRANS_TIMEOUTpAPint32_t VT_TYPEP int32_t WV_ENP float WV_GAIN?Pfloat WV_ROLL_MIN?Pfloat WV_YRATE_MAXBEMchar[36] perf_counter_preflightvehicle_imu: gyro data gap: 1 eventsMchar[95] perf_counter_preflightvehicle_imu: gyro update interval: 7612 events, 2443.69 avg, min 2024us max 2545us 62.673us rmsFMchar[37] perf_counter_preflightvehicle_imu: accel data gap: 1 eventsMchar[96] perf_counter_preflightvehicle_imu: accel update interval: 7612 events, 2443.69 avg, min 2024us max 2545us 62.673us rmsEMchar[36] perf_counter_preflightvehicle_imu: gyro data gap: 1 eventsMchar[95] perf_counter_preflightvehicle_imu: gyro update interval: 7442 events, 2499.66 avg, min 2364us max 2888us 53.563us rmsFMchar[37] perf_counter_preflightvehicle_imu: accel data gap: 1 eventsMchar[96] perf_counter_preflightvehicle_imu: accel update interval: 7442 events, 2499.66 avg, min 2364us max 2888us 53.563us rmsEMchar[36] perf_counter_preflightvehicle_imu: gyro data gap: 1 eventsMchar[95] perf_counter_preflightvehicle_imu: gyro update interval: 7614 events, 2443.68 avg, min 2391us max 2497us 11.696us rmsFMchar[37] perf_counter_preflightvehicle_imu: accel data gap: 1 eventsMchar[96] perf_counter_preflightvehicle_imu: accel update interval: 7614 events, 2443.68 avg, min 2391us max 2497us 11.696us rmsxMchar[87] perf_counter_preflightlogger_sd_fsync_mission: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsxMchar[87] perf_counter_preflightlogger_sd_write_mission: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmspMchar[79] perf_counter_preflightlogger_sd_fsync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmspMchar[79] perf_counter_preflightlogger_sd_write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsrMchar[81] perf_counter_preflightnavigator: 229 events, 2145us elapsed, 9.37us avg, min 5us max 288us 19.242us rms~Mchar[93] perf_counter_preflightland_detector: cycle: 1249 events, 11118us elapsed, 8.90us avg, min 6us max 206us 6.454us rmsMchar[97] perf_counter_preflightfw_pos_control_l1: cycle: 546 events, 5813us elapsed, 10.65us avg, min 8us max 354us 14.955us rmsMchar[97] perf_counter_preflightfw_att_control: cycle: 2226 events, 55683us elapsed, 25.01us avg, min 22us max 465us 10.609us rmsM char[101] perf_counter_preflightmc_hover_thrust_estimator: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsMchar[96] perf_counter_preflightmc_pos_control: cycle time: 546 events, 3605us elapsed, 6.60us avg, min 5us max 37us 2.665us rmsMchar[96] perf_counter_preflightmc_att_control: cycle: 2226 events, 35798us elapsed, 16.08us avg, min 13us max 247us 6.361us rmsMchar[95] perf_counter_preflightmc_rate_control: cycle: 7641 events, 56744us elapsed, 7.43us avg, min 6us max 257us 2.964us rmsMchar[98] perf_counter_preflightvtol_att_control: cycle: 7640 events, 100562us elapsed, 13.16us avg, min 9us max 836us 9.532us rmsM char[100] perf_counter_preflightairspeed_selector: elapsed: 184 events, 2887us elapsed, 15.69us avg, min 11us max 298us 21.199us rmsyMchar[88] perf_counter_preflightekf2: update: 3780 events, 260483us elapsed, 68.91us avg, min 2us max 342us 75.171us rmsrMchar[81] perf_counter_preflightpwm_out: interval: 864 events, 21934.12 avg, min 190us max 33119us 1905.642us rmsxMchar[87] perf_counter_preflightpwm_out: cycle: 864 events, 11132us elapsed, 12.88us avg, min 2us max 142us 9.433us rmspMchar[79] perf_counter_preflightcontrol latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsM char[100] perf_counter_preflightio control latency: 7423 events, 4348538us elapsed, 585.82us avg, min 441us max 3802us 168.012us rmsiMchar[72] perf_counter_preflightio write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms}Mchar[92] perf_counter_preflightio update: 7426 events, 5558917us elapsed, 748.57us avg, min 461us max 18353us 764.592us rmszMchar[89] perf_counter_preflightio_txns: 21806 events, 5386948us elapsed, 247.04us avg, min 116us max 2050us 84.686us rmsNMchar[45] perf_counter_preflightmavlink: send_start tx buffer full: 25 eventsDMchar[35] perf_counter_preflightmavlink: send_bytes error: 0 eventsxMchar[87] perf_counter_preflightmavlink: tx run interval: 3773 events, 5003.44 avg, min 4209us max 9055us 154.070us rmsM char[100] perf_counter_preflightmavlink: tx run elapsed: 3773 events, 248134us elapsed, 65.77us avg, min 41us max 610us 45.969us rmsNMchar[45] perf_counter_preflightmavlink: send_start tx buffer full: 10 eventsDMchar[35] perf_counter_preflightmavlink: send_bytes error: 0 eventsyMchar[88] perf_counter_preflightmavlink: tx run interval: 1887 events, 9999.47 avg, min 9265us max 11639us 136.769us rmsM char[100] perf_counter_preflightmavlink: tx run elapsed: 1887 events, 111214us elapsed, 58.94us avg, min 36us max 527us 39.259us rmsMchar[96] perf_counter_preflightvehicle_air_data: cycle: 1418 events, 16711us elapsed, 11.78us avg, min 8us max 71us 5.581us rmsMMchar[44] perf_counter_preflightmavlink: send_start tx buffer full: 0 eventsDMchar[35] perf_counter_preflightmavlink: send_bytes error: 0 eventsjMchar[73] perf_counter_preflightmavlink: tx run interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rmsxMchar[87] perf_counter_preflightmavlink: tx run elapsed: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms{Mchar[90] perf_counter_preflightbattery_status: 1910 events, 30988us elapsed, 16.22us avg, min 12us max 464us 25.314us rmsuMchar[84] perf_counter_preflightsensors: 3831 events, 129689us elapsed, 33.85us avg, min 11us max 984us 17.826us rms7Mchar[22] perf_counter_preflightaspd_com_err: 0 eventsyMchar[88] perf_counter_preflightaspd_read: 1786 events, 860012us elapsed, 481.53us avg, min 477us max 590us 11.133us rmsLMchar[43] perf_counter_preflightak09916: magnetic sensor overflow: 0 events@Mchar[31] perf_counter_preflightak09916: bad transfer: 0 events@Mchar[31] perf_counter_preflightak09916: bad register: 0 eventsMchar[98] perf_counter_preflightak09916: transfer: 950 events, 1075418us elapsed, 1132.02us avg, min 1129us max 1198us 9.528us rmsUMchar[52] perf_counter_preflighticm20948_ak09916: magnetic sensor overflow: 0 eventsIMchar[40] perf_counter_preflighticm20948_ak09916: bad transfer: 1 events?Mchar[30] perf_counter_preflighticm20948: FIFO reset: 1 eventsBMchar[33] perf_counter_preflighticm20948: FIFO overflow: 0 events?Mchar[30] perf_counter_preflighticm20948: FIFO empty: 0 eventsAMchar[32] perf_counter_preflighticm20948: bad transfer: 0 eventsAMchar[32] perf_counter_preflighticm20948: bad register: 0 events?Mchar[30] perf_counter_preflighticm20602: FIFO reset: 1 eventsBMchar[33] perf_counter_preflighticm20602: FIFO overflow: 0 events?Mchar[30] perf_counter_preflighticm20602: FIFO empty: 0 eventsAMchar[32] perf_counter_preflighticm20602: bad transfer: 0 eventsAMchar[32] perf_counter_preflighticm20602: bad register: 0 events:Mchar[25] perf_counter_preflightms5611: com_err: 0 eventsvMchar[85] perf_counter_preflightms5611: measure: 1912 events, 6570us elapsed, 3.44us avg, min 3us max 7us 0.572us rmsvMchar[85] perf_counter_preflightms5611: read: 1911 events, 22237us elapsed, 11.64us avg, min 9us max 99us 4.006us rms@Mchar[31] perf_counter_preflighticm20649: DRDY missed: 0 events?Mchar[30] perf_counter_preflighticm20649: FIFO reset: 1 eventsBMchar[33] perf_counter_preflighticm20649: FIFO overflow: 0 events?Mchar[30] perf_counter_preflighticm20649: FIFO empty: 0 eventsAMchar[32] perf_counter_preflighticm20649: bad transfer: 0 eventsAMchar[32] perf_counter_preflighticm20649: bad register: 0 events:Mchar[25] perf_counter_preflightms5611: com_err: 0 eventsvMchar[85] perf_counter_preflightms5611: measure: 1916 events, 6493us elapsed, 3.39us avg, min 3us max 7us 0.583us rmsvMchar[85] perf_counter_preflightms5611: read: 1915 events, 24784us elapsed, 12.94us avg, min 9us max 19us 1.636us rmsxMchar[87] perf_counter_preflightadc: sample: 13489 events, 108423us elapsed, 8.04us avg, min 6us max 465us 13.160us rmsuMchar[84] perf_counter_preflightrc_update: 861 events, 11489us elapsed, 13.34us avg, min 10us max 707us 24.553us rmsxMchar[87] perf_counter_preflightload_mon: cycle: 39 events, 2164us elapsed, 55.49us avg, min 1us max 132us 16.431us rmsoMchar[78] perf_counter_preflightdataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms}Mchar[92] perf_counter_preflightdataman: read: 5 events, 21033us elapsed, 4206.60us avg, min 17us max 15167us 6617.104us rms4Mchar[19] perf_counter_preflightdma_alloc: 4 eventsrMchar[81] perf_counter_preflightparam_set: 240 events, 6217us elapsed, 25.90us avg, min 1us max 50us 13.733us rmssMchar[82] perf_counter_preflightparam_get: 9258 events, 15015us elapsed, 1.62us avg, min 1us max 116us 2.912us rmstMchar[83] perf_counter_preflightparam_find: 6594 events, 14882us elapsed, 2.26us avg, min 1us max 433us 8.889us rmsmMchar[76] perf_counter_preflightparam_export: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsMchar[219] boot_console_outputsercon: Registering CDC/ACM serial driver sercon: Successfully registered the CDC/ACM serial driver HW arch: CUBEPILOT_CUBEORANGE FW git-hash: 8583f1da30b63154d6ba0bc187d86135dfe33cf9 FW version: 1.11.2 0 (17498624) FW Mchar[219] boot_console_outputgit-branch: v1.11.2_w_rc_sysid OS: NuttX OS version: Release 8.2.0 (134349055) OS git-hash: ec20f2e6c5cc35b2b9bbe942dea55eabb81297b6 Build datetime: Mar 22 2021 17:59:08 Build uri: localhost Toolchain: GNU GCC, 9.3.1 20Mchar[219] boot_console_output200408 (release) PX4GUID: 000600000000383638393239510d0035002d MCU: STM32H7[4|5]xxx, rev. V INFO [param] selected parameter default file /fs/mtd_params INFO [tune_control] Publishing standard tune 1 Board defaults: /eMchar[219] boot_console_outputtc/init.d/rc.board_defaults rgbled #0 on I2C bus 1 (external, equal to '-b 2') Board sensors: /etc/init.d/rc.board_sensors ms5611 #0 on SPI bus 1 (devid=0x3d) icm20649 #0 on SPI bus 1 (devid=0x25) ms5611 #1 on SPI bus 4Mchar[219] boot_console_output (devid=0x3d) icm20602 #0 on SPI bus 4 (devid=0x38) icm20948 #0 on SPI bus 4 (devid=0x28) ak09916 #0 on I2C bus 1 (external, equal to '-b 2') WARN [SPI_I2C] Already running on bus 1 ms4525_airspeed #0 on I2C bus 2 (extMchar[219] boot_console_outputernal, equal to '-b 1') Board extras: /etc/init.d/rc.board_mavlink INFO [mavlink] mode: Config, data rate: 800000 B/s on /dev/ttyACM0 @ 57600B Starting Main GPS on /dev/ttyS2 Starting MAVLink on /dev/ttyS0 INFO [mavliMchar[219] boot_console_outputnk] mode: Normal, data rate: 1200 B/s on /dev/ttyS0 @ 57600B Starting MAVLink on /dev/ttyS1 INFO [mavlink] mode: Onboard, data rate: 2880 B/s on /dev/ttyS1 @ 57600B INFO [px4io] default PWM output device INFO [init] Mchar[219] boot_console_outputMixer: /etc/mixers/babyshark.main.mix on /dev/pwm_output0 INFO [init] Mixer: /etc/mixers/pass.aux.mix on /dev/pwm_output1 INFO [fw_att_control] 1405213 Sysid initialized INFO [logger] logger started (mode=all) NuttSMchar[219] boot_console_outputhell (NSH) nsh> INFO [ecl/EKF] reset position to last known position INFO [ecl/EKF] reset velocity to zero INFO [ecl/EKF] 9270059: EKF aligned, (baro hgt, IMU buf: 18, OBS buf: 14) WARN [PreFlightCheck] PreflightMchar[219] boot_console_output: GPS Horizontal Pos Error too high INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2021-04-21/06_30_58.ulg INFO [logger] Opened full log file: /fs/microsd/log/2021-04-21/06_30_58.ulgMchar[1] boot_console_output Aactuator_armedAactuator_controls_0Aactuator_controls_1 AairspeedAairspeed_validatedAcommander_state AcpuloadAekf_gps_drift#Aestimator_innovation_test_ratios!A estimator_innovation_variancesA estimator_innovationsA estimator_sensor_biasA estimator_status A input_rcAmanual_control_setpoint AmissionAposition_setpoint_tripletApx4io_statusArate_ctrl_status AsafetyAsensor_combinedAsensor_preflightAsensor_selectionAsystem_power Atest_motorAvehicle_air_dataAvehicle_angular_velocityAvehicle_attitudeAvehicle_attitude_setpointAvehicle_commandAvehicle_control_modeAvehicle_land_detectedA vehicle_local_position"A!vehicle_local_position_setpointA"vehicle_magnetometerA#vehicle_rates_setpointA$vehicle_statusA%vehicle_status_flagsA&vtol_vehicle_statusA'actuator_outputsA(actuator_outputsA)multirotor_motor_limitsA*telemetry_statusA+telemetry_statusA,wind_estimateA-wind_estimateA.battery_statusA/battery_statusA0differential_pressureA1differential_pressureA2sensor_accelA3sensor_accelA4sensor_accelA5sensor_baroA6sensor_baroA7sensor_gyroA8sensor_gyroA9sensor_gyro A:sensor_mag A;sensor_mag A<sensor_magA=vehicle_gps_positionA>vehicle_imuA?vehicle_imuA@vehicle_imuAAvehicle_imu_statusABvehicle_imu_statusACvehicle_imu_statusADekf2_timestampsAEvehicle_angular_accelerationD4N2D*6<)6:ܽ<2D*6#6k`Fj̲D 6k˹A? 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_+Bk;ZI70DDDrJ:EMx;>. >(/?j >d ?>DDDDEDD+gO2DDDd Z:i<2DDD\FwDDDC:]DEDD0=k=|;2D@DD^ ;X˶<2D@DD\FwDD07; A?/DDf:m:LF;v)D.DDX&9ؖ+DD)~?{,s / /W0V3_;\=!n=2B>m?a=Gt9Gt9(|D-D'=y?xLش[&=d/DDK6;*;.;\; DEDD a9=+DD~?*v<=?Ƈ0&05M3D DוI̓5}5_2E;<; xbèR9B'Z9ݗEM59>2B>m?B>\]?>DDDDEDDD <Va镻2DD?Dٲg:A"<2DDD}F\&DDD =n,BBG?DD?D7$Ka<:I"D#D\l.E<ߤ>:DED?D"u3;<2DDWD;< ;2DDDF<,DD7)U;)A?/DD;Tsٺ}DŽ;%d7;%%_DDWDRz:)o+DD~?v<'f=?Ƈ0&05M3D"cD7>?:TDDDDEDWDc <<2DEE{{(W ;@< ;2DEDF<,D E~?5;>Cu /> /ڮ0V3ʼ;=y(l=e>/?ʆ=Gt9Gt9(/DE ;q2Rh;u0vDwEEA: u+DE~?ژEMpY8>e>/?s>f?>DDEDEvEECLNv8=2DEEq04&;5< ;2DEEFDaE 8l; A?/DE#;=Q@9Phb?:TDD,:EDE;E,:Eo <2DyEECE}呼7;< A<2DyEE,:ENFDeEECE*麙Ϻ3'DEdEECE-ངje.M2DrXEVEs8:p8< A<2DrXEFME{FD FME\~?s4{ /x /0V3о;<ƨb=">?p=Gt9Gt9(/DFME@S;):wk:I>HD]XEVE:,ϹФ+DFME~?lh<˸6=?Ƈ0&05M3D FME;$I̓5}50;< 7. èR9B'Z9~on= *o4>EMX5>">?>@>DDFMEDE\XEVEIr+"yjMchar[77] perf_top_preflight PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FDjMchar[77] perf_top_preflight 0 Idle Task 16387 76.700 200/ 512 0 ( 0) READY 0jMchar[77] perf_top_preflight 1 hpwork 0 0.000 344/ 1260 249 (249) w:sig 0jMchar[77] perf_top_preflight 2 lpwork 0 0.000 344/ 1612 50 ( 50) w:sig 0jMchar[77] perf_top_preflight 4 wq:manager 0 0.000 384/ 1252 255 (255) w:sem 4jMchar[77] perf_top_preflight 498 log_writer_file 10 0.000 608/ 1164 60 ( 60) w:sem 4jMchar[77] perf_top_preflight 17 dataman 27 0.000 768/ 1204 90 ( 90) w:sem 4jMchar[77] perf_top_preflight 19 wq:lp_default 5 0.000 836/ 1700 205 (205) w:sem 4jMchar[77] perf_top_preflight 23 wq:I2C1 56 0.200 892/ 1468 246 (246) w:sem 4jMchar[77] perf_top_preflight 28 wq:hp_default 190 1.000 1044/ 1900 240 (240) w:sem 4jMchar[77] perf_top_preflight 140 wq:SPI1 401 2.000 1616/ 2332 253 (253) w:sem 4jMchar[77] perf_top_preflight 143 wq:SPI4 730 3.700 1616/ 2332 250 (250) w:sem 4jMchar[77] perf_top_preflight 197 wq:I2C2 80 0.400 836/ 1468 245 (245) w:sem 4jMchar[77] perf_top_preflight 200 wq:nav_and_controllers 886 4.800 5288/ 7196 241 (241) w:sem 4jMchar[77] perf_top_preflight 201 wq:rate_ctrl 315 1.600 1108/ 1660 255 (255) w:sem 4jMchar[77] perf_top_preflight 208 commander 120 0.400 1780/ 3212 140 (140) w:sig 6jMchar[77] perf_top_preflight 210 commander_low_prio 0 0.000 716/ 2996 50 ( 50) w:sem 6jMchar[77] perf_top_preflight 270 gps 17 0.100 968/ 1676 205 (205) w:sem 4jMchar[77] perf_top_preflight 307 mavlink_if1 111 0.500 1856/ 2484 100 (100) w:sig 4jMchar[77] perf_top_preflight 308 mavlink_rcv_if1 36 0.200 2548/ 4068 175 (175) w:sem 4jMchar[77] perf_top_preflight 317 mavlink_if2 238 1.200 1872/ 2484 100 (100) w:sig 4jMchar[77] perf_top_preflight 318 mavlink_rcv_if2 31 0.200 2544/ 4068 175 (175) w:sem 4jMchar[77] perf_top_preflight 344 px4io 426 2.100 1036/ 1484 237 (237) w:sem 4jMchar[77] perf_top_preflight 461 wq:attitude_ctrl 108 0.900 1212/ 1668 242 (242) w:sem 4jMchar[77] perf_top_preflight 479 navigator 5 0.000 960/ 1764 105 (105) w:sem 5jMchar[77] perf_top_preflight 495 logger 71 2.100 2800/ 3644 230 (230) RUN 4Mchar[0] perf_top_preflightUMchar[56] perf_top_preflightProcesses: 25 total, 2 running, 23 sleeping, max FDs: 15NMchar[49] perf_top_preflightCPU usage: 21.40% tasks, 1.90% sched, 76.70% idleHMchar[43] perf_top_preflightDMA Memory: 5120 total, 1536 used 1536 peak@Mchar[35] perf_top_preflightUptime: 21.326s total, 16.387s idle2DbE^`E΢:< A<2DkE^`EFԶ/D^`E'<Ӏ ;`9#ἲ;\DykEiE퍅;!:*+D^`E~?U<7k=?Ƈ0&05M3DD^`EDExkEiEʻE>DtsE 9FX3;.=Z>09դ9Z>;D tsEq>m>BIA!l=D tsE;փo<ƃ:D tsE %?;x :v= %0> D tsE~?;R$/y/0V39u;:= => ?p=c9c9(DD SqESqE+ DFDSqE3B='=?D,uE/DtsEϗ;4:ֺcojM?DRE@D$uEtsEx;A&:8+DtsE?< =?Ƈ0&05M3;D|bE\$4>?= AD tsEI̓5}5B%;EM;>> ?u>>>D&& B-D3.E2-E"8>y>zA-D4y0E.E"(]Z-?>jbGA"D5k7Ea7E =zDB"D6g4?+D;-E)E 7>?:T7D>[uEtsE % %Y76CHo @7D?sEqE"8"8b6$1T67Ѷӊ:w^A==7D@jhEfE"("({7$7j mkHcA6DA}D % %(97O06DBD"8"8Cj:ɸ.7m.6DCaD"("(}#:17e/DDtsEDE#uEtsE={=lֽ2D~E|ES᝼0:&< A<2D~EtsEFD~E|E6;9"D#uE`nD<ސM: A%DFwEO+C2*C/"DE~E|E>:=2D+EE':&< A<2D+EtsEF/DEU;;%WxSFDEEq;ڮ:+DES?E<% R=?Ƈ0&05M3D"{E7>=DDEDEEEy>A=&2DAEEg`:G<<2DAEEfF"ոDEY8;6ֹA?D E~?,"'/-|/T0V3;=^}=>cS??=c9c9(/DE';n;\G*D/EE^T)"&&;o+DE9?ғEMp:>>cS?v>>>DDEDE.EE=g=Ѭ52DѤE/Eᖼ4:<<2DҤEEF*DE/Eͧf:[ңDEE/ECq=>84I2DEGEJ;f$<<2DEEF޾/DEm;."(4p!@&DʮE^E =#BRB G%?DԷEGEc#+DE?V)/~/T0V3f;=t=ꡭ>??=c9c9(/DE5q;Em:&x;~k &DpEE}úK ++DE?wEMo8>ꡭ>?mw>+M?>DDEDEoEEJz?:T"D#$E;3UD<.=:DDEDEyEEa/VIa2DEwEwN8;H~<<2DEEUF䳼DEwE[_DEEwE{ -32D5EEEo8;W,/h/~0V3Z;"=Dq=3>f?J=c9c9(/DE;812R|-DEEX6:jO+DEF?>r<.=?Ƈ0&05M3D E~I̓5}5:;@EM`8>3>f? 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Y3;!C#DKPwnC:oDIPw2D wXtR;?\O<v?>> DIw2D wWR;Xt\O~\ӾDG0 w0 woDH0 w0 w\H&}:DI0 w2D /wPX:e b`<<DI/w2D p?wB;BPZvn3=^ȼu#DKp?wq6'9oDIp?w2D Ow;MpQ;1e<Ԛ3DOwOw?:@c:{&<?7090DIOw2D ^wb;K<٠:?8DI^w2D PnwXt;bDI}w2D wL<;lb<9#DKwy F8oDIw2D 0w8Z;9`CF|E=pD0w0w#/<֔8D0w3<?*3&<oDI0w2D Ьw ;_xΥo< DIЬw2D pwXyb?W<vDGpwpwoDHpwpw3D:Й:[g:DIpw2D ̰w`pQ:rP=v<D̰w!^2G@ X!@Mb~@Mb~@̰w>?>> DḬw2D ۰wmΥ;>.;뻠~K;B=#DK۰wE8oDI۰w2D Pw{B;N.;b_z=DIPw2D w;<;X:p|X(>>3D w w?a 6:y:%<?7090DG w woDH w w6@gWDI w2D 0w :ybb֬DI0w2D )w49bYs$Ի<9+D)w vw e CG; ?P?#DK)w=B{oDI)w2D p9weΥ_Zi;+Dp9wp9w eCG?CP?DIp9w2D IwrYCXt2#V?DIIw2D Xw :pQcQx=j== S=BDXwBoں<ND"XwaDaDaDaDaDaDaDaDaDaDaDaDaDaDaDaDDDEXwXwn;n;DGXwXwoDHXwXw^b<:;8_:DIXw2D Phw;qiL=>DPXwXwz3G@#X!@CCz7x=j=C#D PhwPnw KQ]><<>DIPhw2D ww;oXmBJy<#D wwww D\>S;>#DKww[c+8oDIww2D wQ.;iȻYm@58=kDRwwp?wVC@ۘ}^?@41::9~G&p8'˸!:*:2n1>ܲY>{/r>T>U.>DIw2D 0wrpѻg#j7t<]D0w43G@X!@Zd;~@Zd;~@0w>?>> DI0w2D Цw\,ΥpX;<4*DЦwЦwBA A\hkWv{DGЦwЦwoDHЦwЦw;B6=9:DIЦw2D pw+*AZoQ =0DIpw2D Ʊw#.;dB7;6On<Dpw#DKƱwY oDIƱwyM char[87] perf_counter_postflightlogger_sd_fsync_mission: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsyM char[87] perf_counter_postflightlogger_sd_write_mission: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsM char[98] perf_counter_postflightlogger_sd_fsync: 82 events, 580000us elapsed, 7073.17us avg, min 4000us max 28000us 3572.115us rmssM char[81] perf_counter_postflightlogger_sd_write: 342 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsOM char[45] perf_counter_postflightmavlink: STATUSTEXT missed messages: 0 eventsEM char[35] perf_counter_postflightmavlink: forwarding error: 0 eventsEM char[35] perf_counter_postflightmavlink: send_bytes error: 0 eventswM char[85] perf_counter_postflightmavlink: tx run interval: 7783 events, 3999.49 avg, min 4000us max 4000us 0.000us rms|M char[90] perf_counter_postflightmavlink: tx run elapsed: 7783 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsOM char[45] perf_counter_postflightmavlink: STATUSTEXT missed messages: 0 eventsEM char[35] perf_counter_postflightmavlink: forwarding error: 0 eventsEM char[35] perf_counter_postflightmavlink: send_bytes error: 0 eventswM char[85] perf_counter_postflightmavlink: tx run interval: 7783 events, 3999.49 avg, min 4000us max 4000us 0.000us rms|M char[90] perf_counter_postflightmavlink: tx run elapsed: 7783 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsOM char[45] perf_counter_postflightmavlink: STATUSTEXT missed messages: 0 eventsEM char[35] perf_counter_postflightmavlink: forwarding error: 0 eventsEM char[35] perf_counter_postflightmavlink: send_bytes error: 0 eventswM char[85] perf_counter_postflightmavlink: tx run interval: 7783 events, 3999.49 avg, min 4000us max 4000us 0.000us rms|M char[90] perf_counter_postflightmavlink: tx run elapsed: 7783 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsOM char[45] perf_counter_postflightmavlink: STATUSTEXT missed messages: 0 eventsEM char[35] perf_counter_postflightmavlink: forwarding error: 0 eventsEM char[35] perf_counter_postflightmavlink: send_bytes error: 0 eventswM char[85] perf_counter_postflightmavlink: tx run interval: 7783 events, 3999.49 avg, min 4000us max 4000us 0.000us rms|M char[90] perf_counter_postflightmavlink: tx run elapsed: 7783 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsQM char[47] perf_counter_postflightgyro_calibration: calibration updated: 0 eventsM char[95] perf_counter_postflightgyro_calibration: interval: 749 events, 33271.03 avg, min 4000us max 9996000us 364516.094us rmsHM char[38] perf_counter_postflightgyro_fft: gyro FIFO data gap: 0 eventsqM char[79] perf_counter_postflightgyro_fft: FFT: 174 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmswM char[85] perf_counter_postflightgyro_fft: cycle interval: 3891 events, 7997.94 avg, min 8000us max 8000us 0.000us rmstM char[82] perf_counter_postflightgyro_fft: cycle: 3891 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsAM char[31] perf_counter_postflightmission_dm_cache_miss: 0 eventsBM char[32] perf_counter_postflightrtl_dm_cache_miss_land: 0 eventsAM char[31] perf_counter_postflightrtl_dm_cache_miss_geo: 0 eventsAM char[31] perf_counter_postflightmission_dm_cache_miss: 0 eventsBM char[32] perf_counter_postflightgeofence_dm_cache_miss: 0 eventsmM char[75] perf_counter_postflightnavigator: 672 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsyM char[87] perf_counter_postflightland_detector: cycle: 3891 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsM char[93] perf_counter_postflightmc_pos_control: cycle time: 3891 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsM char[93] perf_counter_postflightflight_mode_manager: cycle: 1557 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsM!char[104] perf_counter_postflightmc_hover_thrust_estimator: cycle time: 3892 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsM!char[104] perf_counter_postflightmc_autotune_attitude_control: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmszM char[88] perf_counter_postflightmc_att_control: cycle: 7764 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms{M char[89] perf_counter_postflightmc_rate_control: cycle: 7783 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms}M char[91] perf_counter_postflightcontrol_allocator: cycle: 7783 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsDM char[34] perf_counter_postflightekf2: IMU message missed: 0 eventsuM char[83] perf_counter_postflightekf2: EKF update: 3892 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmshM char[70] perf_counter_postflightpwm_out_sim: interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rmstM char[82] perf_counter_postflightpwm_out_sim: cycle: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmstM char[82] perf_counter_postflightcontrol latency: 7783 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms~M char[92] perf_counter_postflightcommander: preflight check: 291 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsuM char[83] perf_counter_postflightcommander: cycle: 2596 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsFM char[36] perf_counter_postflightvehicle_imu: gyro data gap: 0 eventsGM char[37] perf_counter_postflightvehicle_imu: accel data gap: 0 eventsFM char[36] perf_counter_postflightvehicle_imu: gyro data gap: 0 eventsGM char[37] perf_counter_postflightvehicle_imu: accel data gap: 0 eventsFM char[36] perf_counter_postflightvehicle_imu: gyro data gap: 0 eventsGM char[37] perf_counter_postflightvehicle_imu: accel data gap: 0 eventsM char[94] perf_counter_postflightvehicle_magnetometer: cycle: 7783 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsM char[93] perf_counter_postflightvehicle_gps_position: cycle: 585 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms|M char[90] perf_counter_postflightvehicle_air_data: cycle: 7783 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms\M char[58] perf_counter_postflightvehicle_angular_velocity: gyro selection changed: 0 eventsWM char[53] perf_counter_postflightvehicle_angular_velocity: gyro filter reset: 0 eventsM!char[104] perf_counter_postflightvehicle_angular_velocity: gyro filter: 7783 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmslM char[74] perf_counter_postflightsensors: 7783 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms|M char[90] perf_counter_postflightmanual_control: interval: 156 events, 198717.95 avg, min 200000us max 200000us 0.000us rmsyM char[87] perf_counter_postflightmanual_control: cycle: 156 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsqM char[79] perf_counter_postflightrc_update: valid data interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rmslM char[74] perf_counter_postflightrc_update: cycle interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rmsrM char[80] perf_counter_postflightrc_update: cycle: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms}M char[91] perf_counter_postflightbattery_simulator: cycle: 3113 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsrM char[80] perf_counter_postflightload_mon: cycle: 62 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsvM char[84] perf_counter_postflightsimulator_mavlink: network interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rmsM char[96] perf_counter_postflightsimulator_mavlink: network delay: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmspM char[78] perf_counter_postflightdataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsoM char[77] perf_counter_postflightdataman: read: 4 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmslM char[74] perf_counter_postflightparam: set: 3 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms:M char[24] perf_counter_postflightparam: get: 54325 events:M char[24] perf_counter_postflightparam: find: 2546 eventsoM char[77] perf_counter_postflightparam: export: 2 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmspyulog-1.2.3/test/sample_px4_events_messages.txt000066400000000000000000000017371521417275500221240ustar00rootroot00000000000000475214:49:10 INFO: logging: opening log file 2024-3-18/14_49_10.ulg 475214:49:10 INFO: [px4] Startup script returned successfully 475214:49:10 INFO: [logger] Start file log (type: full) 475214:49:10 INFO: [logger] Opened full log file: ./log/2024-03-18/14_49_10.ulg 475214:49:10 INFO: [mavlink] partner IP: 127.0.0.1 475214:49:11 WARNING: [health_and_arming_checks] Preflight: GPS fix too low 475214:49:18 INFO: [tone_alarm] home set 475214:49:18 WARNING: [health_and_arming_checks] Preflight: GPS fix too low 475214:49:21 INFO: [commander] Ready for takeoff! 475214:49:25 INFO: Armed by internal command 475214:49:25 INFO: Using default takeoff altitude: 2.50 m 475214:49:25 INFO: [tone_alarm] arming warning 475214:49:27 INFO: Takeoff detected 475214:49:32 INFO: RTL: start return at 491 m (3 m above destination) 475214:49:32 INFO: RTL: land at destination 475214:49:38 INFO: Landing detected 475214:49:40 INFO: Disarmed by landing 475214:49:40 INFO: [tone_alarm] notify neutral pyulog-1.2.3/test/test_cli.py000066400000000000000000000067621521417275500162170ustar00rootroot00000000000000''' Test command line tools ''' import sys import os import inspect import unittest import tempfile from ddt import ddt, data from pyulog import ulog2csv, info, params, messages, extract_gps_dump try: from StringIO import StringIO except ImportError: from io import StringIO TEST_PATH = os.path.dirname(os.path.abspath( inspect.getfile(inspect.currentframe()))) @ddt class TestCommandLineTools(unittest.TestCase): """ Test command line tools. """ def run_against_file(self, expected_output_file, test): """ run a test and compare the output against an expected file """ saved_stdout = sys.stdout with open(expected_output_file, 'r', encoding='utf8') as file_handle: expected_output = file_handle.read().strip() output = None try: out = StringIO() sys.stdout = out test() output = out.getvalue().strip() assert output == expected_output finally: if output is not None: sys.stdout = saved_stdout print("Got output:") print(output) print("\nExpected output:") print(expected_output) @data('sample') def test_ulog2csv(self, test_case): """ Test that 'ulog2csv' runs without error. """ tmpdir = tempfile.gettempdir() print('writing files to ', tmpdir) ulog_file_name = os.path.join(TEST_PATH, test_case+'.ulg') included_messages = [] output=tmpdir delimiter=',' time_s = 0 time_e = 0 ulog2csv.convert_ulog2csv(ulog_file_name, included_messages, output, delimiter, time_s, time_e) @data('sample', 'sample_appended', 'sample_appended_multiple') def test_pyulog_info_cli(self, test_case): """ Test that the output of 'ulog_info' on sample logs match previously generated results. """ sys.argv = [ '', os.path.join(TEST_PATH, test_case+'.ulg'), '-v' ] self.run_against_file( os.path.join(TEST_PATH, test_case+'_info.txt'), info.main) @unittest.skip("no gps data in log file") def test_extract_gps_dump_cli(self): """ Test that the output of 'ulog_extract_gps_dump' on sample logs match previously generated results. """ sys.argv = [ '', os.path.join(TEST_PATH, 'sample.ulg') ] extract_gps_dump.main() @data('sample', 'sample_appended', 'sample_px4_events') def test_messages_cli(self, test_case): """ Test that the output of 'ulog_messages' on sample logs match previously generated results. """ sys.argv = [ '', os.path.join(TEST_PATH, test_case+'.ulg') ] self.run_against_file( os.path.join(TEST_PATH, test_case+'_messages.txt'), messages.main) @data('sample', 'sample_appended') def test_params_cli(self, test_case): """ Test that 'ulog_params' runs without error. """ sys.argv = [ '', os.path.join(TEST_PATH, test_case+'.ulg') ] params.main() # vim: set et fenc=utf-8 ft=python ff=unix sts=4 sw=4 ts=4 pyulog-1.2.3/test/test_db.py000066400000000000000000000262531521417275500160320ustar00rootroot00000000000000''' Test the DatabaseULog module. ''' import unittest import os import tempfile from unittest.mock import patch import numpy as np from ddt import ddt, data from pyulog import ULog from pyulog.db import DatabaseULog from pyulog.migrate_db import migrate_db TEST_PATH = os.path.dirname(os.path.abspath(__file__)) @ddt class TestDatabaseULog(unittest.TestCase): ''' Test that the DatabaseULog successfully reads a ULog, writes it to database and then is able to read from it without losing any data. ''' def setUp(self): ''' Set up the test database. ''' self.db_path = os.path.join(TEST_PATH, 'pyulog_test.sqlite3') self.db_handle = DatabaseULog.get_db_handle(self.db_path) migrate_db(self.db_path) def tearDown(self): ''' Remove the test database after use. ''' os.remove(self.db_path) @data('sample_log_small', 'sample_appended_multiple', 'sample_appended', 'sample', 'sample_logging_tagged_and_default_params') def test_parsing(self, test_case): ''' Verify that log files written and read from the database are identical to the original ulog file. ''' test_file = os.path.join(TEST_PATH, f'{test_case}.ulg') log_path = os.path.join(TEST_PATH, test_file) ulog = ULog(log_path) dbulog_saved = DatabaseULog(self.db_handle, log_file=test_file) dbulog_saved.save() primary_key = dbulog_saved.primary_key dbulog_loaded = DatabaseULog(self.db_handle, primary_key=primary_key, lazy=False) self.assertEqual(ulog, dbulog_loaded) def test_lazy(self): ''' Verify that when lazy loading is enabled (which is the default behaviour), then the datasets are only retrieved when get_dataset is explicitly called. ''' test_file = os.path.join(TEST_PATH, 'sample_log_small.ulg') log_path = os.path.join(TEST_PATH, test_file) ulog = ULog(log_path) dbulog_saved = DatabaseULog(self.db_handle, log_file=test_file) dbulog_saved.save() primary_key = dbulog_saved.primary_key dbulog_loaded = DatabaseULog(self.db_handle, primary_key=primary_key) for dataset in ulog.data_list: db_dataset = next(ds for ds in dbulog_loaded.data_list if ds.name == dataset.name and ds.multi_id == dataset.multi_id) self.assertEqual(len(db_dataset.data), 0) self.assertNotEqual(len(dataset.data), 0) ulog_dataset = ulog.get_dataset(dataset.name, multi_instance=dataset.multi_id) dbulog_dataset = dbulog_loaded.get_dataset(dataset.name, multi_instance=dataset.multi_id) self.assertEqual(ulog_dataset, dbulog_dataset) def test_data_caching(self): ''' Verify that the caching of dataset data works as expected. ''' test_file = os.path.join(TEST_PATH, 'sample_log_small.ulg') dbulog_saved = DatabaseULog(self.db_handle, log_file=test_file) dbulog_saved.save() primary_key = dbulog_saved.primary_key dbulog_loaded = DatabaseULog(self.db_handle, primary_key=primary_key, lazy=True) for dataset in dbulog_loaded.data_list: cache_miss = dbulog_loaded.get_dataset(dataset.name, multi_instance=dataset.multi_id, caching=True) cache_hit = dbulog_loaded.get_dataset(dataset.name, multi_instance=dataset.multi_id, caching=True) uncached = dbulog_loaded.get_dataset(dataset.name, multi_instance=dataset.multi_id, caching=False) self.assertEqual(cache_miss, cache_hit) self.assertEqual(cache_miss, uncached) self.assertIs(cache_miss, cache_hit) self.assertIsNot(cache_miss, uncached) def test_save(self): ''' Test that save() twice raises an error, since we currently do not support updating the database. ''' log_path = os.path.join(TEST_PATH, 'sample_log_small.ulg') dbulog = DatabaseULog(self.db_handle, log_file=log_path) dbulog.save() with self.assertRaises(KeyError): dbulog.save() def test_load(self): ''' Test that load() on an unknown primary key raises an error.''' with self.assertRaises(KeyError): _ = DatabaseULog(self.db_handle, primary_key=100) def test_unapplied_migrations(self): ''' Test that we get get an error when trying to initialize a DatabaseULog if there are unapplied migrations, i.e. the SCHEMA_VERSION of DatabaseULog is larger than user_version in the database. ''' migrate_db(self.db_path) log_file = os.path.join(TEST_PATH, 'sample_log_small.ulg') _ = DatabaseULog(self.db_handle, log_file=log_file) with self.assertRaises(ValueError): # Increment SCHEMA_VERSION so the database is seemingly out of date with patch.object(DatabaseULog, 'SCHEMA_VERSION', DatabaseULog.SCHEMA_VERSION+1): _ = DatabaseULog(self.db_handle, log_file=log_file) @data('sample_log_small') def test_sha256sum(self, test_case): ''' Verify that the sha256sum set on save can be used to find the same file again, using any of the approved file input methods. ''' test_file = os.path.join(TEST_PATH, f'{test_case}.ulg') dbulog = DatabaseULog(self.db_handle, log_file=test_file) dbulog.save() digest = DatabaseULog.calc_sha256sum(test_file) self.assertEqual(digest, dbulog.sha256sum) test_file_handle = open(test_file, 'rb') # pylint: disable=consider-using-with open_digest = DatabaseULog.calc_sha256sum(test_file_handle) self.assertEqual(digest, open_digest) test_file_handle.close() closed_digest = DatabaseULog.calc_sha256sum(test_file_handle) self.assertEqual(digest, closed_digest) pk_from_digest = DatabaseULog.primary_key_from_sha256sum(self.db_handle, digest) self.assertEqual(pk_from_digest, dbulog.primary_key) dbulog_duplicate = DatabaseULog(self.db_handle, log_file=test_file) with self.assertRaises(KeyError): dbulog_duplicate.save() def test_delete(self): ''' Verify that the delete method completely deletes the relevant ulog from the database, and nothing else, by looking at the size of the database before and after deleting. ''' def db_size(): ''' Get the size in bytes of the database file, after VACUUMING to make sure that deleted rows are cleaned up. ''' with self.db_handle() as con: con.execute('VACUUM') return os.path.getsize(self.db_path) # We pre-populate the database with a log to detect if delete() just # wipes everything test_file1 = os.path.join(TEST_PATH, 'sample.ulg') DatabaseULog(self.db_handle, log_file=test_file1).save() initial_size = db_size() test_file2 = os.path.join(TEST_PATH, 'sample_log_small.ulg') dbulog = DatabaseULog(self.db_handle, log_file=test_file2) dbulog.save() self.assertNotEqual(db_size(), initial_size) dbulog.delete() self.assertEqual(db_size(), initial_size) def test_json(self): ''' Verify that the storage of JSON rows allows for reproduction of the datasets. ''' test_file = os.path.join(TEST_PATH, 'sample_log_small.ulg') log_path = os.path.join(TEST_PATH, test_file) dbulog = DatabaseULog(self.db_handle, log_file=log_path) dbulog.save(append_json=True) with self.db_handle() as con: cur = con.cursor() for dataset in dbulog.data_list: for field_name, values in dataset.data.items(): cur.execute(''' SELECT j.key, j.value FROM ULogField uf, json_each(uf.ValueJson) j JOIN ULogDataset uds ON uf.DatasetId = uds.Id WHERE uds.DatasetName = ? AND uds.MultiId = ? AND uf.TopicName = ? AND uds.ULogId = ? ORDER BY j.key ASC ''', (dataset.name, dataset.multi_id, field_name, dbulog.primary_key)) results = np.array(cur.fetchall(), dtype=float) db_timestamps = results[:,0].flatten() db_values = results[:,1].flatten() # We must filter out None, nan and inf values since JSON # doesn't support nan and inf. db_values_finite = db_values[np.isfinite(db_values)] values_finite = values[np.isfinite(values)] # We test for approximate equality since we are comparing # string-formatted floats. self.assertEqual(len(db_values_finite), len(values_finite)) if len(db_values_finite) > 0: np.testing.assert_allclose(db_values_finite, values_finite) if field_name == 'timestamp': self.assertEqual(len(db_timestamps), len(values)) np.testing.assert_allclose(db_timestamps, values) cur.close() @data('sample', 'sample_appended', 'sample_appended_multiple', 'sample_logging_tagged_and_default_params') def test_write_ulog(self, base_name): ''' Test that the write_ulog method successfully replicates all relevant data. ''' with tempfile.TemporaryDirectory() as tmpdirname: ulog_file_name = os.path.join(TEST_PATH, base_name + '.ulg') written_ulog_file_name = os.path.join(tmpdirname, base_name + '_copy.ulg') dbulog = DatabaseULog(self.db_handle, log_file=ulog_file_name) dbulog.save() lazy_loaded_dbulog = DatabaseULog( self.db_handle, primary_key=dbulog.primary_key, lazy=True ) with self.assertRaises(ValueError): lazy_loaded_dbulog.write_ulog(written_ulog_file_name) loaded_dbulog = DatabaseULog(self.db_handle, primary_key=dbulog.primary_key, lazy=False) loaded_dbulog.write_ulog(written_ulog_file_name) copied = ULog(written_ulog_file_name) # Some fields are not copied but dropped, so we cheat by modifying the original loaded_dbulog._sync_seq_cnt = 0 # pylint: disable=protected-access loaded_dbulog._appended_offsets = [] # pylint: disable=protected-access loaded_dbulog._incompat_flags[0] &= 0xFE # pylint: disable=protected-access assert copied == loaded_dbulog pyulog-1.2.3/test/test_extract_message.py000066400000000000000000000015231521417275500206140ustar00rootroot00000000000000''' Test extract_message module ''' import os import inspect import unittest from ddt import ddt, data from pyulog.extract_message import extract_message TEST_PATH = os.path.dirname(os.path.abspath( inspect.getfile(inspect.currentframe()))) @ddt class TestExtractMessage(unittest.TestCase): """ Test extract_message module. """ @data('sample') def test_extract_message(self, test_case): """ Test that extract_message module runs without error. """ ulog_file_name = os.path.join(TEST_PATH, test_case+'.ulg') message = "actuator_controls_0" time_s = None time_e = None extract_message(ulog_file_name, message, time_s, time_e) # vim: set et fenc=utf-8 ft=python ff=unix sts=4 sw=4 ts=4 pyulog-1.2.3/test/test_migration.py000066400000000000000000000160561521417275500174360ustar00rootroot00000000000000''' Test that the migration module works correctly. ''' import unittest import os import re import sqlite3 import subprocess from unittest.mock import patch from ddt import ddt, data from pyulog.db import DatabaseULog from pyulog.migrate_db import migrate_db TEST_PATH = os.path.dirname(os.path.abspath(__file__)) @ddt class TestMigration(unittest.TestCase): ''' Using both fake and real migration files, try various migration sequences and check that the state of the database is as expected from the migrations that were run. ''' def setUp(self): ''' Set up the test database and fake migration script directory for each test. ''' self.db_path = os.path.join(TEST_PATH, 'test_pyulog.sqlite3') self.db_handle = DatabaseULog.get_db_handle(self.db_path) self.sql_dir = os.path.join(TEST_PATH, 'test_sql') os.mkdir(self.sql_dir) def tearDown(self): ''' Remove test database and fake migration script directory after each test. ''' for filename in os.listdir(self.sql_dir): assert re.match(r'pyulog\.\d\.sql', filename), 'Only removing migration files.' filepath = os.path.join(self.sql_dir, filename) os.remove(filepath) os.rmdir(self.sql_dir) if os.path.exists(self.db_path): os.remove(self.db_path) def _make_migration_file(self, sql): ''' Utility function for creating fake migration files. This is necessary because the migration tool reads from disk, so any fake migration scripts we want to test must be written to disk too, with correct file names. The files are cleaned up in tearDown. ''' current_migration_files = os.listdir(self.sql_dir) migration_index = len(current_migration_files) + 1 sql_filename = f'pyulog.{migration_index}.sql' sql_path = os.path.join(self.sql_dir, sql_filename) with open(sql_path, 'w', encoding='utf8') as migration_file: migration_file.write(sql) def _get_db_info(self): ''' Utility function for getting the current database version and column names. This is used to verify the state of the database after running various migration scripts. ''' with self.db_handle() as con: cur = con.cursor() cur.execute('PRAGMA table_info(TestTable)') table_info = cur.fetchall() cur.execute('PRAGMA user_version') (db_version,) = cur.fetchone() cur.close() return db_version, [column_info[1] for column_info in table_info] def test_good_migrations(self): ''' Test that two sequential migrations run successfully and sequentially. ''' self._make_migration_file('BEGIN; CREATE TABLE TestTable ( Id INTEGER ); COMMIT;') with patch.object(DatabaseULog, 'SCHEMA_VERSION', 1): migrate_db(self.db_path, sql_dir=self.sql_dir) db_version, col_names = self._get_db_info() self.assertEqual(col_names[0], 'Id') self.assertEqual(db_version, 1) self._make_migration_file('BEGIN; ALTER TABLE TestTable RENAME Id to IdRenamed; COMMIT;') with patch.object(DatabaseULog, 'SCHEMA_VERSION', 2): migrate_db(self.db_path, sql_dir=self.sql_dir) db_version, col_names = self._get_db_info() self.assertEqual(col_names[0], 'IdRenamed') self.assertEqual(db_version, 2) @data('CREATE TABLE TestTable;', 'BEGIN; CREATE TABLE TestTable;', 'CREATE TABLE TestTable; END;') def test_transactions(self, sql_line): ''' Verify that migration files are rejected if they don't enforce transactions correctly. ''' self._make_migration_file(sql_line) with self.assertRaises(ValueError), \ patch.object(DatabaseULog, 'SCHEMA_VERSION', 1): migrate_db(self.db_path, sql_dir=self.sql_dir) def test_bad_migrations(self): ''' Insert a bug into a line of a migration script, and verify that the script is rolled back. ''' self._make_migration_file(''' BEGIN; CREATE TABLE TestTable ( Id INTEGER, Value TEXT ); COMMIT; ''') self._make_migration_file(''' BEGIN; ALTER TABLE TestTable RENAME COLUMN Id TO IdRenamed; ALTER TABLE TestTable RENAME COLUMN IdRenamed TO IdRenamed2; ALTER TABLE TestTable RENAME COLUMN Value TO ValueRenamed; COMMIT; ''') with self.assertRaises(sqlite3.OperationalError), \ patch.object(DatabaseULog, 'SCHEMA_VERSION', 2): migrate_db(self.db_path, sql_dir=self.sql_dir) db_version, col_names = self._get_db_info() self.assertEqual(col_names[0], 'Id') # Also check the 'Value' column, since the renaming of that field would # not have been impacted by the buggy line. self.assertEqual(col_names[1], 'Value') self.assertEqual(db_version, 1) def test_existing_db(self): ''' Verify that the migration tool will not modify databases that are were created before the migration tool. Then verify that the -f flag correctly forces the execution anyway. ''' db_version, _ = self._get_db_info() # This function implicitly creates the database self.assertEqual(db_version, 0) with self.assertRaises(FileExistsError): migrate_db(self.db_path) migrate_db(self.db_path, force=True) db_version, _ = self._get_db_info() self.assertEqual(db_version, DatabaseULog.SCHEMA_VERSION) def test_missing_migration_file(self): ''' Verify that the migration tool stops after it encounters a non-existent migration file. ''' self._make_migration_file('BEGIN; CREATE TABLE TestTable ( Id INTEGER ); COMMIT;') with self.assertRaises(FileNotFoundError), \ patch.object(DatabaseULog, 'SCHEMA_VERSION', 2): migrate_db(self.db_path, sql_dir=self.sql_dir) db_version, col_names = self._get_db_info() self.assertEqual(col_names[0], 'Id') self.assertEqual(db_version, 1) def test_noop(self): ''' Verify that the noop flag removes any effect on the database. ''' migrate_db(self.db_path, noop=True) db_version, _ = self._get_db_info() self.assertEqual(db_version, 0) def test_real_migrations(self): ''' Verify that the migration scripts in the pyulog/sql directory execute successfully. ''' migrate_db(self.db_path) db_version, _ = self._get_db_info() self.assertEqual(db_version, DatabaseULog.SCHEMA_VERSION) def test_cli(self): ''' Verify that the command line tol ulog_migratedb completes the migrations successfully. ''' result = subprocess.run(['ulog_migratedb', '-d', self.db_path], check=True) self.assertEqual(result.returncode, 0) db_version, _ = self._get_db_info() self.assertEqual(db_version, DatabaseULog.SCHEMA_VERSION) pyulog-1.2.3/test/test_px4.py000066400000000000000000000046461521417275500161620ustar00rootroot00000000000000''' Tests the PX4ULog class ''' import os import inspect import unittest from ddt import ddt, data from pyulog import ULog from pyulog.px4 import PX4ULog from pyulog.db import DatabaseULog from pyulog.migrate_db import migrate_db TEST_PATH = os.path.dirname(os.path.abspath( inspect.getfile(inspect.currentframe()))) @ddt class TestPX4ULog(unittest.TestCase): ''' Tests the PX4ULog class ''' def setUp(self): ''' Set up the test database. ''' self.db_path = os.path.join(TEST_PATH, 'pyulog_test.sqlite3') self.db_handle = DatabaseULog.get_db_handle(self.db_path) migrate_db(self.db_path) def tearDown(self): ''' Remove the test database after use. ''' os.remove(self.db_path) @data('sample', 'sample_appended', 'sample_appended_multiple', 'sample_logging_tagged_and_default_params') def test_add_roll_pitch_yaw(self, base_name): ''' Test that add_roll_pitch_yaw correctly adds RPY values to 'vehicle_attitude' ''' ulog_file_name = os.path.join(TEST_PATH, base_name + '.ulg') ulog = ULog(ulog_file_name) px4 = PX4ULog(ulog) px4.add_roll_pitch_yaw() dataset = ulog.get_dataset('vehicle_attitude') assert 'roll' in dataset.data assert 'pitch' in dataset.data assert 'yaw' in dataset.data @data('sample', 'sample_appended', 'sample_appended_multiple', 'sample_logging_tagged_and_default_params') def test_add_roll_pitch_yaw_db(self, base_name): ''' Test that add_roll_pitch_yaw correctly adds RPY values to 'vehicle_attitude' on a DatabaseULog object. ''' ulog_file_name = os.path.join(TEST_PATH, base_name + '.ulg') dbulog = DatabaseULog(self.db_handle, log_file=ulog_file_name) dbulog.save() del dbulog digest = DatabaseULog.calc_sha256sum(ulog_file_name) primary_key = DatabaseULog.primary_key_from_sha256sum(self.db_handle, digest) dbulog = DatabaseULog(self.db_handle, primary_key=primary_key, lazy=False) px4 = PX4ULog(dbulog) px4.add_roll_pitch_yaw() dataset = dbulog.get_dataset('vehicle_attitude') assert 'roll' in dataset.data assert 'pitch' in dataset.data assert 'yaw' in dataset.data # vim: set et fenc=utf-8 ft=python ff=unix sts=4 sw=4 ts=4 pyulog-1.2.3/test/test_px4_events.py000066400000000000000000000030511521417275500175330ustar00rootroot00000000000000""" Tests the PX4Events class """ import os import inspect import unittest from ddt import ddt, data import pyulog from pyulog.px4_events import PX4Events TEST_PATH = os.path.dirname(os.path.abspath( inspect.getfile(inspect.currentframe()))) @ddt class TestPX4Events(unittest.TestCase): """ Tests the PX4Events class """ @data('sample_px4_events') def test_px4_events(self, base_name): """ Test that the PX4 events are extracted. """ ulog_file_name = os.path.join(TEST_PATH, base_name + '.ulg') ulog = pyulog.ULog(ulog_file_name) px4_ulog = PX4Events() def default_json_definitions_cb(already_has_default_parser: bool): raise AssertionError('Must use definitions from logs') px4_ulog.set_default_json_definitions_cb(default_json_definitions_cb) messages = px4_ulog.get_logged_events(ulog) expected_messages = [ (1710773350346000, 'INFO', 'logging: opening log file 2024-3-18/14_49_10.ulg'), (1710773365282000, 'INFO', 'Armed by internal command'), (1710773365282000, 'INFO', 'Using default takeoff altitude: 2.50 m'), (1710773367094000, 'INFO', 'Takeoff detected'), (1710773372482000, 'INFO', 'RTL: start return at 491 m (3 m above destination)'), (1710773372694000, 'INFO', 'RTL: land at destination'), (1710773378482000, 'INFO', 'Landing detected'), (1710773380486000, 'INFO', 'Disarmed by landing') ] assert messages == expected_messages pyulog-1.2.3/test/test_ulog.py000066400000000000000000000064161521417275500164120ustar00rootroot00000000000000''' Tests the ULog class ''' import os import inspect import unittest import tempfile from io import BytesIO from ddt import ddt, data import pyulog TEST_PATH = os.path.dirname(os.path.abspath( inspect.getfile(inspect.currentframe()))) @ddt class TestULog(unittest.TestCase): ''' Tests the ULog class ''' @data('sample') def test_comparison(self, base_name): ''' Test that the custom comparison method works as expected. ''' ulog_file_name = os.path.join(TEST_PATH, base_name + '.ulg') ulog1 = pyulog.ULog(ulog_file_name) ulog2 = pyulog.ULog(ulog_file_name) assert ulog1 == ulog2 assert ulog1 is not ulog2 # make them different in arbitrary field ulog1.data_list[0].data['timestamp'][0] += 1 assert ulog1 != ulog2 @data('sample', 'sample_appended', 'sample_appended_multiple', 'sample_logging_tagged_and_default_params') def test_write_ulog(self, base_name): ''' Test that the write_ulog method successfully replicates all relevant data. ''' with tempfile.TemporaryDirectory() as tmpdirname: ulog_file_name = os.path.join(TEST_PATH, base_name + '.ulg') written_ulog_file_name = os.path.join(tmpdirname, base_name + '_copy.ulg') original = pyulog.ULog(ulog_file_name) original.write_ulog(written_ulog_file_name) copied = pyulog.ULog(written_ulog_file_name) # Some fields are not copied but dropped, so we cheat by modifying the original original._sync_seq_cnt = 0 # pylint: disable=protected-access original._appended_offsets = [] # pylint: disable=protected-access original._incompat_flags[0] &= 0xFE # pylint: disable=protected-access assert copied == original @data('sample') def test_write_ulog_memory(self, base_name): ''' Test that the write_ulog method can write bytes to memory. ''' ulog_file_name = os.path.join(TEST_PATH, base_name + '.ulg') original = pyulog.ULog(ulog_file_name) with BytesIO() as bytes_handle: original.write_ulog(bytes_handle) bytes_handle.seek(0) copied = pyulog.ULog(bytes_handle) for original_key, original_value in original.__dict__.items(): copied_value = getattr(copied, original_key) if original_key == '_sync_seq_cnt': # Sync messages are counted on parse, but otherwise dropped, so # we don't rewrite them assert copied_value == 0 elif original_key == '_appended_offsets': # Abruptly ended messages just before offsets are dropped, so # we don't rewrite appended offsets assert copied_value == [] elif original_key == '_incompat_flags': # Same reasoning on incompat_flags[0] as for '_appended_offsets' assert copied_value[0] == original_value[0] & 0xFE # pylint: disable=unsubscriptable-object assert copied_value[1:] == original_value[1:] # pylint: disable=unsubscriptable-object else: assert copied_value == original_value # vim: set et fenc=utf-8 ft=python ff=unix sts=4 sw=4 ts=4

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[commander] Disarmed by landing pyulog-1.2.3/test/sample_logging_tagged_and_default_params.ulg000066400000000000000000073224301521417275500247430ustar00rootroot00000000000000ULog5E(B8Ichar[40] ver_swcea3da71130d9b61c426dfb3feef6943b78e838eIuint32_t ver_sw_release Ichar[8] ver_hwPX4_SITLIchar[3] sys_namePX4Ichar[5] sys_os_nameLinuxIchar[4] ver_sw_branchtest Iuint32_t sys_os_ver_releaseIchar[7] sys_toolchainGNU GCC=Ichar[34] sys_toolchain_ver11.2.1 20220127 (Red Hat 11.2.1-9)Iuint32_t ver_data_formatIint32_t time_ref_utcbFaction_request:uint64_t timestamp;uint8_t action;uint8_t source;uint8_t mode;uint8_t[5] _padding0;Factuator_armed:uint64_t timestamp;bool armed;bool prearmed;bool ready_to_arm;bool lockdown;bool manual_lockdown;bool force_failsafe;bool in_esc_calibration_mode;bool soft_stop;RFactuator_controls_0:uint64_t timestamp;uint64_t timestamp_sample;float[8] control;RFactuator_controls_1:uint64_t timestamp;uint64_t timestamp_sample;float[8] control;RFactuator_controls_2:uint64_t timestamp;uint64_t timestamp_sample;float[8] control;RFactuator_controls_3:uint64_t timestamp;uint64_t timestamp_sample;float[8] control;Fairspeed:uint64_t timestamp;uint64_t timestamp_sample;float indicated_airspeed_m_s;float true_airspeed_m_s;float air_temperature_celsius;float confidence;Fautotune_attitude_control_status:uint64_t timestamp;float[5] coeff;float[5] coeff_var;float fitness;float innov;float dt_model;float kc;float ki;float kd;float kff;float att_p;float[3] rate_sp;float u_filt;float y_filt;uint8_t state;uint8_t[3] _padding0;Fcellular_status:uint64_t timestamp;uint16_t status;uint16_t mcc;uint16_t mnc;uint16_t lac;uint8_t failure_reason;uint8_t type;uint8_t quality;uint8_t[5] _padding0;gFcommander_state:uint64_t timestamp;uint16_t main_state_changes;uint8_t main_state;uint8_t[5] _padding0;6Fcpuload:uint64_t timestamp;float load;float ram_usage;Ffailure_detector_status:uint64_t timestamp;float imbalanced_prop_metric;bool fd_roll;bool fd_pitch;bool fd_alt;bool fd_ext;bool fd_arm_escs;bool fd_high_wind;bool fd_battery;bool fd_imbalanced_prop;uint8_t[4] _padding0;Fhome_position:uint64_t timestamp;double lat;double lon;float alt;float x;float y;float z;float yaw;bool valid_alt;bool valid_hpos;bool valid_lpos;bool manual_home;Fhover_thrust_estimate:uint64_t timestamp;uint64_t timestamp_sample;float hover_thrust;float hover_thrust_var;float accel_innov;float accel_innov_var;float accel_innov_test_ratio;float accel_noise_var;bool valid;uint8_t[7] _padding0;Finput_rc:uint64_t timestamp;uint64_t timestamp_last_signal;int32_t rssi;uint16_t rc_lost_frame_count;uint16_t rc_total_frame_count;uint16_t rc_ppm_frame_length;uint16_t[18] values;uint8_t channel_count;bool rc_failsafe;bool rc_lost;uint8_t input_source;uint8_t[6] _padding0;Fmanual_control_setpoint:uint64_t timestamp;uint64_t timestamp_sample;float x;float y;float z;float r;float flaps;float aux1;float aux2;float aux3;float aux4;float aux5;float aux6;bool valid;uint8_t data_source;bool sticks_moving;uint8_t[1] _padding0;GFmanual_control_switches:uint64_t timestamp;uint64_t timestamp_sample;uint32_t switch_changes;uint8_t mode_slot;uint8_t arm_switch;uint8_t return_switch;uint8_t loiter_switch;uint8_t offboard_switch;uint8_t kill_switch;uint8_t gear_switch;uint8_t transition_switch;uint8_t photo_switch;uint8_t video_switch;uint8_t[2] _padding0;DFmission_result:uint64_t timestamp;uint32_t instance_count;int32_t seq_reached;uint16_t seq_current;uint16_t seq_total;uint16_t item_changed_index;uint16_t item_do_jump_remaining;bool valid;bool warning;bool finished;bool failure;bool stay_in_failsafe;bool flight_termination;bool item_do_jump_changed;uint8_t execution_mode;Fnavigator_mission_item:uint64_t timestamp;uint32_t instance_count;float latitude;float longitude;float time_inside;float acceptance_radius;float loiter_radius;float yaw;float altitude;uint16_t sequence_current;uint16_t nav_cmd;uint8_t frame;uint8_t origin;bool loiter_exit_xtrack;bool force_heading;bool altitude_is_relative;bool autocontinue;bool vtol_back_transition;uint8_t[5] _padding0;OFnpfg_status:uint64_t timestamp;float lat_accel;float lat_accel_ff;float bearing_feas;float bearing_feas_on_track;float signed_track_error;float track_error_bound;float airspeed_ref;float bearing;float heading_ref;float min_ground_speed_ref;float adapted_period;float p_gain;float time_const;uint8_t wind_est_valid;uint8_t[3] _padding0;Foffboard_control_mode:uint64_t timestamp;bool position;bool velocity;bool acceleration;bool attitude;bool body_rate;bool actuator;uint8_t[2] _padding0;Fonboard_computer_status:uint64_t timestamp;uint32_t uptime;uint32_t ram_usage;uint32_t ram_total;uint32_t[4] storage_type;uint32_t[4] storage_usage;uint32_t[4] storage_total;uint32_t[6] link_type;uint32_t[6] link_tx_rate;uint32_t[6] link_rx_rate;uint32_t[6] link_tx_max;uint32_t[6] link_rx_max;int16_t[4] fan_speed;uint8_t type;uint8_t[8] cpu_cores;uint8_t[10] cpu_combined;uint8_t[4] gpu_cores;uint8_t[10] gpu_combined;int8_t temperature_board;int8_t[8] temperature_core;uint8_t[2] _padding0;Fparameter_update:uint64_t timestamp;uint32_t instance;uint32_t get_count;uint32_t set_count;uint32_t find_count;uint32_t export_count;uint16_t active;uint16_t changed;uint16_t custom_default;uint8_t[6] _padding0;Fposition_controller_status:uint64_t timestamp;float nav_roll;float nav_pitch;float nav_bearing;float target_bearing;float xtrack_error;float wp_dist;float acceptance_radius;float yaw_acceptance;float altitude_acceptance;uint8_t type;uint8_t[3] _padding0;yFposition_setpoint_triplet:uint64_t timestamp;position_setpoint previous;position_setpoint current;position_setpoint next;Fposition_setpoint:uint64_t timestamp;double lat;double lon;float vx;float vy;float vz;float alt;float yaw;float yawspeed;float loiter_radius;float acceptance_radius;float cruising_speed;float cruising_throttle;bool valid;uint8_t type;bool velocity_valid;uint8_t velocity_frame;bool alt_valid;bool yaw_valid;bool yawspeed_valid;int8_t landing_gear;int8_t loiter_direction;bool disable_weather_vane;uint8_t[6] _padding0;Fradio_status:uint64_t timestamp;uint16_t rxerrors;uint16_t fix;uint8_t rssi;uint8_t remote_rssi;uint8_t txbuf;uint8_t noise;uint8_t remote_noise;uint8_t[7] _padding0;rFrtl_time_estimate:uint64_t timestamp;float time_estimate;float safe_time_estimate;bool valid;uint8_t[7] _padding0;\Fsafety:uint64_t timestamp;bool safety_switch_available;bool safety_off;uint8_t[6] _padding0;*Fsensor_combined:uint64_t timestamp;float[3] gyro_rad;uint32_t gyro_integral_dt;int32_t accelerometer_timestamp_relative;float[3] accelerometer_m_s2;uint32_t accelerometer_integral_dt;uint8_t accelerometer_clipping;uint8_t accel_calibration_count;uint8_t gyro_calibration_count;uint8_t[1] _padding0;%Fsensor_gyro_fft:uint64_t timestamp;uint64_t timestamp_sample;uint32_t device_id;float sensor_sample_rate_hz;float resolution_hz;float[3] peak_frequencies_x;float[3] peak_frequencies_y;float[3] peak_frequencies_z;float[3] peak_snr_x;float[3] peak_snr_y;float[3] peak_snr_z;uint8_t[4] _padding0;UFsensor_selection:uint64_t timestamp;uint32_t accel_device_id;uint32_t gyro_device_id;CFsensors_status_imu:uint64_t timestamp;uint32_t accel_device_id_primary;uint32_t[4] accel_device_ids;float[4] accel_inconsistency_m_s_s;uint32_t gyro_device_id_primary;uint32_t[4] gyro_device_ids;float[4] gyro_inconsistency_rad_s;bool[4] accel_healthy;uint8_t[4] accel_priority;bool[4] gyro_healthy;uint8_t[4] gyro_priority; Fsystem_power:uint64_t timestamp;float voltage5v_v;float[4] sensors3v3;uint8_t sensors3v3_valid;uint8_t usb_connected;uint8_t brick_valid;uint8_t usb_valid;uint8_t servo_valid;uint8_t periph_5v_oc;uint8_t hipower_5v_oc;uint8_t comp_5v_valid;uint8_t can1_gps1_5v_valid;uint8_t[3] _padding0;^Ftakeoff_status:uint64_t timestamp;float tilt_limit;uint8_t takeoff_state;uint8_t[3] _padding0;Ftrajectory_setpoint:uint64_t timestamp;float x;float y;float z;float yaw;float yawspeed;float vx;float vy;float vz;float[3] acceleration;float[3] jerk;float[3] thrust;uint8_t[4] _padding0;%Ftransponder_report:uint64_t timestamp;double lat;double lon;uint32_t icao_address;float altitude;float heading;float hor_velocity;float ver_velocity;uint16_t flags;uint16_t squawk;uint8_t altitude_type;char[9] callsign;uint8_t emitter_type;uint8_t tslc;uint8_t[18] uas_id;uint8_t[2] _padding0;dFvehicle_acceleration:uint64_t timestamp;uint64_t timestamp_sample;float[3] xyz;uint8_t[4] _padding0;Fvehicle_air_data:uint64_t timestamp;uint64_t timestamp_sample;uint32_t baro_device_id;float baro_alt_meter;float baro_temp_celcius;float baro_pressure_pa;float rho;uint8_t calibration_count;uint8_t[3] _padding0;hFvehicle_angular_velocity:uint64_t timestamp;uint64_t timestamp_sample;float[3] xyz;uint8_t[4] _padding0;Fvehicle_attitude:uint64_t timestamp;uint64_t timestamp_sample;float[4] q;float[4] delta_q_reset;uint8_t quat_reset_counter;uint8_t[7] _padding0;Fvehicle_attitude_setpoint:uint64_t timestamp;float roll_body;float pitch_body;float yaw_body;float yaw_sp_move_rate;float[4] q_d;float[3] thrust_body;bool roll_reset_integral;bool pitch_reset_integral;bool yaw_reset_integral;bool fw_control_yaw;uint8_t apply_flaps;uint8_t[7] _padding0;,Fvehicle_command:uint64_t timestamp;double param5;double param6;float param1;float param2;float param3;float param4;float param7;uint32_t command;uint8_t target_system;uint8_t target_component;uint8_t source_system;uint8_t source_component;uint8_t confirmation;bool from_external;uint8_t[2] _padding0;nFvehicle_constraints:uint64_t timestamp;float speed_up;float speed_down;bool want_takeoff;uint8_t[7] _padding0;Fvehicle_control_mode:uint64_t timestamp;bool flag_armed;bool flag_multicopter_position_control_enabled;bool flag_control_manual_enabled;bool flag_control_auto_enabled;bool flag_control_offboard_enabled;bool flag_control_rates_enabled;bool flag_control_attitude_enabled;bool flag_control_acceleration_enabled;bool flag_control_velocity_enabled;bool flag_control_position_enabled;bool flag_control_altitude_enabled;bool flag_control_climb_rate_enabled;bool flag_control_termination_enabled;uint8_t[3] _padding0;'Fvehicle_global_position:uint64_t timestamp;uint64_t timestamp_sample;double lat;double lon;float alt;float alt_ellipsoid;float delta_alt;float eph;float epv;float terrain_alt;uint8_t lat_lon_reset_counter;uint8_t alt_reset_counter;bool terrain_alt_valid;bool dead_reckoning;uint8_t[4] _padding0;Fvehicle_gps_position:uint64_t timestamp;uint64_t time_utc_usec;int32_t lat;int32_t lon;int32_t alt;int32_t alt_ellipsoid;float s_variance_m_s;float c_variance_rad;float eph;float epv;float hdop;float vdop;int32_t noise_per_ms;int32_t jamming_indicator;float vel_m_s;float vel_n_m_s;float vel_e_m_s;float vel_d_m_s;float cog_rad;int32_t timestamp_time_relative;float heading;float heading_offset;uint8_t fix_type;uint8_t jamming_state;bool vel_ned_valid;uint8_t satellites_used;uint8_t selected;uint8_t[3] _padding0;Fvehicle_land_detected:uint64_t timestamp;bool freefall;bool ground_contact;bool maybe_landed;bool landed;bool in_ground_effect;bool in_descend;bool has_low_throttle;bool vertical_movement;bool horizontal_movement;bool close_to_ground_or_skipped_check;bool at_rest;uint8_t[5] _padding0;Fvehicle_local_position:uint64_t timestamp;uint64_t timestamp_sample;uint64_t ref_timestamp;double ref_lat;double ref_lon;float x;float y;float z;float[2] delta_xy;float delta_z;float vx;float vy;float vz;float z_deriv;float[2] delta_vxy;float delta_vz;float ax;float ay;float az;float heading;float delta_heading;float ref_alt;float dist_bottom;float eph;float epv;float evh;float evv;float vxy_max;float vz_max;float hagl_min;float hagl_max;bool xy_valid;bool z_valid;bool v_xy_valid;bool v_z_valid;uint8_t xy_reset_counter;uint8_t z_reset_counter;uint8_t vxy_reset_counter;uint8_t vz_reset_counter;uint8_t heading_reset_counter;bool heading_good_for_control;bool xy_global;bool z_global;bool dist_bottom_valid;uint8_t dist_bottom_sensor_bitfield;uint8_t[2] _padding0;Fvehicle_local_position_setpoint:uint64_t timestamp;float x;float y;float z;float yaw;float yawspeed;float vx;float vy;float vz;float[3] acceleration;float[3] jerk;float[3] thrust;uint8_t[4] _padding0;Fvehicle_magnetometer:uint64_t timestamp;uint64_t timestamp_sample;uint32_t device_id;float[3] magnetometer_ga;uint8_t calibration_count;uint8_t[7] _padding0;`Fvehicle_rates_setpoint:uint64_t timestamp;float roll;float pitch;float yaw;float[3] thrust_body;Fvehicle_roi:uint64_t timestamp;double lat;double lon;float alt;float roll_offset;float pitch_offset;float yaw_offset;uint8_t mode;uint8_t[7] _padding0;"Fvehicle_status:uint64_t timestamp;uint64_t nav_state_timestamp;uint64_t failsafe_timestamp;uint64_t onboard_control_sensors_present;uint64_t onboard_control_sensors_enabled;uint64_t onboard_control_sensors_health;uint64_t armed_time;uint64_t takeoff_time;uint8_t nav_state;uint8_t arming_state;uint8_t hil_state;bool failsafe;uint8_t system_type;uint8_t system_id;uint8_t component_id;uint8_t vehicle_type;bool is_vtol;bool is_vtol_tailsitter;bool vtol_fw_permanent_stab;bool in_transition_mode;bool in_transition_to_fw;bool rc_signal_lost;bool data_link_lost;uint8_t data_link_lost_counter;bool high_latency_data_link_lost;bool engine_failure;bool mission_failure;bool geofence_violated;uint8_t failure_detector_status;uint8_t latest_arming_reason;uint8_t latest_disarming_reason;uint8_t[1] _padding0;Fvehicle_status_flags:uint64_t timestamp;bool calibration_enabled;bool system_sensors_initialized;bool system_hotplug_timeout;bool auto_mission_available;bool angular_velocity_valid;bool attitude_valid;bool local_altitude_valid;bool local_position_valid;bool local_velocity_valid;bool global_position_valid;bool gps_position_valid;bool home_position_valid;bool power_input_valid;bool battery_healthy;bool escs_error;bool escs_failure;bool position_reliant_on_gps;bool position_reliant_on_optical_flow;bool position_reliant_on_vision_position;bool dead_reckoning;bool flight_terminated;bool circuit_breaker_engaged_power_check;bool circuit_breaker_engaged_airspd_check;bool circuit_breaker_engaged_enginefailure_check;bool circuit_breaker_flight_termination_disabled;bool circuit_breaker_engaged_usb_check;bool circuit_breaker_engaged_posfailure_check;bool circuit_breaker_vtol_fw_arming_check;bool offboard_control_signal_lost;bool rc_signal_found_once;bool rc_calibration_in_progress;bool rc_calibration_valid;bool vtol_transition_failure;bool usb_connected;bool sd_card_detected_once;bool avoidance_system_required;bool avoidance_system_valid;bool parachute_system_present;bool parachute_system_healthy;uint8_t[1] _padding0;Fwind:uint64_t timestamp;uint64_t timestamp_sample;float windspeed_north;float windspeed_east;float variance_north;float variance_east;float tas_innov;float tas_innov_var;float beta_innov;float beta_innov_var;\Factuator_outputs:uint64_t timestamp;uint32_t noutputs;float[16] output;uint8_t[4] _padding0;Fcontrol_allocator_status:uint64_t timestamp;float[3] allocated_torque;float[3] unallocated_torque;float[3] allocated_thrust;float[3] unallocated_thrust;bool torque_setpoint_achieved;bool thrust_setpoint_achieved;int8_t[16] actuator_saturation;uint8_t[6] _padding0;~Frate_ctrl_status:uint64_t timestamp;float rollspeed_integ;float pitchspeed_integ;float yawspeed_integ;float additional_integ1;Ftelemetry_status:uint64_t timestamp;float data_rate;float rate_multiplier;float tx_rate_avg;float tx_error_rate_avg;uint32_t tx_message_count;uint32_t tx_buffer_overruns;float rx_rate_avg;uint32_t rx_message_count;uint32_t rx_message_lost_count;uint32_t rx_buffer_overruns;uint32_t rx_parse_errors;uint32_t rx_packet_drop_count;float rx_message_lost_rate;uint8_t type;uint8_t mode;bool flow_control;bool forwarding;bool mavlink_v2;bool ftp;uint8_t streams;bool heartbeat_type_antenna_tracker;bool heartbeat_type_gcs;bool heartbeat_type_onboard_controller;bool heartbeat_type_gimbal;bool heartbeat_type_adsb;bool heartbeat_type_camera;bool heartbeat_type_parachute;bool heartbeat_component_telemetry_radio;bool heartbeat_component_log;bool heartbeat_component_osd;bool heartbeat_component_obstacle_avoidance;bool heartbeat_component_vio;bool heartbeat_component_pairing_manager;bool heartbeat_component_udp_bridge;bool heartbeat_component_uart_bridge;bool avoidance_system_healthy;bool parachute_system_healthy;uint8_t[4] _padding0;Festimator_selector_status:uint64_t timestamp;uint64_t last_instance_change;uint32_t instance_changed_count;uint32_t accel_device_id;uint32_t baro_device_id;uint32_t gyro_device_id;uint32_t mag_device_id;float[9] combined_test_ratio;float[9] relative_test_ratio;float[4] accumulated_gyro_error;float[4] accumulated_accel_error;uint8_t primary_instance;uint8_t instances_available;bool[9] healthy;bool gyro_fault_detected;bool accel_fault_detected;uint8_t[7] _padding0;Festimator_attitude:uint64_t timestamp;uint64_t timestamp_sample;float[4] q;float[4] delta_q_reset;uint8_t quat_reset_counter;uint8_t[7] _padding0;)Festimator_global_position:uint64_t timestamp;uint64_t timestamp_sample;double lat;double lon;float alt;float alt_ellipsoid;float delta_alt;float eph;float epv;float terrain_alt;uint8_t lat_lon_reset_counter;uint8_t alt_reset_counter;bool terrain_alt_valid;bool dead_reckoning;uint8_t[4] _padding0;Festimator_local_position:uint64_t timestamp;uint64_t timestamp_sample;uint64_t ref_timestamp;double ref_lat;double ref_lon;float x;float y;float z;float[2] delta_xy;float delta_z;float vx;float vy;float vz;float z_deriv;float[2] delta_vxy;float delta_vz;float ax;float ay;float az;float heading;float delta_heading;float ref_alt;float dist_bottom;float eph;float epv;float evh;float evv;float vxy_max;float vz_max;float hagl_min;float hagl_max;bool xy_valid;bool z_valid;bool v_xy_valid;bool v_z_valid;uint8_t xy_reset_counter;uint8_t z_reset_counter;uint8_t vxy_reset_counter;uint8_t vz_reset_counter;uint8_t heading_reset_counter;bool heading_good_for_control;bool xy_global;bool z_global;bool dist_bottom_valid;uint8_t dist_bottom_sensor_bitfield;uint8_t[2] _padding0;Festimator_wind:uint64_t timestamp;uint64_t timestamp_sample;float windspeed_north;float windspeed_east;float variance_north;float variance_east;float tas_innov;float tas_innov_var;float beta_innov;float beta_innov_var;Festimator_baro_bias:uint64_t timestamp;uint64_t timestamp_sample;uint32_t baro_device_id;float bias;float bias_var;float innov;float innov_var;float innov_test_ratio;IFestimator_event_flags:uint64_t timestamp;uint64_t timestamp_sample;uint32_t information_event_changes;uint32_t warning_event_changes;bool gps_checks_passed;bool reset_vel_to_gps;bool reset_vel_to_flow;bool reset_vel_to_vision;bool reset_vel_to_zero;bool reset_pos_to_last_known;bool reset_pos_to_gps;bool reset_pos_to_vision;bool starting_gps_fusion;bool starting_vision_pos_fusion;bool starting_vision_vel_fusion;bool starting_vision_yaw_fusion;bool yaw_aligned_to_imu_gps;bool gps_quality_poor;bool gps_fusion_timout;bool gps_data_stopped;bool gps_data_stopped_using_alternate;bool height_sensor_timeout;bool stopping_navigation;bool invalid_accel_bias_cov_reset;bool bad_yaw_using_gps_course;bool stopping_mag_use;bool vision_data_stopped;bool emergency_yaw_reset_mag_stopped;bool emergency_yaw_reset_gps_yaw_stopped;uint8_t[7] _padding0;Festimator_gps_status:uint64_t timestamp;uint64_t timestamp_sample;float position_drift_rate_horizontal_m_s;float position_drift_rate_vertical_m_s;float filtered_horizontal_speed_m_s;bool checks_passed;bool check_fail_gps_fix;bool check_fail_min_sat_count;bool check_fail_max_pdop;bool check_fail_max_horz_err;bool check_fail_max_vert_err;bool check_fail_max_spd_err;bool check_fail_max_horz_drift;bool check_fail_max_vert_drift;bool check_fail_max_horz_spd_err;bool check_fail_max_vert_spd_err;uint8_t[1] _padding0;Festimator_innovation_test_ratios:uint64_t timestamp;uint64_t timestamp_sample;float[2] gps_hvel;float gps_vvel;float[2] gps_hpos;float gps_vpos;float[2] ev_hvel;float ev_vvel;float[2] ev_hpos;float ev_vpos;float rng_vpos;float baro_vpos;float[2] aux_hvel;float aux_vvel;float[2] flow;float heading;float[3] mag_field;float[2] drag;float airspeed;float beta;float hagl;float hagl_rate;uint8_t[4] _padding0;Festimator_innovation_variances:uint64_t timestamp;uint64_t timestamp_sample;float[2] gps_hvel;float gps_vvel;float[2] gps_hpos;float gps_vpos;float[2] ev_hvel;float ev_vvel;float[2] ev_hpos;float ev_vpos;float rng_vpos;float baro_vpos;float[2] aux_hvel;float aux_vvel;float[2] flow;float heading;float[3] mag_field;float[2] drag;float airspeed;float beta;float hagl;float hagl_rate;uint8_t[4] _padding0;Festimator_innovations:uint64_t timestamp;uint64_t timestamp_sample;float[2] gps_hvel;float gps_vvel;float[2] gps_hpos;float gps_vpos;float[2] ev_hvel;float ev_vvel;float[2] ev_hpos;float ev_vpos;float rng_vpos;float baro_vpos;float[2] aux_hvel;float aux_vvel;float[2] flow;float heading;float[3] mag_field;float[2] drag;float airspeed;float beta;float hagl;float hagl_rate;uint8_t[4] _padding0;Festimator_optical_flow_vel:uint64_t timestamp;uint64_t timestamp_sample;float[2] vel_body;float[2] vel_ne;float[2] flow_uncompensated_integral;float[2] flow_compensated_integral;float[3] gyro_rate_integral;uint8_t[4] _padding0;Festimator_sensor_bias:uint64_t timestamp;uint64_t timestamp_sample;uint32_t gyro_device_id;float[3] gyro_bias;float gyro_bias_limit;float[3] gyro_bias_variance;uint32_t accel_device_id;float[3] accel_bias;float accel_bias_limit;float[3] accel_bias_variance;uint32_t mag_device_id;float[3] mag_bias;float mag_bias_limit;float[3] mag_bias_variance;bool gyro_bias_valid;bool gyro_bias_stable;bool accel_bias_valid;bool accel_bias_stable;bool mag_bias_valid;bool mag_bias_stable;uint8_t[2] _padding0;Festimator_states:uint64_t timestamp;uint64_t timestamp_sample;float[24] states;float[24] covariances;uint8_t n_states;uint8_t[7] _padding0;Festimator_status:uint64_t timestamp;uint64_t timestamp_sample;float[3] output_tracking_error;uint32_t control_mode_flags;uint32_t filter_fault_flags;float pos_horiz_accuracy;float pos_vert_accuracy;float mag_test_ratio;float vel_test_ratio;float pos_test_ratio;float hgt_test_ratio;float tas_test_ratio;float hagl_test_ratio;float beta_test_ratio;float time_slip;uint32_t accel_device_id;uint32_t gyro_device_id;uint32_t baro_device_id;uint32_t mag_device_id;uint16_t gps_check_fail_flags;uint16_t innovation_check_flags;uint16_t solution_status_flags;uint8_t reset_count_vel_ne;uint8_t reset_count_vel_d;uint8_t reset_count_pos_ne;uint8_t reset_count_pod_d;uint8_t reset_count_quat;bool pre_flt_fail_innov_heading;bool pre_flt_fail_innov_vel_horiz;bool pre_flt_fail_innov_vel_vert;bool pre_flt_fail_innov_height;bool pre_flt_fail_mag_field_disturbed;uint8_t health_flags;uint8_t timeout_flags;uint8_t[2] _padding0;Festimator_status_flags:uint64_t timestamp;uint64_t timestamp_sample;uint32_t control_status_changes;uint32_t fault_status_changes;uint32_t innovation_fault_status_changes;bool cs_tilt_align;bool cs_yaw_align;bool cs_gps;bool cs_opt_flow;bool cs_mag_hdg;bool cs_mag_3d;bool cs_mag_dec;bool cs_in_air;bool cs_wind;bool cs_baro_hgt;bool cs_rng_hgt;bool cs_gps_hgt;bool cs_ev_pos;bool cs_ev_yaw;bool cs_ev_hgt;bool cs_fuse_beta;bool cs_mag_field_disturbed;bool cs_fixed_wing;bool cs_mag_fault;bool cs_fuse_aspd;bool cs_gnd_effect;bool cs_rng_stuck;bool cs_gps_yaw;bool cs_mag_aligned_in_flight;bool cs_ev_vel;bool cs_synthetic_mag_z;bool cs_vehicle_at_rest;bool cs_gps_yaw_fault;bool cs_rng_fault;bool cs_inertial_dead_reckoning;bool cs_wind_dead_reckoning;bool cs_rng_kin_consistent;bool fs_bad_mag_x;bool fs_bad_mag_y;bool fs_bad_mag_z;bool fs_bad_hdg;bool fs_bad_mag_decl;bool fs_bad_airspeed;bool fs_bad_sideslip;bool fs_bad_optflow_x;bool fs_bad_optflow_y;bool fs_bad_vel_n;bool fs_bad_vel_e;bool fs_bad_vel_d;bool fs_bad_pos_n;bool fs_bad_pos_e;bool fs_bad_pos_d;bool fs_bad_acc_bias;bool fs_bad_acc_vertical;bool fs_bad_acc_clipping;bool reject_hor_vel;bool reject_ver_vel;bool reject_hor_pos;bool reject_ver_pos;bool reject_mag_x;bool reject_mag_y;bool reject_mag_z;bool reject_yaw;bool reject_airspeed;bool reject_sideslip;bool reject_hagl;bool reject_optflow_x;bool reject_optflow_y;uint8_t[5] _padding0;]Festimator_visual_odometry_aligned:uint64_t timestamp;uint64_t timestamp_sample;float x;float y;float z;float[4] q;float[4] q_offset;float[21] pose_covariance;float vx;float vy;float vz;float rollspeed;float pitchspeed;float yawspeed;float[21] velocity_covariance;uint8_t local_frame;uint8_t velocity_frame;uint8_t reset_counter;uint8_t[1] _padding0;Fyaw_estimator_status:uint64_t timestamp;uint64_t timestamp_sample;float yaw_composite;float yaw_variance;float[5] yaw;float[5] innov_vn;float[5] innov_ve;float[5] weight;qFbattery_status:uint64_t timestamp;float voltage_v;float voltage_filtered_v;float current_a;float current_filtered_a;float current_average_a;float discharged_mah;float remaining;float scale;float time_remaining_s;float temperature;float[14] voltage_cell_v;float max_cell_voltage_delta;uint32_t custom_faults;float average_power;float available_energy;float full_charge_capacity_wh;float remaining_capacity_wh;float design_capacity;float nominal_voltage;uint16_t capacity;uint16_t cycle_count;uint16_t average_time_to_empty;uint16_t serial_number;uint16_t manufacture_date;uint16_t state_of_health;uint16_t max_error;uint16_t interface_error;uint16_t faults;uint16_t average_time_to_full;uint16_t over_discharge_count;bool connected;uint8_t cell_count;uint8_t source;uint8_t priority;uint8_t id;bool is_powering_off;bool is_required;uint8_t warning;uint8_t mode;uint8_t[1] _padding0;Fdifferential_pressure:uint64_t timestamp;uint64_t timestamp_sample;uint32_t device_id;float differential_pressure_pa;float temperature;uint32_t error_count;Fdistance_sensor:uint64_t timestamp;uint32_t device_id;float min_distance;float max_distance;float current_distance;float variance;float h_fov;float v_fov;float[4] q;int8_t signal_quality;uint8_t type;uint8_t orientation;uint8_t[1] _padding0;Foptical_flow:uint64_t timestamp;float pixel_flow_x_integral;float pixel_flow_y_integral;float gyro_x_rate_integral;float gyro_y_rate_integral;float gyro_z_rate_integral;float ground_distance_m;uint32_t integration_timespan;uint32_t time_since_last_sonar_update;float max_flow_rate;float min_ground_distance;float max_ground_distance;uint16_t frame_count_since_last_readout;int16_t gyro_temperature;uint8_t sensor_id;uint8_t quality;uint8_t mode;uint8_t[5] _padding0;Fsensor_accel:uint64_t timestamp;uint64_t timestamp_sample;uint32_t device_id;float x;float y;float z;float temperature;uint32_t error_count;uint8_t[3] clip_counter;uint8_t samples;uint8_t[4] _padding0;Fsensor_baro:uint64_t timestamp;uint64_t timestamp_sample;uint32_t device_id;float pressure;float temperature;uint32_t error_count;2Fsensor_gps:uint64_t timestamp;uint64_t time_utc_usec;uint32_t device_id;int32_t lat;int32_t lon;int32_t alt;int32_t alt_ellipsoid;float s_variance_m_s;float c_variance_rad;float eph;float epv;float hdop;float vdop;int32_t noise_per_ms;int32_t jamming_indicator;float vel_m_s;float vel_n_m_s;float vel_e_m_s;float vel_d_m_s;float cog_rad;int32_t timestamp_time_relative;float heading;float heading_offset;float heading_accuracy;uint16_t automatic_gain_control;uint8_t fix_type;uint8_t jamming_state;bool vel_ned_valid;uint8_t satellites_used;uint8_t[2] _padding0;Fsensor_gnss_relative:uint64_t timestamp;uint64_t timestamp_sample;uint64_t time_utc_usec;uint32_t device_id;float[3] position;float[3] position_accuracy;float heading;float heading_accuracy;float position_length;float accuracy_length;uint16_t reference_station_id;bool gnss_fix_ok;bool differential_solution;bool relative_position_valid;bool carrier_solution_floating;bool carrier_solution_fixed;bool moving_base_mode;bool reference_position_miss;bool reference_observations_miss;bool heading_valid;bool relative_position_normalized;Fsensor_gyro:uint64_t timestamp;uint64_t timestamp_sample;uint32_t device_id;float x;float y;float z;float temperature;uint32_t error_count;uint8_t samples;uint8_t[7] _padding0;Fsensor_mag:uint64_t timestamp;uint64_t timestamp_sample;uint32_t device_id;float x;float y;float z;float temperature;uint32_t error_count;>Fvehicle_imu:uint64_t timestamp;uint64_t timestamp_sample;uint32_t accel_device_id;uint32_t gyro_device_id;float[3] delta_angle;float[3] delta_velocity;uint16_t delta_angle_dt;uint16_t delta_velocity_dt;uint8_t delta_velocity_clipping;uint8_t accel_calibration_count;uint8_t gyro_calibration_count;uint8_t[1] _padding0;Fvehicle_imu_status:uint64_t timestamp;uint32_t accel_device_id;uint32_t gyro_device_id;uint32_t[3] accel_clipping;uint32_t accel_error_count;uint32_t gyro_error_count;float accel_rate_hz;float gyro_rate_hz;float accel_raw_rate_hz;float gyro_raw_rate_hz;float accel_vibration_metric;float gyro_vibration_metric;float delta_angle_coning_metric;float[3] mean_accel;float[3] mean_gyro;float[3] var_accel;float[3] var_gyro;float temperature_accel;float temperature_gyro;[Factuator_controls_virtual_fw:uint64_t timestamp;uint64_t timestamp_sample;float[8] control;[Factuator_controls_virtual_mc:uint64_t timestamp;uint64_t timestamp_sample;float[8] control;!Ffw_virtual_attitude_setpoint:uint64_t timestamp;float roll_body;float pitch_body;float yaw_body;float yaw_sp_move_rate;float[4] q_d;float[3] thrust_body;bool roll_reset_integral;bool pitch_reset_integral;bool yaw_reset_integral;bool fw_control_yaw;uint8_t apply_flaps;uint8_t[7] _padding0;!Fmc_virtual_attitude_setpoint:uint64_t timestamp;float roll_body;float pitch_body;float yaw_body;float yaw_sp_move_rate;float[4] q_d;float[3] thrust_body;bool roll_reset_integral;bool pitch_reset_integral;bool yaw_reset_integral;bool fw_control_yaw;uint8_t apply_flaps;uint8_t[7] _padding0;lFvehicle_angular_acceleration:uint64_t timestamp;uint64_t timestamp_sample;float[3] xyz;uint8_t[4] _padding0;Fvehicle_attitude_groundtruth:uint64_t timestamp;uint64_t timestamp_sample;float[4] q;float[4] delta_q_reset;uint8_t quat_reset_counter;uint8_t[7] _padding0;3Fvehicle_global_position_groundtruth:uint64_t timestamp;uint64_t timestamp_sample;double lat;double lon;float alt;float alt_ellipsoid;float delta_alt;float eph;float epv;float terrain_alt;uint8_t lat_lon_reset_counter;uint8_t alt_reset_counter;bool terrain_alt_valid;bool dead_reckoning;uint8_t[4] _padding0; Fvehicle_local_position_groundtruth:uint64_t timestamp;uint64_t timestamp_sample;uint64_t ref_timestamp;double ref_lat;double ref_lon;float x;float y;float z;float[2] delta_xy;float delta_z;float vx;float vy;float vz;float z_deriv;float[2] delta_vxy;float delta_vz;float ax;float ay;float az;float heading;float delta_heading;float ref_alt;float dist_bottom;float eph;float epv;float evh;float evv;float vxy_max;float vz_max;float hagl_min;float hagl_max;bool xy_valid;bool z_valid;bool v_xy_valid;bool v_z_valid;uint8_t xy_reset_counter;uint8_t z_reset_counter;uint8_t vxy_reset_counter;uint8_t vz_reset_counter;uint8_t heading_reset_counter;bool heading_good_for_control;bool xy_global;bool z_global;bool dist_bottom_valid;uint8_t dist_bottom_sensor_bitfield;uint8_t[2] _padding0;Fekf2_timestamps:uint64_t timestamp;int16_t airspeed_timestamp_rel;int16_t distance_sensor_timestamp_rel;int16_t optical_flow_timestamp_rel;int16_t vehicle_air_data_timestamp_rel;int16_t vehicle_magnetometer_timestamp_rel;int16_t visual_odometry_timestamp_rel;uint8_t[4] _padding0;SFvehicle_visual_odometry:uint64_t timestamp;uint64_t timestamp_sample;float x;float y;float z;float[4] q;float[4] q_offset;float[21] pose_covariance;float vx;float vy;float vz;float rollspeed;float pitchspeed;float yawspeed;float[21] velocity_covariance;uint8_t local_frame;uint8_t velocity_frame;uint8_t reset_counter;uint8_t[1] _padding0;^Fcollision_constraints:uint64_t timestamp;float[2] original_setpoint;float[2] adapted_setpoint;Fobstacle_distance_fused:uint64_t timestamp;float increment;float angle_offset;uint16_t[72] distances;uint16_t min_distance;uint16_t max_distance;uint8_t frame;uint8_t sensor_type;uint8_t[2] _padding0;RFvehicle_mocap_odometry:uint64_t timestamp;uint64_t timestamp_sample;float x;float y;float z;float[4] q;float[4] q_offset;float[21] pose_covariance;float vx;float vy;float vz;float rollspeed;float pitchspeed;float yawspeed;float[21] velocity_covariance;uint8_t local_frame;uint8_t velocity_frame;uint8_t reset_counter;uint8_t[1] _padding0;rFvehicle_trajectory_waypoint:uint64_t timestamp;uint8_t type;uint8_t[7] _padding0;trajectory_waypoint[5] waypoints;Ftrajectory_waypoint:uint64_t timestamp;float[3] position;float[3] velocity;float[3] acceleration;float yaw;float yaw_speed;bool point_valid;uint8_t type;uint8_t[2] _padding0;zFvehicle_trajectory_waypoint_desired:uint64_t timestamp;uint8_t type;uint8_t[7] _padding0;trajectory_waypoint[5] waypoints;fFevent:uint64_t timestamp;uint32_t id;uint16_t event_sequence;uint8_t[25] arguments;uint8_t log_levels;Pfloat ASPD_SCALE_1?Pfloat BAT1_CAPACITYPint32_t BAT1_N_CELLSPfloat BAT1_R_INTERNALPint32_t BAT1_SOURCEPfloat BAT1_V_CHARGED@Pfloat BAT1_V_EMPTY`@Pfloat BAT1_V_LOAD_DROP>Pfloat BAT_AVRG_CURRENTpAPfloat BAT_CRIT_THR)\=Pfloat BAT_EMERGEN_THRL=Pfloat BAT_LOW_THR>Pint32_t BAT_N_CELLSPfloat BAT_V_CHARGED@Pfloat BAT_V_EMPTY`@Pfloat BAT_V_LOAD_DROP>Pint32_t CAL_ACC0_ID Pint32_t CAL_ACC0_PRIO2Pint32_t CAL_ACC0_ROTPfloat CAL_ACC0_XOFFϼPfloat CAL_ACC0_XSCALE?Pfloat CAL_ACC0_YOFFװPfloat CAL_ACC0_YSCALE?Pfloat CAL_ACC0_ZOFF$=Pfloat CAL_ACC0_ZSCALE?Pint32_t CAL_ACC1_IDPint32_t CAL_ACC1_PRIO2Pint32_t CAL_ACC1_ROTPfloat CAL_ACC1_XOFFGӼPfloat CAL_ACC1_XSCALE?Pfloat CAL_ACC1_YOFFPfloat CAL_ACC1_YSCALE?Pfloat CAL_ACC1_ZOFFP/=Pfloat CAL_ACC1_ZSCALE?Pint32_t CAL_ACC2_IDPint32_t CAL_ACC2_PRIO2Pint32_t CAL_ACC2_ROTPfloat CAL_ACC2_XOFF"ԼPfloat CAL_ACC2_XSCALE?Pfloat CAL_ACC2_YOFF Pfloat CAL_ACC2_YSCALE?Pfloat CAL_ACC2_ZOFF=Pfloat CAL_ACC2_ZSCALE?Pint32_t CAL_ACC3_IDPint32_t CAL_AIR_CMODELPfloat CAL_AIR_TUBED_MM?Pfloat CAL_AIR_TUBELENL>Pint32_t CAL_BARO0_IDPint32_t CAL_BARO1_IDPint32_t CAL_BARO2_IDPint32_t CAL_BARO3_IDPint32_t CAL_GYRO0_ID Pint32_t CAL_GYRO0_PRIO2Pint32_t CAL_GYRO0_ROTPfloat CAL_GYRO0_XOFFPfloat CAL_GYRO0_YOFFPfloat CAL_GYRO0_ZOFFPint32_t CAL_GYRO1_IDPint32_t CAL_GYRO1_PRIO2Pint32_t CAL_GYRO1_ROTPfloat CAL_GYRO1_XOFFPfloat CAL_GYRO1_YOFFPfloat CAL_GYRO1_ZOFFPint32_t CAL_GYRO2_IDPint32_t CAL_GYRO2_PRIO2Pint32_t CAL_GYRO2_ROTPfloat CAL_GYRO2_XOFFPfloat CAL_GYRO2_YOFFPfloat CAL_GYRO2_ZOFFPint32_t CAL_GYRO3_IDPint32_t CAL_MAG0_ID Pint32_t CAL_MAG0_PRIO2Pint32_t CAL_MAG0_ROTPfloat CAL_MAG0_XCOMPPfloat CAL_MAG0_XODIAGPfloat CAL_MAG0_XOFFPfloat CAL_MAG0_XSCALE?Pfloat CAL_MAG0_YCOMPPfloat CAL_MAG0_YODIAGPfloat CAL_MAG0_YOFFPfloat CAL_MAG0_YSCALE?Pfloat CAL_MAG0_ZCOMPPfloat CAL_MAG0_ZODIAGPfloat CAL_MAG0_ZOFFPfloat CAL_MAG0_ZSCALE?Pint32_t CAL_MAG1_ID Pint32_t CAL_MAG1_PRIO2Pint32_t CAL_MAG1_ROTPfloat CAL_MAG1_XCOMPPfloat CAL_MAG1_XODIAGPfloat CAL_MAG1_XOFFPfloat CAL_MAG1_XSCALE?Pfloat CAL_MAG1_YCOMPPfloat CAL_MAG1_YODIAGPfloat CAL_MAG1_YOFFPfloat CAL_MAG1_YSCALE?Pfloat CAL_MAG1_ZCOMPPfloat CAL_MAG1_ZODIAGPfloat CAL_MAG1_ZOFFPfloat CAL_MAG1_ZSCALE?Pint32_t CAL_MAG2_IDPint32_t CAL_MAG2_ROTPint32_t CAL_MAG3_IDPint32_t CAL_MAG3_ROTPint32_t CAL_MAG_COMP_TYPPint32_t CAL_MAG_ROT_AUTOPint32_t CAL_MAG_SIDES?Pint32_t CBRK_AIRSPD_CHKPint32_t CBRK_BUZZERPint32_t CBRK_ENGINEFAILYPint32_t CBRK_FLIGHTTERM|Pint32_t CBRK_IO_SAFETY VPint32_t CBRK_RATE_CTRLPint32_t CBRK_SUPPLY_CHKI Pint32_t CBRK_USB_CHKPint32_t CBRK_VELPOSERRPint32_t CBRK_VTOLARMINGPint32_t COM_ARM_AUTH_ID Pint32_t COM_ARM_AUTH_METPint32_t COM_ARM_AUTH_REQPfloat COM_ARM_AUTH_TO?Pint32_t COM_ARM_CHK_ESCSPfloat COM_ARM_EKF_HGT?Pfloat COM_ARM_EKF_POS?Pfloat COM_ARM_EKF_VEL?Pfloat COM_ARM_EKF_YAW?Pfloat COM_ARM_IMU_ACC333?Pfloat COM_ARM_IMU_GYR>Pint32_t COM_ARM_MAG_ANG-Pint32_t COM_ARM_MAG_STRPint32_t COM_ARM_MIS_REQPint32_t COM_ARM_SDCARDPint32_t COM_ARM_SWISBTNPint32_t COM_ARM_WO_GPSPfloat COM_BAT_ACT_T APfloat COM_CPU_MAXPfloat COM_DISARM_LAND@Pfloat COM_DISARM_PRFLT APint32_t COM_DL_LOSS_T Pfloat COM_EF_C2T@Pfloat COM_EF_THROT?Pfloat COM_EF_TIME APint32_t COM_FLIGHT_UUIDPint32_t COM_FLTMODE1Pint32_t COM_FLTMODE2Pint32_t COM_FLTMODE3Pint32_t COM_FLTMODE4Pint32_t COM_FLTMODE5Pint32_t COM_FLTMODE6Pint32_t COM_FLT_PROFILEPint32_t COM_FORCE_SAFETYPint32_t COM_HLDL_LOSS_TxPint32_t COM_HLDL_REG_TPint32_t COM_HOME_ENPint32_t COM_HOME_IN_AIRPint32_t COM_IMB_PROP_ACTPfloat COM_KILL_DISARM@Pfloat COM_LKDOWN_TKO@@Pint32_t COM_LOW_BAT_ACTPint32_t COM_MOT_TEST_ENPfloat COM_OBC_LOSS_T@Pint32_t COM_OBL_ACTPint32_t COM_OBL_RC_ACTPint32_t COM_OBS_AVOIDPfloat COM_OF_LOSS_T?Pint32_t COM_PARACHUTEPint32_t COM_POSCTL_NAVLPint32_t COM_POS_FS_DELAYPfloat COM_POS_FS_EPH@Pfloat COM_POS_FS_EPV APint32_t COM_PREARM_MODEPint32_t COM_QC_ACTPfloat COM_RCL_ACT_TpAPint32_t COM_RCL_EXCEPTPint32_t COM_RC_ARM_HYSTPint32_t COM_RC_IN_MODEPfloat COM_RC_LOSS_T?Pint32_t COM_RC_OVERRIDEPfloat COM_RC_STICK_OVAPint32_t COM_TAKEOFF_ACTPfloat COM_VEL_FS_EVH?Pfloat COM_WIND_WARNPfloat CP_DELAY>P float CP_DISTPint32_t CP_GO_NO_DATAPfloat CP_GUIDE_ANGAPfloat EKF2_ABIAS_INITL>Pfloat EKF2_ABL_ACCLIMAPfloat EKF2_ABL_GYRLIM@@Pfloat EKF2_ABL_LIM>Pfloat EKF2_ABL_TAU?Pfloat EKF2_ACC_B_NOISED;Pfloat EKF2_ACC_NOISE33>Pint32_t EKF2_AID_MASKPfloat EKF2_ANGERR_INIT=Pfloat EKF2_ARSP_THRPfloat EKF2_ASPD_MAXAPfloat EKF2_ASP_DELAYBPfloat EKF2_AVEL_DELAY@Pfloat EKF2_BARO_DELAYPfloat EKF2_BARO_GATE@Pfloat EKF2_BARO_NOISE`@Pfloat EKF2_BCOEF_XBPfloat EKF2_BCOEF_YBPfloat EKF2_BETA_GATE@Pfloat EKF2_BETA_NOISE>Pint32_t EKF2_DECL_TYPEPfloat EKF2_DRAG_NOISE @Pfloat EKF2_EAS_NOISE33?Pfloat EKF2_EVA_NOISEL=Pfloat EKF2_EVP_GATE@Pfloat EKF2_EVP_NOISE=Pfloat EKF2_EVV_GATE@@Pfloat EKF2_EVV_NOISE=Pfloat EKF2_EV_DELAY/CPint32_t EKF2_EV_NOISE_MDPfloat EKF2_EV_POS_XPfloat EKF2_EV_POS_YPfloat EKF2_EV_POS_ZPint32_t EKF2_FUSE_BETAPfloat EKF2_GBIAS_INIT=Pfloat EKF2_GND_EFF_DZ@Pfloat EKF2_GND_MAX_HGT?Pint32_t EKF2_GPS_CHECKPfloat EKF2_GPS_DELAYBPfloat EKF2_GPS_POS_XPfloat EKF2_GPS_POS_YPfloat EKF2_GPS_POS_ZPfloat EKF2_GPS_P_GATE@Pfloat EKF2_GPS_P_NOISE?Pfloat EKF2_GPS_V_GATE@Pfloat EKF2_GPS_V_NOISE>Pfloat EKF2_GSF_TASpAPfloat EKF2_GYR_B_NOISEo:Pfloat EKF2_GYR_NOISEu<Pfloat EKF2_HDG_GATEff&@Pfloat EKF2_HEAD_NOISE>Pint32_t EKF2_HGT_MODEPfloat EKF2_IMU_POS_XPfloat EKF2_IMU_POS_YPfloat EKF2_IMU_POS_ZPfloat EKF2_MAG_ACCLIM?Pfloat EKF2_MAG_B_NOISE8Pint32_t EKF2_MAG_CHECKPfloat EKF2_MAG_DECL->@Pfloat EKF2_MAG_DELAYPfloat EKF2_MAG_E_NOISEo:Pfloat EKF2_MAG_GATE@@Pfloat EKF2_MAG_NOISEL=Pint32_t EKF2_MAG_TYPEPfloat EKF2_MAG_YAWLIM>Pfloat EKF2_MCOEF>Pfloat EKF2_MIN_RNG=Pint32_t EKF2_MULTI_IMUPint32_t EKF2_MULTI_MAGPfloat EKF2_NOAID_NOISE APint32_t EKF2_NOAID_TOUT@KLPfloat EKF2_OF_DELAYAPfloat EKF2_OF_GATE@@Pfloat EKF2_OF_N_MAX?Pfloat EKF2_OF_N_MIN>Pfloat EKF2_OF_POS_XPfloat EKF2_OF_POS_YPfloat EKF2_OF_POS_ZPint32_t EKF2_OF_QMINPfloat EKF2_PCOEF_XNPfloat EKF2_PCOEF_XPPfloat EKF2_PCOEF_YNPfloat EKF2_PCOEF_YPPfloat EKF2_PCOEF_ZPint32_t EKF2_PREDICT_US'Pfloat EKF2_REQ_EPH@@Pfloat EKF2_REQ_EPV@Pfloat EKF2_REQ_GPS_H?Pfloat EKF2_REQ_HDRIFT=Pint32_t EKF2_REQ_NSATSPfloat EKF2_REQ_PDOP @Pfloat EKF2_REQ_SACC?Pfloat EKF2_REQ_VDRIFTL>Pint32_t EKF2_RNG_AIDPfloat EKF2_RNG_A_HMAX@Pfloat EKF2_RNG_A_IGATE?Pfloat EKF2_RNG_A_VMAX?Pfloat EKF2_RNG_DELAY@Pfloat EKF2_RNG_GATE@Pfloat EKF2_RNG_K_GATE?Pfloat EKF2_RNG_NOISE=Pfloat EKF2_RNG_PITCHPfloat EKF2_RNG_POS_XPfloat EKF2_RNG_POS_YPfloat EKF2_RNG_POS_ZPfloat EKF2_RNG_QLTY_T?Pfloat EKF2_RNG_SFEL=Pfloat EKF2_SEL_ERR_REDL>Pfloat EKF2_SEL_IMU_ACC?Pfloat EKF2_SEL_IMU_ANGpAPfloat EKF2_SEL_IMU_RAT@Pfloat EKF2_SEL_IMU_VEL@Pint32_t EKF2_SYNT_MAG_ZPfloat EKF2_TAS_GATE@@Pfloat EKF2_TAU_POS>Pfloat EKF2_TAU_VEL>Pfloat EKF2_TERR_GRAD?Pint32_t EKF2_TERR_MASKPfloat EKF2_TERR_NOISE@Pfloat EKF2_WIND_NOISE=Pint32_t FD_ESCS_ENPint32_t FD_EXT_ATS_ENPint32_t FD_EXT_ATS_TRIGlPint32_t FD_FAIL_P<Pfloat FD_FAIL_P_TTRI>Pint32_t FD_FAIL_R<Pfloat FD_FAIL_R_TTRI>Pint32_t FD_IMB_PROP_THRPfloat FW_AIRSPD_TRIMpAPfloat FW_PSP_OFFPfloat FW_T_CLMB_R_SP@@Pfloat FW_T_SINK_R_SP@Pint32_t GF_ACTIONPint32_t GF_ALTMODEPint32_t GF_COUNTPfloat GF_MAX_HOR_DISTPfloat GF_MAX_VER_DISTPint32_t GF_PREDICTPint32_t GF_SOURCEPfloat GND_SPEED_THR_SC?Pint32_t GPS_UBX_DYNMODELPfloat HTE_ACC_GATE@@Pfloat HTE_HT_ERR_INIT=Pfloat HTE_HT_NOISEk;Pfloat HTE_THR_RANGEL>Pfloat HTE_VXY_THR APfloat HTE_VZ_THR@Pfloat IMU_ACCEL_CUTOFFAPfloat IMU_DGYRO_CUTOFFAPint32_t IMU_GYRO_CAL_ENPfloat IMU_GYRO_CUTOFF BPfloat IMU_GYRO_DNF_BWpAPint32_t IMU_GYRO_DNF_ENPint32_t IMU_GYRO_DNF_HMCPint32_t IMU_GYRO_FFT_ENPint32_t IMU_GYRO_FFT_LENPfloat IMU_GYRO_FFT_MAXCPfloat IMU_GYRO_FFT_MINAPfloat IMU_GYRO_FFT_SNR APfloat IMU_GYRO_NF0_BWAPfloat IMU_GYRO_NF0_FRQPfloat IMU_GYRO_NF1_BWAPfloat IMU_GYRO_NF1_FRQPint32_t IMU_GYRO_RATEMAX Pint32_t IMU_INTEG_RATEPfloat LNDMC_ALT_GND@Pfloat LNDMC_ALT_MAXPfloat LNDMC_ROT_MAXAPfloat LNDMC_TRIG_TIME?Pfloat LNDMC_XY_VEL_MAX?Pfloat LNDMC_Z_VEL_MAX?Pint32_t LND_FLIGHT_T_HIPint32_t LND_FLIGHT_T_LO`c#Pint32_t MAN_ARM_GESTUREPint32_t MAV_COMP_IDPint32_t MAV_FWDEXTSPPint32_t MAV_HASH_CHK_ENPint32_t MAV_HB_FORW_ENPint32_t MAV_ODOM_LPPint32_t MAV_PROTO_VERPint32_t MAV_RADIO_TOUTPint32_t MAV_SIK_RADIO_IDPint32_t MAV_SYS_IDPint32_t MAV_TYPEPint32_t MAV_USEHILGPSPfloat MC_ACRO_EXPOף0?Pfloat MC_ACRO_EXPO_Yף0?Pfloat MC_ACRO_P_MAX4DPfloat MC_ACRO_R_MAX4DPfloat MC_ACRO_SUPEXPO333?Pfloat MC_ACRO_SUPEXPOY333?Pfloat MC_ACRO_Y_MAXDPint32_t MC_AIRMODEPint32_t MC_AT_APPLYPint32_t MC_AT_ENPfloat MC_AT_RISE_TIME)\>Pint32_t MC_AT_STARTPfloat MC_AT_SYSID_AMP333?Pint32_t MC_BAT_SCALE_ENPfloat MC_MAN_TILT_TAUPfloat MC_PITCHRATE_DD;Pfloat MC_PITCHRATE_FFPfloat MC_PITCHRATE_IL>Pfloat MC_PITCHRATE_K?Pfloat MC_PITCHRATE_MAX\CPfloat MC_PITCHRATE_P>Pfloat MC_PITCH_P@Pfloat MC_PR_INT_LIM>Pfloat MC_ROLLRATE_DD;Pfloat MC_ROLLRATE_FFPfloat MC_ROLLRATE_IL>Pfloat MC_ROLLRATE_K?Pfloat MC_ROLLRATE_MAX\CPfloat MC_ROLLRATE_P>Pfloat MC_ROLL_P@Pfloat MC_RR_INT_LIM>Pfloat MC_YAWRATE_DPfloat MC_YAWRATE_FFPfloat MC_YAWRATE_I=Pfloat MC_YAWRATE_K?Pfloat MC_YAWRATE_MAXHCPfloat MC_YAWRATE_PL>Pfloat MC_YAW_P333@Pfloat MC_YAW_WEIGHT>Pfloat MC_YR_INT_LIM>Pfloat MIS_DIST_1WPaDPfloat MIS_DIST_WPSaDPfloat MIS_LTRMIN_ALTPint32_t MIS_MNT_YAW_CTLPfloat MIS_TAKEOFF_ALT @Pint32_t MIS_TAKEOFF_REQPfloat MIS_YAW_ERR@APfloat MIS_YAW_TMTPint32_t MNT_MODE_INPint32_t MOT_ORDERINGPfloat MOT_SLEW_MAXPfloat MPC_ACC_DOWN_MAX@@Pfloat MPC_ACC_HOR@@Pfloat MPC_ACC_HOR_MAX@Pfloat MPC_ACC_UP_MAX@Pint32_t MPC_ALT_MODEPfloat MPC_HOLD_DZ=Pfloat MPC_HOLD_MAX_XYL?Pfloat MPC_HOLD_MAX_Z?Pfloat MPC_JERK_AUTO@Pfloat MPC_JERK_MAXAPfloat MPC_LAND_ALT1 APfloat MPC_LAND_ALT2@Pfloat MPC_LAND_ALT3?Pfloat MPC_LAND_CRWL>Pint32_t MPC_LAND_RC_HELPPfloat MPC_LAND_SPEED333?Pfloat MPC_MANTHR_MIN ף=Pfloat MPC_MAN_TILT_MAX BPfloat MPC_MAN_Y_MAXCPfloat MPC_MAN_Y_TAU ף=Pint32_t MPC_POS_MODEPfloat MPC_SPOOLUP_TIME?Pint32_t MPC_THR_CURVEPfloat MPC_THR_HOVER?Pfloat MPC_THR_MAX?Pfloat MPC_THR_MIN=Pfloat MPC_THR_XY_MARG>Pfloat MPC_TILTMAX_AIR4BPfloat MPC_TILTMAX_LND@APfloat MPC_TKO_RAMP_T@@Pfloat MPC_TKO_SPEED?Pint32_t MPC_USE_HTEPfloat MPC_VELD_LP@Pfloat MPC_VEL_MANUAL APfloat MPC_XY_CRUISE@Pfloat MPC_XY_ERR_MAX@Pfloat MPC_XY_MAN_EXPO?Pfloat MPC_XY_P33s?Pfloat MPC_XY_TRAJ_P?Pfloat MPC_XY_VEL_ALL Pfloat MPC_XY_VEL_D_ACCL>Pfloat MPC_XY_VEL_I_ACC>Pfloat MPC_XY_VEL_MAX@APfloat MPC_XY_VEL_P_ACCff?Pfloat MPC_YAWRAUTO_MAX4BPfloat MPC_YAW_EXPO?Pint32_t MPC_YAW_MODEPfloat MPC_Z_MAN_EXPO?P float MPC_Z_P?Pfloat MPC_Z_VEL_ALL@Pfloat MPC_Z_VEL_D_ACCPfloat MPC_Z_VEL_I_ACC@Pfloat MPC_Z_VEL_MAX_DN?Pfloat MPC_Z_VEL_MAX_UP@@Pfloat MPC_Z_VEL_P_ACC@Pfloat MPC_Z_V_AUTO_DN?Pfloat MPC_Z_V_AUTO_UP@@Pfloat NAV_ACC_RAD@Pint32_t NAV_DLL_ACTPint32_t NAV_FORCE_VTPfloat NAV_FT_DSTAPint32_t NAV_FT_FSPfloat NAV_FT_RS?Pfloat NAV_FW_ALTL_RAD@Pfloat NAV_FW_ALT_RAD APfloat NAV_LOITER_RADBPfloat NAV_MC_ALT_RADL?Pfloat NAV_MIN_FT_HTAPint32_t NAV_RCL_ACTPint32_t NAV_TRAFF_AVOIDPfloat NAV_TRAFF_A_RADMCPfloat NAV_TRAFF_A_RADU APfloat PLD_BTOUT@Pfloat PLD_FAPPR_ALT=Pfloat PLD_HACC_RADL>Pint32_t PLD_MAX_SRCHPfloat PLD_SRCH_ALT APfloat PLD_SRCH_TOUT APint32_t PWM_AUX_OUTPint32_t PWM_MAIN_MAXPint32_t PWM_MAIN_MIN3Pint32_t PWM_MAIN_OUTPint32_t PWM_MAIN_RATEP float RC10_DZPfloat RC10_MAXDPfloat RC10_MINzDPfloat RC10_REV?Pfloat RC10_TRIMDP float RC11_DZPfloat RC11_MAXDPfloat RC11_MINzDPfloat RC11_REV?Pfloat RC11_TRIMDP float RC12_DZPfloat RC12_MAXDPfloat RC12_MINzDPfloat RC12_REV?Pfloat RC12_TRIMDP float RC13_DZPfloat RC13_MAXDPfloat RC13_MINzDPfloat RC13_REV?Pfloat RC13_TRIMDP float RC14_DZPfloat RC14_MAXDPfloat RC14_MINzDPfloat RC14_REV?Pfloat RC14_TRIMDP float RC15_DZPfloat RC15_MAXDPfloat RC15_MINzDPfloat RC15_REV?Pfloat RC15_TRIMDP float RC16_DZPfloat RC16_MAXDPfloat RC16_MINzDPfloat RC16_REV?Pfloat RC16_TRIMDP float RC17_DZPfloat RC17_MAXDPfloat RC17_MINzDPfloat RC17_REV?Pfloat RC17_TRIMDP float RC18_DZPfloat RC18_MAXDPfloat RC18_MINzDPfloat RC18_REV?Pfloat RC18_TRIMDP float RC1_DZ AP float RC1_MAXDP float RC1_MINzDP float RC1_REV?Pfloat RC1_TRIMDP float RC2_DZ AP float RC2_MAXDP float RC2_MINzDP float RC2_REV?Pfloat RC2_TRIMDP float RC3_DZ AP float RC3_MAXDP float RC3_MINzDP float RC3_REV?Pfloat RC3_TRIMDP float RC4_DZ AP float RC4_MAXDP float RC4_MINzDP float RC4_REV?Pfloat RC4_TRIMDP float RC5_DZ AP float RC5_MAXDP float RC5_MINzDP float RC5_REV?Pfloat RC5_TRIMDP float RC6_DZ AP float RC6_MAXDP float RC6_MINzDP float RC6_REV?Pfloat RC6_TRIMDP float RC7_DZ AP float RC7_MAXDP float RC7_MINzDP float RC7_REV?Pfloat RC7_TRIMDP float RC8_DZ AP float RC8_MAXDP float RC8_MINzDP float RC8_REV?Pfloat RC8_TRIMDP float RC9_DZP float RC9_MAXDP float RC9_MINzDP float RC9_REV?Pfloat RC9_TRIMDPfloat RC_ARMSWITCH_TH@?Pint32_t RC_CHAN_CNTPint32_t RC_FAILS_THRPfloat RC_GEAR_TH@?Pfloat RC_KILLSWITCH_TH@?Pfloat RC_LOITER_TH@?Pint32_t RC_MAP_ACRO_SWPint32_t RC_MAP_ARM_SWPint32_t RC_MAP_AUX1Pint32_t RC_MAP_AUX2Pint32_t RC_MAP_AUX3Pint32_t RC_MAP_AUX4Pint32_t RC_MAP_AUX5Pint32_t RC_MAP_AUX6Pint32_t RC_MAP_FAILSAFEPint32_t RC_MAP_FLAPSPint32_t RC_MAP_FLTMODEPint32_t RC_MAP_FLTM_BTNPint32_t RC_MAP_GEAR_SWPint32_t RC_MAP_KILL_SWPint32_t RC_MAP_LOITER_SWPint32_t RC_MAP_MAN_SWPint32_t RC_MAP_MODE_SWPint32_t RC_MAP_OFFB_SWPint32_t RC_MAP_PARAM1Pint32_t RC_MAP_PARAM2Pint32_t RC_MAP_PARAM3Pint32_t RC_MAP_PITCHPint32_t RC_MAP_POSCTL_SWPint32_t RC_MAP_RATT_SWPint32_t RC_MAP_RETURN_SWPint32_t RC_MAP_ROLLPint32_t RC_MAP_STAB_SWPint32_t RC_MAP_THROTTLEPint32_t RC_MAP_TRANS_SWPint32_t RC_MAP_YAWPfloat RC_OFFB_TH@?Pfloat RC_RETURN_TH@?Pfloat RC_TRANS_TH@?Pint32_t RTL_CONE_ANG-Pfloat RTL_DESCEND_ALT APint32_t RTL_HDG_MDPfloat RTL_LAND_DELAYPfloat RTL_LOITER_RADBPfloat RTL_MIN_DIST APint32_t RTL_PLD_MDPfloat RTL_RETURN_ALTAPfloat RTL_TIME_FACTOŘ?Pint32_t RTL_TIME_MARGINdPint32_t RTL_TYPEPint32_t SDLOG_BOOT_BATPint32_t SDLOG_DIRS_MAXPint32_t SDLOG_MISSIONPint32_t SDLOG_MODEPint32_t SDLOG_PROFILEPint32_t SDLOG_UTC_OFFSETPint32_t SDLOG_UUIDPfloat SENS_BARO_QNHP}DPfloat SENS_BARO_RATEAPint32_t SENS_BOARD_ROTPfloat SENS_BOARD_X_OFF75Pfloat SENS_BOARD_Y_OFFPfloat SENS_BOARD_Z_OFFPfloat SENS_DPRES_OFFo:Pfloat SENS_FLOW_MAXHGT@@Pfloat SENS_FLOW_MAXR @Pfloat SENS_FLOW_MINHGT333?Pint32_t SENS_FLOW_ROTPint32_t SENS_GPS_MASKPint32_t SENS_GPS_PRIMEPfloat SENS_GPS_TAU APint32_t SENS_IMU_AUTOCALPint32_t SENS_IMU_MODEPint32_t SENS_MAG_AUTOCALPint32_t SENS_MAG_MODEPfloat SENS_MAG_RATEpAPfloat SIM_BAT_DRAINpBPfloat SIM_BAT_MIN_PCTHBPint32_t SYS_AUTOCONFIGPint32_t SYS_AUTOSTART 'Pint32_t SYS_CAL_TDELPint32_t SYS_CAL_TMAX Pint32_t SYS_CAL_TMINPint32_t SYS_CTRL_ALLOCPint32_t SYS_FAC_CAL_MODEPint32_t SYS_FAILURE_ENPint32_t SYS_HAS_BAROPint32_t SYS_HAS_GPSPint32_t SYS_HAS_MAGPint32_t SYS_HAS_NUM_DISTPint32_t SYS_HITLPint32_t SYS_MC_EST_GROUPPint32_t SYS_STCK_ENPfloat SYS_VEHICLE_RESP̾Pfloat THR_MDL_FACPint32_t TRIG_INTERFACEPint32_t TRIG_MODEPfloat VTO_LOITER_ALTBPfloat VT_B_DEC_MSS@Pfloat VT_B_REV_DELP int32_t WV_ENQint32_t BAT1_N_CELLSQint32_t CAL_ACC0_IDQint32_t CAL_ACC0_PRIOQint32_t CAL_ACC1_IDQint32_t CAL_ACC1_PRIOQint32_t CAL_ACC2_IDQint32_t CAL_ACC2_PRIOQint32_t CAL_GYRO0_IDQint32_t CAL_GYRO0_PRIOQint32_t CAL_GYRO1_IDQint32_t CAL_GYRO1_PRIOQint32_t CAL_GYRO2_IDQint32_t CAL_GYRO2_PRIOQint32_t CAL_MAG0_IDQint32_t CAL_MAG0_PRIOQint32_t CAL_MAG1_IDQint32_t CAL_MAG1_PRIOQint32_t CBRK_SUPPLY_CHKQfloat COM_CPU_MAXBQint32_t COM_RC_IN_MODEQint32_t EKF2_MULTI_IMUQint32_t EKF2_MULTI_MAGQfloat EKF2_REQ_GPS_H AQint32_t GPS_UBX_DYNMODELQint32_t IMU_GYRO_FFT_ENQint32_t IMU_GYRO_RATEMAXQint32_t IMU_INTEG_RATEQint32_t MAV_TYPEQint32_t MC_AT_ENQfloat NAV_ACC_RAD AQint32_t PWM_AUX_OUTQint32_t PWM_MAIN_MAXQint32_t PWM_MAIN_MINQint32_t PWM_MAIN_OUTQfloat RTL_DESCEND_ALTAQfloat RTL_RETURN_ALTpBQint32_t SDLOG_DIRS_MAXQint32_t SDLOG_MODEQint32_t SDLOG_PROFILEQfloat SENS_BOARD_X_OFFQint32_t SENS_IMU_MODEQint32_t SENS_MAG_MODEQint32_t SYS_AUTOSTARTQint32_t TRIG_INTERFACExMchar[87] perf_counter_preflightlogger_sd_fsync_mission: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsxMchar[87] perf_counter_preflightlogger_sd_write_mission: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmspMchar[79] perf_counter_preflightlogger_sd_fsync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmspMchar[79] perf_counter_preflightlogger_sd_write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsNMchar[45] perf_counter_preflightmavlink: STATUSTEXT missed messages: 0 eventsDMchar[35] perf_counter_preflightmavlink: send_bytes error: 0 eventssMchar[82] perf_counter_preflightmavlink: tx run interval: 8 events, 3500.00 avg, min 4000us max 4000us 0.000us rmsxMchar[87] perf_counter_preflightmavlink: tx run elapsed: 8 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsNMchar[45] perf_counter_preflightmavlink: STATUSTEXT missed messages: 0 eventsDMchar[35] perf_counter_preflightmavlink: send_bytes error: 0 eventssMchar[82] perf_counter_preflightmavlink: tx run interval: 9 events, 3555.56 avg, min 4000us max 4000us 0.000us rmsxMchar[87] perf_counter_preflightmavlink: tx run elapsed: 9 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsNMchar[45] perf_counter_preflightmavlink: STATUSTEXT missed messages: 0 eventsDMchar[35] perf_counter_preflightmavlink: send_bytes error: 0 eventstMchar[83] perf_counter_preflightmavlink: tx run interval: 10 events, 3600.00 avg, min 4000us max 4000us 0.000us rmsyMchar[88] perf_counter_preflightmavlink: tx run elapsed: 10 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsNMchar[45] perf_counter_preflightmavlink: STATUSTEXT missed messages: 0 eventsDMchar[35] perf_counter_preflightmavlink: send_bytes error: 0 eventstMchar[83] perf_counter_preflightmavlink: tx run interval: 30 events, 3866.67 avg, min 4000us max 4000us 0.000us rmsyMchar[88] perf_counter_preflightmavlink: tx run elapsed: 30 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsPMchar[47] perf_counter_preflightgyro_calibration: calibration updated: 0 eventslMchar[75] perf_counter_preflightgyro_calibration: interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rmsGMchar[38] perf_counter_preflightgyro_fft: gyro FIFO data gap: 1 eventsnMchar[77] perf_counter_preflightgyro_fft: FFT: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmstMchar[83] perf_counter_preflightgyro_fft: cycle interval: 17 events, 7529.41 avg, min 8000us max 8000us 0.000us rmsqMchar[80] perf_counter_preflightgyro_fft: cycle: 17 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsjMchar[73] perf_counter_preflightnavigator: 1 events, 0us elapsed, 0.00us avg, min 0us max 0us -nanus rmsuMchar[84] perf_counter_preflightland_detector: cycle: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms{Mchar[90] perf_counter_preflightmc_pos_control: cycle time: 1 events, 0us elapsed, 0.00us avg, min 0us max 0us -nanus rms{Mchar[90] perf_counter_preflightflight_mode_manager: cycle: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsM char[101] perf_counter_preflightmc_hover_thrust_estimator: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsM char[104] perf_counter_preflightmc_autotune_attitude_control: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsvMchar[85] perf_counter_preflightmc_att_control: cycle: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsxMchar[87] perf_counter_preflightmc_rate_control: cycle: 41 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsQMchar[48] perf_counter_preflightekf2: vehicle_air_data messages missed: 0 eventsQMchar[48] perf_counter_preflightekf2: vehicle_air_data messages missed: 0 eventsCMchar[34] perf_counter_preflightekf2: IMU message missed: 0 eventsvMchar[85] perf_counter_preflightekf2: ECL full update: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsrMchar[81] perf_counter_preflightekf2: ECL update: 42 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsQMchar[48] perf_counter_preflightekf2: vehicle_air_data messages missed: 1 eventsCMchar[34] perf_counter_preflightekf2: IMU message missed: 0 eventsvMchar[85] perf_counter_preflightekf2: ECL full update: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsrMchar[81] perf_counter_preflightekf2: ECL update: 42 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsUMchar[52] perf_counter_preflightekf2: vehicle_magnetometer messages missed: 0 eventsQMchar[48] perf_counter_preflightekf2: vehicle_air_data messages missed: 0 eventsCMchar[34] perf_counter_preflightekf2: IMU message missed: 0 eventsvMchar[85] perf_counter_preflightekf2: ECL full update: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsrMchar[81] perf_counter_preflightekf2: ECL update: 42 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsUMchar[52] perf_counter_preflightekf2: vehicle_magnetometer messages missed: 0 eventsQMchar[48] perf_counter_preflightekf2: vehicle_air_data messages missed: 0 eventsCMchar[34] perf_counter_preflightekf2: IMU message missed: 0 eventsvMchar[85] perf_counter_preflightekf2: ECL full update: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsrMchar[81] perf_counter_preflightekf2: ECL update: 42 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsUMchar[52] perf_counter_preflightekf2: vehicle_magnetometer messages missed: 0 eventsQMchar[48] perf_counter_preflightekf2: vehicle_air_data messages missed: 0 eventsCMchar[34] perf_counter_preflightekf2: IMU message missed: 0 eventsvMchar[85] perf_counter_preflightekf2: ECL full update: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsrMchar[81] perf_counter_preflightekf2: ECL update: 42 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsCMchar[34] perf_counter_preflightekf2: IMU message missed: 1 eventsvMchar[85] perf_counter_preflightekf2: ECL full update: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsrMchar[81] perf_counter_preflightekf2: ECL update: 42 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmspMchar[79] perf_counter_preflightcontrol latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms{Mchar[90] perf_counter_preflightcommander: preflight check: 1 events, 0us elapsed, 0.00us avg, min 0us max 0us -nanus rmsrMchar[81] perf_counter_preflightcommander: cycle: 19 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsEMchar[36] perf_counter_preflightvehicle_imu: gyro data gap: 1 eventsFMchar[37] perf_counter_preflightvehicle_imu: accel data gap: 1 eventsEMchar[36] perf_counter_preflightvehicle_imu: gyro data gap: 1 eventsFMchar[37] perf_counter_preflightvehicle_imu: accel data gap: 1 eventsEMchar[36] perf_counter_preflightvehicle_imu: gyro data gap: 1 eventsFMchar[37] perf_counter_preflightvehicle_imu: accel data gap: 1 events}Mchar[92] perf_counter_preflightvehicle_magnetometer: cycle: 59 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms|Mchar[91] perf_counter_preflightvehicle_gps_position: cycle: 1 events, 0us elapsed, 0.00us avg, min 0us max 0us -nanus rmsyMchar[88] perf_counter_preflightvehicle_air_data: cycle: 59 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms[Mchar[58] perf_counter_preflightvehicle_angular_velocity: gyro selection changed: 1 eventsVMchar[53] perf_counter_preflightvehicle_angular_velocity: gyro filter reset: 1 eventsM char[102] perf_counter_preflightvehicle_angular_velocity: gyro filter: 49 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsiMchar[72] perf_counter_preflightsensors: 49 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsjMchar[73] perf_counter_preflightmanual_control: interval: 1 events, 0.00 avg, min 0us max 0us -nanus rmsvMchar[85] perf_counter_preflightmanual_control: cycle: 1 events, 0us elapsed, 0.00us avg, min 0us max 0us -nanus rmspMchar[79] perf_counter_preflightrc_update: valid data interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rmskMchar[74] perf_counter_preflightrc_update: cycle interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rmsqMchar[80] perf_counter_preflightrc_update: cycle: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsyMchar[88] perf_counter_preflightbattery_simulator: cycle: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmspMchar[79] perf_counter_preflightload_mon: cycle: 1 events, 0us elapsed, 0.00us avg, min 0us max 0us -nanus rmsmMchar[76] perf_counter_preflightsimulator: network interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rmsyMchar[88] perf_counter_preflightsimulator: network delay: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsoMchar[78] perf_counter_preflightdataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsnMchar[77] perf_counter_preflightdataman: read: 5 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmskMchar[74] perf_counter_preflightparam: set: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms8Mchar[23] perf_counter_preflightparam: get: 4774 events9Mchar[24] perf_counter_preflightparam: find: 1479 eventsnMchar[77] perf_counter_preflightparam: export: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms=M!char[26] excluded_optional_topicsactuator_controls_status_05M!char[18] excluded_optional_topicsairspeed_validated1M!char[14] excluded_optional_topicscamera_capture1M!char[14] excluded_optional_topicscamera_trigger-M!char[10] excluded_optional_topicsesc_status0M!char[13] excluded_optional_topicsfollow_target3M!char[16] excluded_optional_topicsgenerator_status*M char[8] excluded_optional_topicsgps_dump0M!char[13] excluded_optional_topicsheater_statusDM!char[33] excluded_optional_topicsinternal_combustion_engine_status0M!char[13] excluded_optional_topicsirlock_report6M!char[19] excluded_optional_topicslanding_target_pose=M!char[26] excluded_optional_topicsmagnetometer_bias_estimate/M!char[12] excluded_optional_topicspx4io_status4M!char[17] excluded_optional_topicssensor_correction.M!char[11] excluded_optional_topicstecs_status6M!char[19] excluded_optional_topicsvtol_vehicle_status0M!char[13] excluded_optional_topicsairspeed_wind4M!char[17] excluded_optional_topicssensor_hygrometer%M char[3] excluded_optional_topicsrpm.M!char[11] excluded_optional_topicspps_captureAactuator_armedAactuator_controls_0#Aautotune_attitude_control_statusAcommander_stateAfailure_detector_status Ainput_rcAmanual_control_setpointAparameter_updateAposition_setpoint_triplet A safetyA sensor_combinedA sensor_gyro_fftA sensor_selectionA 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telemetry_statusA!telemetry_statusA"telemetry_statusA#estimator_selector_statusA$estimator_attitudeA%estimator_attitudeA&estimator_attitudeA'estimator_attitudeA(estimator_attitudeA)estimator_attitudeA*estimator_global_positionA+estimator_global_positionA,estimator_global_positionA-estimator_global_positionA.estimator_global_positionA/estimator_global_positionA0estimator_local_positionA1estimator_local_positionA2estimator_local_positionA3estimator_local_positionA4estimator_local_positionA5estimator_local_positionA6estimator_windA7estimator_windA8estimator_windA9estimator_windA:estimator_windA;estimator_windA<estimator_baro_biasA=estimator_event_flagsA>estimator_gps_status#A?estimator_innovation_test_ratios!A@estimator_innovation_variancesAAestimator_innovationsABestimator_optical_flow_velACestimator_sensor_biasADestimator_statesAEestimator_statusAFestimator_status_flags$AGestimator_visual_odometry_alignedAHyaw_estimator_statusAIestimator_baro_biasAJestimator_baro_biasAKestimator_baro_biasALestimator_baro_biasAMestimator_baro_biasANestimator_event_flagsAOestimator_event_flagsAPestimator_event_flagsAQestimator_event_flagsARestimator_event_flagsASestimator_gps_statusATestimator_gps_statusAUestimator_gps_statusAVestimator_gps_statusAWestimator_gps_status#AXestimator_innovation_test_ratios#AYestimator_innovation_test_ratios#AZestimator_innovation_test_ratios#A[estimator_innovation_test_ratios#A\estimator_innovation_test_ratios!A]estimator_innovation_variances!A^estimator_innovation_variances!A_estimator_innovation_variances!A`estimator_innovation_variances!Aaestimator_innovation_variancesAbestimator_innovationsAcestimator_innovationsAdestimator_innovationsAeestimator_innovationsAfestimator_innovationsAgestimator_optical_flow_velAhestimator_optical_flow_velAiestimator_optical_flow_velAjestimator_optical_flow_velAkestimator_optical_flow_velAlestimator_sensor_biasAmestimator_sensor_biasAnestimator_sensor_biasAoestimator_sensor_biasApestimator_sensor_biasAqestimator_statesArestimator_statesAsestimator_statesAtestimator_statesAuestimator_statesAvestimator_statusAwestimator_statusAxestimator_statusAyestimator_statusAzestimator_statusA{estimator_status_flagsA|estimator_status_flagsA}estimator_status_flagsA~estimator_status_flagsAestimator_status_flags$Aestimator_visual_odometry_aligned$Aestimator_visual_odometry_aligned$Aestimator_visual_odometry_aligned$Aestimator_visual_odometry_aligned$Aestimator_visual_odometry_alignedAyaw_estimator_statusAyaw_estimator_statusAyaw_estimator_statusAyaw_estimator_statusAyaw_estimator_statusAsensor_accelAsensor_accelAsensor_accelAsensor_baroAsensor_baro Asensor_gpsAsensor_gyroAsensor_gyroAsensor_gyro Asensor_mag Asensor_magAvehicle_imuAvehicle_imuAvehicle_imuAvehicle_imu_statusAvehicle_imu_statusAvehicle_imu_statusAvehicle_magnetometerAvehicle_angular_accelerationAvehicle_attitude_groundtruth&Avehicle_global_position_groundtruth%Avehicle_local_position_groundtruthAekf2_timestampsAeventD2D`U`U":W DDAD$DMT6D""B@"B@"B@ D 1D `UY<* : X=l<\}D w  bD `U  "^;[:;;:  f99%9222222D`U`UG.<>YD ( 1DD`UD`U`U?ZB;3DE?>DE_4G@"X!@DEq5G@X!@.6<D`U*DE[-f3L6&[px4] Startup script returned successfully-L6E[logger] Start file log (type: full)2Deeu6%K91D ey?DeG 4G@1&X!@Deq5G@X!@.<De9L6E[logger] [logger] ./log/2022-04-29/08_45_27.ulg DtEL6E[logger] Opened full log file: ./log/2022-04-29/08_45_27.ulg1D t; ;?;ل=eX< D@@&;=p;;D@@ȩ>[?3D@?D@1D hp;;V<F"=Mu<"VD1D :B :<&8DD;: ;D箻"%۽3D?Dq5G@X!@.<D1D VYg O?|E3D?D`#D& ;[>^8#<>D1D `hjT¹EC>3D ?D D 01D ?v?;lΥ;, DD??H:k]2;D??[|>->yKl>3D??D?q5G@X!@.<D?1D `OZCR<{>D@~1D @~pH<;fΥHX6=<{yD$T<[;cDT,>#'=q3D@~?D@~q5G@X!@<D1D z2<mU<<»%D1D 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LE64368D@ L88` EAz=DA LBg|{4<ϻDD L?#h:o:q`9,nBŇRk;Y #605 s=9N8P]>x=<6>,1ZK8K8%Z":KO8PO8AQQ8! 7 7 y='p+.X+.U2%j5cj5ӿV3pDE L$9G;!^:$;0>#{<j:   e Dl`o/A>3Du?Duq5G@X!@.6;D'D@ e[C7Gd?D@1D ࣨXpQe.7 =HࣨPǦ':Y:D?ࣨ`kE64368D@ࣨ`k88` EAz=DAࣨ`kBg|{4<ϻDDࣨ`k?Va:&n:u@9zanT=;Y #605 s=9N8P]>x=<6>$1DK8K8k":s8 s8t877 y=t+.t]+.U2&j5dj5ݿV3pDEࣨ`k?(99B;\:$چ;1>#{<j:   e Dࣨpyulog-1.2.3/test/sample_logging_tagged_and_default_params_messages.txt000066400000000000000000000003651521417275500266530ustar00rootroot000000000000000:00:00 INFO: [px4] Startup script returned successfully 0:00:00 INFO: logging: opening log file 2022-4-29/8_45_27.ulg 0:00:00 INFO: [logger] Start file log (type: full) 0:00:00 INFO: [logger] Opened full log file: ./log/2022-04-29/08_45_27.ulg pyulog-1.2.3/test/sample_messages.txt000066400000000000000000000003701521417275500177350ustar00rootroot000000000000000:02:38 ERROR: [sensors] no barometer found on /dev/baro0 (2) 0:02:42 ERROR: [sensors] no barometer found on /dev/baro0 (2) 0:02:51 ERROR: [sensors] no barometer found on /dev/baro0 (2) 0:02:56 ERROR: [sensors] no barometer found on /dev/baro0 (2) pyulog-1.2.3/test/sample_px4_events.ulg000066400000000000000000057550121521417275500202140ustar00rootroot00000000000000ULog5u(B8Ichar[40] ver_swcb09dde606861b90e38b1682eebd3fd91be17ab7Iuint32_t ver_sw_releaseIchar[8] ver_hwPX4_SITLIchar[3] sys_namePX4Ichar[5] sys_os_nameLinux Iuint32_t sys_os_ver_releaseIchar[7] sys_toolchainGNU GCC=Ichar[34] sys_toolchain_ver13.2.1 20231205 (Red Hat 13.2.1-6)Iuint32_t ver_data_formatIint32_t time_ref_utcFyaw_estimator_status:uint64_t timestamp;uint64_t timestamp_sample;float yaw_composite;float yaw_variance;float[5] yaw;float[5] innov_vn;float[5] innov_ve;float[5] weight;bool yaw_composite_valid;uint8_t[7] _padding0;Fwind:uint64_t timestamp;uint64_t timestamp_sample;float windspeed_north;float windspeed_east;float variance_north;float variance_east;float tas_innov;float tas_innov_var;float beta_innov;float beta_innov_var;rFvehicle_trajectory_waypoint:uint64_t timestamp;uint8_t type;uint8_t[7] _padding0;trajectory_waypoint[5] waypoints;zFvehicle_trajectory_waypoint_desired:uint64_t timestamp;uint8_t type;uint8_t[7] _padding0;trajectory_waypoint[5] waypoints;gFvehicle_torque_setpoint:uint64_t timestamp;uint64_t timestamp_sample;float[3] xyz;uint8_t[4] _padding0;gFvehicle_thrust_setpoint:uint64_t timestamp;uint64_t timestamp_sample;float[3] xyz;uint8_t[4] _padding0;HFvehicle_status:uint64_t timestamp;uint64_t armed_time;uint64_t takeoff_time;uint64_t nav_state_timestamp;uint32_t valid_nav_states_mask;uint32_t can_set_nav_states_mask;uint16_t failure_detector_status;uint8_t arming_state;uint8_t latest_arming_reason;uint8_t latest_disarming_reason;uint8_t nav_state_user_intention;uint8_t nav_state;uint8_t executor_in_charge;uint8_t hil_state;uint8_t vehicle_type;bool failsafe;bool failsafe_and_user_took_over;uint8_t failsafe_defer_state;bool gcs_connection_lost;uint8_t gcs_connection_lost_counter;bool high_latency_data_link_lost;bool is_vtol;bool is_vtol_tailsitter;bool in_transition_mode;bool in_transition_to_fw;uint8_t system_type;uint8_t system_id;uint8_t component_id;bool safety_button_available;bool safety_off;bool power_input_valid;bool usb_connected;bool open_drone_id_system_present;bool open_drone_id_system_healthy;bool parachute_system_present;bool parachute_system_healthy;bool avoidance_system_required;bool avoidance_system_valid;bool rc_calibration_in_progress;bool calibration_enabled;bool pre_flight_checks_pass;uint8_t[4] _padding0;Fvehicle_roi:uint64_t timestamp;double lat;double lon;float alt;float roll_offset;float pitch_offset;float yaw_offset;uint8_t mode;uint8_t[7] _padding0;Fvehicle_rates_setpoint:uint64_t timestamp;float roll;float pitch;float yaw;float[3] thrust_body;bool reset_integral;uint8_t[7] _padding0;Festimator_optical_flow_vel:uint64_t timestamp;uint64_t timestamp_sample;float[2] vel_body;float[2] vel_ne;float[2] flow_rate_uncompensated;float[2] flow_rate_compensated;float[3] gyro_rate;float[3] gyro_bias;float[3] ref_gyro;uint8_t[4] _padding0;Fvehicle_optical_flow:uint64_t timestamp;uint64_t timestamp_sample;uint32_t device_id;float[2] pixel_flow;float[3] delta_angle;float distance_m;uint32_t integration_timespan_us;float max_flow_rate;float min_ground_distance;float max_ground_distance;uint8_t quality;uint8_t[3] _padding0;EFvehicle_mocap_odometry:uint64_t timestamp;uint64_t timestamp_sample;float[3] position;float[4] q;float[3] velocity;float[3] angular_velocity;float[3] position_variance;float[3] orientation_variance;float[3] velocity_variance;uint8_t pose_frame;uint8_t velocity_frame;uint8_t reset_counter;int8_t quality;uint8_t[4] _padding0;FFvehicle_visual_odometry:uint64_t timestamp;uint64_t timestamp_sample;float[3] position;float[4] q;float[3] velocity;float[3] angular_velocity;float[3] position_variance;float[3] orientation_variance;float[3] velocity_variance;uint8_t pose_frame;uint8_t velocity_frame;uint8_t reset_counter;int8_t quality;uint8_t[4] _padding0;Fvehicle_magnetometer:uint64_t timestamp;uint64_t timestamp_sample;uint32_t device_id;float[3] magnetometer_ga;uint8_t calibration_count;uint8_t[7] _padding0;Fvehicle_local_position_setpoint:uint64_t timestamp;float x;float y;float z;float vx;float vy;float vz;float[3] acceleration;float[3] thrust;float yaw;float yawspeed;LFvehicle_local_position:uint64_t timestamp;uint64_t timestamp_sample;uint64_t ref_timestamp;double ref_lat;double ref_lon;float x;float y;float z;float[2] delta_xy;float delta_z;float vx;float vy;float vz;float z_deriv;float[2] delta_vxy;float delta_vz;float ax;float ay;float az;float heading;float heading_var;float unaided_heading;float delta_heading;float tilt_var;float ref_alt;float dist_bottom;float eph;float epv;float evh;float evv;float vxy_max;float vz_max;float hagl_min;float hagl_max;bool xy_valid;bool z_valid;bool v_xy_valid;bool v_z_valid;uint8_t xy_reset_counter;uint8_t z_reset_counter;uint8_t vxy_reset_counter;uint8_t vz_reset_counter;uint8_t heading_reset_counter;bool heading_good_for_control;bool xy_global;bool z_global;bool dist_bottom_valid;uint8_t dist_bottom_sensor_bitfield;bool dead_reckoning;uint8_t[5] _padding0;6Fvehicle_land_detected:uint64_t timestamp;bool freefall;bool ground_contact;bool maybe_landed;bool landed;bool in_ground_effect;bool in_descend;bool has_low_throttle;bool vertical_movement;bool horizontal_movement;bool rotational_movement;bool close_to_ground_or_skipped_check;bool at_rest;uint8_t[4] _padding0;Fvehicle_imu_status:uint64_t timestamp;uint32_t accel_device_id;uint32_t gyro_device_id;uint32_t[3] accel_clipping;uint32_t[3] gyro_clipping;uint32_t accel_error_count;uint32_t gyro_error_count;float accel_rate_hz;float gyro_rate_hz;float accel_raw_rate_hz;float gyro_raw_rate_hz;float accel_vibration_metric;float gyro_vibration_metric;float delta_angle_coning_metric;float[3] mean_accel;float[3] mean_gyro;float[3] var_accel;float[3] var_gyro;float temperature_accel;float temperature_gyro;uint8_t[4] _padding0;FFvehicle_imu:uint64_t timestamp;uint64_t timestamp_sample;uint32_t accel_device_id;uint32_t gyro_device_id;float[3] delta_angle;float[3] delta_velocity;uint16_t delta_angle_dt;uint16_t delta_velocity_dt;uint8_t delta_angle_clipping;uint8_t delta_velocity_clipping;uint8_t accel_calibration_count;uint8_t gyro_calibration_count;'Fvehicle_global_position:uint64_t timestamp;uint64_t timestamp_sample;double lat;double lon;float alt;float alt_ellipsoid;float delta_alt;float eph;float epv;float terrain_alt;uint8_t lat_lon_reset_counter;uint8_t alt_reset_counter;bool terrain_alt_valid;bool dead_reckoning;uint8_t[4] _padding0;#Faux_global_position:uint64_t timestamp;uint64_t timestamp_sample;double lat;double lon;float alt;float alt_ellipsoid;float delta_alt;float eph;float epv;float terrain_alt;uint8_t lat_lon_reset_counter;uint8_t alt_reset_counter;bool terrain_alt_valid;bool dead_reckoning;uint8_t[4] _padding0;4Fvehicle_control_mode:uint64_t timestamp;bool flag_armed;bool flag_multicopter_position_control_enabled;bool flag_control_manual_enabled;bool flag_control_auto_enabled;bool flag_control_offboard_enabled;bool flag_control_position_enabled;bool flag_control_velocity_enabled;bool flag_control_altitude_enabled;bool flag_control_climb_rate_enabled;bool flag_control_acceleration_enabled;bool flag_control_attitude_enabled;bool flag_control_rates_enabled;bool flag_control_allocation_enabled;bool flag_control_termination_enabled;uint8_t source_id;uint8_t[1] _padding0;nFvehicle_constraints:uint64_t timestamp;float speed_up;float speed_down;bool want_takeoff;uint8_t[7] _padding0;Fvehicle_command_ack:uint64_t timestamp;uint32_t command;int32_t result_param2;uint16_t target_component;uint8_t result;uint8_t result_param1;uint8_t target_system;bool from_external;uint8_t[2] _padding0;-Fvehicle_command:uint64_t timestamp;double param5;double param6;float param1;float param2;float param3;float param4;float param7;uint32_t command;uint16_t source_component;uint8_t target_system;uint8_t target_component;uint8_t source_system;uint8_t confirmation;bool from_external;uint8_t[1] _padding0;Fvehicle_attitude_setpoint:uint64_t timestamp;float roll_body;float pitch_body;float yaw_body;float yaw_sp_move_rate;float[4] q_d;float[3] thrust_body;bool reset_integral;bool fw_control_yaw_wheel;uint8_t[2] _padding0;Fvehicle_attitude:uint64_t timestamp;uint64_t timestamp_sample;float[4] q;float[4] delta_q_reset;uint8_t quat_reset_counter;uint8_t[7] _padding0;kFvehicle_angular_velocity:uint64_t timestamp;uint64_t timestamp_sample;float[3] xyz;float[3] xyz_derivative;Fvehicle_air_data:uint64_t timestamp;uint64_t timestamp_sample;uint32_t baro_device_id;float baro_alt_meter;float baro_temp_celcius;float baro_pressure_pa;float rho;float eas2tas;uint8_t calibration_count;uint8_t[7] _padding0;dFvehicle_acceleration:uint64_t timestamp;uint64_t timestamp_sample;float[3] xyz;uint8_t[4] _padding0;%Ftransponder_report:uint64_t timestamp;double lat;double lon;uint32_t icao_address;float altitude;float heading;float hor_velocity;float ver_velocity;uint16_t flags;uint16_t squawk;uint8_t altitude_type;char[9] callsign;uint8_t emitter_type;uint8_t tslc;uint8_t[18] uas_id;uint8_t[2] _padding0;Ftrajectory_waypoint:uint64_t timestamp;float[3] position;float[3] velocity;float[3] acceleration;float yaw;float yaw_speed;bool point_valid;uint8_t type;uint8_t[2] _padding0;Ftrajectory_setpoint:uint64_t timestamp;float[3] position;float[3] velocity;float[3] acceleration;float[3] jerk;float yaw;float yawspeed;KFtelemetry_status:uint64_t timestamp;float data_rate;float rate_multiplier;float tx_rate_avg;float tx_error_rate_avg;uint32_t tx_message_count;uint32_t tx_buffer_overruns;float rx_rate_avg;uint32_t rx_message_count;uint32_t rx_message_lost_count;uint32_t rx_buffer_overruns;uint32_t rx_parse_errors;uint32_t rx_packet_drop_count;float rx_message_lost_rate;uint8_t type;uint8_t mode;bool flow_control;bool forwarding;bool mavlink_v2;bool ftp;uint8_t streams;bool heartbeat_type_antenna_tracker;bool heartbeat_type_gcs;bool heartbeat_type_onboard_controller;bool heartbeat_type_gimbal;bool heartbeat_type_adsb;bool heartbeat_type_camera;bool heartbeat_type_parachute;bool heartbeat_type_open_drone_id;bool heartbeat_component_telemetry_radio;bool heartbeat_component_log;bool heartbeat_component_osd;bool heartbeat_component_obstacle_avoidance;bool heartbeat_component_vio;bool heartbeat_component_pairing_manager;bool heartbeat_component_udp_bridge;bool heartbeat_component_uart_bridge;bool avoidance_system_healthy;bool open_drone_id_system_healthy;bool parachute_system_healthy;uint8_t[2] _padding0;^Ftakeoff_status:uint64_t timestamp;float tilt_limit;uint8_t takeoff_state;uint8_t[3] _padding0; Fsystem_power:uint64_t timestamp;float voltage5v_v;float[4] sensors3v3;uint8_t sensors3v3_valid;uint8_t usb_connected;uint8_t brick_valid;uint8_t usb_valid;uint8_t servo_valid;uint8_t periph_5v_oc;uint8_t hipower_5v_oc;uint8_t comp_5v_valid;uint8_t can1_gps1_5v_valid;uint8_t[3] _padding0;CFsensors_status_imu:uint64_t timestamp;uint32_t accel_device_id_primary;uint32_t[4] accel_device_ids;float[4] accel_inconsistency_m_s_s;uint32_t gyro_device_id_primary;uint32_t[4] gyro_device_ids;float[4] gyro_inconsistency_rad_s;bool[4] accel_healthy;uint8_t[4] accel_priority;bool[4] gyro_healthy;uint8_t[4] gyro_priority;UFsensor_selection:uint64_t timestamp;uint32_t accel_device_id;uint32_t gyro_device_id;qFsensor_optical_flow:uint64_t timestamp;uint64_t timestamp_sample;uint32_t device_id;float[2] pixel_flow;float[3] delta_angle;float distance_m;uint32_t integration_timespan_us;uint32_t error_count;float max_flow_rate;float min_ground_distance;float max_ground_distance;bool delta_angle_available;bool distance_available;uint8_t quality;uint8_t mode;uint8_t[4] _padding0;Fsensor_mag:uint64_t timestamp;uint64_t timestamp_sample;uint32_t device_id;float x;float y;float z;float temperature;uint32_t error_count;%Fsensor_gyro_fft:uint64_t timestamp;uint64_t timestamp_sample;uint32_t device_id;float sensor_sample_rate_hz;float resolution_hz;float[3] peak_frequencies_x;float[3] peak_frequencies_y;float[3] peak_frequencies_z;float[3] peak_snr_x;float[3] peak_snr_y;float[3] peak_snr_z;uint8_t[4] _padding0;Fsensor_gyro:uint64_t timestamp;uint64_t timestamp_sample;uint32_t device_id;float x;float y;float z;float temperature;uint32_t error_count;uint8_t[3] clip_counter;uint8_t samples;uint8_t[4] _padding0;Fsensor_gps:uint64_t timestamp;uint64_t timestamp_sample;double latitude_deg;double longitude_deg;double altitude_msl_m;double altitude_ellipsoid_m;uint64_t time_utc_usec;uint32_t device_id;float s_variance_m_s;float c_variance_rad;float eph;float epv;float hdop;float vdop;int32_t noise_per_ms;int32_t jamming_indicator;float vel_m_s;float vel_n_m_s;float vel_e_m_s;float vel_d_m_s;float cog_rad;int32_t timestamp_time_relative;float heading;float heading_offset;float heading_accuracy;float rtcm_injection_rate;uint16_t automatic_gain_control;uint8_t fix_type;uint8_t jamming_state;uint8_t spoofing_state;bool vel_ned_valid;uint8_t satellites_used;uint8_t selected_rtcm_instance;bool rtcm_crc_failed;uint8_t rtcm_msg_used;uint8_t[2] _padding0;Fvehicle_gps_position:uint64_t timestamp;uint64_t timestamp_sample;double latitude_deg;double longitude_deg;double altitude_msl_m;double altitude_ellipsoid_m;uint64_t time_utc_usec;uint32_t device_id;float s_variance_m_s;float c_variance_rad;float eph;float epv;float hdop;float vdop;int32_t noise_per_ms;int32_t jamming_indicator;float vel_m_s;float vel_n_m_s;float vel_e_m_s;float vel_d_m_s;float cog_rad;int32_t timestamp_time_relative;float heading;float heading_offset;float heading_accuracy;float rtcm_injection_rate;uint16_t automatic_gain_control;uint8_t fix_type;uint8_t jamming_state;uint8_t spoofing_state;bool vel_ned_valid;uint8_t satellites_used;uint8_t selected_rtcm_instance;bool rtcm_crc_failed;uint8_t rtcm_msg_used;uint8_t[2] _padding0;Fsensor_gnss_relative:uint64_t timestamp;uint64_t timestamp_sample;uint64_t time_utc_usec;uint32_t device_id;float[3] position;float[3] position_accuracy;float heading;float heading_accuracy;float position_length;float accuracy_length;uint16_t reference_station_id;bool gnss_fix_ok;bool differential_solution;bool relative_position_valid;bool carrier_solution_floating;bool carrier_solution_fixed;bool moving_base_mode;bool reference_position_miss;bool reference_observations_miss;bool heading_valid;bool relative_position_normalized;+Fsensor_combined:uint64_t timestamp;float[3] gyro_rad;uint32_t gyro_integral_dt;int32_t accelerometer_timestamp_relative;float[3] accelerometer_m_s2;uint32_t accelerometer_integral_dt;uint8_t accelerometer_clipping;uint8_t gyro_clipping;uint8_t accel_calibration_count;uint8_t gyro_calibration_count;Fsensor_baro:uint64_t timestamp;uint64_t timestamp_sample;uint32_t device_id;float pressure;float temperature;uint32_t error_count;Fsensor_accel:uint64_t timestamp;uint64_t timestamp_sample;uint32_t device_id;float x;float y;float z;float temperature;uint32_t error_count;uint8_t[3] clip_counter;uint8_t samples;uint8_t[4] _padding0;rFrtl_time_estimate:uint64_t timestamp;float time_estimate;float safe_time_estimate;bool valid;uint8_t[7] _padding0;}Frate_ctrl_status:uint64_t timestamp;float rollspeed_integ;float pitchspeed_integ;float yawspeed_integ;float wheel_rate_integ;Fradio_status:uint64_t timestamp;uint16_t rxerrors;uint16_t fix;uint8_t rssi;uint8_t remote_rssi;uint8_t txbuf;uint8_t noise;uint8_t remote_noise;uint8_t[7] _padding0;yFposition_setpoint_triplet:uint64_t timestamp;position_setpoint previous;position_setpoint current;position_setpoint next;wFposition_setpoint:uint64_t timestamp;double lat;double lon;float vx;float vy;float vz;float alt;float yaw;float loiter_radius;float loiter_minor_radius;float loiter_orientation;float acceptance_radius;float cruising_speed;float cruising_throttle;bool valid;uint8_t type;bool loiter_direction_counter_clockwise;uint8_t loiter_pattern;bool gliding_enabled;uint8_t[7] _padding0;Fposition_controller_status:uint64_t timestamp;float nav_roll;float nav_pitch;float nav_bearing;float target_bearing;float xtrack_error;float wp_dist;float acceptance_radius;float yaw_acceptance;float altitude_acceptance;uint8_t type;uint8_t[3] _padding0;Fposition_controller_landing_status:uint64_t timestamp;float lateral_touchdown_offset;bool flaring;uint8_t abort_status;uint8_t[2] _padding0;Fparameter_update:uint64_t timestamp;uint32_t instance;uint32_t get_count;uint32_t set_count;uint32_t find_count;uint32_t export_count;uint16_t active;uint16_t changed;uint16_t custom_default;uint8_t[6] _padding0;Fonboard_computer_status:uint64_t timestamp;uint32_t uptime;uint32_t ram_usage;uint32_t ram_total;uint32_t[4] storage_type;uint32_t[4] storage_usage;uint32_t[4] storage_total;uint32_t[6] link_type;uint32_t[6] link_tx_rate;uint32_t[6] link_rx_rate;uint32_t[6] link_tx_max;uint32_t[6] link_rx_max;int16_t[4] fan_speed;uint8_t type;uint8_t[8] cpu_cores;uint8_t[10] cpu_combined;uint8_t[4] gpu_cores;uint8_t[10] gpu_combined;int8_t temperature_board;int8_t[8] temperature_core;uint8_t[2] _padding0;Foffboard_control_mode:uint64_t timestamp;bool position;bool velocity;bool acceleration;bool attitude;bool body_rate;bool thrust_and_torque;bool direct_actuator;uint8_t[1] _padding0;Fobstacle_distance_fused:uint64_t timestamp;float increment;float angle_offset;uint16_t[72] distances;uint16_t min_distance;uint16_t max_distance;uint8_t frame;uint8_t sensor_type;uint8_t[2] _padding0;dFnpfg_status:uint64_t timestamp;float lat_accel;float lat_accel_ff;float bearing_feas;float bearing_feas_on_track;float signed_track_error;float track_error_bound;float airspeed_ref;float bearing;float heading_ref;float min_ground_speed_ref;float adapted_period;float p_gain;float time_const;float can_run_factor;uint8_t wind_est_valid;uint8_t[7] _padding0;Fnavigator_mission_item:uint64_t timestamp;uint32_t instance_count;float latitude;float longitude;float time_inside;float acceptance_radius;float loiter_radius;float yaw;float altitude;uint16_t sequence_current;uint16_t nav_cmd;uint8_t frame;uint8_t origin;bool loiter_exit_xtrack;bool force_heading;bool altitude_is_relative;bool autocontinue;bool vtol_back_transition;uint8_t[5] _padding0;[Fmission_result:uint64_t timestamp;uint64_t home_position_counter;int32_t seq_reached;uint16_t mission_id;uint16_t geofence_id;uint16_t seq_current;uint16_t seq_total;uint16_t item_changed_index;uint16_t item_do_jump_remaining;bool valid;bool warning;bool finished;bool failure;bool item_do_jump_changed;uint8_t execution_mode;uint8_t[2] _padding0;hFmanual_control_switches:uint64_t timestamp;uint64_t timestamp_sample;uint32_t switch_changes;uint8_t mode_slot;uint8_t arm_switch;uint8_t return_switch;uint8_t loiter_switch;uint8_t offboard_switch;uint8_t kill_switch;uint8_t gear_switch;uint8_t transition_switch;uint8_t photo_switch;uint8_t video_switch;uint8_t engage_main_motor_switch;uint8_t[1] _padding0; Fmanual_control_setpoint:uint64_t timestamp;uint64_t timestamp_sample;float roll;float pitch;float yaw;float throttle;float flaps;float aux1;float aux2;float aux3;float aux4;float aux5;float aux6;bool valid;uint8_t data_source;bool sticks_moving;uint8_t[1] _padding0;IFlanding_gear:uint64_t timestamp;int8_t landing_gear;uint8_t[7] _padding0;5Finput_rc:uint64_t timestamp;uint64_t timestamp_last_signal;int32_t rssi;float rssi_dbm;uint16_t rc_lost_frame_count;uint16_t rc_total_frame_count;uint16_t rc_ppm_frame_length;uint16_t[18] values;uint8_t channel_count;bool rc_failsafe;bool rc_lost;uint8_t input_source;int8_t link_quality;uint8_t[1] _padding0;Fhover_thrust_estimate:uint64_t timestamp;uint64_t timestamp_sample;float hover_thrust;float hover_thrust_var;float accel_innov;float accel_innov_var;float accel_innov_test_ratio;float accel_noise_var;bool valid;uint8_t[7] _padding0;Fhome_position:uint64_t timestamp;double lat;double lon;float alt;float x;float y;float z;float yaw;uint32_t update_count;bool valid_alt;bool valid_hpos;bool valid_lpos;bool manual_home;uint8_t[4] _padding0; Fgoto_setpoint:uint64_t timestamp;float[3] position;float heading;float max_horizontal_speed;float max_vertical_speed;float max_heading_rate;bool flag_control_heading;bool flag_set_max_horizontal_speed;bool flag_set_max_vertical_speed;bool flag_set_max_heading_rate;Fgimbal_manager_set_attitude:uint64_t timestamp;uint32_t flags;float[4] q;float angular_velocity_x;float angular_velocity_y;float angular_velocity_z;uint8_t origin_sysid;uint8_t origin_compid;uint8_t target_system;uint8_t target_component;uint8_t gimbal_device_id;uint8_t[3] _padding0;Ffailure_detector_status:uint64_t timestamp;float imbalanced_prop_metric;uint16_t motor_failure_mask;bool fd_roll;bool fd_pitch;bool fd_alt;bool fd_ext;bool fd_arm_escs;bool fd_battery;bool fd_imbalanced_prop;bool fd_motor;uint8_t[2] _padding0;Ffailsafe_flags:uint64_t timestamp;uint32_t mode_req_angular_velocity;uint32_t mode_req_attitude;uint32_t mode_req_local_alt;uint32_t mode_req_local_position;uint32_t mode_req_local_position_relaxed;uint32_t mode_req_global_position;uint32_t mode_req_mission;uint32_t mode_req_offboard_signal;uint32_t mode_req_home_position;uint32_t mode_req_wind_and_flight_time_compliance;uint32_t mode_req_prevent_arming;uint32_t mode_req_manual_control;uint32_t mode_req_other;bool angular_velocity_invalid;bool attitude_invalid;bool local_altitude_invalid;bool local_position_invalid;bool local_position_invalid_relaxed;bool local_velocity_invalid;bool global_position_invalid;bool auto_mission_missing;bool offboard_control_signal_lost;bool home_position_invalid;bool manual_control_signal_lost;bool gcs_connection_lost;uint8_t battery_warning;bool battery_low_remaining_time;bool battery_unhealthy;bool geofence_breached;bool mission_failure;bool vtol_fixed_wing_system_failure;bool wind_limit_exceeded;bool flight_time_limit_exceeded;bool local_position_accuracy_low;bool fd_critical_failure;bool fd_esc_arming_failure;bool fd_imbalanced_prop;bool fd_motor_failure;uint8_t[3] _padding0;Festimator_status_flags:uint64_t timestamp;uint64_t timestamp_sample;uint32_t control_status_changes;uint32_t fault_status_changes;uint32_t innovation_fault_status_changes;bool cs_tilt_align;bool cs_yaw_align;bool cs_gps;bool cs_opt_flow;bool cs_mag_hdg;bool cs_mag_3d;bool cs_mag_dec;bool cs_in_air;bool cs_wind;bool cs_baro_hgt;bool cs_rng_hgt;bool cs_gps_hgt;bool cs_ev_pos;bool cs_ev_yaw;bool cs_ev_hgt;bool cs_fuse_beta;bool cs_mag_field_disturbed;bool cs_fixed_wing;bool cs_mag_fault;bool cs_fuse_aspd;bool cs_gnd_effect;bool cs_rng_stuck;bool cs_gps_yaw;bool cs_mag_aligned_in_flight;bool cs_ev_vel;bool cs_synthetic_mag_z;bool cs_vehicle_at_rest;bool cs_gps_yaw_fault;bool cs_rng_fault;bool cs_inertial_dead_reckoning;bool cs_wind_dead_reckoning;bool cs_rng_kin_consistent;bool cs_fake_pos;bool cs_fake_hgt;bool cs_gravity_vector;bool cs_mag;bool cs_ev_yaw_fault;bool cs_mag_heading_consistent;bool cs_aux_gpos;bool fs_bad_mag_x;bool fs_bad_mag_y;bool fs_bad_mag_z;bool fs_bad_hdg;bool fs_bad_mag_decl;bool fs_bad_airspeed;bool fs_bad_sideslip;bool fs_bad_optflow_x;bool fs_bad_optflow_y;bool fs_bad_vel_n;bool fs_bad_vel_e;bool fs_bad_vel_d;bool fs_bad_pos_n;bool fs_bad_pos_e;bool fs_bad_pos_d;bool fs_bad_acc_bias;bool fs_bad_acc_vertical;bool fs_bad_acc_clipping;bool reject_hor_vel;bool reject_ver_vel;bool reject_hor_pos;bool reject_ver_pos;bool reject_yaw;bool reject_airspeed;bool reject_sideslip;bool reject_hagl;bool reject_optflow_x;bool reject_optflow_y;uint8_t[1] _padding0;Festimator_status:uint64_t timestamp;uint64_t timestamp_sample;uint64_t control_mode_flags;float[3] output_tracking_error;uint32_t filter_fault_flags;float pos_horiz_accuracy;float pos_vert_accuracy;float mag_test_ratio;float vel_test_ratio;float pos_test_ratio;float hgt_test_ratio;float tas_test_ratio;float hagl_test_ratio;float beta_test_ratio;float time_slip;uint32_t accel_device_id;uint32_t gyro_device_id;uint32_t baro_device_id;uint32_t mag_device_id;float mag_inclination_deg;float mag_inclination_ref_deg;float mag_strength_gs;float mag_strength_ref_gs;uint16_t gps_check_fail_flags;uint16_t innovation_check_flags;uint16_t solution_status_flags;uint8_t reset_count_vel_ne;uint8_t reset_count_vel_d;uint8_t reset_count_pos_ne;uint8_t reset_count_pod_d;uint8_t reset_count_quat;bool pre_flt_fail_innov_heading;bool pre_flt_fail_innov_vel_horiz;bool pre_flt_fail_innov_vel_vert;bool pre_flt_fail_innov_height;bool pre_flt_fail_mag_field_disturbed;uint8_t health_flags;uint8_t timeout_flags;uint8_t[6] _padding0;Festimator_states:uint64_t timestamp;uint64_t timestamp_sample;float[24] states;float[23] covariances;uint8_t n_states;uint8_t[3] _padding0;Festimator_sensor_bias:uint64_t timestamp;uint64_t timestamp_sample;uint32_t gyro_device_id;float[3] gyro_bias;float gyro_bias_limit;float[3] gyro_bias_variance;uint32_t accel_device_id;float[3] accel_bias;float accel_bias_limit;float[3] accel_bias_variance;uint32_t mag_device_id;float[3] mag_bias;float mag_bias_limit;float[3] mag_bias_variance;bool gyro_bias_valid;bool gyro_bias_stable;bool accel_bias_valid;bool accel_bias_stable;bool mag_bias_valid;bool mag_bias_stable;uint8_t[2] _padding0;Festimator_innovations:uint64_t timestamp;uint64_t timestamp_sample;float[2] gps_hvel;float gps_vvel;float[2] gps_hpos;float gps_vpos;float[2] ev_hvel;float ev_vvel;float[2] ev_hpos;float ev_vpos;float rng_vpos;float baro_vpos;float[2] aux_hvel;float[2] flow;float[2] terr_flow;float heading;float[3] mag_field;float[3] gravity;float[2] drag;float airspeed;float beta;float hagl;float hagl_rate;uint8_t[4] _padding0;Festimator_innovation_variances:uint64_t timestamp;uint64_t timestamp_sample;float[2] gps_hvel;float gps_vvel;float[2] gps_hpos;float gps_vpos;float[2] ev_hvel;float ev_vvel;float[2] ev_hpos;float ev_vpos;float rng_vpos;float baro_vpos;float[2] aux_hvel;float[2] flow;float[2] terr_flow;float heading;float[3] mag_field;float[3] gravity;float[2] drag;float airspeed;float beta;float hagl;float hagl_rate;uint8_t[4] _padding0;Festimator_innovation_test_ratios:uint64_t timestamp;uint64_t timestamp_sample;float[2] gps_hvel;float gps_vvel;float[2] gps_hpos;float gps_vpos;float[2] ev_hvel;float ev_vvel;float[2] ev_hpos;float ev_vpos;float rng_vpos;float baro_vpos;float[2] aux_hvel;float[2] flow;float[2] terr_flow;float heading;float[3] mag_field;float[3] gravity;float[2] drag;float airspeed;float beta;float hagl;float hagl_rate;uint8_t[4] _padding0;Festimator_gps_status:uint64_t timestamp;uint64_t timestamp_sample;float position_drift_rate_horizontal_m_s;float position_drift_rate_vertical_m_s;float filtered_horizontal_speed_m_s;bool checks_passed;bool check_fail_gps_fix;bool check_fail_min_sat_count;bool check_fail_max_pdop;bool check_fail_max_horz_err;bool check_fail_max_vert_err;bool check_fail_max_spd_err;bool check_fail_max_horz_drift;bool check_fail_max_vert_drift;bool check_fail_max_horz_spd_err;bool check_fail_max_vert_spd_err;uint8_t[1] _padding0;Festimator_event_flags:uint64_t timestamp;uint64_t timestamp_sample;uint32_t information_event_changes;uint32_t warning_event_changes;bool gps_checks_passed;bool reset_vel_to_gps;bool reset_vel_to_flow;bool reset_vel_to_vision;bool reset_vel_to_zero;bool reset_pos_to_last_known;bool reset_pos_to_gps;bool reset_pos_to_vision;bool starting_gps_fusion;bool starting_vision_pos_fusion;bool starting_vision_vel_fusion;bool starting_vision_yaw_fusion;bool yaw_aligned_to_imu_gps;bool reset_hgt_to_baro;bool reset_hgt_to_gps;bool reset_hgt_to_rng;bool reset_hgt_to_ev;bool gps_quality_poor;bool gps_fusion_timout;bool gps_data_stopped;bool gps_data_stopped_using_alternate;bool height_sensor_timeout;bool stopping_navigation;bool invalid_accel_bias_cov_reset;bool bad_yaw_using_gps_course;bool stopping_mag_use;bool vision_data_stopped;bool emergency_yaw_reset_mag_stopped;bool emergency_yaw_reset_gps_yaw_stopped;uint8_t[3] _padding0;Festimator_ev_pos_bias:uint64_t timestamp;uint64_t timestamp_sample;uint32_t device_id;float[3] bias;float[3] bias_var;float[3] innov;float[3] innov_var;float[3] innov_test_ratio;Festimator_baro_bias:uint64_t timestamp;uint64_t timestamp_sample;uint32_t device_id;float bias;float bias_var;float innov;float innov_var;float innov_test_ratio;Festimator_gnss_hgt_bias:uint64_t timestamp;uint64_t timestamp_sample;uint32_t device_id;float bias;float bias_var;float innov;float innov_var;float innov_test_ratio;Festimator_rng_hgt_bias:uint64_t timestamp;uint64_t timestamp_sample;uint32_t device_id;float bias;float bias_var;float innov;float innov_var;float innov_test_ratio;JFestimator_aid_src_aux_global_position:uint64_t timestamp;uint64_t timestamp_sample;uint64_t time_last_fuse;uint32_t device_id;float[2] observation;float[2] observation_variance;float[2] innovation;float[2] innovation_variance;float[2] test_ratio;uint8_t estimator_instance;bool innovation_rejected;bool fused;uint8_t[1] _padding0;Fesc_status:uint64_t timestamp;uint16_t counter;uint8_t esc_count;uint8_t esc_connectiontype;uint8_t esc_online_flags;uint8_t esc_armed_flags;uint8_t[2] _padding0;esc_report[8] esc; Fesc_report:uint64_t timestamp;uint32_t esc_errorcount;int32_t esc_rpm;float esc_voltage;float esc_current;float esc_temperature;uint16_t failures;uint8_t esc_address;uint8_t esc_cmdcount;uint8_t esc_state;uint8_t actuator_function;int8_t esc_power;uint8_t[5] _padding0;Fekf2_timestamps:uint64_t timestamp;int16_t airspeed_timestamp_rel;int16_t distance_sensor_timestamp_rel;int16_t optical_flow_timestamp_rel;int16_t vehicle_air_data_timestamp_rel;int16_t vehicle_magnetometer_timestamp_rel;int16_t visual_odometry_timestamp_rel;uint8_t[4] _padding0;Fdistance_sensor:uint64_t timestamp;uint32_t device_id;float min_distance;float max_distance;float current_distance;float variance;float h_fov;float v_fov;float[4] q;int8_t signal_quality;uint8_t type;uint8_t orientation;uint8_t[1] _padding0;Fdifferential_pressure:uint64_t timestamp;uint64_t timestamp_sample;uint32_t device_id;float differential_pressure_pa;float temperature;uint32_t error_count;6Fcpuload:uint64_t timestamp;float load;float ram_usage;Fcontrol_allocator_status:uint64_t timestamp;float[3] unallocated_torque;float[3] unallocated_thrust;uint16_t handled_motor_failure_mask;bool torque_setpoint_achieved;bool thrust_setpoint_achieved;int8_t[16] actuator_saturation;uint8_t[4] _padding0;Fconfig_overrides:uint64_t timestamp;int16_t defer_failsafes_timeout_s;bool disable_auto_disarm;bool defer_failsafes;int8_t source_type;uint8_t source_id;uint8_t[2] _padding0;^Fcollision_constraints:uint64_t timestamp;float[2] original_setpoint;float[2] adapted_setpoint;Fcellular_status:uint64_t timestamp;uint16_t status;uint16_t mcc;uint16_t mnc;uint16_t lac;uint8_t failure_reason;uint8_t type;uint8_t quality;uint8_t[5] _padding0;qFbattery_status:uint64_t timestamp;float voltage_v;float voltage_filtered_v;float current_a;float current_filtered_a;float current_average_a;float discharged_mah;float remaining;float scale;float time_remaining_s;float temperature;float[14] voltage_cell_v;float max_cell_voltage_delta;uint32_t custom_faults;float average_power;float available_energy;float full_charge_capacity_wh;float remaining_capacity_wh;float design_capacity;float nominal_voltage;uint16_t capacity;uint16_t cycle_count;uint16_t average_time_to_empty;uint16_t serial_number;uint16_t manufacture_date;uint16_t state_of_health;uint16_t max_error;uint16_t interface_error;uint16_t faults;uint16_t average_time_to_full;uint16_t over_discharge_count;bool connected;uint8_t cell_count;uint8_t source;uint8_t priority;uint8_t id;bool is_powering_off;bool is_required;uint8_t warning;uint8_t mode;uint8_t[1] _padding0;Fautotune_attitude_control_status:uint64_t timestamp;float[5] coeff;float[5] coeff_var;float fitness;float innov;float dt_model;float kc;float ki;float kd;float kff;float att_p;float[3] rate_sp;float u_filt;float y_filt;uint8_t state;uint8_t[3] _padding0;fFevent:uint64_t timestamp;uint32_t id;uint16_t event_sequence;uint8_t[25] arguments;uint8_t log_levels;Fairspeed:uint64_t timestamp;uint64_t timestamp_sample;float indicated_airspeed_m_s;float true_airspeed_m_s;float air_temperature_celsius;float confidence;NFactuator_servos:uint64_t timestamp;uint64_t timestamp_sample;float[8] control;\Factuator_outputs:uint64_t timestamp;uint32_t noutputs;float[16] output;uint8_t[4] _padding0;~Factuator_motors:uint64_t timestamp;uint64_t timestamp_sample;float[12] control;uint16_t reversible_flags;uint8_t[6] _padding0;Factuator_armed:uint64_t timestamp;bool armed;bool prearmed;bool ready_to_arm;bool lockdown;bool manual_lockdown;bool force_failsafe;bool in_esc_calibration_mode;uint8_t[1] _padding0;bFaction_request:uint64_t timestamp;uint8_t action;uint8_t source;uint8_t mode;uint8_t[5] _padding0;Pfloat ASPD_SCALE_1?Pfloat BAT1_CAPACITYPint32_t BAT1_N_CELLSPfloat BAT1_R_INTERNAL ף;Pint32_t BAT1_SOURCEPfloat BAT1_V_CHARGED@Pfloat BAT1_V_EMPTYfff@Pfloat BAT1_V_LOAD_DROP=Pfloat BAT_AVRG_CURRENTpAPfloat BAT_CRIT_THR)\=Pfloat BAT_EMERGEN_THRL=Pfloat BAT_LOW_THR>Pint32_t BAT_N_CELLSPfloat BAT_V_CHARGED@Pfloat BAT_V_EMPTYfff@Pfloat BAT_V_LOAD_DROP>Pint32_t CAL_ACC0_ID Pint32_t CAL_ACC0_PRIO2Pint32_t CAL_ACC0_ROTPfloat CAL_ACC0_XOFFtPfloat CAL_ACC0_XSCALE?Pfloat CAL_ACC0_YOFF-<Pfloat CAL_ACC0_YSCALE?Pfloat CAL_ACC0_ZOFF0Q;Pfloat CAL_ACC0_ZSCALE?Pint32_t CAL_ACC1_IDPint32_t CAL_ACC1_PRIO2Pint32_t CAL_ACC1_ROTPfloat CAL_ACC1_XOFF<Pfloat CAL_ACC1_XSCALE?Pfloat CAL_ACC1_YOFFPfloat CAL_ACC1_YSCALE?Pfloat CAL_ACC1_ZOFFPfloat CAL_ACC1_ZSCALE?Pint32_t CAL_ACC2_IDPint32_t CAL_ACC2_PRIO2Pint32_t CAL_ACC2_ROTPfloat CAL_ACC2_XOFFPfloat CAL_ACC2_XSCALE?Pfloat CAL_ACC2_YOFFBD=Pfloat CAL_ACC2_YSCALE?Pfloat CAL_ACC2_ZOFFPfloat CAL_ACC2_ZSCALE?Pint32_t CAL_ACC3_IDPint32_t CAL_AIR_CMODELPfloat CAL_AIR_TUBED_MM?Pfloat CAL_AIR_TUBELENL>Pint32_t CAL_BARO0_IDPint32_t CAL_BARO1_IDPint32_t CAL_BARO2_IDPint32_t CAL_BARO3_IDPint32_t CAL_GYRO0_ID Pint32_t CAL_GYRO0_PRIOPint32_t CAL_GYRO0_ROTPfloat CAL_GYRO0_XOFFPfloat CAL_GYRO0_YOFFPfloat CAL_GYRO0_ZOFFPint32_t CAL_GYRO1_IDPint32_t CAL_GYRO1_PRIOPint32_t CAL_GYRO1_ROTPfloat CAL_GYRO1_XOFFPfloat CAL_GYRO1_YOFFPfloat CAL_GYRO1_ZOFFPint32_t CAL_GYRO2_IDPint32_t CAL_GYRO2_PRIOPint32_t CAL_GYRO2_ROTPfloat CAL_GYRO2_XOFFPfloat CAL_GYRO2_YOFFPfloat CAL_GYRO2_ZOFFPint32_t CAL_GYRO3_IDPint32_t CAL_MAG0_ID Pfloat CAL_MAG0_PITCHPint32_t CAL_MAG0_PRIO2Pfloat CAL_MAG0_ROLLPint32_t CAL_MAG0_ROTPfloat CAL_MAG0_XCOMPPfloat CAL_MAG0_XODIAGPfloat CAL_MAG0_XOFFPfloat CAL_MAG0_XSCALE?Pfloat CAL_MAG0_YAWPfloat CAL_MAG0_YCOMPPfloat CAL_MAG0_YODIAGPfloat CAL_MAG0_YOFFPfloat CAL_MAG0_YSCALE?Pfloat CAL_MAG0_ZCOMPPfloat CAL_MAG0_ZODIAGPfloat CAL_MAG0_ZOFFPfloat CAL_MAG0_ZSCALE?Pint32_t CAL_MAG1_ID Pfloat CAL_MAG1_PITCHPint32_t CAL_MAG1_PRIO2Pfloat CAL_MAG1_ROLLPint32_t CAL_MAG1_ROTPfloat CAL_MAG1_XCOMPPfloat CAL_MAG1_XODIAGPfloat CAL_MAG1_XOFFPfloat CAL_MAG1_XSCALE?Pfloat CAL_MAG1_YAWPfloat CAL_MAG1_YCOMPPfloat CAL_MAG1_YODIAGPfloat CAL_MAG1_YOFFPfloat CAL_MAG1_YSCALE?Pfloat CAL_MAG1_ZCOMPPfloat CAL_MAG1_ZODIAGPfloat CAL_MAG1_ZOFFPfloat CAL_MAG1_ZSCALE?Pint32_t CAL_MAG2_IDPint32_t CAL_MAG2_ROTPint32_t CAL_MAG3_IDPint32_t CAL_MAG3_ROTPint32_t CAL_MAG_COMP_TYPPint32_t CAL_MAG_SIDES?Pint32_t CA_AIRFRAMEPint32_t CA_FAILURE_MODEPint32_t CA_METHODPfloat CA_R0_SLEWPfloat CA_R10_SLEWPfloat CA_R11_SLEWPfloat CA_R1_SLEWPfloat CA_R2_SLEWPfloat CA_R3_SLEWPfloat CA_R4_SLEWPfloat CA_R5_SLEWPfloat CA_R6_SLEWPfloat CA_R7_SLEWPfloat CA_R8_SLEWPfloat CA_R9_SLEWPfloat CA_ROTOR0_AXPfloat CA_ROTOR0_AYPfloat CA_ROTOR0_AZPfloat CA_ROTOR0_CT@Pfloat CA_ROTOR0_KML=Pfloat CA_ROTOR0_PX">Pfloat CA_ROTOR0_PYHz>Pfloat CA_ROTOR0_PZPfloat CA_ROTOR10_AXPfloat CA_ROTOR10_AYPfloat CA_ROTOR10_AZPfloat CA_ROTOR10_CT@Pfloat CA_ROTOR10_KML=Pfloat CA_ROTOR10_PXPfloat CA_ROTOR10_PYPfloat CA_ROTOR10_PZPfloat CA_ROTOR11_AXPfloat CA_ROTOR11_AYPfloat CA_ROTOR11_AZPfloat CA_ROTOR11_CT@Pfloat CA_ROTOR11_KML=Pfloat CA_ROTOR11_PXPfloat CA_ROTOR11_PYPfloat CA_ROTOR11_PZPfloat CA_ROTOR1_AXPfloat CA_ROTOR1_AYPfloat CA_ROTOR1_AZPfloat CA_ROTOR1_CT@Pfloat CA_ROTOR1_KML=Pfloat CA_ROTOR1_PX"Pfloat CA_ROTOR1_PY@Pfloat CA_ROTOR1_PZPfloat CA_ROTOR2_AXPfloat CA_ROTOR2_AYPfloat CA_ROTOR2_AZPfloat CA_ROTOR2_CT@Pfloat CA_ROTOR2_KMLPfloat CA_ROTOR2_PX">Pfloat CA_ROTOR2_PYHzPfloat CA_ROTOR2_PZPfloat CA_ROTOR3_AXPfloat CA_ROTOR3_AYPfloat CA_ROTOR3_AZPfloat CA_ROTOR3_CT@Pfloat CA_ROTOR3_KMLPfloat CA_ROTOR3_PX"Pfloat CA_ROTOR3_PY@>Pfloat CA_ROTOR3_PZPfloat CA_ROTOR4_AXPfloat CA_ROTOR4_AYPfloat CA_ROTOR4_AZPfloat CA_ROTOR4_CT@Pfloat CA_ROTOR4_KML=Pfloat CA_ROTOR4_PXPfloat CA_ROTOR4_PYPfloat CA_ROTOR4_PZPfloat CA_ROTOR5_AXPfloat CA_ROTOR5_AYPfloat CA_ROTOR5_AZPfloat CA_ROTOR5_CT@Pfloat CA_ROTOR5_KML=Pfloat CA_ROTOR5_PXPfloat CA_ROTOR5_PYPfloat CA_ROTOR5_PZPfloat CA_ROTOR6_AXPfloat CA_ROTOR6_AYPfloat CA_ROTOR6_AZPfloat CA_ROTOR6_CT@Pfloat CA_ROTOR6_KML=Pfloat CA_ROTOR6_PXPfloat CA_ROTOR6_PYPfloat CA_ROTOR6_PZPfloat CA_ROTOR7_AXPfloat CA_ROTOR7_AYPfloat CA_ROTOR7_AZPfloat CA_ROTOR7_CT@Pfloat CA_ROTOR7_KML=Pfloat CA_ROTOR7_PXPfloat CA_ROTOR7_PYPfloat CA_ROTOR7_PZPfloat CA_ROTOR8_AXPfloat CA_ROTOR8_AYPfloat CA_ROTOR8_AZPfloat CA_ROTOR8_CT@Pfloat CA_ROTOR8_KML=Pfloat CA_ROTOR8_PXPfloat CA_ROTOR8_PYPfloat CA_ROTOR8_PZPfloat CA_ROTOR9_AXPfloat CA_ROTOR9_AYPfloat CA_ROTOR9_AZPfloat CA_ROTOR9_CT@Pfloat CA_ROTOR9_KML=Pfloat CA_ROTOR9_PXPfloat CA_ROTOR9_PYPfloat CA_ROTOR9_PZPint32_t CA_ROTOR_COUNTPint32_t CA_R_REVPfloat CA_SV0_SLEWPfloat CA_SV1_SLEWPfloat CA_SV2_SLEWPfloat CA_SV3_SLEWPfloat CA_SV4_SLEWPfloat CA_SV5_SLEWPfloat CA_SV6_SLEWPfloat CA_SV7_SLEWPint32_t CBRK_BUZZERPint32_t CBRK_FLIGHTTERM|Pint32_t CBRK_IO_SAFETY VPint32_t CBRK_SUPPLY_CHKI Pint32_t CBRK_USB_CHKPint32_t CBRK_VTOLARMINGPint32_t COM_ACT_FAIL_ACTPint32_t COM_ARMABLEPint32_t COM_ARM_AUTH_ID Pint32_t COM_ARM_AUTH_METPint32_t COM_ARM_AUTH_REQPfloat COM_ARM_AUTH_TO?Pfloat COM_ARM_BAT_MINPint32_t COM_ARM_CHK_ESCSPfloat COM_ARM_EKF_HGT?Pfloat COM_ARM_EKF_POS?Pfloat COM_ARM_EKF_VEL?Pfloat COM_ARM_EKF_YAW?Pint32_t COM_ARM_HFLT_CHKPfloat COM_ARM_IMU_ACC333?Pfloat COM_ARM_IMU_GYR>Pint32_t COM_ARM_MAG_ANG<Pint32_t COM_ARM_MAG_STRPint32_t COM_ARM_MIS_REQPint32_t COM_ARM_ODIDPint32_t COM_ARM_SDCARDPint32_t COM_ARM_SWISBTNPint32_t COM_ARM_WO_GPSPfloat COM_CPU_MAXPfloat COM_DISARM_LAND@Pint32_t COM_DISARM_MANPfloat COM_DISARM_PRFLT APint32_t COM_DL_LOSS_TdPfloat COM_FAIL_ACT_T@Pint32_t COM_FLIGHT_UUIDPint32_t COM_FLTMODE1dPint32_t COM_FLTMODE2Pint32_t COM_FLTMODE3Pint32_t COM_FLTMODE4Pint32_t COM_FLTMODE5Pint32_t COM_FLTMODE6Pint32_t COM_FLT_PROFILEPint32_t COM_FLT_TIME_MAXPint32_t COM_FORCE_SAFETYPint32_t COM_HLDL_LOSS_TxPint32_t COM_HLDL_REG_TPint32_t COM_HOME_ENPint32_t COM_HOME_IN_AIRPint32_t COM_IMB_PROP_ACTPfloat COM_KILL_DISARM@Pfloat COM_LKDOWN_TKO@@Pint32_t COM_LOW_BAT_ACTPint32_t COM_MOT_TEST_ENPfloat COM_OBC_LOSS_THBPint32_t COM_OBL_RC_ACTPint32_t COM_OBS_AVOIDPfloat COM_OF_LOSS_T@Pint32_t COM_PARACHUTEPint32_t COM_POSCTL_NAVLPint32_t COM_POS_FS_DELAYPfloat COM_POS_FS_EPH@Pfloat COM_POS_LOW_EPHPint32_t COM_POWER_COUNTPint32_t COM_PREARM_MODEPint32_t COM_QC_ACTPint32_t COM_RCL_EXCEPTPint32_t COM_RC_ARM_HYSTPint32_t COM_RC_IN_MODEPfloat COM_RC_LOSS_T@Pint32_t COM_RC_OVERRIDEPfloat COM_RC_STICK_OVAPfloat COM_SPOOLUP_TIME?Pint32_t COM_TAKEOFF_ACTPint32_t COM_THROW_ENPfloat COM_THROW_SPEED@Pfloat COM_VEL_FS_EVH?Pfloat COM_WIND_MAXPint32_t COM_WIND_MAX_ACTPfloat COM_WIND_WARNPfloat CP_DELAY>P float CP_DISTPint32_t CP_GO_NO_DATAPfloat CP_GUIDE_ANGAPfloat EKF2_ABIAS_INITL>Pfloat EKF2_ABL_ACCLIMAPfloat EKF2_ABL_GYRLIM@@Pfloat EKF2_ABL_LIM>Pfloat EKF2_ABL_TAU?Pfloat EKF2_ACC_B_NOISED;Pfloat EKF2_ACC_NOISE33>Pint32_t EKF2_AGP_CTRLPfloat EKF2_AGP_DELAYPfloat EKF2_AGP_GATE@@Pfloat EKF2_AGP_NOISEfff?Pfloat EKF2_ANGERR_INIT=Pfloat EKF2_ARSP_THRPfloat EKF2_ASPD_MAXAPfloat EKF2_ASP_DELAYBPfloat EKF2_AVEL_DELAY@Pint32_t EKF2_BARO_CTRLPfloat EKF2_BARO_DELAYPfloat EKF2_BARO_GATE@Pfloat EKF2_BARO_NOISE`@Pfloat EKF2_BCOEF_XBPfloat EKF2_BCOEF_YBPfloat EKF2_BETA_GATE@Pfloat EKF2_BETA_NOISE>Pint32_t EKF2_DECL_TYPEPint32_t EKF2_DRAG_CTRLPfloat EKF2_DRAG_NOISE @Pfloat EKF2_EAS_NOISE33?Pfloat EKF2_EVA_NOISE=Pfloat EKF2_EVP_GATE@Pfloat EKF2_EVP_NOISE=Pfloat EKF2_EVV_GATE@@Pfloat EKF2_EVV_NOISE=Pint32_t EKF2_EV_CTRLPfloat EKF2_EV_DELAYPint32_t EKF2_EV_NOISE_MDPfloat EKF2_EV_POS_XPfloat EKF2_EV_POS_YPfloat EKF2_EV_POS_ZPint32_t EKF2_EV_QMINPint32_t EKF2_FUSE_BETAPfloat EKF2_GBIAS_INIT=Pfloat EKF2_GND_EFF_DZ@Pfloat EKF2_GND_MAX_HGT?Pint32_t EKF2_GPS_CHECKPint32_t EKF2_GPS_CTRLPfloat EKF2_GPS_DELAYBPfloat EKF2_GPS_POS_XPfloat EKF2_GPS_POS_YPfloat EKF2_GPS_POS_ZPfloat EKF2_GPS_P_GATE@Pfloat EKF2_GPS_P_NOISE?Pfloat EKF2_GPS_V_GATE@Pfloat EKF2_GPS_V_NOISE>Pfloat EKF2_GRAV_NOISE?Pfloat EKF2_GSF_TASpAPfloat EKF2_GYR_B_LIM>Pfloat EKF2_GYR_B_NOISEo:Pfloat EKF2_GYR_NOISEu<Pfloat EKF2_HDG_GATEff&@Pfloat EKF2_HEAD_NOISE>Pint32_t EKF2_HGT_REFPint32_t EKF2_IMU_CTRLPfloat EKF2_IMU_POS_XPfloat EKF2_IMU_POS_YPfloat EKF2_IMU_POS_ZPfloat EKF2_MAG_ACCLIM?Pfloat EKF2_MAG_B_NOISE8Pint32_t EKF2_MAG_CHECKPfloat EKF2_MAG_CHK_INCAPfloat EKF2_MAG_CHK_STRL>Pfloat EKF2_MAG_DECLUT@Pfloat EKF2_MAG_DELAYPfloat EKF2_MAG_E_NOISEo:Pfloat EKF2_MAG_GATE@@Pfloat EKF2_MAG_NOISEL=Pint32_t EKF2_MAG_TYPEPfloat EKF2_MAG_YAWLIML>Pfloat EKF2_MCOEF>Pfloat EKF2_MIN_RNG=Pfloat EKF2_NOAID_NOISE APint32_t EKF2_NOAID_TOUT@KLPint32_t EKF2_OF_CTRLPfloat EKF2_OF_DELAYAPfloat EKF2_OF_GATE@@Pfloat EKF2_OF_N_MAX?Pfloat EKF2_OF_N_MIN>Pfloat EKF2_OF_POS_XPfloat EKF2_OF_POS_YPfloat EKF2_OF_POS_ZPint32_t EKF2_OF_QMINPint32_t EKF2_OF_QMIN_GNDPfloat EKF2_PCOEF_XNPfloat EKF2_PCOEF_XPPfloat EKF2_PCOEF_YNPfloat EKF2_PCOEF_YPPfloat EKF2_PCOEF_ZPint32_t EKF2_PREDICT_US'Pfloat EKF2_REQ_EPH@@Pfloat EKF2_REQ_EPV@Pfloat EKF2_REQ_GPS_H?Pfloat EKF2_REQ_HDRIFT=Pint32_t EKF2_REQ_NSATSPfloat EKF2_REQ_PDOP @Pfloat EKF2_REQ_SACC?Pfloat EKF2_REQ_VDRIFTL>Pfloat EKF2_RNG_A_HMAX@Pfloat EKF2_RNG_A_IGATE?Pfloat EKF2_RNG_A_VMAX?Pint32_t EKF2_RNG_CTRLPfloat EKF2_RNG_DELAY@Pfloat EKF2_RNG_GATE@Pfloat EKF2_RNG_K_GATE?Pfloat EKF2_RNG_NOISE=Pfloat EKF2_RNG_PITCHPfloat EKF2_RNG_POS_XPfloat EKF2_RNG_POS_YPfloat EKF2_RNG_POS_ZPfloat EKF2_RNG_QLTY_T?Pfloat EKF2_RNG_SFEL=Pint32_t EKF2_SYNT_MAG_ZPfloat EKF2_TAS_GATE@Pfloat EKF2_TAU_POS>Pfloat EKF2_TAU_VEL>Pfloat EKF2_TERR_GRAD?Pint32_t EKF2_TERR_MASKPfloat EKF2_TERR_NOISE@Pfloat EKF2_WIND_NSDL=Pint32_t FD_ACT_ENPfloat FD_ACT_MOT_C2T@Pfloat FD_ACT_MOT_THRL>Pint32_t FD_ACT_MOT_TOUTdPint32_t FD_ESCS_ENPint32_t FD_EXT_ATS_ENPint32_t FD_EXT_ATS_TRIGlPint32_t FD_FAIL_P<Pfloat FD_FAIL_P_TTRI>Pint32_t FD_FAIL_R<Pfloat FD_FAIL_R_TTRI>Pint32_t FD_IMB_PROP_THRPint32_t FLW_TGT_ALT_MPfloat FLW_TGT_DSTAPfloat FLW_TGT_FA4CPfloat FLW_TGT_HTAPfloat FLW_TGT_MAX_VEL@Pfloat FLW_TGT_RS=Pfloat FW_AIRSPD_MAXAPfloat FW_AIRSPD_TRIMpAPfloat FW_PSP_OFFPfloat FW_T_CLMB_R_SP@@Pfloat FW_T_SINK_R_SP@Pint32_t GF_ACTIONPfloat GF_MAX_HOR_DISTPfloat GF_MAX_VER_DISTPint32_t GF_PREDICTPint32_t GF_SOURCEPfloat GND_SPEED_THR_SC?Pint32_t GPS_UBX_DYNMODELPfloat HTE_ACC_GATE@@Pfloat HTE_HT_ERR_INIT=Pfloat HTE_HT_NOISEk;Pfloat HTE_THR_RANGEL>Pfloat HTE_VXY_THR APfloat HTE_VZ_THR@Pfloat IMU_ACCEL_CUTOFFAPfloat IMU_DGYRO_CUTOFFAPint32_t IMU_GYRO_CAL_ENPfloat IMU_GYRO_CUTOFF BPfloat IMU_GYRO_DNF_BWpAPint32_t IMU_GYRO_DNF_ENPint32_t IMU_GYRO_DNF_HMCPfloat IMU_GYRO_DNF_MINAPint32_t IMU_GYRO_FFT_ENPint32_t IMU_GYRO_FFT_LENPfloat IMU_GYRO_FFT_MAXCPfloat IMU_GYRO_FFT_MINAPfloat IMU_GYRO_FFT_SNR APfloat IMU_GYRO_NF0_BWAPfloat IMU_GYRO_NF0_FRQPfloat IMU_GYRO_NF1_BWAPfloat IMU_GYRO_NF1_FRQPint32_t IMU_GYRO_RATEMAX Pint32_t IMU_INTEG_RATEPfloat LNDMC_ALT_GND@Pfloat LNDMC_ROT_MAXAPfloat LNDMC_TRIG_TIME?Pfloat LNDMC_XY_VEL_MAX?Pfloat LNDMC_Z_VEL_MAX>Pint32_t LND_FLIGHT_T_HIPint32_t LND_FLIGHT_T_LODKPint32_t MAN_ARM_GESTUREPfloat MAN_KILL_GEST_TPint32_t MAV_COMP_IDPint32_t MAV_FWDEXTSPPint32_t MAV_HASH_CHK_ENPint32_t MAV_HB_FORW_ENPint32_t MAV_PROTO_VERPint32_t MAV_RADIO_TOUTPint32_t MAV_SIK_RADIO_IDPint32_t MAV_SYS_IDPint32_t MAV_TYPEPint32_t MAV_USEHILGPSPfloat MC_ACRO_EXPOPfloat MC_ACRO_EXPO_YPfloat MC_ACRO_P_MAXBPfloat MC_ACRO_R_MAXBPfloat MC_ACRO_SUPEXPOPfloat MC_ACRO_SUPEXPOYPfloat MC_ACRO_Y_MAXBPint32_t MC_AIRMODEPint32_t MC_AT_APPLYPint32_t MC_AT_ENPfloat MC_AT_RISE_TIME)\>Pint32_t MC_AT_STARTPfloat MC_AT_SYSID_AMP333?Pint32_t MC_BAT_SCALE_ENPfloat MC_MAN_TILT_TAUPfloat MC_ORBIT_RAD_MAXzDPfloat MC_PITCHRATE_DD;Pfloat MC_PITCHRATE_FFPfloat MC_PITCHRATE_IL>Pfloat MC_PITCHRATE_K?Pfloat MC_PITCHRATE_MAX\CPfloat MC_PITCHRATE_P>Pfloat MC_PITCH_P@Pfloat MC_PR_INT_LIM>Pfloat MC_ROLLRATE_DD;Pfloat MC_ROLLRATE_FFPfloat MC_ROLLRATE_IL>Pfloat MC_ROLLRATE_Kff?Pfloat MC_ROLLRATE_MAX\CPfloat MC_ROLLRATE_P>Pfloat MC_ROLL_P@Pfloat MC_RR_INT_LIM>Pfloat MC_SLOW_DEF_HVEL@@Pfloat MC_SLOW_DEF_VVEL?Pfloat MC_SLOW_DEF_YAWR4BPint32_t MC_SLOW_MAP_HVELPint32_t MC_SLOW_MAP_VVELPint32_t MC_SLOW_MAP_YAWRPfloat MC_SLOW_MIN_HVEL>Pfloat MC_SLOW_MIN_VVEL>Pfloat MC_SLOW_MIN_YAWR@@Pfloat MC_YAWRATE_DPfloat MC_YAWRATE_FFPfloat MC_YAWRATE_I=Pfloat MC_YAWRATE_K?Pfloat MC_YAWRATE_MAXHCPfloat MC_YAWRATE_PL>Pfloat MC_YAW_P333@Pfloat MC_YAW_WEIGHT>Pfloat MC_YR_INT_LIM>Pfloat MIS_DIST_1WPaDPint32_t MIS_LND_ABRT_ALTPint32_t MIS_MNT_YAW_CTLPfloat MIS_PD_TO@Pfloat MIS_TAKEOFF_ALT @Pint32_t MIS_TKO_LAND_REQPfloat MIS_YAW_ERR@APfloat MIS_YAW_TMTPint32_t MNT_MODE_INPfloat MOT_SLEW_MAXPfloat MPC_ACC_DOWN_MAX@@Pfloat MPC_ACC_HOR@@Pfloat MPC_ACC_HOR_MAX@Pfloat MPC_ACC_UP_MAX@Pint32_t MPC_ALT_MODEPfloat MPC_HOLD_DZ=Pfloat MPC_HOLD_MAX_XYL?Pfloat MPC_HOLD_MAX_Z?Pfloat MPC_JERK_AUTO@Pfloat MPC_JERK_MAXAPfloat MPC_LAND_ALT1 APfloat MPC_LAND_ALT2@Pfloat MPC_LAND_ALT3?Pfloat MPC_LAND_CRWL>Pfloat MPC_LAND_RADIUSzDPint32_t MPC_LAND_RC_HELPPfloat MPC_LAND_SPEED333?Pfloat MPC_MANTHR_MIN ף=Pfloat MPC_MAN_TILT_MAX BPfloat MPC_MAN_Y_MAXCPfloat MPC_MAN_Y_TAU ף=Pint32_t MPC_POS_MODEPint32_t MPC_THR_CURVEPfloat MPC_THR_HOVER?Pfloat MPC_THR_MAX?Pfloat MPC_THR_MIN=Pfloat MPC_THR_XY_MARG>Pfloat MPC_TILTMAX_AIR4BPfloat MPC_TILTMAX_LND@APfloat MPC_TKO_RAMP_T@@Pfloat MPC_TKO_SPEED?Pint32_t MPC_USE_HTEPfloat MPC_VELD_LP@Pfloat MPC_VEL_MANUAL APfloat MPC_VEL_MAN_BACKPfloat MPC_VEL_MAN_SIDEPfloat MPC_XY_CRUISE@Pfloat MPC_XY_ERR_MAX@Pfloat MPC_XY_MAN_EXPO?Pfloat MPC_XY_P33s?Pfloat MPC_XY_TRAJ_P?Pfloat MPC_XY_VEL_ALL Pfloat MPC_XY_VEL_D_ACCL>Pfloat MPC_XY_VEL_I_ACC>Pfloat MPC_XY_VEL_MAX@APfloat MPC_XY_VEL_P_ACCff?Pfloat MPC_YAWRAUTO_ACCpBPfloat MPC_YAWRAUTO_MAX4BPfloat MPC_YAW_EXPO?Pint32_t MPC_YAW_MODEPfloat MPC_Z_MAN_EXPO?P float MPC_Z_P?Pfloat MPC_Z_VEL_ALL@Pfloat MPC_Z_VEL_D_ACCPfloat MPC_Z_VEL_I_ACC@Pfloat MPC_Z_VEL_MAX_DN?Pfloat MPC_Z_VEL_MAX_UP@@Pfloat MPC_Z_VEL_P_ACC@Pfloat MPC_Z_V_AUTO_DN?Pfloat MPC_Z_V_AUTO_UP@@Pfloat NAV_ACC_RAD@Pint32_t NAV_DLL_ACTPint32_t NAV_FORCE_VTPfloat NAV_FW_ALTL_RAD@Pfloat NAV_FW_ALT_RAD APfloat NAV_LOITER_RADBPfloat NAV_MC_ALT_RADL?Pfloat NAV_MIN_LTR_ALTPint32_t NAV_RCL_ACTPint32_t NAV_TRAFF_AVOIDPfloat NAV_TRAFF_A_HORCPfloat NAV_TRAFF_A_VERCPint32_t NAV_TRAFF_COLL_T<Pint32_t PD_GRIPPER_ENPfloat PLD_BTOUT@Pfloat PLD_FAPPR_ALT=Pfloat PLD_HACC_RADL>Pint32_t PLD_MAX_SRCHPfloat PLD_SRCH_ALT APfloat PLD_SRCH_TOUT APint32_t PWM_MAIN_FUNC1ePint32_t PWM_MAIN_FUNC10Pint32_t PWM_MAIN_FUNC11Pint32_t PWM_MAIN_FUNC12Pint32_t PWM_MAIN_FUNC13Pint32_t PWM_MAIN_FUNC14Pint32_t PWM_MAIN_FUNC15Pint32_t PWM_MAIN_FUNC16Pint32_t PWM_MAIN_FUNC2fPint32_t PWM_MAIN_FUNC3gPint32_t PWM_MAIN_FUNC4hPint32_t PWM_MAIN_FUNC5-Pint32_t PWM_MAIN_FUNC6.Pint32_t PWM_MAIN_FUNC7Pint32_t PWM_MAIN_FUNC8Pint32_t PWM_MAIN_FUNC9Pint32_t PWM_MAIN_REVP float RC10_DZPfloat RC10_MAXDPfloat RC10_MINzDPfloat RC10_REV?Pfloat RC10_TRIMDP float RC11_DZPfloat RC11_MAXDPfloat RC11_MINzDPfloat RC11_REV?Pfloat RC11_TRIMDP float RC12_DZPfloat RC12_MAXDPfloat RC12_MINzDPfloat RC12_REV?Pfloat RC12_TRIMDP float RC13_DZPfloat RC13_MAXDPfloat RC13_MINzDPfloat RC13_REV?Pfloat RC13_TRIMDP float RC14_DZPfloat RC14_MAXDPfloat RC14_MINzDPfloat RC14_REV?Pfloat RC14_TRIMDP float RC15_DZPfloat RC15_MAXDPfloat RC15_MINzDPfloat RC15_REV?Pfloat RC15_TRIMDP float RC16_DZPfloat RC16_MAXDPfloat RC16_MINzDPfloat RC16_REV?Pfloat RC16_TRIMDP float RC17_DZPfloat RC17_MAXDPfloat RC17_MINzDPfloat RC17_REV?Pfloat RC17_TRIMDP float RC18_DZPfloat RC18_MAXDPfloat RC18_MINzDPfloat RC18_REV?Pfloat RC18_TRIMDP float RC1_DZ AP float RC1_MAXDP float RC1_MINzDP float RC1_REV?Pfloat RC1_TRIMDP float RC2_DZ AP float RC2_MAXDP float RC2_MINzDP float RC2_REV?Pfloat RC2_TRIMDP float RC3_DZ AP float RC3_MAXDP float RC3_MINzDP float RC3_REV?Pfloat RC3_TRIMDP float RC4_DZ AP float RC4_MAXDP float RC4_MINzDP float RC4_REV?Pfloat RC4_TRIMDP float RC5_DZ AP float RC5_MAXDP float RC5_MINzDP float RC5_REV?Pfloat RC5_TRIMDP float RC6_DZ AP float RC6_MAXDP float RC6_MINzDP float RC6_REV?Pfloat RC6_TRIMDP float RC7_DZ AP float RC7_MAXDP float RC7_MINzDP float RC7_REV?Pfloat RC7_TRIMDP float RC8_DZ AP float RC8_MAXDP float RC8_MINzDP float RC8_REV?Pfloat RC8_TRIMDP float RC9_DZP float RC9_MAXDP float RC9_MINzDP float RC9_REV?Pfloat RC9_TRIMDPfloat RC_ARMSWITCH_TH@?Pint32_t RC_CHAN_CNTPfloat RC_ENG_MOT_TH@?Pint32_t RC_FAILS_THRPfloat RC_GEAR_TH@?Pfloat RC_KILLSWITCH_TH@?Pfloat RC_LOITER_TH@?Pint32_t RC_MAP_ACRO_SWPint32_t RC_MAP_ARM_SWPint32_t RC_MAP_AUX1Pint32_t RC_MAP_AUX2Pint32_t RC_MAP_AUX3Pint32_t RC_MAP_AUX4Pint32_t RC_MAP_AUX5Pint32_t RC_MAP_AUX6Pint32_t RC_MAP_ENG_MOTPint32_t RC_MAP_FAILSAFEPint32_t RC_MAP_FLAPSPint32_t RC_MAP_FLTMODEPint32_t RC_MAP_FLTM_BTNPint32_t RC_MAP_GEAR_SWPint32_t RC_MAP_KILL_SWPint32_t RC_MAP_LOITER_SWPint32_t RC_MAP_MAN_SWPint32_t RC_MAP_MODE_SWPint32_t RC_MAP_OFFB_SWPint32_t RC_MAP_PARAM1Pint32_t RC_MAP_PARAM2Pint32_t RC_MAP_PARAM3Pint32_t RC_MAP_PITCHPint32_t RC_MAP_POSCTL_SWPint32_t RC_MAP_RATT_SWPint32_t RC_MAP_RETURN_SWPint32_t RC_MAP_ROLLPint32_t RC_MAP_STAB_SWPint32_t RC_MAP_THROTTLEPint32_t RC_MAP_TRANS_SWPint32_t RC_MAP_YAWPfloat RC_OFFB_TH@?Pfloat RC_RETURN_TH@?Pfloat RC_TRANS_TH@?Pint32_t RTL_APPR_FORCEPint32_t RTL_CONE_ANG-Pfloat RTL_DESCEND_ALT APfloat RTL_LAND_DELAYPfloat RTL_LOITER_RADBPfloat RTL_MIN_DIST APint32_t RTL_PLD_MDPfloat RTL_RETURN_ALTAPfloat RTL_TIME_FACTOŘ?Pint32_t RTL_TIME_MARGINdPint32_t RTL_TYPEPint32_t SDLOG_BOOT_BATPint32_t SDLOG_DIRS_MAXPint32_t SDLOG_MISSIONPint32_t SDLOG_MODEPint32_t SDLOG_PROFILEPint32_t SDLOG_UTC_OFFSETPint32_t SDLOG_UUIDPfloat SENS_BARO_QNHP}DPfloat SENS_BARO_RATEAPint32_t SENS_BOARD_ROTPfloat SENS_BOARD_X_OFF75Pfloat SENS_BOARD_Y_OFFPfloat SENS_BOARD_Z_OFFPfloat SENS_DPRES_OFFo:Pint32_t SENS_GPS_MASKPint32_t SENS_GPS_PRIMEPfloat SENS_GPS_TAU APint32_t SENS_IMU_AUTOCALPint32_t SENS_IMU_CLPNOTIPint32_t SENS_IMU_MODEPint32_t SENS_MAG_AUTOCALPint32_t SENS_MAG_AUTOROTPint32_t SENS_MAG_MODEPfloat SENS_MAG_RATEpAPint32_t SENS_MAG_SIDES?Pfloat SIM_BAT_DRAINpBPint32_t SIM_BAT_ENABLEPfloat SIM_BAT_MIN_PCTHBPint32_t SYS_AUTOCONFIGPint32_t SYS_AUTOSTART!'Pint32_t SYS_CAL_TDELPint32_t SYS_CAL_TMAX Pint32_t SYS_CAL_TMINPint32_t SYS_FAC_CAL_MODEPint32_t SYS_FAILURE_ENPint32_t SYS_HAS_BAROPint32_t SYS_HAS_GPSPint32_t SYS_HAS_MAGPint32_t SYS_HAS_NUM_ASPDPint32_t SYS_HAS_NUM_DISTPint32_t SYS_HITLPint32_t SYS_MC_EST_GROUPPint32_t SYS_STCK_ENPfloat SYS_VEHICLE_RESP̾Pfloat THR_MDL_FACPint32_t TRIG_INTERFACEPint32_t TRIG_MODEPint32_t UXRCE_DDS_DOM_IDPint32_t UXRCE_DDS_KEYPint32_t UXRCE_DDS_PTCFGPint32_t UXRCE_DDS_SYNCCPint32_t UXRCE_DDS_SYNCTPfloat VTO_LOITER_ALTBPfloat VT_B_DEC_MSS@P int32_t WV_ENP float WV_GAIN?Pfloat WV_ROLL_MIN?Pfloat WV_YRATE_MAXBQint32_t BAT1_N_CELLSQint32_t CAL_ACC0_IDQint32_t CAL_ACC0_PRIOQint32_t CAL_ACC1_IDQint32_t CAL_ACC1_PRIOQint32_t CAL_ACC2_IDQint32_t CAL_ACC2_PRIOQint32_t CAL_GYRO0_IDQint32_t CAL_GYRO1_IDQint32_t CAL_GYRO2_IDQint32_t CAL_MAG0_IDQint32_t CAL_MAG0_PRIOQint32_t CAL_MAG1_IDQint32_t CAL_MAG1_PRIOQfloat CA_ROTOR0_PXQfloat CA_ROTOR0_PYQfloat CA_ROTOR1_PXQfloat CA_ROTOR1_PYQfloat CA_ROTOR2_KML=Qfloat CA_ROTOR2_PXQfloat CA_ROTOR2_PYQfloat CA_ROTOR3_KML=Qfloat CA_ROTOR3_PXQfloat CA_ROTOR3_PYQint32_t CA_ROTOR_COUNTQint32_t CBRK_SUPPLY_CHKQfloat COM_CPU_MAXBQint32_t COM_DL_LOSS_T Qint32_t COM_FLTMODE1Qint32_t COM_LOW_BAT_ACTQfloat COM_OBC_LOSS_T@Qfloat COM_OF_LOSS_T?Qint32_t COM_PREARM_MODEQint32_t COM_RC_IN_MODEQfloat COM_RC_LOSS_T?Qfloat EKF2_REQ_GPS_H AQint32_t GPS_UBX_DYNMODELQint32_t IMU_GYRO_FFT_ENQint32_t IMU_GYRO_RATEMAXQint32_t IMU_INTEG_RATEQint32_t MAN_ARM_GESTUREQint32_t MAV_PROTO_VERQint32_t MAV_TYPEQint32_t MC_AT_ENQfloat MC_ROLLRATE_K?Qfloat NAV_ACC_RAD AQint32_t PWM_MAIN_FUNC1Qint32_t PWM_MAIN_FUNC2Qint32_t PWM_MAIN_FUNC3Qint32_t PWM_MAIN_FUNC4Qint32_t PWM_MAIN_FUNC5Qint32_t PWM_MAIN_FUNC6Qint32_t RC_MAP_ARM_SWQfloat RTL_DESCEND_ALTAQfloat RTL_RETURN_ALTpBQint32_t SDLOG_DIRS_MAXQint32_t SDLOG_MODEQint32_t SDLOG_PROFILEQfloat SENS_BOARD_X_OFFQint32_t SYS_AUTOSTARTQint32_t SYS_FAILURE_ENQint32_t TRIG_INTERFACExMchar[87] perf_counter_preflightlogger_sd_fsync_mission: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsxMchar[87] perf_counter_preflightlogger_sd_write_mission: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmspMchar[79] perf_counter_preflightlogger_sd_fsync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmspMchar[79] perf_counter_preflightlogger_sd_write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsNMchar[45] perf_counter_preflightmavlink: STATUSTEXT missed messages: 0 eventsDMchar[35] perf_counter_preflightmavlink: forwarding error: 0 eventsDMchar[35] perf_counter_preflightmavlink: send_bytes error: 0 eventstMchar[83] perf_counter_preflightmavlink: tx run interval: 12 events, 3666.67 avg, min 4000us max 4000us 0.000us rmsyMchar[88] perf_counter_preflightmavlink: tx run elapsed: 12 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsNMchar[45] perf_counter_preflightmavlink: STATUSTEXT missed messages: 0 eventsDMchar[35] perf_counter_preflightmavlink: forwarding error: 0 eventsDMchar[35] perf_counter_preflightmavlink: send_bytes error: 0 eventstMchar[83] perf_counter_preflightmavlink: tx run interval: 14 events, 3714.29 avg, min 4000us max 4000us 0.000us rmsyMchar[88] perf_counter_preflightmavlink: tx run elapsed: 14 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsNMchar[45] perf_counter_preflightmavlink: STATUSTEXT missed messages: 0 eventsDMchar[35] perf_counter_preflightmavlink: forwarding error: 0 eventsDMchar[35] perf_counter_preflightmavlink: send_bytes error: 0 eventstMchar[83] perf_counter_preflightmavlink: tx run interval: 16 events, 3750.00 avg, min 4000us max 4000us 0.000us rmsyMchar[88] perf_counter_preflightmavlink: tx run elapsed: 16 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsNMchar[45] perf_counter_preflightmavlink: STATUSTEXT missed messages: 0 eventsDMchar[35] perf_counter_preflightmavlink: forwarding error: 0 eventsDMchar[35] perf_counter_preflightmavlink: send_bytes error: 0 eventstMchar[83] perf_counter_preflightmavlink: tx run interval: 44 events, 3909.09 avg, min 4000us max 4000us 0.000us rmsyMchar[88] perf_counter_preflightmavlink: tx run elapsed: 44 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsPMchar[47] perf_counter_preflightgyro_calibration: calibration updated: 0 events|Mchar[91] perf_counter_preflightgyro_calibration: interval: 10 events, 17600.00 avg, min 16000us max 20000us 1257.079us rmsGMchar[38] perf_counter_preflightgyro_fft: gyro FIFO data gap: 1 eventsnMchar[77] perf_counter_preflightgyro_fft: FFT: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmstMchar[83] perf_counter_preflightgyro_fft: cycle interval: 25 events, 7680.00 avg, min 8000us max 8000us 0.000us rmsqMchar[80] perf_counter_preflightgyro_fft: cycle: 25 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms@Mchar[31] perf_counter_preflightmission_dm_cache_miss: 0 eventsAMchar[32] perf_counter_preflightrtl_dm_cache_miss_land: 0 events@Mchar[31] perf_counter_preflightrtl_dm_cache_miss_geo: 0 events@Mchar[31] perf_counter_preflightmission_dm_cache_miss: 0 eventsAMchar[32] perf_counter_preflightgeofence_dm_cache_miss: 0 eventsjMchar[73] perf_counter_preflightnavigator: 6 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsvMchar[85] perf_counter_preflightland_detector: cycle: 29 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms|Mchar[91] perf_counter_preflightmc_pos_control: cycle time: 30 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms|Mchar[91] perf_counter_preflightflight_mode_manager: cycle: 13 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsM char[102] perf_counter_preflightmc_hover_thrust_estimator: cycle time: 29 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsM char[104] perf_counter_preflightmc_autotune_attitude_control: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsvMchar[85] perf_counter_preflightmc_att_control: cycle: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsxMchar[87] perf_counter_preflightmc_rate_control: cycle: 67 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmszMchar[89] perf_counter_preflightcontrol_allocator: cycle: 67 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsCMchar[34] perf_counter_preflightekf2: IMU message missed: 0 eventsrMchar[81] perf_counter_preflightekf2: EKF update: 34 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsgMchar[70] perf_counter_preflightpwm_out_sim: interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rmssMchar[82] perf_counter_preflightpwm_out_sim: cycle: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsqMchar[80] perf_counter_preflightcontrol latency: 67 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms{Mchar[90] perf_counter_preflightcommander: preflight check: 3 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsrMchar[81] perf_counter_preflightcommander: cycle: 26 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsEMchar[36] perf_counter_preflightvehicle_imu: gyro data gap: 0 eventsFMchar[37] perf_counter_preflightvehicle_imu: accel data gap: 0 eventsEMchar[36] perf_counter_preflightvehicle_imu: gyro data gap: 0 eventsFMchar[37] perf_counter_preflightvehicle_imu: accel data gap: 0 eventsEMchar[36] perf_counter_preflightvehicle_imu: gyro data gap: 1 eventsFMchar[37] perf_counter_preflightvehicle_imu: accel data gap: 1 events}Mchar[92] perf_counter_preflightvehicle_magnetometer: cycle: 78 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms|Mchar[91] perf_counter_preflightvehicle_gps_position: cycle: 2 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsyMchar[88] perf_counter_preflightvehicle_air_data: cycle: 78 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms[Mchar[58] perf_counter_preflightvehicle_angular_velocity: gyro selection changed: 1 eventsVMchar[53] perf_counter_preflightvehicle_angular_velocity: gyro filter reset: 1 eventsM char[102] perf_counter_preflightvehicle_angular_velocity: gyro filter: 78 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsiMchar[72] perf_counter_preflightsensors: 75 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsyMchar[88] perf_counter_preflightmanual_control: interval: 2 events, 100000.00 avg, min 200000us max 200000us 0.000us rmsvMchar[85] perf_counter_preflightmanual_control: cycle: 2 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmspMchar[79] perf_counter_preflightrc_update: valid data interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rmskMchar[74] perf_counter_preflightrc_update: cycle interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rmsqMchar[80] perf_counter_preflightrc_update: cycle: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmszMchar[89] perf_counter_preflightbattery_simulator: cycle: 37 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmspMchar[79] perf_counter_preflightload_mon: cycle: 1 events, 0us elapsed, 0.00us avg, min 0us max 0us -nanus rmsuMchar[84] perf_counter_preflightsimulator_mavlink: network interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rmsMchar[96] perf_counter_preflightsimulator_mavlink: network delay: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsoMchar[78] perf_counter_preflightdataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsnMchar[77] perf_counter_preflightdataman: read: 7 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmskMchar[74] perf_counter_preflightparam: set: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms8Mchar[23] perf_counter_preflightparam: get: 6264 events9Mchar[24] perf_counter_preflightparam: find: 1626 eventsnMchar[77] perf_counter_preflightparam: export: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rmsMuint8_t[1169] metadata_events7zXZִF!Xp>]=)gՉ핡/L^+z4y+aSҠx]bÆ,ȶ7P鿾Rch|>r2>'$=V E}ѡ^ Otؖ^(cọd_z6vHH3e䵋|n yOԼprAw6$a,alշ> c.d5@i1 OZAGE)/+?sf&/(Qz2\YF\U=b4tCy[ݩC!b /botduSOg`xfm; IGֳ@[SV+zYQFz9n͹>*0͗U_bJR@(4W-d(j 9bii"w~yc^y\I$ʾ4VלvFsNt3"kM[z"UMuint8_t[1169] metadata_eventsYi-_v7*6ajngBZFj0֏S|6R OԠGd GH.Eۨ:_@ÒlE C܊˵dZX0-~簾V|8p B$pj~N˩&R 2Iv Q"'.6%ԓXx foL_Nb_/o> fm55 _7 0;۱[,\0$D>JjԢ7"IkSlg+^ӌ6Ū N.KP'uJl#ڟ.5·?PI'fR-Q| ,^G}N?xXQIwwݯ6We4ؘJekj+u⺿s@sΡ@ˍ[7HŐ -9[e9}m368Pz_7\uRxEh{}+db LV!c2 vwCAzUm-%ͳvI~)2FnE;oBsZ<ǚ);dSi Ŏ[rew]R'')K[v?hxT$ZVXm\fŜ+XQ5rm J *ݵu~R @PA3T10Zӭ'"EswέysQyU}ݫ(tGq["f_y|-$7 1B ,9%%nE]~UvZhcZݠZ/f#6@mR_W|J͖ ʔ=aG;||PӬ6.pGY1ƛ%Mj'[S-FHQ?L%cZ͏(y9l#܍(Ht{+̢XyfDD~W#yan- c[MFw*_^۱JG o&W-Ym❜.Ug}g,C֝+"Ұ<}3H87$y72D@؃AQd*illҙ䲬塑}Q y#A_NZ\OnP Oƅps.GBHvA,7 7 C;mV2UZ;RO˺tMuint8_t[1169] metadata_events [Ygןx9ݕ6hL6mc/Ȃ( `ͱ|( 뭭]yeBQ =9A^J-흻Y9qQTvfZV ٮ 6{LcVm?N@;&!uɴ({.&-(K|IzP!{vS1{D,Iq i(NDAhICtcUlȦ׻k<S& %ֿ;YpD)B$.RU^^ζ);ֳ%qn6t$ 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"86UE{nɕvQ;z}WT|f୥O' ZH>b=qe^.0t}rSj :Pg=t;m'#e(諿_q-; mp(:jaΉ%\q_8Ld0{b(祡SnG tȜ3{->'uSqWt.A)IycbߨYyT [͑2y;ҧQ0`B-m˴X'~C^&Q~nkJKҏ@%In?No;hN@rU֋jHlD[0 *E%}IvGKÈUtYvIp;i^፥bhƪT~CJHBaHÔ=6 Qu-CN^VK^La[m^.w&@Z8w"?9#nJr, :Tvi%w8T뙁޿'N>S6ﰎWF09׽ 8ܟ /hkH5y#PKeա$\}gtQ̞-\p($R^w/M?b/߮@`!04LwX9d|(-ƍ0Ѯlwv ^_*fTAK5#WiϮ"Ę;+E)YBLQp VAoRiZeu`DEz\oş:6,A#g'zCb|gMuint8_t[1169] metadata_eventsgKR)Ѧ c(Z 3"3d suՠc{SBmLGtțL0,Ďno5{%'Õ2"^x[8#4E}1H ;GFH`mik_tڮ7h=eA&8a]0Vụòʫ4 RLݨsNPLmձ{WӇi&j反NoZP 뉈1/WKU!wrU"z\5FMNn erO0|@kk"@&2> -KA}9݄~| [ /KbU݀&f8S]kFϹ*SPr 9"fM2#F3`H:>Cl4XYn@q32(irG`P8y$fоc굸߱Y,n{p#Cg0f_fw~4";>Ŵ6>Qi]Rc߿#0ug"ޞedvXh2~^AIU'Oi|kdA68FTQ S"ƙ^xB K5nXmN|؝}<{\l6no:fn͇6٨o(\h8]>)fhfW=!ӡVU{mы;l޶u NW)̖O]C:csNܴ:'o,C cȨ{ՅywT{kVz,$KsNP%j wHc]ETʢu%v K~4qF&Zw1x,V', }$<~o \I.,\,&%1eUT{^ ھխ͖%SOTATZ|FI= Q{U޸ R0(7;+֕v }zi] ~IH.rYwuiR Ӻu ( 6u'lcZ5?%H)7I?euT* 濪Uؑ-nڣ[TV+f/tPLSJu2dESf!2<`)Ƀ3dO.p!\22,zDNGMvKCTEJk/zAkMuint8_t[763] metadata_eventsϠ-L᳧ӾKi@aݏWx|-D5[yV}X >p J֜-;]7n7Gsc@9ɗs]dNIY(,%DvLDyUm#r_`Zҁ@K HV?R47ٗkoSlE-4mF%*f` JTEsq/dF/[y%|c=' !eֱ5 Pb(~* @8Sze+Pm+iMs\;9mѺ>~D#!M@FЭ\}opMJlzJ睸`Jq4YI܋,~QdL1fʞВ/%/b '?Mv5c$z(&3Ry2N Oy_Aƅb6,15=7E;'drV×(D.5بmدL yB`\쌇SScįU>f 1—B5:,<,yW[Yiyq}ٚ5a_ _+ XFzKT앰@|}!| ߱gYZ`Ichar[64] metadata_events_sha256834c6a91379321f2d3e04b003c47de421cf209c9204bdf532c1fb4b2ebe640a5=M!char[26] excluded_optional_topicsactuator_controls_status_05M!char[18] excluded_optional_topicsairspeed_validated1M!char[14] excluded_optional_topicscamera_capture1M!char[14] excluded_optional_topicscamera_triggerDM!char[33] excluded_optional_topicsdifferential_drive_control_output>M!char[27] excluded_optional_topicsdifferential_drive_setpoint8M!char[21] excluded_optional_topicsexternal_ins_attitude?M!char[28] excluded_optional_topicsexternal_ins_global_position>M!char[27] excluded_optional_topicsexternal_ins_local_position0M!char[13] excluded_optional_topicsfollow_target:M!char[23] excluded_optional_topicsfollow_target_estimator7M!char[20] excluded_optional_topicsfollow_target_status1M!char[14] excluded_optional_topicsflaps_setpoint:M!char[23] excluded_optional_topicsflight_phase_estimation3M!char[16] excluded_optional_topicsgenerator_status*M char[8] excluded_optional_topicsgps_dump2M!char[15] excluded_optional_topicsgimbal_controls)M char[7] excluded_optional_topicsgripper0M!char[13] excluded_optional_topicsheater_statusDM!char[33] excluded_optional_topicsinternal_combustion_engine_status4M!char[17] excluded_optional_topicsiridiumsbd_status0M!char[13] excluded_optional_topicsirlock_report5M!char[18] excluded_optional_topicslanding_gear_wheel6M!char[19] excluded_optional_topicslanding_target_pose:M!char[23] excluded_optional_topicslaunch_detection_status=M!char[26] excluded_optional_topicsmagnetometer_bias_estimate/M!char[12] excluded_optional_topicspx4io_status1M!char[14] excluded_optional_topicssensor_airflow4M!char[17] excluded_optional_topicssensor_correction4M!char[17] excluded_optional_topicsspoilers_setpoint.M!char[11] excluded_optional_topicstecs_status;M!char[24] excluded_optional_topicstiltrotor_extra_controls6M!char[19] excluded_optional_topicsvtol_vehicle_status0M!char[13] excluded_optional_topicsairspeed_wind4M!char[17] excluded_optional_topicssensor_hygrometer%M char[3] excluded_optional_topicsrpm<M!char[25] excluded_optional_topicsestimator_selector_status5M!char[18] excluded_optional_topicsestimator_attitude<M!char[25] excluded_optional_topicsestimator_global_position;M!char[24] excluded_optional_topicsestimator_local_positionAactuator_armed#Aautotune_attitude_control_statusAconfig_overrides Aesc_statusAfailure_detector_statusAfailsafe_flags Ainput_rcAlanding_gearAmanual_control_setpointA parameter_updateA position_setpoint_tripletA rtl_time_estimateA sensor_combinedA sensor_gyro_fftAsensor_selectionAsensors_status_imuAtakeoff_statusAtrajectory_setpointAtransponder_reportAvehicle_accelerationAvehicle_air_dataAvehicle_angular_velocityAvehicle_attitudeAvehicle_attitude_setpointAvehicle_commandAvehicle_command_ackAvehicle_constraintsAvehicle_control_modeAvehicle_gps_positionAvehicle_land_detectedAvehicle_local_position"Avehicle_local_position_setpointA vehicle_magnetometerA!vehicle_statusA"actuator_outputsA#control_allocator_statusA$control_allocator_statusA%rate_ctrl_statusA&telemetry_statusA'telemetry_statusA(telemetry_statusA)telemetry_statusA*estimator_event_flags#A+estimator_innovation_test_ratios!A,estimator_innovation_variancesA-estimator_innovationsA.estimator_sensor_biasA/estimator_statesA0estimator_statusA1estimator_status_flags(A2estimator_aid_src_aux_global_positionA3battery_statusA4sensor_accelA5sensor_accelA6sensor_accelA7sensor_baroA8sensor_baro A9sensor_gps A:sensor_gpsA;sensor_gyroA<sensor_gyroA=sensor_gyro A>sensor_magA?vehicle_imuA@vehicle_imuAAvehicle_imuABvehicle_imu_statusACvehicle_imu_statusADvehicle_imu_statusAEactuator_motorsAFactuator_servosAGvehicle_thrust_setpointAHvehicle_torque_setpointAIekf2_timestampsAJeventDQuDp8uRDPu??PuAAePuAAfPuAAgPuAAhPuAA-PuAA.PuAAPuAADQuH\;WDPu~~~~~~8~D8@ ( 0<G Dp2uAD$D IS+&$D 0~u0~uB@0~uB@0~uB@2D PupQVZ:;|=&&DWu  bDPu    2BDpukvPDDPuPuK=~L+Duu eC;G^ ?P?*DPuPuhٝyzlALC< -;8Du:yz?;yo9D"u@@DQuDQuDuuFu,'9)<=_p;;t¸V:Alμ{䙼9yzX:]D_<9=4FbA AZ./>?<BDuBo9yz#D ?u?u Z>ӾL<5>ND!Qup8u~ND"PuaDaDaDaDaDaDaDaDaDaDaDaDaDaDaDaD6D#Pu.;;9.D%Pu7D*0uQuxD.pupu À109.>#<#<#< > #= #= #= ? #; #; #;D0u0u$%^:80:U 94FbA A   e {B0>aD10uQuD3PuAApA??DDEPuPu//DGPuPuDHPuPu.;;9DIPu*DJp8u'7(*DJu[1 f3L6u[px4] Startup script returned successfullyS/s % -L6u[logger] Start file log (type: full)RDu??uAAeuAAfuAAguAAhuAA-uAA.uAAuAA2D u*;x.;S9##=?L`bDu    2Duuv=Z *Duu:.W8Į>`c<ND"uaDaDaDaDaDaDaDaDaDaDaDaDaDaDaDaDD%uD0upu$]:K:ȋ95FbA A   e {B0>DDEuuT0.DGuuDHuuzI8PٶDIu9L6u[logger] [logger] ./log/2024-03-18/14_49_10.ulg 2D upQx??oBDuBo=x6D#u32Fm8_D.DIuEL6u[logger] Opened full log file: ./log/2024-03-18/14_49_10.ulg2D 0u\=$9*Dhuhut+־g? 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