README

Recordings:
ioboard1-20130714.txt
ioboard2-20130714.txt

Files are tab-separated with UNIX newlines.

Summary:
10-minute test flight east of Melbourne, Australia. High winds and a little rain. X8 flying wing airframe, 3.8kg take-off weight. See http://au.tono.my/log/20130714-test-flight-3.html for additional details.

Magnetic field:
EMM model indicates field strength is [21.2578, 4.4132, -55.9578] µT (NED).

Fields:
 1. tick: 16-bit frame ID from I/O board.
 2. accel_gyro_temp: temperature reported by MPU-6050 (degrees Celsius)
 3. pitot: pitot ADC reading
 4. i: battery current sensor ADC reading (unusable in this recording)
 5. v: battery voltage sensor ADC reading (unusable in this recording)
 6. baro_temp: temperature reported by MS5611 (degrees Celsius)
 7. pressure: barometric pressure reported by MS5611, corrected based on second-order method in datasheet (mbar)
 8. accel.x: X component of MPU-6050 accelerometer reading (in g; body frame, +X is acceleration starboard)
 9. accel.y: Y component of MPU-6050 accelerometer reading (in g; body frame, +Y is acceleration forward)
10. accel.z: Z component of MPU-6050 accelerometer reading (in g; body frame, +Z is acceleration upward)
11. mag.x: X component of HMC5883L magnetic field reading (in mGa; +X is forward)
12. mag.y: Y component of HMC5883L magnetic field reading (in mGa; +Y is port)
13. mag.z: Z component of HMC5883L magnetic field reading (in mGa; +Z is up)
14. gyro.x: X component of MPU-6050 gyro reading (in °/s; body frame, +X is pitching up)
15. gyro.y: Y component of MPU-6050 gyro reading (in °/s; body frame, +Y is rolling starboard wing down)
16. gyro.z: Z component of MPU-6050 gyro reading (in °/s; body frame, +Z is yawing starboard)
17. gps.position.lat: Latitude component of GPS position solution
18. gps.position.lng: Longitude component of GPS position solution
19. gps.position.alt: Altitude component of GPS position solution (metres above mean sea level)
20. gps.velocity.x: ECEF X component of GPS velocity (in m/s; unusable in this recording)
21. gps.velocity.y: ECEF Y component of GPS velocity (in m/s; unusable in this recording)
22. gps.velocity.z: ECEF Z component of GPS velocity (in m/s; unusable in this recording)
23. pitot_ias: converted airspeed reading from pitot ADC (m/s)
24. baro_alt_sph: converted altitude reading from pressure (metres above mean sea level; take-off point 50m AMSL)
25. pwm.0: 16-bit PWM reading from R/C channel 0 (unused)
26. pwm.1: 16-bit PWM reading from R/C channel 1 (throttle; RPM ~ 10000 * val / 65535)
27. pwm.2: 16-bit PWM reading from R/C channel 2 (right elevon; deflection in ° ~ 0.00258257 * val - 74.7256)
28. pwm.3: 16-bit PWM reading from R/C channel 3 (left elevon; deflection in ° ~ -0.00267005 * val + 81.0132)
29. gps_info.pdop: Venus638 PDOP reading
30. gps_info.num_satellites: number of GPS SVs tracked