1"use strict";(self.webpackChunkinavtypescript=self.webpackChunkinavtypescript||[]).push([["1233"],{90083(e,t,n){n.r(t),n.d(t,{metadata:()=>l,default:()=>h,frontMatter:()=>i,contentTitle:()=>c,toc:()=>x,assets:()=>d});var l=JSON.parse('{"id":"advanced/INAV-blackbox-variables","title":"INAV Blackbox Varibles","description":"Overview","source":"@site/versioned_docs/version-4.1.0/advanced/INAV-blackbox-variables.md","sourceDirName":"advanced","slug":"/advanced/INAV-blackbox-variables","permalink":"/docs/4.1.0/advanced/INAV-blackbox-variables","draft":false,"unlisted":false,"editUrl":"https://github.com/iNavFlight/iNavFlight.github.io/tree/master/versioned_docs/version-4.1.0/advanced/INAV-blackbox-variables.md","tags":[],"version":"4.1.0","frontMatter":{"title":"INAV Blackbox Varibles"},"sidebar":"documentationSidebar","previous":{"title":"INAV MSP Frame Changelog","permalink":"/docs/4.1.0/advanced/INAV-MSP-frames-changelog"},"next":{"title":"INAV For Betaflight Users","permalink":"/docs/4.1.0/advanced/INAV-for-BetaFlight-users"}}'),s=n(74848),r=n(28453);let i={title:"INAV Blackbox Varibles"},c,d={},x=[{value:"Overview",id:"overview",level:2},{value:"iNav Logging Intervals",id:"inav-logging-intervals",level:2},{value:"Explanation of all the parameters",id:"explanation-of-all-the-parameters",level:3}];function g(e){let t={br:"br",h2:"h2",h3:"h3",li:"li",p:"p",strong:"strong",table:"table",tbody:"tbody",td:"td",th:"th",thead:"thead",tr:"tr",ul:"ul",...(0,r.R)(),...e.components};return(0,s.jsxs)(s.Fragment,{children:[(0,s.jsx)(t.h2,{id:"overview",children:"Overview"}),"\n",(0,s.jsx)(t.p,{children:"Blackbox is a valuable tool for analyzing the flight dynamics of our airborne vehicles and as such it can be useful for troubleshooting and debugging purposes."}),"\n",(0,s.jsx)(t.p,{children:"In INAV we use a set of specific variables, each variable may contain multiple arrays, for example - navPos[0-2]."}),"\n",(0,s.jsxs)(t.p,{children:[(0,s.jsx)(t.strong,{children:"navPos"}),", ",(0,s.jsx)(t.strong,{children:"navVel"}),", ",(0,s.jsx)(t.strong,{children:"navTgtPos"})," and ",(0,s.jsx)(t.strong,{children:"navTgtVel"}),' each hold arrays [0-2], which represent distances due North [0], due East [1] and straight Up [2], all relative to the "point of origin".\nNorth and East are fused from accelerometer and GPS data, while Up is fused from accelerometer + barometer for multicopters and accelerometer + gps for airplanes if no barometer is available. Read the [[Inertial position estimator|Inertial-position-estimator-(INAV)]] page for detailed explanation.']}),"\n",(0,s.jsx)(t.p,{children:'"Point of origin" might be different from "Home". "Home" is defined as position at the time of arming. While "Point of origin" is recorded after a valid GPS fix is aquired.'}),"\n",(0,s.jsx)(t.p,{children:"For further information about the coordinate system used please read the [[Coordinate systems|Coordinate-systems]] page."}),"\n",(0,s.jsx)(t.p,{children:"#iNav Variables"}),"\n",(0,s.jsx)(t.p,{children:"Variables listed below with a short description of each:"}),"\n",(0,s.jsxs)(t.ul,{children:["\n",(0,s.jsxs)(t.li,{children:["\n",(0,s.jsxs)(t.p,{children:[(0,s.jsx)(t.strong,{children:"navMode"})," (",(0,s.jsx)(t.strong,{children:"navState"})," in newer code):\ncurrent mode of operation from iNav's point of view. Might be different from flight mode. Meaning vary by version, but navMode=0 and navState=1 means idle."]}),"\n"]}),"\n",(0,s.jsxs)(t.li,{children:["\n",(0,s.jsxs)(t.p,{children:[(0,s.jsx)(t.strong,{children:"navFlags"}),":\nbinary flags of iNav internal state: new data availability for altitude, position and heading, validity of altitude, surface distance and position, flags to indicate if pilot is adjusting altitude and position via rc input."]}),"\n"]}),"\n",(0,s.jsxs)(t.li,{children:["\n",(0,s.jsxs)(t.p,{children:[(0,s.jsx)(t.strong,{children:"navTgtPos"}),":\nrepresents the desired position velocity as used/calculated by iNav. When you are in PH, navTgtPos will be set to hold position coordinates."]}),"\n"]}),"\n",(0,s.jsxs)(t.li,{children:["\n",(0,s.jsxs)(t.p,{children:[(0,s.jsx)(t.strong,{children:"navPos"}),":\narray of latest NEU coordinates as provided by inertial estimator. Will be slightly different from GPS/baro readings for 99% of time. 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Line numbers count LF bytes from the start of the resource, as the search results do. Vendor segments are library code the classifier recognised; they are stored but not indexed. Bytes are shown as Latin1 characters, one per byte.