Ashis Kumer Biswas

Ashis Kumer Biswas

Assistant Professor

Drone DatCon 3.6.1 – V3 .CSV description

10 minute read

I have compiled a short list of variables from the DatCon 3.6.1 (7/30/2018) V3 .CSV column format. Please note, the following variables are either absent in the data files I worked with, or I removed due privacy concerns.

  • Removed the following columns:
    • IMU_ATTI(0):Longitude
    • IMU_ATTI(0):Latitude
    • IMU_ATTI(0):distanceHP
    • IMU_ATTI(0):distanceTravelled
    • IMU_ATTI(1):Longitude
    • IMU_ATTI(1):Latitude
    • IMU_ATTI(1):distanceHP
    • IMU_ATTI(1):distanceTravelled
    • eventLog
    • GPS(0):Long
    • GPS(0):Lat
    • IMUEX(0):rtk_Longitude
    • IMUEX(0):rtk_Latitude
    • IMUEX(1):rtk_Longitude
    • IMUEX(1):rtk_Latitude
  • I have added a column Operating_Phase :
    • Possible values of this column are {‘Resting’, ‘Taking-Off’, ‘Hovering’, ‘Climbing’, ‘Landing’}
  • PDF was generated with pandoc 2.14.2
  • Please note: not all signals could be cataloged nor properly described here, but nor should you ignore them for these reasons.
  • Alright, the catalog of V3 .CSV columns goes here:
No. Name Description Frequency (Hz)
1 Tick# Internal bus clock platform dependent
2 offsetTime Elapsed time variable
3 IMU_ATTI(0):numSats Number of Satellites  
4 IMU_ATTI(0):barometer:Raw Meters. Raw data from barometer. 200
5 IMU_ATTI(0):barometer:Smooth Meteres. Smoothed barometer data 200
6 IMU_ATTI(0):accel:X Meters per second. Acceleration along X axis 200
7 IMU_ATTI(0):accel:Y Meters per second. Acceleration along Y axis 200
8 IMU_ATTI(0):accel:Z Meters per second. Acceleration along Z axis 200
9 IMU_ATTI(0):accel:Composite Meters per second. $\sqrt{\text{accel}^2_X + \text{accel}^2_Y + \text{accel}^2_Z}$ 200
10 IMU_ATTI(0):gyro:X Degrees per second. Rotation about the X axis 200
11 IMU_ATTI(0):gyro:Y Degrees per second. Rotation about the Y axis 200
12 IMU_ATTI(0):gyro:Z Degrees per second. Rotation about the Z axis 200
13 IMU_ATTI(0):gyro:Composite Degrees per second. $\sqrt{\text{gyro}^2_X + \text{gyro}^2_Y + \text{gyro}^2_Z}$ 200
14 IMU_ATTI(0):mag:X Micro Tesla. Magnetometer reading about the X axis 50
15 IMU_ATTI(0):mag:Y Micro Tesla. Magnetometer reading about the X axis 50
16 IMU_ATTI(0):mag:Z Micro Tesla. Magnetometer reading about the X axis 50
17 IMU_ATTI(0):mag:Mod Micro Tesla. $\sqrt{\text{mag}^2_X + \text{mag}^2_Y + \text{mag}^2_Z}$ 50
18 IMU_ATTI(0):velN Meters per second. Velocity North 200
19 IMU_ATTI(0):velE Meters per second. Velocity East 200
20 IMU_ATTI(0):velD Meters per second. Velocity Down 200
21 IMU_ATTI(0):velComposite Meters per second. $\sqrt{\text{Vel}^2_N + \text{Vel}^2_E + \text{Vel}^2_D}$ 200
22 IMU_ATTI(0):velH Meters per second. Horizontal velocity, that is: $\sqrt{\text{Vel}^2_N + \text{Vel}^2_E}$ 200
23 IMU_ATTI(0):GPS-H Meters per second. Difference between velocity computed from successive GPS coordinates and horizontal velocity computed from IMU sensors (Vel:Horizontal, $\text{Vel}_H$) 200
24 IMU_ATTI(0):roll Degrees. Note, the yaw value will be corrected for geomagnetic declination after GPS data is valid, i.e., yaw will be true and not magnetic 200
25 IMU_ATTI(0):pitch Degrees. Note, the yaw value will be corrected for geomagnetic declination after GPS data is valid, i.e., yaw will be true and not magnetic 200
26 IMU_ATTI(0):yaw Degrees. Note, the yaw value will be corrected for geomagnetic declination after GPS data is valid, i.e., yaw will be true and not magnetic 200
27 IMU_ATTI(0):yaw360 Degrees. Range 0 - 360 200
28 IMU_ATTI(0):totalGyro:Z Degrees. Integration and summation of Gyro:Z. Can be used to compute Gyro:Z error. Also, useful for checking roll, pitch, and yaw values coming from flight controller (FC) 200
29 IMU_ATTI(0):totalGyro:X Degrees. Integration and summation of Gyro:X. Can be used to compute Gyro:X error. Also, useful for checking roll, pitch, and yaw values coming from flight controller (FC) 200
30 IMU_ATTI(0):totalGyro:Y Degrees. Integration and summation of Gyro:Y. Can be used to compute Gyro:Y error. Also, useful for checking roll, pitch, and yaw values coming from flight controller (FC) 200
31 IMU_ATTI(0):magYaw Yaw value computed from magnetometers and corrected with pitch and roll. Not the same as Yaw which comes from the Flight controller (FC) 200
32 IMU_ATTI(0):directionOfTravel[mag] Degrees. Range = [-180,180]. Computed from successive latitude/longitude coordinates. Not corrected with local geomagnetic declination., i.e., value can be compared against P3 yaw. 1
33 IMU_ATTI(0):directionOfTravel[true] Degrees. Range = [-180,180]. Computed from successive latitude/longitude coordinates. Corrected with local geomagnetic declination., i.e., value can not be compared against P3 yaw. 1
34 IMU_ATTI(0):temperature IMU temp. Steady state 65 degree celsius 200
35 General:relativeHeight Meters. Altitude above Home Point 10
36 General:absoluteHeight Meters. Populated if the Home Point elevation has been set 200
37 GPS(0):Date Integer that contains date, e.g., 20171003 means 2017-10-03 GMT 5
38 GPS(0):Time Integer that contains time, e.g., 100334 means 10:03:34 GMT 5
39 GPS:dateTimeStamp alternate name: dateTime. DateTime in ISO-8601 format. Not available in CsvView 5
40 GPS(0):heightMSL Meters. height above mean sea level 5
41 GPS(0):hDOP Horizontal dilution of precision. Units unknown. 5
42 GPS(0):pDOP Position dilution of precision. Units unknown. 5
43 GPS(0):sAcc Some kind of accuracy measure.  
44 GPS(0):numGPS Number of GPS satellites 5
45 GPS(0):numGLNAS Number of GLONAS satellites 5
46 GPS(0):numSV Total number of satellites 5
47 GPS(0):velN Meters per second. Velocity North 200
48 GPS(0):velE Meters per second. Velocity East 200
49 GPS(0):velD Meters per second. Velocity Down 200
50 RC:Aileron Range [-10000, 10000] Neutral = 0. Stick left or down = -10000. Stick right or up = 10000 50
51 RC:Elevator Range [-10000, 10000] Neutral = 0. Stick left or down = -10000. Stick right or up = 10000 50
52 RC:Rudder Range [-10000, 10000] Neutral = 0. Stick left or down = -10000. Stick right or up = 10000 50
53 RC:Throttle Range [-10000, 10000] Neutral = 0. Stick left or down = -10000. Stick right or up = 10000 50
54 Controller:navHealth Same as General:gpsHealth. Useful when looking at a tablet .DAT 50
55 Controller:ctrl_level Unknown, maybe a gpsHealth for the RC 50
56 OA:frontDistance   10
57 Motor:Speed:RFront Actual Motor speed. RPM 50
58 Motor:Speed:LFront Actual Motor speed. RPM 50
59 Motor:Speed:LBack Actual Motor speed. RPM 50
60 Motor:Speed:RBack Actual Motor speed. RPM 50
61 Motor:EscTemp:RFront ESC temperature, not motor temperature 50
62 Motor:EscTemp:LFront ESC temperature, not motor temperature 50
63 Motor:EscTemp:LBack ESC temperature, not motor temperature 50
64 Motor:EscTemp:RBack ESC temperature, not motor temperature 50
65 Motor:PPMrecv:RFront   50
66 Motor:PPMrecv:LFront   50
67 Motor:PPMrecv:LBack   50
68 Motor:PPMrecv:RBack   50
69 Motor:PPMsend:RFront   50
70 Motor:PPMsend:LFront   50
71 Motor:PPMsend:LBack   50
72 Motor:PPMsend:RBack   50
73 Motor:V_out:RFront   50
74 Motor:V_out:LFront   50
75 Motor:V_out:LBack   50
76 Motor:V_out:RBack   50
77 Motor:Volts:RFront   50
78 Motor:Volts:LFront   50
79 Motor:Volts:LBack   50
80 Motor:Volts:RBack   50
81 Motor:Current:RFront   50
82 Motor:Current:LFront   50
83 Motor:Current:LBack   50
84 Motor:Current:RBack   50
85 Motor:Status:RFront 0 = Normal, other values unknown 50
86 Motor:Status:LFront 0 = Normal, other values unknown 50
87 Motor:Status:LBack 0 = Normal, other values unknown 50
88 Motor:Status:RBack 0 = Normal, other values unknown 50
89 Motor:thrustAngle Degrees. Computed from motor speeds. Direction the A/C is being pushed by the motors. Relative to the A/C, not the inertial frame. 200
90 AirComp:AirSpeedBody:X These fields are not fully understood 5
91 AirComp:AirSpeedBody:Y These fields are not fully understood 5
92 AirComp:Alti These fields are not fully understood 5
93 AirComp:VelNorm These fields are not fully understood 5
94 AirComp:VelTime:1 These fields are not fully understood 5
95 AirComp:VelTime:2 These fields are not fully understood 5
96 AirComp:VelLevel These fields are not fully understood 5
97 IMU_ATTI(1):numSats    
98 IMU_ATTI(1):barometer:Raw Meters. Raw data from barometer. 200
99 IMU_ATTI(1):barometer:Smooth Meters. Smoothed barometer data 200
100 IMU_ATTI(1):accel:X Meters per second. Acceleration along the X axis 200
101 IMU_ATTI(1):accel:Y Meters per second. Acceleration along the Y axis 200
102 IMU_ATTI(1):accel:Z Meters per second. Acceleration along the Z axis 200
103 IMU_ATTI(1):accel:Composite Meters per second. $\sqrt{\text{accel}^2_X + \text{accel}^2_Y + \text{accel}^2_Z}$ 200
104 IMU_ATTI(1):gyro:X Degrees per second. Rotation about the X axis 200
105 IMU_ATTI(1):gyro:Y Degrees per second. Rotation about the Y axis 200
106 IMU_ATTI(1):gyro:Z Degrees per second. Rotation about the Z axis 200
107 IMU_ATTI(1):gyro:Composite Degrees per second. $\sqrt{\text{gyro}^2_X + \text{gyro}^2_Y + \text{gyro}^2_Z}$ 200
108 IMU_ATTI(1):mag:X   50
109 IMU_ATTI(1):mag:Y   50
110 IMU_ATTI(1):mag:Z   50
111 IMU_ATTI(1):mag:Mod $\sqrt{\text{mag}^2_X + \text{mag}^2_Y + \text{mag}^2_Z}$ 50
112 IMU_ATTI(1):velN Meters per second. Velocity North 200
113 IMU_ATTI(1):velE Meters per second. Velocity East 200
114 IMU_ATTI(1):velD Meters per second. Velocity Down 200
115 IMU_ATTI(1):velComposite Meters per second. $\sqrt{\text{Vel}^2_N + \text{Vel}^2_E + \text{Vel}^2_D}$ 200
116 IMU_ATTI(1):velH Meters per second. Horizontal Velocity. $\sqrt{\text{Vel}^2_N + \text{Vel}^2_E}$ 200
117 IMU_ATTI(1):GPS-H Meters per second. Difference between velocity computed from successive GPS coordinates and horizontal velocity computed from IMU sensors (Vel:Horizontal, $\text{Vel}_H$) 200
118 IMU_ATTI(1):roll Degrees. Note, the yaw value will be corrected for geomagnetic declination after GPS data is valid, i.e., yaw will be true and not magnetic 200
119 IMU_ATTI(1):pitch Degrees. Note, the yaw value will be corrected for geomagnetic declination after GPS data is valid, i.e., yaw will be true and not magnetic 200
120 IMU_ATTI(1):yaw Degrees. Note, the yaw value will be corrected for geomagnetic declination after GPS data is valid, i.e., yaw will be true and not magnetic 200
121 IMU_ATTI(1):yaw360 Degrees. Range 0 - 360 200
122 IMU_ATTI(1):totalGyro:Z Degrees. Integration and summation of Gyro:Z. Can be used to compute Gyro:Z error. Also, useful for checking roll, pitch, and yaw values coming from flight controller (FC) 200
123 IMU_ATTI(1):totalGyro:X Degrees. Integration and summation of Gyro:X. Can be used to compute Gyro:Z error. Also, useful for checking roll, pitch, and yaw values coming from flight controller (FC) 200
124 IMU_ATTI(1):totalGyro:Y Degrees. Integration and summation of Gyro:Y. Can be used to compute Gyro:Z error. Also, useful for checking roll, pitch, and yaw values coming from flight controller (FC) 200
125 IMU_ATTI(1):magYaw Yaw value computed from magnetometers and corrected with pitch and roll. Not the same as Yaw which comes from the Flight controller (FC) 200
126 IMU_ATTI(1):directionOfTravel[mag] Degrees. Range = [-180, 180]. Computed from successive latitude/longitude coordinates. Not corrected with local geomagnetic declination. i.e., value can be compared against P3 yaw. 1
127 IMU_ATTI(1):directionOfTravel[true] Degrees. Range = [-180, 180]. Computed from successive latitude/longitude coordinates. Corrected with local geomagnetic declination. i.e., value can not be compared against P3 yaw. 1
128 IMU_ATTI(1):temperature IMU temp. Steady state = 65 degree celsius. 200
129 IMUEX(0):err None, SPEED_LARGE_ERROR, GPS_YAW_ERROR 200
130 IMUEX(0):rtk_Alti   200
131 IMUEX(1):err None, SPEED_LARGE_ERROR, GPS_YAW_ERROR 200
132 IMUEX(1):rtk_Alti   200
133 MotorCtrl:PWM:RFront Pulse width modulation. Can be used to determine commanded motor speed. Range 0-100% 50
134 MotorCtrl:PWM:LFront Pulse width modulation. Can be used to determine commanded motor speed. Range 0-100% 50
135 MotorCtrl:PWM:LBack Pulse width modulation. Can be used to determine commanded motor speed. Range 0-100% 50
136 MotorCtrl:PWM:RBack Pulse width modulation. Can be used to determine commanded motor speed. Range 0-100% 50
137 AirCraftCondition:fsmState   50
138 AirCraftCondition:nearGround   50
139 AirCraftCondition:landState   50
140 AirCraftCondition:UP_acc_t   50
141 AirCraftCondition:UP_TF_t   50
142 Operating_Phase operating phase of the drone at the moment (i.e., at Tick#) Variable

References (as of 9/6/2023)

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