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Here are the components of the AttoPilot V1.8 12_23_09 LOG file.

(Sorry the NING publisher stripped out the formatting.)

The LOG file is actually 2 spread sheets.

The first has 19 columns. They are some of the SET file parameters.

The second has 66 columns. These parameters are the main set of generated LOG file values.


(Header Information)

V1.8 12_23_09 Loaded firmware revision

Parm:19 66


1st spread sheet has only 2 rows, headers and values from the SET file. (The leading letter is the column reference.)


A - 1P $4 Servo 1 P Gain (aileron)

B - 2P $5 Servo 2 P Gain (elevator)

C - 3P $6 Servo 3 P Gain (throttle)

D - 4P $7 Servo 4 P Gain (rudder)

E - 1D $57 Servo 1 D Gain (aileron)

F - 2D $58 Servo 2 D Gain (elevator)

G - 3D $59 Servo 3 D Gain (throttle)

H - 4D $60 Servo 4 D Gain (rudder)

I - MaxRoll $34 Roll Angle Limit

J - MaxPitch $35 Pitch Angle Limit

K - HeadProp $36 Steer Proportional Band Width

L - AltProp $37 Altitude Proportional Band Width

M - SteerD $38 Gain factor for "D" dampening term of heading control

N - AltD $39 Gain factor for "D" dampening term of altitude control

O - MaxRate $40 Max allowed pitch and roll rate of change in deg/second

P - AutoLockDist $101 Exceed this and mode is forced to AUTO (null indicates it won't happen - MUST be null or large value)

Q - mAh_RTL_Auto $102 0 is DISABLE, 1 is ENABLE if $53 mAh cutoff happens lock out other modes and go AUTO for RTL

R - RollExpo $99 0 is no Expo, otherwise 10X units amount to add per 90 degrees attitude

S - PitchExpo $100 0 is no Expo, otherwise 10X units amount to add per 90 degrees attitude



The second (main) Spread Sheet has 66 columns. The rows are the entries generated at a rate based on $47 log_freq. 0 is 5Hz.

A 10 min. flight will generate about 3000 rows.

(The leading letter is the column reference.)


A - Mode - Designation of mode the AttoPilot is in. 0 = RC, 1 = ARC, 2 = HARC, 3 = AUTO

B - Date - Date of flight

C - Time - Time of flight

D - Lat - Current latitude from GPS, decimal degrees

E - Lon - Current Longitude from GPS, decimal degrees

F - Alt - Current Altitude from GPS, above mean sea level in meters

G - Fix - Satellite fix type. 0 = no fix, 1 = valid fix, 2 = valid fix with WAAS, 6 = fix lost

H - Sats - Number of Satellites in lock

I - Baro - Current Barometric pressure, Pascals.

J - dP/dt - Barometric pressure change rate, Pascals/second

K - Speed - Current ground speed from GPS, km/hour

L - Head -Current heading in degrees, ground track from GPS

M - dHead/dt - Heading turn rate, degrees/second

N - WP - Way Point number that is the current target.

O - Dhead - Heading error (target heading vs actual). + means aircraft heading is CW of the required heading

P - Dalt - Altitude error to target, in meters. + means aircraft is above target

Q - WPDist - Distance from Way Point, in meters

R - Ail – Aileron servo position number, microseconds PWM

S - Ele - Elevator servo position number, microseconds PWM

T - Thr – Throttle servo position number, microseconds PWM

U - Rudd – Rudder servo position number, microseconds PWM

V - Pan – Pan servo position number, microseconds PWM

W - Tilt – Tilt servo position number, microseconds PWM

X - Trig – Trigger servo position number, microseconds PWM OR logic level

Y - ModeRx – R/C receiver position of the channel controlling mode.

Z - PitchT – Pitch target, degrees. + is nose up.

AA- Pitch – Actual Pitch

AB- dP/dt – Pitch rate, degrees/second. + is pitching up

AC- RollT – Roll target, degrees. + is to the right (starboard)

AD- Roll – Actual roll, degrees

AE- dR/dt – Roll rate, degrees/second. + is rolling to starboard

AF- Press0 – Ground pressure at start of flight. The reference pressure used to determine all AGL (above ground level) altitudes relative to the start altitude.

AG- V – Voltage measured by AttoPilot power sensor of propulsion power

AH- I – Amperage measured by AttoPilot power sensor of propulsion power

AI- P – Power (Amps x Volts) in Watts.

AJ- mAh – Milliamp-hours used. Measured by numeric integration of current over time.

AK- km/Ah – Kilometers per Amp hour; “fuel efficiency” for electric planes.

AL- Airspeed – Current aircraft airspeed

AM- Pa_Pitot – Raw Pitot ram air pressure, in Pascals.

AN- Tlat – Target Latitude of current waypoint or loiter center location

AO- Tlon – Target Longitude of current waypoint or loiter center location

AP- TSpeed – Target airspeed

AQ- TAlt – Target altitude, AGL relative to starting altitude

AR- LastLat – Last waypoint’s latitude

AS- LastLon – Last waypoint’s longitude

AT LineDist – Distance between aircraft and the spot perpendicular on a line drawn between last and current waypoint, in meters

AU- HP2 – Heading of the vector drawn between current Lat/Lon and the current waypoint. This is the target heading if the desired course were a straight line from aircraft to the waypoint.

AV- H12 – Heading of the vector drawn from last waypoint to the current waypoint

AW- Hdelta – Delta heading between HP2 and H12 (Hp2 - H12)

AX- TapeMeasure – distance counted off since last photo trigger, in meters, if a distance interval photo trigger is currently actuve.

AY- PhotLat – Latitude of the last photo trigger. For Geo-referencing photographs.

AZ- PhotLon – Longitude of the last photo trigger. For Geo-referencing photographs.

BA- 1P – Aileron P Gain setting

BB- 2P – Elevator P Gain setting

BC- 3P – Throttle P Gain setting

BD- 4P – Rudder P Gain setting

BE- 1D – Aileron D Gain setting

BF- 2D – Elevator D Gain setting

BG- 3D – Throttle D Gain setting

BH- 4D – Rudder D Gain setting

BI - Loiter – Flag to indicate if loiter is active, “null” reported if not active

BJ- Pbs – Pitch bias of current bias optimization. In degrees.

BK- Rbs – Roll bias of current bias optimization. In degrees

BL- AuxADC – Auxiliary ADC input, 0-4095 (12 bit value in decimal numeric format), with 4095 = 3.300 volts, 0 = 0.000 volts.

BM- HeadHome – Heading direction to home in Degrees

BN- DistHome – Distance to home in Meters


See also: http://www.rcgroups.com/forums/showthread.php?p=14331322#post14331322


Views: 29

Comment by Gary Mortimer on February 12, 2010 at 19:09
Thanks Irv thats very interesting G

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