From 650a160248236523f89242587160666e3e6a1270 Mon Sep 17 00:00:00 2001
From: 488_MP-4 <488_MP-4@iastate.edu>
Date: Tue, 21 Nov 2023 22:00:18 +0100
Subject: [PATCH] seems to work except for drone issues
---
.../__pycache__/LogfileHandler.cpython-38.pyc | Bin 5404 -> 5404 bytes
.../SetpointHandler.cpython-38.pyc | Bin 7436 -> 7436 bytes
.../crazyflie_connection.cpython-38.pyc | Bin 10643 -> 10450 bytes
.../groundstation_socket.cpython-38.pyc | Bin 4828 -> 4828 bytes
.../__pycache__/uCartCommander.cpython-38.pyc | Bin 7993 -> 7993 bytes
cflib_groundstation/cache/67270310.json | 2884 +++++++++++
cflib_groundstation/cache/C931D955.json | 4465 +++++++++++++++++
cflib_groundstation/crazyflie_connection.py | 11 +-
.../logs/cflie1_2023_11_21_20:51:54.txt | 1 +
.../logs/cflie1_2023_11_21_20:52:16.txt | 1 +
.../logs/cflie1_2023_11_21_20:58:14.txt | 1 +
.../logs/cflie1_2023_11_21_21:14:42.txt | 1 +
.../logs/cflie1_2023_11_21_21:31:16.txt | 1 +
.../logs/cflie1_2023_11_21_21:32:16.txt | 1 +
.../logs/cflie1_2023_11_21_21:33:35.txt | 1 +
.../logs/cflie1_2023_11_21_21:35:23.txt | 1 +
.../logs/cflie1_2023_11_21_21:36:33.txt | 1 +
.../logs/cflie1_2023_11_21_21:38:11.txt | 1 +
.../logs/cflie1_2023_11_21_21:42:29.txt | 1 +
.../logs/cflie1_2023_11_21_21:46:08.txt | 1 +
.../logs/cflie1_2023_11_21_21:49:33.txt | 1 +
.../cflie1_Log_toc_2023_11_21_20:53:22.txt | 506 ++
.../cflie1_Log_toc_2023_11_21_20:58:23.txt | 506 ++
.../cflie1_Log_toc_2023_11_21_21:14:52.txt | 506 ++
.../cflie1_Log_toc_2023_11_21_21:33:57.txt | 486 ++
.../cflie1_Log_toc_2023_11_21_21:35:43.txt | 486 ++
.../cflie1_Log_toc_2023_11_21_21:36:54.txt | 506 ++
.../cflie1_Log_toc_2023_11_21_21:38:20.txt | 506 ++
.../cflie1_Log_toc_2023_11_21_21:42:40.txt | 506 ++
.../cflie1_Log_toc_2023_11_21_21:46:35.txt | 506 ++
.../cflie1_Log_toc_2023_11_21_21:49:43.txt | 506 ++
.../cflie1_Param_toc_2023_11_21_20:53:22.txt | 247 +
.../cflie1_Param_toc_2023_11_21_20:58:23.txt | 247 +
.../cflie1_Param_toc_2023_11_21_21:14:52.txt | 247 +
.../cflie1_Param_toc_2023_11_21_21:33:57.txt | 280 ++
.../cflie1_Param_toc_2023_11_21_21:35:43.txt | 280 ++
.../cflie1_Param_toc_2023_11_21_21:36:54.txt | 247 +
.../cflie1_Param_toc_2023_11_21_21:38:20.txt | 247 +
.../cflie1_Param_toc_2023_11_21_21:42:40.txt | 247 +
.../cflie1_Param_toc_2023_11_21_21:46:35.txt | 247 +
.../cflie1_Param_toc_2023_11_21_21:49:43.txt | 247 +
41 files changed, 14921 insertions(+), 8 deletions(-)
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create mode 100644 cflib_groundstation/cache/C931D955.json
create mode 100644 cflib_groundstation/logs/cflie1_2023_11_21_20:51:54.txt
create mode 100644 cflib_groundstation/logs/cflie1_2023_11_21_20:52:16.txt
create mode 100644 cflib_groundstation/logs/cflie1_2023_11_21_20:58:14.txt
create mode 100644 cflib_groundstation/logs/cflie1_2023_11_21_21:14:42.txt
create mode 100644 cflib_groundstation/logs/cflie1_2023_11_21_21:31:16.txt
create mode 100644 cflib_groundstation/logs/cflie1_2023_11_21_21:32:16.txt
create mode 100644 cflib_groundstation/logs/cflie1_2023_11_21_21:33:35.txt
create mode 100644 cflib_groundstation/logs/cflie1_2023_11_21_21:35:23.txt
create mode 100644 cflib_groundstation/logs/cflie1_2023_11_21_21:36:33.txt
create mode 100644 cflib_groundstation/logs/cflie1_2023_11_21_21:38:11.txt
create mode 100644 cflib_groundstation/logs/cflie1_2023_11_21_21:42:29.txt
create mode 100644 cflib_groundstation/logs/cflie1_2023_11_21_21:46:08.txt
create mode 100644 cflib_groundstation/logs/cflie1_2023_11_21_21:49:33.txt
create mode 100644 cflib_groundstation/logs/cflie1_Log_toc_2023_11_21_20:53:22.txt
create mode 100644 cflib_groundstation/logs/cflie1_Log_toc_2023_11_21_20:58:23.txt
create mode 100644 cflib_groundstation/logs/cflie1_Log_toc_2023_11_21_21:14:52.txt
create mode 100644 cflib_groundstation/logs/cflie1_Log_toc_2023_11_21_21:33:57.txt
create mode 100644 cflib_groundstation/logs/cflie1_Log_toc_2023_11_21_21:35:43.txt
create mode 100644 cflib_groundstation/logs/cflie1_Log_toc_2023_11_21_21:36:54.txt
create mode 100644 cflib_groundstation/logs/cflie1_Log_toc_2023_11_21_21:38:20.txt
create mode 100644 cflib_groundstation/logs/cflie1_Log_toc_2023_11_21_21:42:40.txt
create mode 100644 cflib_groundstation/logs/cflie1_Log_toc_2023_11_21_21:46:35.txt
create mode 100644 cflib_groundstation/logs/cflie1_Log_toc_2023_11_21_21:49:43.txt
create mode 100644 cflib_groundstation/logs/cflie1_Param_toc_2023_11_21_20:53:22.txt
create mode 100644 cflib_groundstation/logs/cflie1_Param_toc_2023_11_21_20:58:23.txt
create mode 100644 cflib_groundstation/logs/cflie1_Param_toc_2023_11_21_21:14:52.txt
create mode 100644 cflib_groundstation/logs/cflie1_Param_toc_2023_11_21_21:33:57.txt
create mode 100644 cflib_groundstation/logs/cflie1_Param_toc_2023_11_21_21:35:43.txt
create mode 100644 cflib_groundstation/logs/cflie1_Param_toc_2023_11_21_21:36:54.txt
create mode 100644 cflib_groundstation/logs/cflie1_Param_toc_2023_11_21_21:38:20.txt
create mode 100644 cflib_groundstation/logs/cflie1_Param_toc_2023_11_21_21:42:40.txt
create mode 100644 cflib_groundstation/logs/cflie1_Param_toc_2023_11_21_21:46:35.txt
create mode 100644 cflib_groundstation/logs/cflie1_Param_toc_2023_11_21_21:49:43.txt
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index 69b05f2a3277ff1803ce672632465e10cc1bc1d2..44449ffa0681ed5168d238064bb8b4710b708481 100644
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diff --git a/cflib_groundstation/__pycache__/SetpointHandler.cpython-38.pyc b/cflib_groundstation/__pycache__/SetpointHandler.cpython-38.pyc
index 08ed250a02a8e0c7b56659bc32f71a4be7bfda5a..36765f3a86ef95b6e3725f255a1f2ff12fe529cb 100644
GIT binary patch
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delta 20
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diff --git a/cflib_groundstation/__pycache__/crazyflie_connection.cpython-38.pyc b/cflib_groundstation/__pycache__/crazyflie_connection.cpython-38.pyc
index 57a591987573985ca21ab01d6410e95c0ffffc98..30799d380dc37c2db87332887e291ff47dc7bf68 100644
GIT binary patch
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diff --git a/cflib_groundstation/__pycache__/groundstation_socket.cpython-38.pyc b/cflib_groundstation/__pycache__/groundstation_socket.cpython-38.pyc
index b03865a0377aaee7552af07ad4df8fa186b22649..647063b386bafa08d2890aba815444b1c80aa554 100644
GIT binary patch
delta 20
acmcbkdPkKzl$V!_0SLr7V>fbN6aoM=vjn36
delta 20
acmcbkdPkKzl$V!_0SGJ#qBe406aoM@^#v#Z
diff --git a/cflib_groundstation/__pycache__/uCartCommander.cpython-38.pyc b/cflib_groundstation/__pycache__/uCartCommander.cpython-38.pyc
index edfea532b13e352a550c6f901f39a7f17c3aa00d..6e415f6c0543baa1b3e3e9fecedd4237210bc6b8 100644
GIT binary patch
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delta 20
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diff --git a/cflib_groundstation/crazyflie_connection.py b/cflib_groundstation/crazyflie_connection.py
index be2d4f46b..899062b1e 100644
--- a/cflib_groundstation/crazyflie_connection.py
+++ b/cflib_groundstation/crazyflie_connection.py
@@ -35,12 +35,7 @@ class CrazyflieConnection:
"""
def __init__(self):
- """
- Initialize the start time, the logging queue which is given to the
- plotting window, and set the synchronous crazyflie connection by
- default to None. This should be set to the crazyflie when connecting
- to one.
- """
+
# Get the start time, so that the timestamp returned to the user will
# be in seconds since startup.
@@ -141,8 +136,8 @@ class CrazyflieConnection:
else :
raise Exception
- #self.setpoint_handler.setSetpoint(yaw, pitch, roll, thrust)
- #self.setpoint_handler.sendSetpoint()
+ self.setpoint_handler.setSetpoint(yaw, pitch, roll, thrust)
+ self.setpoint_handler.sendSetpoint()
def GetNodeIds():
raise Exception
diff --git a/cflib_groundstation/logs/cflie1_2023_11_21_20:51:54.txt b/cflib_groundstation/logs/cflie1_2023_11_21_20:51:54.txt
new file mode 100644
index 000000000..f2deb3d7f
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_11_21_20:51:54.txt
@@ -0,0 +1 @@
+#Crazyflie
#Controller:Unknown
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_11_21_20:52:16.txt b/cflib_groundstation/logs/cflie1_2023_11_21_20:52:16.txt
new file mode 100644
index 000000000..b0485e81a
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_11_21_20:52:16.txt
@@ -0,0 +1 @@
+#Crazyflie
#Controller:Unknown
#0 time stateEstimate.roll stateEstimate.pitch stateEstimate.yaw ctrlStdnt.r_roll ctrlStdnt.r_pitch ctrlStdnt.r_yaw ctrlStdnt.rollRate ctrlStdnt.pitchRate ctrlStdnt.yawRate ctrlStdnt.roll ctrlStdnt.pitch ctrlStdnt.yaw
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326.10816407203674 nan nan nan nan nan nan 0.0000 0.0000 -0.0000 0.0000 0.0000 -32.5918
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_11_21_20:58:14.txt b/cflib_groundstation/logs/cflie1_2023_11_21_20:58:14.txt
new file mode 100644
index 000000000..f236b564a
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_11_21_20:58:14.txt
@@ -0,0 +1 @@
+#Crazyflie
#Controller:Unknown
#0 time stateEstimate.roll stateEstimate.pitch stateEstimate.yaw ctrlStdnt.r_roll ctrlStdnt.r_pitch ctrlStdnt.r_yaw ctrlStdnt.rollRate ctrlStdnt.pitchRate ctrlStdnt.yawRate ctrlStdnt.roll ctrlStdnt.pitch ctrlStdnt.yaw
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76.90572595596313 nan nan nan nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 101.0700
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\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_11_21_21:14:42.txt b/cflib_groundstation/logs/cflie1_2023_11_21_21:14:42.txt
new file mode 100644
index 000000000..4740a3198
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_11_21_21:14:42.txt
@@ -0,0 +1 @@
+#Crazyflie
#Controller:Unknown
#0 time stateEstimate.roll stateEstimate.pitch stateEstimate.yaw ctrlStdnt.r_roll ctrlStdnt.r_pitch ctrlStdnt.r_yaw ctrlStdnt.rollRate ctrlStdnt.pitchRate ctrlStdnt.yawRate ctrlStdnt.roll ctrlStdnt.pitch ctrlStdnt.yaw
36.746429681777954 -0.0921 1.0135 167.7868 nan nan nan 0.0000 0.0000 -0.0000 0.0000 0.0000 167.7877
36.8223934173584 -0.0859 1.0087 167.7893 -0.1995 0.1196 0.2523 0.0000 0.0000 0.0000 0.0000 0.0000 167.7881
36.89928579330444 nan nan nan nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 167.7881
36.98192763328552 -0.0966 1.0111 167.7874 0.4453 -0.0164 -0.0361 0.0000 0.0000 0.0000 0.0000 0.0000 167.7867
37.04193711280823 nan nan nan nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 167.7858
37.147905349731445 -0.0914 1.0197 167.7876 -0.4885 -0.2608 0.0401 0.0000 0.0000 0.0000 0.0000 0.0000 167.7861
37.22144389152527 nan nan nan nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 167.7865
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37.322460651397705 nan nan nan nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 167.7872
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37.56868624687195 nan nan nan nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 167.7833
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37.767553091049194 nan nan nan nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 167.7834
37.86326217651367 -0.0927 1.0271 167.7855 0.2959 0.6850 0.1339 0.0000 0.0000 0.0000 0.0000 0.0000 167.7848
37.92160654067993 nan nan nan nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 167.7843
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38.599021196365356 nan nan nan nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 167.7827
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39.633591413497925 nan nan nan nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 167.7809
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40.80824375152588 nan nan nan nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 167.7792
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40.94147205352783 nan nan nan nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 167.7825
41.00071573257446 -0.0832 1.0215 167.7855 0.0881 -0.3301 0.2626 0.0000 0.0000 0.0000 0.0000 0.0000 167.7842
41.07242941856384 nan nan nan nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 167.7846
41.14781308174133 -0.0915 1.0225 167.7814 0.2838 0.2715 -0.2301 0.0000 0.0000 0.0000 0.0000 0.0000 167.7822
41.23805856704712 nan nan nan nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 167.7796
41.32114338874817 -0.0844 1.0151 167.7780 -0.5099 0.3540 0.0994 0.0000 0.0000 0.0000 0.0000 0.0000 167.7788
41.402265548706055 nan nan nan nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 167.7784
41.516939640045166 -0.0904 1.0049 167.7808 0.6439 0.1599 -0.0845 0.0000 0.0000 0.0000 0.0000 0.0000 167.7813
41.62246227264404 nan nan nan nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 167.7778
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\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_11_21_21:31:16.txt b/cflib_groundstation/logs/cflie1_2023_11_21_21:31:16.txt
new file mode 100644
index 000000000..f2deb3d7f
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_11_21_21:31:16.txt
@@ -0,0 +1 @@
+#Crazyflie
#Controller:Unknown
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_11_21_21:32:16.txt b/cflib_groundstation/logs/cflie1_2023_11_21_21:32:16.txt
new file mode 100644
index 000000000..f2deb3d7f
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_11_21_21:32:16.txt
@@ -0,0 +1 @@
+#Crazyflie
#Controller:Unknown
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_11_21_21:33:35.txt b/cflib_groundstation/logs/cflie1_2023_11_21_21:33:35.txt
new file mode 100644
index 000000000..e266e5f33
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_11_21_21:33:35.txt
@@ -0,0 +1 @@
+#Crazyflie
#Controller:Unknown
#0 time stateEstimate.roll stateEstimate.pitch stateEstimate.yaw
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_11_21_21:35:23.txt b/cflib_groundstation/logs/cflie1_2023_11_21_21:35:23.txt
new file mode 100644
index 000000000..e266e5f33
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_11_21_21:35:23.txt
@@ -0,0 +1 @@
+#Crazyflie
#Controller:Unknown
#0 time stateEstimate.roll stateEstimate.pitch stateEstimate.yaw
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_11_21_21:36:33.txt b/cflib_groundstation/logs/cflie1_2023_11_21_21:36:33.txt
new file mode 100644
index 000000000..e266e5f33
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_11_21_21:36:33.txt
@@ -0,0 +1 @@
+#Crazyflie
#Controller:Unknown
#0 time stateEstimate.roll stateEstimate.pitch stateEstimate.yaw
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_11_21_21:38:11.txt b/cflib_groundstation/logs/cflie1_2023_11_21_21:38:11.txt
new file mode 100644
index 000000000..e266e5f33
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_11_21_21:38:11.txt
@@ -0,0 +1 @@
+#Crazyflie
#Controller:Unknown
#0 time stateEstimate.roll stateEstimate.pitch stateEstimate.yaw
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_11_21_21:42:29.txt b/cflib_groundstation/logs/cflie1_2023_11_21_21:42:29.txt
new file mode 100644
index 000000000..e266e5f33
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_11_21_21:42:29.txt
@@ -0,0 +1 @@
+#Crazyflie
#Controller:Unknown
#0 time stateEstimate.roll stateEstimate.pitch stateEstimate.yaw
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_11_21_21:46:08.txt b/cflib_groundstation/logs/cflie1_2023_11_21_21:46:08.txt
new file mode 100644
index 000000000..94cd19183
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_11_21_21:46:08.txt
@@ -0,0 +1 @@
+#Crazyflie
#Controller:Unknown
#0 time stateEstimate.roll stateEstimate.pitch stateEstimate.yaw ctrlStdnt.r_roll ctrlStdnt.r_pitch ctrlStdnt.r_yaw ctrlStdnt.rollRate ctrlStdnt.pitchRate ctrlStdnt.yawRate ctrlStdnt.roll ctrlStdnt.pitch ctrlStdnt.yaw
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\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_11_21_21:49:33.txt b/cflib_groundstation/logs/cflie1_2023_11_21_21:49:33.txt
new file mode 100644
index 000000000..c8e920915
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_11_21_21:49:33.txt
@@ -0,0 +1 @@
+#Crazyflie
#Controller:Unknown
#0 time stateEstimate.roll stateEstimate.pitch stateEstimate.yaw ctrlStdnt.r_roll ctrlStdnt.r_pitch ctrlStdnt.r_yaw ctrlStdnt.rollRate ctrlStdnt.pitchRate ctrlStdnt.yawRate ctrlStdnt.roll ctrlStdnt.pitch ctrlStdnt.yaw
53.24656653404236 -1.3927 1.0256 -136.9058 nan nan nan 40.8868 -31.2529 -0.0000 nan nan nan
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53.51043105125427 -1.3548 1.0298 -136.8702 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -136.8662
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53.657555103302 -1.3488 1.0381 -136.8654 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -136.8711
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53.87998628616333 -1.3467 1.0513 -136.8562 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -136.8662
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54.02703285217285 -1.3495 1.0563 -136.8585 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -136.8595
54.166274309158325 -1.3544 1.0329 -136.8563 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -136.8563
54.23657560348511 -1.3527 1.0595 -136.8600 0.0187 2.4808 -0.3287 0.0000 0.0000 0.0000 0.0000 0.0000 -136.8578
54.325021266937256 -1.3516 1.0604 -136.8153 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -136.8325
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54.46136975288391 -1.3490 1.0577 -136.8049 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -136.7918
54.51241183280945 -1.3562 1.0399 -136.8533 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -136.8777
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228.5307981967926 -1.6200 -0.0353 -62.3575 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3578
228.5963442325592 -1.6059 -0.0273 -62.3564 1.3512 1.4391 0.0398 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3582
228.66818284988403 -1.6049 -0.0118 -62.3554 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3563
228.73100018501282 -1.6165 -0.0365 -62.3545 -0.9093 -2.1647 0.2695 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3556
228.80132293701172 -1.6019 -0.0123 -62.3553 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3559
228.9000084400177 -1.6157 -0.0322 -62.3557 0.8058 1.3689 0.0324 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3565
228.9405255317688 -1.6153 -0.0047 -62.3493 -0.1218 0.7179 0.0411 48.4876 0.5076 0.0000 0.0000 0.0000 -62.3522
228.9755380153656 -1.6181 -0.0096 -62.3477 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3472
229.0458264350891 -1.6195 -0.0069 -62.3504 0.8525 0.8514 -0.1728 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3500
229.33421397209167 -1.6125 0.0002 -62.3497 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3492
229.43249344825745 -1.6231 -0.0088 -62.3524 -0.7529 -1.4633 -0.1438 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3500
230.32476568222046 -1.6261 -0.0071 -62.3541 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3547
231.34464025497437 -1.6203 0.0111 -62.3509 0.7014 1.5836 -0.1476 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3523
231.43416213989258 -1.6233 0.0102 -62.3557 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3527
231.51004552841187 -1.6220 0.0014 -62.3639 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3661
231.56335830688477 -1.6166 -0.0108 -62.3715 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3722
231.62142395973206 nan nan nan 0.1759 -0.0527 -0.0345 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3728
232.30262303352356 -1.6180 -0.0034 -62.3739 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3754
232.36769652366638 -1.6127 -0.0067 -62.3732 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3745
232.4175992012024 -1.6174 -0.0085 -62.3727 -0.2114 -0.0891 0.2573 nan nan nan 0.0000 0.0000 -62.3740
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232.62451338768005 -1.6296 -0.0246 -62.3748 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3729
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232.77150440216064 -1.6242 -0.0185 -62.3767 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3762
233.3942093849182 -1.6319 -0.0243 -62.3786 0.3131 0.5856 0.0167 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3811
234.35280203819275 -1.6377 -0.0377 -62.3823 0.2568 1.1313 0.0390 49.1086 0.9987 -0.0000 0.0000 0.0000 -62.3804
234.41953229904175 -1.6385 -0.0381 -62.3709 0.4018 0.1555 -0.1069 49.3529 1.3425 0.0000 0.0000 0.0000 -62.3784
234.4921338558197 -1.6249 -0.0412 -62.3670 0.9695 2.1913 0.1395 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3669
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235.4726746082306 -1.6202 -0.0329 -62.3669 -0.5757 -0.1416 -0.0711 48.7910 1.2238 -0.0000 0.0000 0.0000 -62.3672
235.53835201263428 -1.6157 -0.0249 -62.3674 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3659
235.61294603347778 -1.6209 -0.0247 -62.3697 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3690
235.68287444114685 -1.6150 -0.0227 -62.3697 1.2760 1.5166 0.1104 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3685
236.2944655418396 -1.6143 -0.0146 -62.3665 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3678
236.3730447292328 -1.6260 -0.0378 -62.3674 -0.9409 -2.2891 0.0991 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3676
236.4689769744873 -1.6126 -0.0157 -62.3681 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3687
237.29429459571838 -1.6234 -0.0404 -62.3711 0.3336 1.6172 -0.1230 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3702
237.35465002059937 -1.6213 -0.0305 -62.3731 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3725
237.40444159507751 -1.6210 -0.0246 -62.3720 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3726
237.46790647506714 -1.6274 -0.0500 -62.3722 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3717
237.55199646949768 -1.6203 -0.0488 -62.3714 nan nan nan 48.4709 1.1420 -0.0000 0.0000 0.0000 -62.3715
238.34399580955505 -1.6243 -0.0479 -62.3716 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3741
238.44163918495178 -1.6237 -0.0525 -62.3759 0.6253 1.1499 -0.0366 nan nan nan 0.0000 0.0000 -62.3749
239.32342791557312 -1.6165 -0.0437 -62.3790 nan nan nan 48.6171 1.6286 -0.0000 0.0000 0.0000 -62.3770
239.39758348464966 -1.6243 -0.0559 -62.3776 -0.8271 -1.8234 -0.0304 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3786
240.3352952003479 -1.6157 -0.0424 -62.3716 nan nan nan 48.5930 1.3956 0.0000 0.0000 0.0000 -62.3738
240.40167570114136 -1.6255 -0.0510 -62.3719 -0.5370 -1.1073 -0.0409 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3720
240.46149611473083 -1.6209 -0.0385 -62.3704 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3696
240.55081963539124 -1.6273 -0.0523 -62.3677 0.1579 0.8296 -0.1832 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3695
240.59422731399536 -1.6258 -0.0536 -62.3704 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3701
240.66681718826294 -1.6227 -0.0451 -62.3701 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3713
240.7274031639099 -1.6244 -0.0521 -62.3725 0.0936 -0.3412 -0.0727 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3733
240.78758263587952 -1.6285 -0.0286 -62.3714 nan nan nan nan nan nan 0.0000 0.0000 -62.3698
240.88436937332153 -1.6310 -0.0066 -62.3656 -0.1620 0.4197 0.0052 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3644
240.95393347740173 -1.6359 -0.0042 -62.3691 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3675
241.3893916606903 -1.6340 -0.0058 -62.3674 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3679
241.47666025161743 -1.6284 -0.0041 -62.3667 -0.1776 -0.4531 -0.1188 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3671
241.54136109352112 -1.6225 0.0004 -62.3572 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3672
241.62163138389587 -1.6203 -0.0111 -62.3573 0.0508 1.0610 0.0094 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3592
242.34544324874878 -1.6213 -0.0168 -62.3588 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3594
242.42226481437683 -1.6243 -0.0149 -62.3586 0.2214 0.1306 -0.0212 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3565
242.49144959449768 -1.6281 -0.0200 -62.3544 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3556
242.57891201972961 -1.6249 -0.0181 -62.3567 -0.6255 -0.7278 -0.2198 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3551
242.65640139579773 -1.6288 -0.0189 -62.3560 0.4882 0.3974 0.0511 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3543
243.3849229812622 -1.6277 -0.0290 -62.3564 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3548
244.35450100898743 -1.6322 -0.0418 -62.3548 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3552
244.41033291816711 -1.6361 -0.0431 -62.3618 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3603
244.46516370773315 -1.6329 -0.0677 -62.3573 0.5629 1.9866 -0.2523 48.9290 1.7413 -0.0000 0.0000 0.0000 -62.3570
245.30078554153442 -1.6311 -0.0621 -62.3520 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3533
245.397962808609 -1.6239 -0.0425 -62.3532 0.0140 -1.3030 -0.1016 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3529
246.3195104598999 -1.6230 -0.0412 -62.3521 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3514
246.36931490898132 -1.6174 -0.0542 -62.3568 nan nan nan 48.4422 1.2406 -0.0000 0.0000 0.0000 -62.3564
246.436372756958 -1.6234 -0.0571 -62.3586 -0.8731 -0.6975 -0.0646 nan nan nan 0.0000 0.0000 -62.3592
246.48878979682922 -1.6101 -0.0420 -62.3606 nan nan nan 48.3540 0.8539 0.0000 0.0000 0.0000 -62.3615
246.5382273197174 -1.6072 -0.0186 -62.3611 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3601
246.6134889125824 nan nan nan -0.3921 -0.0692 -0.0590 48.5240 1.4049 0.0000 0.0000 0.0000 -62.3602
246.69081497192383 -1.6150 -0.0425 -62.3746 nan nan nan 48.2992 0.9110 -0.0000 0.0000 0.0000 -62.3752
246.7709083557129 -1.6218 -0.0486 -62.3738 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3744
246.8390588760376 -1.6186 -0.0447 -62.3714 0.6877 0.9972 0.0101 nan nan nan 0.0000 0.0000 -62.3730
246.9486620426178 -1.6163 -0.0379 -62.3744 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3755
247.02843403816223 nan nan nan -0.6886 -1.5911 -0.0495 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3753
247.12436056137085 -1.6192 -0.0454 -62.3752 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3747
247.32593178749084 -1.6144 -0.0308 -62.3736 0.4932 1.4835 -0.1470 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3732
247.40827107429504 -1.6192 -0.0478 -62.3747 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3735
247.47075176239014 -1.6210 -0.0408 -62.3750 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3749
247.53288173675537 -1.6122 -0.0386 -62.3767 -0.0297 -0.7494 -0.1009 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3776
247.6005334854126 -1.6129 -0.0359 -62.3761 -0.3339 -0.7295 0.1800 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3753
247.7799243927002 -1.6173 -0.0433 -62.3728 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3727
247.83242464065552 -1.6148 -0.0508 -62.3689 0.0951 0.4409 0.0415 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3688
247.88714170455933 -1.6001 -0.0551 -62.3816 -0.0789 -0.1717 0.1927 47.9727 1.6020 0.0000 nan nan nan
247.97887063026428 -1.6041 -0.0613 -62.3782 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3794
248.0582823753357 -1.5987 -0.0569 -62.3771 0.1775 0.3616 0.1897 0.0000 0.0000 0.0000 0.0000 0.0000 -62.3770
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_Log_toc_2023_11_21_20:53:22.txt b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_21_20:53:22.txt
new file mode 100644
index 000000000..5f7bea63c
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_21_20:53:22.txt
@@ -0,0 +1,506 @@
+Log ID Type Group Identifier Name
+0 1 gyro xRaw
+1 1 gyro yRaw
+2 1 gyro zRaw
+3 6 gyro xVariance
+4 6 gyro yVariance
+5 6 gyro zVariance
+108 6 gyro x
+109 6 gyro y
+110 6 gyro z
+6 10 pwm m1_pwm
+7 10 pwm m2_pwm
+8 10 pwm m3_pwm
+9 10 pwm m4_pwm
+10 9 crtp rxRate
+11 9 crtp txRate
+12 6 pm vbat
+13 9 pm vbatMV
+14 6 pm extVbat
+15 9 pm extVbatMV
+16 6 pm extCurr
+17 6 pm chargeCurrent
+18 0 pm state
+19 8 pm batteryLevel
+20 8 radio rssi
+21 8 radio isConnected
+22 0 sys armed
+38 8 sys canfly
+39 8 sys isFlying
+40 8 sys isTumbled
+23 9 extrx ch0
+24 9 extrx ch1
+25 9 extrx ch2
+26 9 extrx ch3
+27 9 extrx thrust
+28 6 extrx roll
+29 6 extrx pitch
+30 6 extrx yaw
+31 10 memTst errCntW
+32 9 range front
+33 9 range back
+34 9 range up
+35 9 range left
+36 9 range right
+37 9 range zrange
+41 6 ext_pos X
+42 6 ext_pos Y
+43 6 ext_pos Z
+44 6 locSrv x
+45 6 locSrv y
+46 6 locSrv z
+47 6 locSrv qx
+48 6 locSrv qy
+49 6 locSrv qz
+50 6 locSrv qw
+51 9 locSrvZ tick
+52 6 pid_attitude roll_outP
+53 6 pid_attitude roll_outI
+54 6 pid_attitude roll_outD
+55 6 pid_attitude pitch_outP
+56 6 pid_attitude pitch_outI
+57 6 pid_attitude pitch_outD
+58 6 pid_attitude yaw_outP
+59 6 pid_attitude yaw_outI
+60 6 pid_attitude yaw_outD
+61 6 pid_rate roll_outP
+62 6 pid_rate roll_outI
+63 6 pid_rate roll_outD
+64 6 pid_rate pitch_outP
+65 6 pid_rate pitch_outI
+66 6 pid_rate pitch_outD
+67 6 pid_rate yaw_outP
+68 6 pid_rate yaw_outI
+69 6 pid_rate yaw_outD
+70 6 sensfusion6 qw
+71 6 sensfusion6 qx
+72 6 sensfusion6 qy
+73 6 sensfusion6 qz
+74 6 sensfusion6 gravityX
+75 6 sensfusion6 gravityY
+76 6 sensfusion6 gravityZ
+77 6 sensfusion6 accZbase
+78 8 sensfusion6 isInit
+79 8 sensfusion6 isCalibrated
+80 6 acc x
+81 6 acc y
+82 6 acc z
+83 6 baro asl
+84 6 baro temp
+85 6 baro pressure
+86 1 controller ctr_yaw
+213 6 controller cmd_thrust
+214 6 controller cmd_roll
+215 6 controller cmd_pitch
+216 6 controller cmd_yaw
+217 6 controller r_roll
+218 6 controller r_pitch
+219 6 controller r_yaw
+220 6 controller accelz
+221 6 controller actuatorThrust
+222 6 controller roll
+223 6 controller pitch
+224 6 controller yaw
+225 6 controller rollRate
+226 6 controller pitchRate
+227 6 controller yawRate
+87 6 ctrltarget x
+88 6 ctrltarget y
+89 6 ctrltarget z
+90 6 ctrltarget vx
+91 6 ctrltarget vy
+92 6 ctrltarget vz
+93 6 ctrltarget ax
+94 6 ctrltarget ay
+95 6 ctrltarget az
+96 6 ctrltarget roll
+97 6 ctrltarget pitch
+98 6 ctrltarget yaw
+99 1 ctrltargetZ x
+100 1 ctrltargetZ y
+101 1 ctrltargetZ z
+102 1 ctrltargetZ vx
+103 1 ctrltargetZ vy
+104 1 ctrltargetZ vz
+105 1 ctrltargetZ ax
+106 1 ctrltargetZ ay
+107 1 ctrltargetZ az
+111 6 mag x
+112 6 mag y
+113 6 mag z
+114 6 stabilizer roll
+115 6 stabilizer pitch
+116 6 stabilizer yaw
+117 6 stabilizer thrust
+118 6 stabilizer rtStab
+119 10 stabilizer intToOut
+120 6 stateEstimate x
+121 6 stateEstimate y
+122 6 stateEstimate z
+123 6 stateEstimate vx
+124 6 stateEstimate vy
+125 6 stateEstimate vz
+126 6 stateEstimate ax
+127 6 stateEstimate ay
+128 6 stateEstimate az
+129 6 stateEstimate roll
+130 6 stateEstimate pitch
+131 6 stateEstimate yaw
+132 6 stateEstimate qx
+133 6 stateEstimate qy
+134 6 stateEstimate qz
+135 6 stateEstimate qw
+136 1 stateEstimateZ x
+137 1 stateEstimateZ y
+138 1 stateEstimateZ z
+139 1 stateEstimateZ vx
+140 1 stateEstimateZ vy
+141 1 stateEstimateZ vz
+142 1 stateEstimateZ ax
+143 1 stateEstimateZ ay
+144 1 stateEstimateZ az
+145 10 stateEstimateZ quat
+146 1 stateEstimateZ rateRoll
+147 1 stateEstimateZ ratePitch
+148 1 stateEstimateZ rateYaw
+149 6 posEstAlt estimatedZ
+150 6 posEstAlt estVZ
+151 6 posEstAlt velocityZ
+152 6 posCtl targetVX
+153 6 posCtl targetVY
+154 6 posCtl targetVZ
+155 6 posCtl targetX
+156 6 posCtl targetY
+157 6 posCtl targetZ
+158 6 posCtl Xp
+159 6 posCtl Xi
+160 6 posCtl Xd
+161 6 posCtl Yp
+162 6 posCtl Yi
+163 6 posCtl Yd
+164 6 posCtl Zp
+165 6 posCtl Zi
+166 6 posCtl Zd
+167 6 posCtl VXp
+168 6 posCtl VXi
+169 6 posCtl VXd
+170 6 posCtl VZp
+171 6 posCtl VZi
+172 6 posCtl VZd
+173 6 posCtrlIndi posRef_x
+174 6 posCtrlIndi posRef_y
+175 6 posCtrlIndi posRef_z
+176 6 posCtrlIndi velS_x
+177 6 posCtrlIndi velS_y
+178 6 posCtrlIndi velS_z
+179 6 posCtrlIndi velRef_x
+180 6 posCtrlIndi velRef_y
+181 6 posCtrlIndi velRef_z
+182 6 posCtrlIndi angS_roll
+183 6 posCtrlIndi angS_pitch
+184 6 posCtrlIndi angS_yaw
+185 6 posCtrlIndi angF_roll
+186 6 posCtrlIndi angF_pitch
+187 6 posCtrlIndi angF_yaw
+188 6 posCtrlIndi accRef_x
+189 6 posCtrlIndi accRef_y
+190 6 posCtrlIndi accRef_z
+191 6 posCtrlIndi accS_x
+192 6 posCtrlIndi accS_y
+193 6 posCtrlIndi accS_z
+194 6 posCtrlIndi accF_x
+195 6 posCtrlIndi accF_y
+196 6 posCtrlIndi accF_z
+197 6 posCtrlIndi accFT_x
+198 6 posCtrlIndi accFT_y
+199 6 posCtrlIndi accFT_z
+200 6 posCtrlIndi accErr_x
+201 6 posCtrlIndi accErr_y
+202 6 posCtrlIndi accErr_z
+203 6 posCtrlIndi phi_tilde
+204 6 posCtrlIndi theta_tilde
+205 6 posCtrlIndi T_tilde
+206 6 posCtrlIndi T_inner
+207 6 posCtrlIndi T_inner_f
+208 6 posCtrlIndi T_incremented
+209 6 posCtrlIndi cmd_phi
+210 6 posCtrlIndi cmd_theta
+211 6 estimator rtApnd
+212 6 estimator rtRej
+228 6 ctrlMel cmd_thrust
+229 6 ctrlMel cmd_roll
+230 6 ctrlMel cmd_pitch
+231 6 ctrlMel cmd_yaw
+232 6 ctrlMel r_roll
+233 6 ctrlMel r_pitch
+234 6 ctrlMel r_yaw
+235 6 ctrlMel accelz
+236 6 ctrlMel zdx
+237 6 ctrlMel zdy
+238 6 ctrlMel zdz
+239 6 ctrlMel i_err_x
+240 6 ctrlMel i_err_y
+241 6 ctrlMel i_err_z
+242 6 ctrlINDI cmd_thrust
+243 6 ctrlINDI cmd_roll
+244 6 ctrlINDI cmd_pitch
+245 6 ctrlINDI cmd_yaw
+246 6 ctrlINDI r_roll
+247 6 ctrlINDI r_pitch
+248 6 ctrlINDI r_yaw
+249 6 ctrlINDI u_act_dyn_p
+250 6 ctrlINDI u_act_dyn_q
+251 6 ctrlINDI u_act_dyn_r
+252 6 ctrlINDI du_p
+253 6 ctrlINDI du_q
+254 6 ctrlINDI du_r
+255 6 ctrlINDI ang_accel_ref_p
+256 6 ctrlINDI ang_accel_ref_q
+257 6 ctrlINDI ang_accel_ref_r
+258 6 ctrlINDI rate_d[0]
+259 6 ctrlINDI rate_d[1]
+260 6 ctrlINDI rate_d[2]
+261 6 ctrlINDI uf_p
+262 6 ctrlINDI uf_q
+263 6 ctrlINDI uf_r
+264 6 ctrlINDI Omega_f_p
+265 6 ctrlINDI Omega_f_q
+266 6 ctrlINDI Omega_f_r
+267 6 ctrlINDI n_p
+268 6 ctrlINDI n_q
+269 6 ctrlINDI n_r
+270 6 s_pid_attitude roll_outP
+271 6 s_pid_attitude roll_outI
+272 6 s_pid_attitude roll_outD
+273 6 s_pid_attitude pitch_outP
+274 6 s_pid_attitude pitch_outI
+275 6 s_pid_attitude pitch_outD
+276 6 s_pid_attitude yaw_outP
+277 6 s_pid_attitude yaw_outI
+278 6 s_pid_attitude yaw_outD
+279 6 s_pid_rate roll_outP
+280 6 s_pid_rate roll_outI
+281 6 s_pid_rate roll_outD
+282 6 s_pid_rate pitch_outP
+283 6 s_pid_rate pitch_outI
+284 6 s_pid_rate pitch_outD
+285 6 s_pid_rate yaw_outP
+286 6 s_pid_rate yaw_outI
+287 6 s_pid_rate yaw_outD
+288 6 ctrlStdnt cmd_thrust
+289 6 ctrlStdnt cmd_roll
+290 6 ctrlStdnt cmd_pitch
+291 6 ctrlStdnt cmd_yaw
+292 6 ctrlStdnt r_roll
+293 6 ctrlStdnt r_pitch
+294 6 ctrlStdnt r_yaw
+295 6 ctrlStdnt accelz
+296 6 ctrlStdnt thrustDesired
+297 6 ctrlStdnt roll
+298 6 ctrlStdnt pitch
+299 6 ctrlStdnt yaw
+300 6 ctrlStdnt rollRate
+301 6 ctrlStdnt pitchRate
+302 6 ctrlStdnt yawRate
+303 10 motor m1
+304 10 motor m2
+305 10 motor m3
+306 10 motor m4
+307 10 colAv latency
+308 6 health motorVarXM1
+309 6 health motorVarYM1
+310 6 health motorVarXM2
+311 6 health motorVarYM2
+312 6 health motorVarXM3
+313 6 health motorVarYM3
+314 6 health motorVarXM4
+315 6 health motorVarYM4
+316 8 health motorPass
+317 6 health batterySag
+318 8 health batteryPass
+319 9 health motorTestCount
+320 8 kalman inFlight
+321 6 kalman stateX
+322 6 kalman stateY
+323 6 kalman stateZ
+324 6 kalman statePX
+325 6 kalman statePY
+326 6 kalman statePZ
+327 6 kalman stateD0
+328 6 kalman stateD1
+329 6 kalman stateD2
+330 6 kalman varX
+331 6 kalman varY
+332 6 kalman varZ
+333 6 kalman varPX
+334 6 kalman varPY
+335 6 kalman varPZ
+336 6 kalman varD0
+337 6 kalman varD1
+338 6 kalman varD2
+339 6 kalman q0
+340 6 kalman q1
+341 6 kalman q2
+342 6 kalman q3
+343 6 kalman rtUpdate
+344 6 kalman rtPred
+345 6 kalman rtFinal
+346 2 outlierf lhWin
+427 2 outlierf bucket0
+428 2 outlierf bucket1
+429 2 outlierf bucket2
+430 2 outlierf bucket3
+431 2 outlierf bucket4
+432 6 outlierf accLev
+433 6 outlierf errD
+347 6 kalman_pred predNX
+348 6 kalman_pred predNY
+349 6 kalman_pred measNX
+350 6 kalman_pred measNY
+351 6 ring fadeTime
+352 2 gps lat
+353 2 gps lon
+354 6 gps hMSL
+355 6 gps hAcc
+356 2 gps nsat
+357 2 gps fix
+358 6 usd spiWrBps
+359 6 usd spiReBps
+360 6 usd fatWrBps
+361 8 loco mode
+362 6 loco spiWr
+363 6 loco spiRe
+364 9 ranging state
+365 6 ranging distance0
+366 6 ranging distance1
+367 6 ranging distance2
+368 6 ranging distance3
+369 6 ranging distance4
+370 6 ranging distance5
+371 6 ranging distance6
+372 6 ranging distance7
+373 6 ranging pressure0
+374 6 ranging pressure1
+375 6 ranging pressure2
+376 6 ranging pressure3
+377 6 ranging pressure4
+378 6 ranging pressure5
+379 6 ranging pressure6
+380 6 ranging pressure7
+381 8 twr rangingSuccessRate0
+382 8 twr rangingPerSec0
+383 8 twr rangingSuccessRate1
+384 8 twr rangingPerSec1
+385 8 twr rangingSuccessRate2
+386 8 twr rangingPerSec2
+387 8 twr rangingSuccessRate3
+388 8 twr rangingPerSec3
+389 8 twr rangingSuccessRate4
+390 8 twr rangingPerSec4
+391 8 twr rangingSuccessRate5
+392 8 twr rangingPerSec5
+393 6 tdoa2 d7-0
+394 6 tdoa2 d0-1
+395 6 tdoa2 d1-2
+396 6 tdoa2 d2-3
+397 6 tdoa2 d3-4
+398 6 tdoa2 d4-5
+399 6 tdoa2 d5-6
+400 6 tdoa2 d6-7
+401 6 tdoa2 cc0
+402 6 tdoa2 cc1
+403 6 tdoa2 cc2
+404 6 tdoa2 cc3
+405 6 tdoa2 cc4
+406 6 tdoa2 cc5
+407 6 tdoa2 cc6
+408 6 tdoa2 cc7
+409 9 tdoa2 dist7-0
+410 9 tdoa2 dist0-1
+411 9 tdoa2 dist1-2
+412 9 tdoa2 dist2-3
+413 9 tdoa2 dist3-4
+414 9 tdoa2 dist4-5
+415 9 tdoa2 dist5-6
+416 9 tdoa2 dist6-7
+417 6 tdoaEngine stRx
+418 6 tdoaEngine stEst
+419 6 tdoaEngine stTime
+420 6 tdoaEngine stFound
+421 6 tdoaEngine stCc
+422 6 tdoaEngine stHit
+423 6 tdoaEngine stMiss
+424 6 tdoaEngine cc
+425 9 tdoaEngine tof
+426 6 tdoaEngine tdoa
+434 8 motion motion
+435 1 motion deltaX
+436 1 motion deltaY
+437 9 motion shutter
+438 8 motion maxRaw
+439 8 motion minRaw
+440 8 motion Rawsum
+441 8 motion outlierCount
+442 8 motion squal
+443 6 motion std
+444 9 oa front
+445 9 oa back
+446 9 oa up
+447 9 oa left
+448 9 oa right
+449 8 activeMarker btSns
+450 8 activeMarker i2cOk
+451 8 aideck receivebyte
+452 8 lighthouse validAngles
+453 6 lighthouse rawAngle0x
+454 6 lighthouse rawAngle0y
+455 6 lighthouse rawAngle1x
+456 6 lighthouse rawAngle1y
+457 6 lighthouse angle0x
+458 6 lighthouse angle0y
+459 6 lighthouse angle1x
+460 6 lighthouse angle1y
+461 6 lighthouse angle0x_1
+462 6 lighthouse angle0y_1
+463 6 lighthouse angle1x_1
+464 6 lighthouse angle1y_1
+465 6 lighthouse angle0x_2
+466 6 lighthouse angle0y_2
+467 6 lighthouse angle1x_2
+468 6 lighthouse angle1y_2
+469 6 lighthouse angle0x_3
+470 6 lighthouse angle0y_3
+471 6 lighthouse angle1x_3
+472 6 lighthouse angle1y_3
+473 6 lighthouse rawAngle0xlh2
+474 6 lighthouse rawAngle0ylh2
+475 6 lighthouse rawAngle1xlh2
+476 6 lighthouse rawAngle1ylh2
+477 6 lighthouse angle0x_0lh2
+478 6 lighthouse angle0y_0lh2
+479 6 lighthouse angle1x_0lh2
+480 6 lighthouse angle1y_0lh2
+481 6 lighthouse serRt
+482 6 lighthouse frmRt
+483 6 lighthouse cycleRt
+484 6 lighthouse bs0Rt
+485 6 lighthouse bs1Rt
+486 9 lighthouse width0
+487 9 lighthouse width1
+488 9 lighthouse width2
+489 9 lighthouse width3
+490 8 lighthouse comSync
+491 9 lighthouse bsReceive
+492 9 lighthouse bsActive
+493 9 lighthouse bsCalUd
+494 9 lighthouse bsCalCon
+495 8 lighthouse status
+496 6 lighthouse posRt
+497 6 lighthouse estBs0Rt
+498 6 lighthouse estBs1Rt
+499 6 lighthouse x
+500 6 lighthouse y
+501 6 lighthouse z
+502 6 lighthouse delta
+503 9 lighthouse bsGeoVal
+504 9 lighthouse bsCalVal
diff --git a/cflib_groundstation/logs/cflie1_Log_toc_2023_11_21_20:58:23.txt b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_21_20:58:23.txt
new file mode 100644
index 000000000..5f7bea63c
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_21_20:58:23.txt
@@ -0,0 +1,506 @@
+Log ID Type Group Identifier Name
+0 1 gyro xRaw
+1 1 gyro yRaw
+2 1 gyro zRaw
+3 6 gyro xVariance
+4 6 gyro yVariance
+5 6 gyro zVariance
+108 6 gyro x
+109 6 gyro y
+110 6 gyro z
+6 10 pwm m1_pwm
+7 10 pwm m2_pwm
+8 10 pwm m3_pwm
+9 10 pwm m4_pwm
+10 9 crtp rxRate
+11 9 crtp txRate
+12 6 pm vbat
+13 9 pm vbatMV
+14 6 pm extVbat
+15 9 pm extVbatMV
+16 6 pm extCurr
+17 6 pm chargeCurrent
+18 0 pm state
+19 8 pm batteryLevel
+20 8 radio rssi
+21 8 radio isConnected
+22 0 sys armed
+38 8 sys canfly
+39 8 sys isFlying
+40 8 sys isTumbled
+23 9 extrx ch0
+24 9 extrx ch1
+25 9 extrx ch2
+26 9 extrx ch3
+27 9 extrx thrust
+28 6 extrx roll
+29 6 extrx pitch
+30 6 extrx yaw
+31 10 memTst errCntW
+32 9 range front
+33 9 range back
+34 9 range up
+35 9 range left
+36 9 range right
+37 9 range zrange
+41 6 ext_pos X
+42 6 ext_pos Y
+43 6 ext_pos Z
+44 6 locSrv x
+45 6 locSrv y
+46 6 locSrv z
+47 6 locSrv qx
+48 6 locSrv qy
+49 6 locSrv qz
+50 6 locSrv qw
+51 9 locSrvZ tick
+52 6 pid_attitude roll_outP
+53 6 pid_attitude roll_outI
+54 6 pid_attitude roll_outD
+55 6 pid_attitude pitch_outP
+56 6 pid_attitude pitch_outI
+57 6 pid_attitude pitch_outD
+58 6 pid_attitude yaw_outP
+59 6 pid_attitude yaw_outI
+60 6 pid_attitude yaw_outD
+61 6 pid_rate roll_outP
+62 6 pid_rate roll_outI
+63 6 pid_rate roll_outD
+64 6 pid_rate pitch_outP
+65 6 pid_rate pitch_outI
+66 6 pid_rate pitch_outD
+67 6 pid_rate yaw_outP
+68 6 pid_rate yaw_outI
+69 6 pid_rate yaw_outD
+70 6 sensfusion6 qw
+71 6 sensfusion6 qx
+72 6 sensfusion6 qy
+73 6 sensfusion6 qz
+74 6 sensfusion6 gravityX
+75 6 sensfusion6 gravityY
+76 6 sensfusion6 gravityZ
+77 6 sensfusion6 accZbase
+78 8 sensfusion6 isInit
+79 8 sensfusion6 isCalibrated
+80 6 acc x
+81 6 acc y
+82 6 acc z
+83 6 baro asl
+84 6 baro temp
+85 6 baro pressure
+86 1 controller ctr_yaw
+213 6 controller cmd_thrust
+214 6 controller cmd_roll
+215 6 controller cmd_pitch
+216 6 controller cmd_yaw
+217 6 controller r_roll
+218 6 controller r_pitch
+219 6 controller r_yaw
+220 6 controller accelz
+221 6 controller actuatorThrust
+222 6 controller roll
+223 6 controller pitch
+224 6 controller yaw
+225 6 controller rollRate
+226 6 controller pitchRate
+227 6 controller yawRate
+87 6 ctrltarget x
+88 6 ctrltarget y
+89 6 ctrltarget z
+90 6 ctrltarget vx
+91 6 ctrltarget vy
+92 6 ctrltarget vz
+93 6 ctrltarget ax
+94 6 ctrltarget ay
+95 6 ctrltarget az
+96 6 ctrltarget roll
+97 6 ctrltarget pitch
+98 6 ctrltarget yaw
+99 1 ctrltargetZ x
+100 1 ctrltargetZ y
+101 1 ctrltargetZ z
+102 1 ctrltargetZ vx
+103 1 ctrltargetZ vy
+104 1 ctrltargetZ vz
+105 1 ctrltargetZ ax
+106 1 ctrltargetZ ay
+107 1 ctrltargetZ az
+111 6 mag x
+112 6 mag y
+113 6 mag z
+114 6 stabilizer roll
+115 6 stabilizer pitch
+116 6 stabilizer yaw
+117 6 stabilizer thrust
+118 6 stabilizer rtStab
+119 10 stabilizer intToOut
+120 6 stateEstimate x
+121 6 stateEstimate y
+122 6 stateEstimate z
+123 6 stateEstimate vx
+124 6 stateEstimate vy
+125 6 stateEstimate vz
+126 6 stateEstimate ax
+127 6 stateEstimate ay
+128 6 stateEstimate az
+129 6 stateEstimate roll
+130 6 stateEstimate pitch
+131 6 stateEstimate yaw
+132 6 stateEstimate qx
+133 6 stateEstimate qy
+134 6 stateEstimate qz
+135 6 stateEstimate qw
+136 1 stateEstimateZ x
+137 1 stateEstimateZ y
+138 1 stateEstimateZ z
+139 1 stateEstimateZ vx
+140 1 stateEstimateZ vy
+141 1 stateEstimateZ vz
+142 1 stateEstimateZ ax
+143 1 stateEstimateZ ay
+144 1 stateEstimateZ az
+145 10 stateEstimateZ quat
+146 1 stateEstimateZ rateRoll
+147 1 stateEstimateZ ratePitch
+148 1 stateEstimateZ rateYaw
+149 6 posEstAlt estimatedZ
+150 6 posEstAlt estVZ
+151 6 posEstAlt velocityZ
+152 6 posCtl targetVX
+153 6 posCtl targetVY
+154 6 posCtl targetVZ
+155 6 posCtl targetX
+156 6 posCtl targetY
+157 6 posCtl targetZ
+158 6 posCtl Xp
+159 6 posCtl Xi
+160 6 posCtl Xd
+161 6 posCtl Yp
+162 6 posCtl Yi
+163 6 posCtl Yd
+164 6 posCtl Zp
+165 6 posCtl Zi
+166 6 posCtl Zd
+167 6 posCtl VXp
+168 6 posCtl VXi
+169 6 posCtl VXd
+170 6 posCtl VZp
+171 6 posCtl VZi
+172 6 posCtl VZd
+173 6 posCtrlIndi posRef_x
+174 6 posCtrlIndi posRef_y
+175 6 posCtrlIndi posRef_z
+176 6 posCtrlIndi velS_x
+177 6 posCtrlIndi velS_y
+178 6 posCtrlIndi velS_z
+179 6 posCtrlIndi velRef_x
+180 6 posCtrlIndi velRef_y
+181 6 posCtrlIndi velRef_z
+182 6 posCtrlIndi angS_roll
+183 6 posCtrlIndi angS_pitch
+184 6 posCtrlIndi angS_yaw
+185 6 posCtrlIndi angF_roll
+186 6 posCtrlIndi angF_pitch
+187 6 posCtrlIndi angF_yaw
+188 6 posCtrlIndi accRef_x
+189 6 posCtrlIndi accRef_y
+190 6 posCtrlIndi accRef_z
+191 6 posCtrlIndi accS_x
+192 6 posCtrlIndi accS_y
+193 6 posCtrlIndi accS_z
+194 6 posCtrlIndi accF_x
+195 6 posCtrlIndi accF_y
+196 6 posCtrlIndi accF_z
+197 6 posCtrlIndi accFT_x
+198 6 posCtrlIndi accFT_y
+199 6 posCtrlIndi accFT_z
+200 6 posCtrlIndi accErr_x
+201 6 posCtrlIndi accErr_y
+202 6 posCtrlIndi accErr_z
+203 6 posCtrlIndi phi_tilde
+204 6 posCtrlIndi theta_tilde
+205 6 posCtrlIndi T_tilde
+206 6 posCtrlIndi T_inner
+207 6 posCtrlIndi T_inner_f
+208 6 posCtrlIndi T_incremented
+209 6 posCtrlIndi cmd_phi
+210 6 posCtrlIndi cmd_theta
+211 6 estimator rtApnd
+212 6 estimator rtRej
+228 6 ctrlMel cmd_thrust
+229 6 ctrlMel cmd_roll
+230 6 ctrlMel cmd_pitch
+231 6 ctrlMel cmd_yaw
+232 6 ctrlMel r_roll
+233 6 ctrlMel r_pitch
+234 6 ctrlMel r_yaw
+235 6 ctrlMel accelz
+236 6 ctrlMel zdx
+237 6 ctrlMel zdy
+238 6 ctrlMel zdz
+239 6 ctrlMel i_err_x
+240 6 ctrlMel i_err_y
+241 6 ctrlMel i_err_z
+242 6 ctrlINDI cmd_thrust
+243 6 ctrlINDI cmd_roll
+244 6 ctrlINDI cmd_pitch
+245 6 ctrlINDI cmd_yaw
+246 6 ctrlINDI r_roll
+247 6 ctrlINDI r_pitch
+248 6 ctrlINDI r_yaw
+249 6 ctrlINDI u_act_dyn_p
+250 6 ctrlINDI u_act_dyn_q
+251 6 ctrlINDI u_act_dyn_r
+252 6 ctrlINDI du_p
+253 6 ctrlINDI du_q
+254 6 ctrlINDI du_r
+255 6 ctrlINDI ang_accel_ref_p
+256 6 ctrlINDI ang_accel_ref_q
+257 6 ctrlINDI ang_accel_ref_r
+258 6 ctrlINDI rate_d[0]
+259 6 ctrlINDI rate_d[1]
+260 6 ctrlINDI rate_d[2]
+261 6 ctrlINDI uf_p
+262 6 ctrlINDI uf_q
+263 6 ctrlINDI uf_r
+264 6 ctrlINDI Omega_f_p
+265 6 ctrlINDI Omega_f_q
+266 6 ctrlINDI Omega_f_r
+267 6 ctrlINDI n_p
+268 6 ctrlINDI n_q
+269 6 ctrlINDI n_r
+270 6 s_pid_attitude roll_outP
+271 6 s_pid_attitude roll_outI
+272 6 s_pid_attitude roll_outD
+273 6 s_pid_attitude pitch_outP
+274 6 s_pid_attitude pitch_outI
+275 6 s_pid_attitude pitch_outD
+276 6 s_pid_attitude yaw_outP
+277 6 s_pid_attitude yaw_outI
+278 6 s_pid_attitude yaw_outD
+279 6 s_pid_rate roll_outP
+280 6 s_pid_rate roll_outI
+281 6 s_pid_rate roll_outD
+282 6 s_pid_rate pitch_outP
+283 6 s_pid_rate pitch_outI
+284 6 s_pid_rate pitch_outD
+285 6 s_pid_rate yaw_outP
+286 6 s_pid_rate yaw_outI
+287 6 s_pid_rate yaw_outD
+288 6 ctrlStdnt cmd_thrust
+289 6 ctrlStdnt cmd_roll
+290 6 ctrlStdnt cmd_pitch
+291 6 ctrlStdnt cmd_yaw
+292 6 ctrlStdnt r_roll
+293 6 ctrlStdnt r_pitch
+294 6 ctrlStdnt r_yaw
+295 6 ctrlStdnt accelz
+296 6 ctrlStdnt thrustDesired
+297 6 ctrlStdnt roll
+298 6 ctrlStdnt pitch
+299 6 ctrlStdnt yaw
+300 6 ctrlStdnt rollRate
+301 6 ctrlStdnt pitchRate
+302 6 ctrlStdnt yawRate
+303 10 motor m1
+304 10 motor m2
+305 10 motor m3
+306 10 motor m4
+307 10 colAv latency
+308 6 health motorVarXM1
+309 6 health motorVarYM1
+310 6 health motorVarXM2
+311 6 health motorVarYM2
+312 6 health motorVarXM3
+313 6 health motorVarYM3
+314 6 health motorVarXM4
+315 6 health motorVarYM4
+316 8 health motorPass
+317 6 health batterySag
+318 8 health batteryPass
+319 9 health motorTestCount
+320 8 kalman inFlight
+321 6 kalman stateX
+322 6 kalman stateY
+323 6 kalman stateZ
+324 6 kalman statePX
+325 6 kalman statePY
+326 6 kalman statePZ
+327 6 kalman stateD0
+328 6 kalman stateD1
+329 6 kalman stateD2
+330 6 kalman varX
+331 6 kalman varY
+332 6 kalman varZ
+333 6 kalman varPX
+334 6 kalman varPY
+335 6 kalman varPZ
+336 6 kalman varD0
+337 6 kalman varD1
+338 6 kalman varD2
+339 6 kalman q0
+340 6 kalman q1
+341 6 kalman q2
+342 6 kalman q3
+343 6 kalman rtUpdate
+344 6 kalman rtPred
+345 6 kalman rtFinal
+346 2 outlierf lhWin
+427 2 outlierf bucket0
+428 2 outlierf bucket1
+429 2 outlierf bucket2
+430 2 outlierf bucket3
+431 2 outlierf bucket4
+432 6 outlierf accLev
+433 6 outlierf errD
+347 6 kalman_pred predNX
+348 6 kalman_pred predNY
+349 6 kalman_pred measNX
+350 6 kalman_pred measNY
+351 6 ring fadeTime
+352 2 gps lat
+353 2 gps lon
+354 6 gps hMSL
+355 6 gps hAcc
+356 2 gps nsat
+357 2 gps fix
+358 6 usd spiWrBps
+359 6 usd spiReBps
+360 6 usd fatWrBps
+361 8 loco mode
+362 6 loco spiWr
+363 6 loco spiRe
+364 9 ranging state
+365 6 ranging distance0
+366 6 ranging distance1
+367 6 ranging distance2
+368 6 ranging distance3
+369 6 ranging distance4
+370 6 ranging distance5
+371 6 ranging distance6
+372 6 ranging distance7
+373 6 ranging pressure0
+374 6 ranging pressure1
+375 6 ranging pressure2
+376 6 ranging pressure3
+377 6 ranging pressure4
+378 6 ranging pressure5
+379 6 ranging pressure6
+380 6 ranging pressure7
+381 8 twr rangingSuccessRate0
+382 8 twr rangingPerSec0
+383 8 twr rangingSuccessRate1
+384 8 twr rangingPerSec1
+385 8 twr rangingSuccessRate2
+386 8 twr rangingPerSec2
+387 8 twr rangingSuccessRate3
+388 8 twr rangingPerSec3
+389 8 twr rangingSuccessRate4
+390 8 twr rangingPerSec4
+391 8 twr rangingSuccessRate5
+392 8 twr rangingPerSec5
+393 6 tdoa2 d7-0
+394 6 tdoa2 d0-1
+395 6 tdoa2 d1-2
+396 6 tdoa2 d2-3
+397 6 tdoa2 d3-4
+398 6 tdoa2 d4-5
+399 6 tdoa2 d5-6
+400 6 tdoa2 d6-7
+401 6 tdoa2 cc0
+402 6 tdoa2 cc1
+403 6 tdoa2 cc2
+404 6 tdoa2 cc3
+405 6 tdoa2 cc4
+406 6 tdoa2 cc5
+407 6 tdoa2 cc6
+408 6 tdoa2 cc7
+409 9 tdoa2 dist7-0
+410 9 tdoa2 dist0-1
+411 9 tdoa2 dist1-2
+412 9 tdoa2 dist2-3
+413 9 tdoa2 dist3-4
+414 9 tdoa2 dist4-5
+415 9 tdoa2 dist5-6
+416 9 tdoa2 dist6-7
+417 6 tdoaEngine stRx
+418 6 tdoaEngine stEst
+419 6 tdoaEngine stTime
+420 6 tdoaEngine stFound
+421 6 tdoaEngine stCc
+422 6 tdoaEngine stHit
+423 6 tdoaEngine stMiss
+424 6 tdoaEngine cc
+425 9 tdoaEngine tof
+426 6 tdoaEngine tdoa
+434 8 motion motion
+435 1 motion deltaX
+436 1 motion deltaY
+437 9 motion shutter
+438 8 motion maxRaw
+439 8 motion minRaw
+440 8 motion Rawsum
+441 8 motion outlierCount
+442 8 motion squal
+443 6 motion std
+444 9 oa front
+445 9 oa back
+446 9 oa up
+447 9 oa left
+448 9 oa right
+449 8 activeMarker btSns
+450 8 activeMarker i2cOk
+451 8 aideck receivebyte
+452 8 lighthouse validAngles
+453 6 lighthouse rawAngle0x
+454 6 lighthouse rawAngle0y
+455 6 lighthouse rawAngle1x
+456 6 lighthouse rawAngle1y
+457 6 lighthouse angle0x
+458 6 lighthouse angle0y
+459 6 lighthouse angle1x
+460 6 lighthouse angle1y
+461 6 lighthouse angle0x_1
+462 6 lighthouse angle0y_1
+463 6 lighthouse angle1x_1
+464 6 lighthouse angle1y_1
+465 6 lighthouse angle0x_2
+466 6 lighthouse angle0y_2
+467 6 lighthouse angle1x_2
+468 6 lighthouse angle1y_2
+469 6 lighthouse angle0x_3
+470 6 lighthouse angle0y_3
+471 6 lighthouse angle1x_3
+472 6 lighthouse angle1y_3
+473 6 lighthouse rawAngle0xlh2
+474 6 lighthouse rawAngle0ylh2
+475 6 lighthouse rawAngle1xlh2
+476 6 lighthouse rawAngle1ylh2
+477 6 lighthouse angle0x_0lh2
+478 6 lighthouse angle0y_0lh2
+479 6 lighthouse angle1x_0lh2
+480 6 lighthouse angle1y_0lh2
+481 6 lighthouse serRt
+482 6 lighthouse frmRt
+483 6 lighthouse cycleRt
+484 6 lighthouse bs0Rt
+485 6 lighthouse bs1Rt
+486 9 lighthouse width0
+487 9 lighthouse width1
+488 9 lighthouse width2
+489 9 lighthouse width3
+490 8 lighthouse comSync
+491 9 lighthouse bsReceive
+492 9 lighthouse bsActive
+493 9 lighthouse bsCalUd
+494 9 lighthouse bsCalCon
+495 8 lighthouse status
+496 6 lighthouse posRt
+497 6 lighthouse estBs0Rt
+498 6 lighthouse estBs1Rt
+499 6 lighthouse x
+500 6 lighthouse y
+501 6 lighthouse z
+502 6 lighthouse delta
+503 9 lighthouse bsGeoVal
+504 9 lighthouse bsCalVal
diff --git a/cflib_groundstation/logs/cflie1_Log_toc_2023_11_21_21:14:52.txt b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_21_21:14:52.txt
new file mode 100644
index 000000000..5f7bea63c
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_21_21:14:52.txt
@@ -0,0 +1,506 @@
+Log ID Type Group Identifier Name
+0 1 gyro xRaw
+1 1 gyro yRaw
+2 1 gyro zRaw
+3 6 gyro xVariance
+4 6 gyro yVariance
+5 6 gyro zVariance
+108 6 gyro x
+109 6 gyro y
+110 6 gyro z
+6 10 pwm m1_pwm
+7 10 pwm m2_pwm
+8 10 pwm m3_pwm
+9 10 pwm m4_pwm
+10 9 crtp rxRate
+11 9 crtp txRate
+12 6 pm vbat
+13 9 pm vbatMV
+14 6 pm extVbat
+15 9 pm extVbatMV
+16 6 pm extCurr
+17 6 pm chargeCurrent
+18 0 pm state
+19 8 pm batteryLevel
+20 8 radio rssi
+21 8 radio isConnected
+22 0 sys armed
+38 8 sys canfly
+39 8 sys isFlying
+40 8 sys isTumbled
+23 9 extrx ch0
+24 9 extrx ch1
+25 9 extrx ch2
+26 9 extrx ch3
+27 9 extrx thrust
+28 6 extrx roll
+29 6 extrx pitch
+30 6 extrx yaw
+31 10 memTst errCntW
+32 9 range front
+33 9 range back
+34 9 range up
+35 9 range left
+36 9 range right
+37 9 range zrange
+41 6 ext_pos X
+42 6 ext_pos Y
+43 6 ext_pos Z
+44 6 locSrv x
+45 6 locSrv y
+46 6 locSrv z
+47 6 locSrv qx
+48 6 locSrv qy
+49 6 locSrv qz
+50 6 locSrv qw
+51 9 locSrvZ tick
+52 6 pid_attitude roll_outP
+53 6 pid_attitude roll_outI
+54 6 pid_attitude roll_outD
+55 6 pid_attitude pitch_outP
+56 6 pid_attitude pitch_outI
+57 6 pid_attitude pitch_outD
+58 6 pid_attitude yaw_outP
+59 6 pid_attitude yaw_outI
+60 6 pid_attitude yaw_outD
+61 6 pid_rate roll_outP
+62 6 pid_rate roll_outI
+63 6 pid_rate roll_outD
+64 6 pid_rate pitch_outP
+65 6 pid_rate pitch_outI
+66 6 pid_rate pitch_outD
+67 6 pid_rate yaw_outP
+68 6 pid_rate yaw_outI
+69 6 pid_rate yaw_outD
+70 6 sensfusion6 qw
+71 6 sensfusion6 qx
+72 6 sensfusion6 qy
+73 6 sensfusion6 qz
+74 6 sensfusion6 gravityX
+75 6 sensfusion6 gravityY
+76 6 sensfusion6 gravityZ
+77 6 sensfusion6 accZbase
+78 8 sensfusion6 isInit
+79 8 sensfusion6 isCalibrated
+80 6 acc x
+81 6 acc y
+82 6 acc z
+83 6 baro asl
+84 6 baro temp
+85 6 baro pressure
+86 1 controller ctr_yaw
+213 6 controller cmd_thrust
+214 6 controller cmd_roll
+215 6 controller cmd_pitch
+216 6 controller cmd_yaw
+217 6 controller r_roll
+218 6 controller r_pitch
+219 6 controller r_yaw
+220 6 controller accelz
+221 6 controller actuatorThrust
+222 6 controller roll
+223 6 controller pitch
+224 6 controller yaw
+225 6 controller rollRate
+226 6 controller pitchRate
+227 6 controller yawRate
+87 6 ctrltarget x
+88 6 ctrltarget y
+89 6 ctrltarget z
+90 6 ctrltarget vx
+91 6 ctrltarget vy
+92 6 ctrltarget vz
+93 6 ctrltarget ax
+94 6 ctrltarget ay
+95 6 ctrltarget az
+96 6 ctrltarget roll
+97 6 ctrltarget pitch
+98 6 ctrltarget yaw
+99 1 ctrltargetZ x
+100 1 ctrltargetZ y
+101 1 ctrltargetZ z
+102 1 ctrltargetZ vx
+103 1 ctrltargetZ vy
+104 1 ctrltargetZ vz
+105 1 ctrltargetZ ax
+106 1 ctrltargetZ ay
+107 1 ctrltargetZ az
+111 6 mag x
+112 6 mag y
+113 6 mag z
+114 6 stabilizer roll
+115 6 stabilizer pitch
+116 6 stabilizer yaw
+117 6 stabilizer thrust
+118 6 stabilizer rtStab
+119 10 stabilizer intToOut
+120 6 stateEstimate x
+121 6 stateEstimate y
+122 6 stateEstimate z
+123 6 stateEstimate vx
+124 6 stateEstimate vy
+125 6 stateEstimate vz
+126 6 stateEstimate ax
+127 6 stateEstimate ay
+128 6 stateEstimate az
+129 6 stateEstimate roll
+130 6 stateEstimate pitch
+131 6 stateEstimate yaw
+132 6 stateEstimate qx
+133 6 stateEstimate qy
+134 6 stateEstimate qz
+135 6 stateEstimate qw
+136 1 stateEstimateZ x
+137 1 stateEstimateZ y
+138 1 stateEstimateZ z
+139 1 stateEstimateZ vx
+140 1 stateEstimateZ vy
+141 1 stateEstimateZ vz
+142 1 stateEstimateZ ax
+143 1 stateEstimateZ ay
+144 1 stateEstimateZ az
+145 10 stateEstimateZ quat
+146 1 stateEstimateZ rateRoll
+147 1 stateEstimateZ ratePitch
+148 1 stateEstimateZ rateYaw
+149 6 posEstAlt estimatedZ
+150 6 posEstAlt estVZ
+151 6 posEstAlt velocityZ
+152 6 posCtl targetVX
+153 6 posCtl targetVY
+154 6 posCtl targetVZ
+155 6 posCtl targetX
+156 6 posCtl targetY
+157 6 posCtl targetZ
+158 6 posCtl Xp
+159 6 posCtl Xi
+160 6 posCtl Xd
+161 6 posCtl Yp
+162 6 posCtl Yi
+163 6 posCtl Yd
+164 6 posCtl Zp
+165 6 posCtl Zi
+166 6 posCtl Zd
+167 6 posCtl VXp
+168 6 posCtl VXi
+169 6 posCtl VXd
+170 6 posCtl VZp
+171 6 posCtl VZi
+172 6 posCtl VZd
+173 6 posCtrlIndi posRef_x
+174 6 posCtrlIndi posRef_y
+175 6 posCtrlIndi posRef_z
+176 6 posCtrlIndi velS_x
+177 6 posCtrlIndi velS_y
+178 6 posCtrlIndi velS_z
+179 6 posCtrlIndi velRef_x
+180 6 posCtrlIndi velRef_y
+181 6 posCtrlIndi velRef_z
+182 6 posCtrlIndi angS_roll
+183 6 posCtrlIndi angS_pitch
+184 6 posCtrlIndi angS_yaw
+185 6 posCtrlIndi angF_roll
+186 6 posCtrlIndi angF_pitch
+187 6 posCtrlIndi angF_yaw
+188 6 posCtrlIndi accRef_x
+189 6 posCtrlIndi accRef_y
+190 6 posCtrlIndi accRef_z
+191 6 posCtrlIndi accS_x
+192 6 posCtrlIndi accS_y
+193 6 posCtrlIndi accS_z
+194 6 posCtrlIndi accF_x
+195 6 posCtrlIndi accF_y
+196 6 posCtrlIndi accF_z
+197 6 posCtrlIndi accFT_x
+198 6 posCtrlIndi accFT_y
+199 6 posCtrlIndi accFT_z
+200 6 posCtrlIndi accErr_x
+201 6 posCtrlIndi accErr_y
+202 6 posCtrlIndi accErr_z
+203 6 posCtrlIndi phi_tilde
+204 6 posCtrlIndi theta_tilde
+205 6 posCtrlIndi T_tilde
+206 6 posCtrlIndi T_inner
+207 6 posCtrlIndi T_inner_f
+208 6 posCtrlIndi T_incremented
+209 6 posCtrlIndi cmd_phi
+210 6 posCtrlIndi cmd_theta
+211 6 estimator rtApnd
+212 6 estimator rtRej
+228 6 ctrlMel cmd_thrust
+229 6 ctrlMel cmd_roll
+230 6 ctrlMel cmd_pitch
+231 6 ctrlMel cmd_yaw
+232 6 ctrlMel r_roll
+233 6 ctrlMel r_pitch
+234 6 ctrlMel r_yaw
+235 6 ctrlMel accelz
+236 6 ctrlMel zdx
+237 6 ctrlMel zdy
+238 6 ctrlMel zdz
+239 6 ctrlMel i_err_x
+240 6 ctrlMel i_err_y
+241 6 ctrlMel i_err_z
+242 6 ctrlINDI cmd_thrust
+243 6 ctrlINDI cmd_roll
+244 6 ctrlINDI cmd_pitch
+245 6 ctrlINDI cmd_yaw
+246 6 ctrlINDI r_roll
+247 6 ctrlINDI r_pitch
+248 6 ctrlINDI r_yaw
+249 6 ctrlINDI u_act_dyn_p
+250 6 ctrlINDI u_act_dyn_q
+251 6 ctrlINDI u_act_dyn_r
+252 6 ctrlINDI du_p
+253 6 ctrlINDI du_q
+254 6 ctrlINDI du_r
+255 6 ctrlINDI ang_accel_ref_p
+256 6 ctrlINDI ang_accel_ref_q
+257 6 ctrlINDI ang_accel_ref_r
+258 6 ctrlINDI rate_d[0]
+259 6 ctrlINDI rate_d[1]
+260 6 ctrlINDI rate_d[2]
+261 6 ctrlINDI uf_p
+262 6 ctrlINDI uf_q
+263 6 ctrlINDI uf_r
+264 6 ctrlINDI Omega_f_p
+265 6 ctrlINDI Omega_f_q
+266 6 ctrlINDI Omega_f_r
+267 6 ctrlINDI n_p
+268 6 ctrlINDI n_q
+269 6 ctrlINDI n_r
+270 6 s_pid_attitude roll_outP
+271 6 s_pid_attitude roll_outI
+272 6 s_pid_attitude roll_outD
+273 6 s_pid_attitude pitch_outP
+274 6 s_pid_attitude pitch_outI
+275 6 s_pid_attitude pitch_outD
+276 6 s_pid_attitude yaw_outP
+277 6 s_pid_attitude yaw_outI
+278 6 s_pid_attitude yaw_outD
+279 6 s_pid_rate roll_outP
+280 6 s_pid_rate roll_outI
+281 6 s_pid_rate roll_outD
+282 6 s_pid_rate pitch_outP
+283 6 s_pid_rate pitch_outI
+284 6 s_pid_rate pitch_outD
+285 6 s_pid_rate yaw_outP
+286 6 s_pid_rate yaw_outI
+287 6 s_pid_rate yaw_outD
+288 6 ctrlStdnt cmd_thrust
+289 6 ctrlStdnt cmd_roll
+290 6 ctrlStdnt cmd_pitch
+291 6 ctrlStdnt cmd_yaw
+292 6 ctrlStdnt r_roll
+293 6 ctrlStdnt r_pitch
+294 6 ctrlStdnt r_yaw
+295 6 ctrlStdnt accelz
+296 6 ctrlStdnt thrustDesired
+297 6 ctrlStdnt roll
+298 6 ctrlStdnt pitch
+299 6 ctrlStdnt yaw
+300 6 ctrlStdnt rollRate
+301 6 ctrlStdnt pitchRate
+302 6 ctrlStdnt yawRate
+303 10 motor m1
+304 10 motor m2
+305 10 motor m3
+306 10 motor m4
+307 10 colAv latency
+308 6 health motorVarXM1
+309 6 health motorVarYM1
+310 6 health motorVarXM2
+311 6 health motorVarYM2
+312 6 health motorVarXM3
+313 6 health motorVarYM3
+314 6 health motorVarXM4
+315 6 health motorVarYM4
+316 8 health motorPass
+317 6 health batterySag
+318 8 health batteryPass
+319 9 health motorTestCount
+320 8 kalman inFlight
+321 6 kalman stateX
+322 6 kalman stateY
+323 6 kalman stateZ
+324 6 kalman statePX
+325 6 kalman statePY
+326 6 kalman statePZ
+327 6 kalman stateD0
+328 6 kalman stateD1
+329 6 kalman stateD2
+330 6 kalman varX
+331 6 kalman varY
+332 6 kalman varZ
+333 6 kalman varPX
+334 6 kalman varPY
+335 6 kalman varPZ
+336 6 kalman varD0
+337 6 kalman varD1
+338 6 kalman varD2
+339 6 kalman q0
+340 6 kalman q1
+341 6 kalman q2
+342 6 kalman q3
+343 6 kalman rtUpdate
+344 6 kalman rtPred
+345 6 kalman rtFinal
+346 2 outlierf lhWin
+427 2 outlierf bucket0
+428 2 outlierf bucket1
+429 2 outlierf bucket2
+430 2 outlierf bucket3
+431 2 outlierf bucket4
+432 6 outlierf accLev
+433 6 outlierf errD
+347 6 kalman_pred predNX
+348 6 kalman_pred predNY
+349 6 kalman_pred measNX
+350 6 kalman_pred measNY
+351 6 ring fadeTime
+352 2 gps lat
+353 2 gps lon
+354 6 gps hMSL
+355 6 gps hAcc
+356 2 gps nsat
+357 2 gps fix
+358 6 usd spiWrBps
+359 6 usd spiReBps
+360 6 usd fatWrBps
+361 8 loco mode
+362 6 loco spiWr
+363 6 loco spiRe
+364 9 ranging state
+365 6 ranging distance0
+366 6 ranging distance1
+367 6 ranging distance2
+368 6 ranging distance3
+369 6 ranging distance4
+370 6 ranging distance5
+371 6 ranging distance6
+372 6 ranging distance7
+373 6 ranging pressure0
+374 6 ranging pressure1
+375 6 ranging pressure2
+376 6 ranging pressure3
+377 6 ranging pressure4
+378 6 ranging pressure5
+379 6 ranging pressure6
+380 6 ranging pressure7
+381 8 twr rangingSuccessRate0
+382 8 twr rangingPerSec0
+383 8 twr rangingSuccessRate1
+384 8 twr rangingPerSec1
+385 8 twr rangingSuccessRate2
+386 8 twr rangingPerSec2
+387 8 twr rangingSuccessRate3
+388 8 twr rangingPerSec3
+389 8 twr rangingSuccessRate4
+390 8 twr rangingPerSec4
+391 8 twr rangingSuccessRate5
+392 8 twr rangingPerSec5
+393 6 tdoa2 d7-0
+394 6 tdoa2 d0-1
+395 6 tdoa2 d1-2
+396 6 tdoa2 d2-3
+397 6 tdoa2 d3-4
+398 6 tdoa2 d4-5
+399 6 tdoa2 d5-6
+400 6 tdoa2 d6-7
+401 6 tdoa2 cc0
+402 6 tdoa2 cc1
+403 6 tdoa2 cc2
+404 6 tdoa2 cc3
+405 6 tdoa2 cc4
+406 6 tdoa2 cc5
+407 6 tdoa2 cc6
+408 6 tdoa2 cc7
+409 9 tdoa2 dist7-0
+410 9 tdoa2 dist0-1
+411 9 tdoa2 dist1-2
+412 9 tdoa2 dist2-3
+413 9 tdoa2 dist3-4
+414 9 tdoa2 dist4-5
+415 9 tdoa2 dist5-6
+416 9 tdoa2 dist6-7
+417 6 tdoaEngine stRx
+418 6 tdoaEngine stEst
+419 6 tdoaEngine stTime
+420 6 tdoaEngine stFound
+421 6 tdoaEngine stCc
+422 6 tdoaEngine stHit
+423 6 tdoaEngine stMiss
+424 6 tdoaEngine cc
+425 9 tdoaEngine tof
+426 6 tdoaEngine tdoa
+434 8 motion motion
+435 1 motion deltaX
+436 1 motion deltaY
+437 9 motion shutter
+438 8 motion maxRaw
+439 8 motion minRaw
+440 8 motion Rawsum
+441 8 motion outlierCount
+442 8 motion squal
+443 6 motion std
+444 9 oa front
+445 9 oa back
+446 9 oa up
+447 9 oa left
+448 9 oa right
+449 8 activeMarker btSns
+450 8 activeMarker i2cOk
+451 8 aideck receivebyte
+452 8 lighthouse validAngles
+453 6 lighthouse rawAngle0x
+454 6 lighthouse rawAngle0y
+455 6 lighthouse rawAngle1x
+456 6 lighthouse rawAngle1y
+457 6 lighthouse angle0x
+458 6 lighthouse angle0y
+459 6 lighthouse angle1x
+460 6 lighthouse angle1y
+461 6 lighthouse angle0x_1
+462 6 lighthouse angle0y_1
+463 6 lighthouse angle1x_1
+464 6 lighthouse angle1y_1
+465 6 lighthouse angle0x_2
+466 6 lighthouse angle0y_2
+467 6 lighthouse angle1x_2
+468 6 lighthouse angle1y_2
+469 6 lighthouse angle0x_3
+470 6 lighthouse angle0y_3
+471 6 lighthouse angle1x_3
+472 6 lighthouse angle1y_3
+473 6 lighthouse rawAngle0xlh2
+474 6 lighthouse rawAngle0ylh2
+475 6 lighthouse rawAngle1xlh2
+476 6 lighthouse rawAngle1ylh2
+477 6 lighthouse angle0x_0lh2
+478 6 lighthouse angle0y_0lh2
+479 6 lighthouse angle1x_0lh2
+480 6 lighthouse angle1y_0lh2
+481 6 lighthouse serRt
+482 6 lighthouse frmRt
+483 6 lighthouse cycleRt
+484 6 lighthouse bs0Rt
+485 6 lighthouse bs1Rt
+486 9 lighthouse width0
+487 9 lighthouse width1
+488 9 lighthouse width2
+489 9 lighthouse width3
+490 8 lighthouse comSync
+491 9 lighthouse bsReceive
+492 9 lighthouse bsActive
+493 9 lighthouse bsCalUd
+494 9 lighthouse bsCalCon
+495 8 lighthouse status
+496 6 lighthouse posRt
+497 6 lighthouse estBs0Rt
+498 6 lighthouse estBs1Rt
+499 6 lighthouse x
+500 6 lighthouse y
+501 6 lighthouse z
+502 6 lighthouse delta
+503 9 lighthouse bsGeoVal
+504 9 lighthouse bsCalVal
diff --git a/cflib_groundstation/logs/cflie1_Log_toc_2023_11_21_21:33:57.txt b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_21_21:33:57.txt
new file mode 100644
index 000000000..c0afa5b33
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_21_21:33:57.txt
@@ -0,0 +1,486 @@
+Log ID Type Group Identifier Name
+0 8 activeMarker btSns
+1 8 activeMarker i2cOk
+2 8 motion motion
+3 1 motion deltaX
+4 1 motion deltaY
+5 9 motion shutter
+6 8 motion maxRaw
+7 8 motion minRaw
+8 8 motion Rawsum
+9 8 motion outlierCount
+10 8 motion squal
+11 6 motion std
+12 6 ring fadeTime
+13 8 loco mode
+14 6 loco spiWr
+15 6 loco spiRe
+16 9 ranging state
+17 6 ranging distance0
+18 6 ranging distance1
+19 6 ranging distance2
+20 6 ranging distance3
+21 6 ranging distance4
+22 6 ranging distance5
+23 6 ranging distance6
+24 6 ranging distance7
+25 6 ranging pressure0
+26 6 ranging pressure1
+27 6 ranging pressure2
+28 6 ranging pressure3
+29 6 ranging pressure4
+30 6 ranging pressure5
+31 6 ranging pressure6
+32 6 ranging pressure7
+33 6 tdoa2 d7-0
+34 6 tdoa2 d0-1
+35 6 tdoa2 d1-2
+36 6 tdoa2 d2-3
+37 6 tdoa2 d3-4
+38 6 tdoa2 d4-5
+39 6 tdoa2 d5-6
+40 6 tdoa2 d6-7
+41 6 tdoa2 cc0
+42 6 tdoa2 cc1
+43 6 tdoa2 cc2
+44 6 tdoa2 cc3
+45 6 tdoa2 cc4
+46 6 tdoa2 cc5
+47 6 tdoa2 cc6
+48 6 tdoa2 cc7
+49 9 tdoa2 dist7-0
+50 9 tdoa2 dist0-1
+51 9 tdoa2 dist1-2
+52 9 tdoa2 dist2-3
+53 9 tdoa2 dist3-4
+54 9 tdoa2 dist4-5
+55 9 tdoa2 dist5-6
+56 9 tdoa2 dist6-7
+57 8 twr rangingSuccessRate0
+58 8 twr rangingPerSec0
+59 8 twr rangingSuccessRate1
+60 8 twr rangingPerSec1
+61 8 twr rangingSuccessRate2
+62 8 twr rangingPerSec2
+63 8 twr rangingSuccessRate3
+64 8 twr rangingPerSec3
+65 8 twr rangingSuccessRate4
+66 8 twr rangingPerSec4
+67 8 twr rangingSuccessRate5
+68 8 twr rangingPerSec5
+69 9 oa front
+70 9 oa back
+71 9 oa up
+72 9 oa left
+73 9 oa right
+74 6 usd spiWrBps
+75 6 usd spiReBps
+76 6 usd fatWrBps
+77 10 motor m1
+78 10 motor m2
+79 10 motor m3
+80 10 motor m4
+81 2 motor m1req
+82 2 motor m2req
+83 2 motor m3req
+84 2 motor m4req
+85 6 pm vbat
+86 9 pm vbatMV
+87 6 pm extVbat
+88 9 pm extVbatMV
+89 6 pm extCurr
+90 6 pm chargeCurrent
+91 0 pm state
+92 8 pm batteryLevel
+93 8 radio rssi
+94 8 radio isConnected
+95 1 gyro xRaw
+96 1 gyro yRaw
+97 1 gyro zRaw
+98 6 gyro xVariance
+99 6 gyro yVariance
+100 6 gyro zVariance
+101 6 gyro x
+102 6 gyro y
+103 6 gyro z
+104 10 colAv latency
+105 6 ext_pos X
+106 6 ext_pos Y
+107 6 ext_pos Z
+108 6 locSrv x
+109 6 locSrv y
+110 6 locSrv z
+111 6 locSrv qx
+112 6 locSrv qy
+113 6 locSrv qz
+114 6 locSrv qw
+115 9 locSrvZ tick
+116 9 crtp rxRate
+117 9 crtp txRate
+118 6 extrx thrust
+119 6 extrx roll
+120 6 extrx pitch
+121 6 extrx rollRate
+122 6 extrx pitchRate
+123 6 extrx yawRate
+124 6 extrx zVel
+125 8 extrx AltHold
+126 8 extrx Arm
+127 9 extrx_raw ch0
+128 9 extrx_raw ch1
+129 9 extrx_raw ch2
+130 9 extrx_raw ch3
+131 9 extrx_raw ch4
+132 9 extrx_raw ch5
+133 9 extrx_raw ch6
+134 9 extrx_raw ch7
+135 6 health motorVarXM1
+136 6 health motorVarYM1
+137 6 health motorVarXM2
+138 6 health motorVarYM2
+139 6 health motorVarXM3
+140 6 health motorVarYM3
+141 6 health motorVarXM4
+142 6 health motorVarYM4
+143 8 health motorPass
+144 6 health batterySag
+145 8 health batteryPass
+146 9 health motorTestCount
+147 10 memTst errCntW
+148 9 range front
+149 9 range back
+150 9 range up
+151 9 range left
+152 9 range right
+153 9 range zrange
+154 6 sensfusion6 qw
+155 6 sensfusion6 qx
+156 6 sensfusion6 qy
+157 6 sensfusion6 qz
+158 6 sensfusion6 gravityX
+159 6 sensfusion6 gravityY
+160 6 sensfusion6 gravityZ
+161 6 sensfusion6 accZbase
+162 8 sensfusion6 isInit
+163 8 sensfusion6 isCalibrated
+164 6 acc x
+165 6 acc y
+166 6 acc z
+167 6 baro asl
+168 6 baro temp
+169 6 baro pressure
+170 1 controller ctr_yaw
+171 6 controller cmd_thrust
+172 6 controller cmd_roll
+173 6 controller cmd_pitch
+174 6 controller cmd_yaw
+175 6 controller r_roll
+176 6 controller r_pitch
+177 6 controller r_yaw
+178 6 controller accelz
+179 6 controller actuatorThrust
+180 6 controller roll
+181 6 controller pitch
+182 6 controller yaw
+183 6 controller rollRate
+184 6 controller pitchRate
+185 6 controller yawRate
+186 6 ctrltarget x
+187 6 ctrltarget y
+188 6 ctrltarget z
+189 6 ctrltarget vx
+190 6 ctrltarget vy
+191 6 ctrltarget vz
+192 6 ctrltarget ax
+193 6 ctrltarget ay
+194 6 ctrltarget az
+195 6 ctrltarget roll
+196 6 ctrltarget pitch
+197 6 ctrltarget yaw
+198 1 ctrltargetZ x
+199 1 ctrltargetZ y
+200 1 ctrltargetZ z
+201 1 ctrltargetZ vx
+202 1 ctrltargetZ vy
+203 1 ctrltargetZ vz
+204 1 ctrltargetZ ax
+205 1 ctrltargetZ ay
+206 1 ctrltargetZ az
+207 6 mag x
+208 6 mag y
+209 6 mag z
+210 6 stabilizer roll
+211 6 stabilizer pitch
+212 6 stabilizer yaw
+213 6 stabilizer thrust
+214 6 stabilizer rtStab
+215 10 stabilizer intToOut
+216 6 stateEstimate x
+217 6 stateEstimate y
+218 6 stateEstimate z
+219 6 stateEstimate vx
+220 6 stateEstimate vy
+221 6 stateEstimate vz
+222 6 stateEstimate ax
+223 6 stateEstimate ay
+224 6 stateEstimate az
+225 6 stateEstimate roll
+226 6 stateEstimate pitch
+227 6 stateEstimate yaw
+228 6 stateEstimate qx
+229 6 stateEstimate qy
+230 6 stateEstimate qz
+231 6 stateEstimate qw
+232 1 stateEstimateZ x
+233 1 stateEstimateZ y
+234 1 stateEstimateZ z
+235 1 stateEstimateZ vx
+236 1 stateEstimateZ vy
+237 1 stateEstimateZ vz
+238 1 stateEstimateZ ax
+239 1 stateEstimateZ ay
+240 1 stateEstimateZ az
+241 10 stateEstimateZ quat
+242 1 stateEstimateZ rateRoll
+243 1 stateEstimateZ ratePitch
+244 1 stateEstimateZ rateYaw
+245 9 supervisor info
+246 8 sys canfly
+247 8 sys isFlying
+248 8 sys isTumbled
+249 0 sys testLogParam
+250 6 tdoaEngine stRx
+251 6 tdoaEngine stEst
+252 6 tdoaEngine stTime
+253 6 tdoaEngine stFound
+254 6 tdoaEngine stCc
+255 6 tdoaEngine stHit
+256 6 tdoaEngine stMiss
+257 6 tdoaEngine cc
+258 9 tdoaEngine tof
+259 6 tdoaEngine tdoa
+260 6 kalman_pred predNX
+261 6 kalman_pred predNY
+262 6 kalman_pred measNX
+263 6 kalman_pred measNY
+264 8 lighthouse validAngles
+265 6 lighthouse rawAngle0x
+266 6 lighthouse rawAngle0y
+267 6 lighthouse rawAngle1x
+268 6 lighthouse rawAngle1y
+269 6 lighthouse angle0x
+270 6 lighthouse angle0y
+271 6 lighthouse angle1x
+272 6 lighthouse angle1y
+273 6 lighthouse angle0x_1
+274 6 lighthouse angle0y_1
+275 6 lighthouse angle1x_1
+276 6 lighthouse angle1y_1
+277 6 lighthouse angle0x_2
+278 6 lighthouse angle0y_2
+279 6 lighthouse angle1x_2
+280 6 lighthouse angle1y_2
+281 6 lighthouse angle0x_3
+282 6 lighthouse angle0y_3
+283 6 lighthouse angle1x_3
+284 6 lighthouse angle1y_3
+285 6 lighthouse rawAngle0xlh2
+286 6 lighthouse rawAngle0ylh2
+287 6 lighthouse rawAngle1xlh2
+288 6 lighthouse rawAngle1ylh2
+289 6 lighthouse angle0x_0lh2
+290 6 lighthouse angle0y_0lh2
+291 6 lighthouse angle1x_0lh2
+292 6 lighthouse angle1y_0lh2
+293 9 lighthouse width0
+294 9 lighthouse width1
+295 9 lighthouse width2
+296 9 lighthouse width3
+297 8 lighthouse comSync
+298 9 lighthouse bsAvailable
+299 9 lighthouse bsReceive
+300 9 lighthouse bsActive
+301 9 lighthouse bsCalUd
+302 9 lighthouse bsCalCon
+303 8 lighthouse status
+304 6 lighthouse posRt
+305 6 lighthouse estBs0Rt
+306 6 lighthouse estBs1Rt
+307 6 lighthouse x
+308 6 lighthouse y
+309 6 lighthouse z
+310 6 lighthouse delta
+311 9 lighthouse bsGeoVal
+312 9 lighthouse bsCalVal
+313 6 lighthouse disProb
+314 6 pid_attitude roll_outP
+315 6 pid_attitude roll_outI
+316 6 pid_attitude roll_outD
+317 6 pid_attitude roll_outFF
+318 6 pid_attitude pitch_outP
+319 6 pid_attitude pitch_outI
+320 6 pid_attitude pitch_outD
+321 6 pid_attitude pitch_outFF
+322 6 pid_attitude yaw_outP
+323 6 pid_attitude yaw_outI
+324 6 pid_attitude yaw_outD
+325 6 pid_attitude yaw_outFF
+326 6 pid_rate roll_outP
+327 6 pid_rate roll_outI
+328 6 pid_rate roll_outD
+329 6 pid_rate roll_outFF
+330 6 pid_rate pitch_outP
+331 6 pid_rate pitch_outI
+332 6 pid_rate pitch_outD
+333 6 pid_rate pitch_outFF
+334 6 pid_rate yaw_outP
+335 6 pid_rate yaw_outI
+336 6 pid_rate yaw_outD
+337 6 pid_rate yaw_outFF
+338 6 ctrlINDI cmd_thrust
+339 6 ctrlINDI cmd_roll
+340 6 ctrlINDI cmd_pitch
+341 6 ctrlINDI cmd_yaw
+342 6 ctrlINDI r_roll
+343 6 ctrlINDI r_pitch
+344 6 ctrlINDI r_yaw
+345 6 ctrlINDI u_act_dyn_p
+346 6 ctrlINDI u_act_dyn_q
+347 6 ctrlINDI u_act_dyn_r
+348 6 ctrlINDI du_p
+349 6 ctrlINDI du_q
+350 6 ctrlINDI du_r
+351 6 ctrlINDI ang_accel_ref_p
+352 6 ctrlINDI ang_accel_ref_q
+353 6 ctrlINDI ang_accel_ref_r
+354 6 ctrlINDI rate_d[0]
+355 6 ctrlINDI rate_d[1]
+356 6 ctrlINDI rate_d[2]
+357 6 ctrlINDI uf_p
+358 6 ctrlINDI uf_q
+359 6 ctrlINDI uf_r
+360 6 ctrlINDI Omega_f_p
+361 6 ctrlINDI Omega_f_q
+362 6 ctrlINDI Omega_f_r
+363 6 ctrlINDI n_p
+364 6 ctrlINDI n_q
+365 6 ctrlINDI n_r
+366 6 ctrlMel cmd_thrust
+367 6 ctrlMel cmd_roll
+368 6 ctrlMel cmd_pitch
+369 6 ctrlMel cmd_yaw
+370 6 ctrlMel r_roll
+371 6 ctrlMel r_pitch
+372 6 ctrlMel r_yaw
+373 6 ctrlMel accelz
+374 6 ctrlMel zdx
+375 6 ctrlMel zdy
+376 6 ctrlMel zdz
+377 6 ctrlMel i_err_x
+378 6 ctrlMel i_err_y
+379 6 ctrlMel i_err_z
+380 6 posCtrlIndi posRef_x
+381 6 posCtrlIndi posRef_y
+382 6 posCtrlIndi posRef_z
+383 6 posCtrlIndi velS_x
+384 6 posCtrlIndi velS_y
+385 6 posCtrlIndi velS_z
+386 6 posCtrlIndi velRef_x
+387 6 posCtrlIndi velRef_y
+388 6 posCtrlIndi velRef_z
+389 6 posCtrlIndi angS_roll
+390 6 posCtrlIndi angS_pitch
+391 6 posCtrlIndi angS_yaw
+392 6 posCtrlIndi angF_roll
+393 6 posCtrlIndi angF_pitch
+394 6 posCtrlIndi angF_yaw
+395 6 posCtrlIndi accRef_x
+396 6 posCtrlIndi accRef_y
+397 6 posCtrlIndi accRef_z
+398 6 posCtrlIndi accS_x
+399 6 posCtrlIndi accS_y
+400 6 posCtrlIndi accS_z
+401 6 posCtrlIndi accF_x
+402 6 posCtrlIndi accF_y
+403 6 posCtrlIndi accF_z
+404 6 posCtrlIndi accFT_x
+405 6 posCtrlIndi accFT_y
+406 6 posCtrlIndi accFT_z
+407 6 posCtrlIndi accErr_x
+408 6 posCtrlIndi accErr_y
+409 6 posCtrlIndi accErr_z
+410 6 posCtrlIndi phi_tilde
+411 6 posCtrlIndi theta_tilde
+412 6 posCtrlIndi T_tilde
+413 6 posCtrlIndi T_inner
+414 6 posCtrlIndi T_inner_f
+415 6 posCtrlIndi T_incremented
+416 6 posCtrlIndi cmd_phi
+417 6 posCtrlIndi cmd_theta
+418 6 posCtl targetVX
+419 6 posCtl targetVY
+420 6 posCtl targetVZ
+421 6 posCtl targetX
+422 6 posCtl targetY
+423 6 posCtl targetZ
+424 6 posCtl bodyVX
+425 6 posCtl bodyVY
+426 6 posCtl bodyX
+427 6 posCtl bodyY
+428 6 posCtl Xp
+429 6 posCtl Xi
+430 6 posCtl Xd
+431 6 posCtl Xff
+432 6 posCtl Yp
+433 6 posCtl Yi
+434 6 posCtl Yd
+435 6 posCtl Yff
+436 6 posCtl Zp
+437 6 posCtl Zi
+438 6 posCtl Zd
+439 6 posCtl Zff
+440 6 posCtl VXp
+441 6 posCtl VXi
+442 6 posCtl VXd
+443 6 posCtl VXff
+444 6 posCtl VYp
+445 6 posCtl VYi
+446 6 posCtl VYd
+447 6 posCtl VYff
+448 6 posCtl VZp
+449 6 posCtl VZi
+450 6 posCtl VZd
+451 6 posCtl VZff
+452 6 kalman stateX
+453 6 kalman stateY
+454 6 kalman stateZ
+455 6 kalman statePX
+456 6 kalman statePY
+457 6 kalman statePZ
+458 6 kalman stateD0
+459 6 kalman stateD1
+460 6 kalman stateD2
+461 6 kalman varX
+462 6 kalman varY
+463 6 kalman varZ
+464 6 kalman varPX
+465 6 kalman varPY
+466 6 kalman varPZ
+467 6 kalman varD0
+468 6 kalman varD1
+469 6 kalman varD2
+470 6 kalman q0
+471 6 kalman q1
+472 6 kalman q2
+473 6 kalman q3
+474 6 kalman rtUpdate
+475 6 kalman rtPred
+476 6 kalman rtFinal
+477 2 outlierf lhWin
+478 6 estimator rtApnd
+479 6 estimator rtRej
+480 6 posEstAlt estimatedZ
+481 6 posEstAlt estVZ
+482 6 posEstAlt velocityZ
+483 8 DTR_P2P rx_state
+484 8 DTR_P2P tx_state
diff --git a/cflib_groundstation/logs/cflie1_Log_toc_2023_11_21_21:35:43.txt b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_21_21:35:43.txt
new file mode 100644
index 000000000..c0afa5b33
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_21_21:35:43.txt
@@ -0,0 +1,486 @@
+Log ID Type Group Identifier Name
+0 8 activeMarker btSns
+1 8 activeMarker i2cOk
+2 8 motion motion
+3 1 motion deltaX
+4 1 motion deltaY
+5 9 motion shutter
+6 8 motion maxRaw
+7 8 motion minRaw
+8 8 motion Rawsum
+9 8 motion outlierCount
+10 8 motion squal
+11 6 motion std
+12 6 ring fadeTime
+13 8 loco mode
+14 6 loco spiWr
+15 6 loco spiRe
+16 9 ranging state
+17 6 ranging distance0
+18 6 ranging distance1
+19 6 ranging distance2
+20 6 ranging distance3
+21 6 ranging distance4
+22 6 ranging distance5
+23 6 ranging distance6
+24 6 ranging distance7
+25 6 ranging pressure0
+26 6 ranging pressure1
+27 6 ranging pressure2
+28 6 ranging pressure3
+29 6 ranging pressure4
+30 6 ranging pressure5
+31 6 ranging pressure6
+32 6 ranging pressure7
+33 6 tdoa2 d7-0
+34 6 tdoa2 d0-1
+35 6 tdoa2 d1-2
+36 6 tdoa2 d2-3
+37 6 tdoa2 d3-4
+38 6 tdoa2 d4-5
+39 6 tdoa2 d5-6
+40 6 tdoa2 d6-7
+41 6 tdoa2 cc0
+42 6 tdoa2 cc1
+43 6 tdoa2 cc2
+44 6 tdoa2 cc3
+45 6 tdoa2 cc4
+46 6 tdoa2 cc5
+47 6 tdoa2 cc6
+48 6 tdoa2 cc7
+49 9 tdoa2 dist7-0
+50 9 tdoa2 dist0-1
+51 9 tdoa2 dist1-2
+52 9 tdoa2 dist2-3
+53 9 tdoa2 dist3-4
+54 9 tdoa2 dist4-5
+55 9 tdoa2 dist5-6
+56 9 tdoa2 dist6-7
+57 8 twr rangingSuccessRate0
+58 8 twr rangingPerSec0
+59 8 twr rangingSuccessRate1
+60 8 twr rangingPerSec1
+61 8 twr rangingSuccessRate2
+62 8 twr rangingPerSec2
+63 8 twr rangingSuccessRate3
+64 8 twr rangingPerSec3
+65 8 twr rangingSuccessRate4
+66 8 twr rangingPerSec4
+67 8 twr rangingSuccessRate5
+68 8 twr rangingPerSec5
+69 9 oa front
+70 9 oa back
+71 9 oa up
+72 9 oa left
+73 9 oa right
+74 6 usd spiWrBps
+75 6 usd spiReBps
+76 6 usd fatWrBps
+77 10 motor m1
+78 10 motor m2
+79 10 motor m3
+80 10 motor m4
+81 2 motor m1req
+82 2 motor m2req
+83 2 motor m3req
+84 2 motor m4req
+85 6 pm vbat
+86 9 pm vbatMV
+87 6 pm extVbat
+88 9 pm extVbatMV
+89 6 pm extCurr
+90 6 pm chargeCurrent
+91 0 pm state
+92 8 pm batteryLevel
+93 8 radio rssi
+94 8 radio isConnected
+95 1 gyro xRaw
+96 1 gyro yRaw
+97 1 gyro zRaw
+98 6 gyro xVariance
+99 6 gyro yVariance
+100 6 gyro zVariance
+101 6 gyro x
+102 6 gyro y
+103 6 gyro z
+104 10 colAv latency
+105 6 ext_pos X
+106 6 ext_pos Y
+107 6 ext_pos Z
+108 6 locSrv x
+109 6 locSrv y
+110 6 locSrv z
+111 6 locSrv qx
+112 6 locSrv qy
+113 6 locSrv qz
+114 6 locSrv qw
+115 9 locSrvZ tick
+116 9 crtp rxRate
+117 9 crtp txRate
+118 6 extrx thrust
+119 6 extrx roll
+120 6 extrx pitch
+121 6 extrx rollRate
+122 6 extrx pitchRate
+123 6 extrx yawRate
+124 6 extrx zVel
+125 8 extrx AltHold
+126 8 extrx Arm
+127 9 extrx_raw ch0
+128 9 extrx_raw ch1
+129 9 extrx_raw ch2
+130 9 extrx_raw ch3
+131 9 extrx_raw ch4
+132 9 extrx_raw ch5
+133 9 extrx_raw ch6
+134 9 extrx_raw ch7
+135 6 health motorVarXM1
+136 6 health motorVarYM1
+137 6 health motorVarXM2
+138 6 health motorVarYM2
+139 6 health motorVarXM3
+140 6 health motorVarYM3
+141 6 health motorVarXM4
+142 6 health motorVarYM4
+143 8 health motorPass
+144 6 health batterySag
+145 8 health batteryPass
+146 9 health motorTestCount
+147 10 memTst errCntW
+148 9 range front
+149 9 range back
+150 9 range up
+151 9 range left
+152 9 range right
+153 9 range zrange
+154 6 sensfusion6 qw
+155 6 sensfusion6 qx
+156 6 sensfusion6 qy
+157 6 sensfusion6 qz
+158 6 sensfusion6 gravityX
+159 6 sensfusion6 gravityY
+160 6 sensfusion6 gravityZ
+161 6 sensfusion6 accZbase
+162 8 sensfusion6 isInit
+163 8 sensfusion6 isCalibrated
+164 6 acc x
+165 6 acc y
+166 6 acc z
+167 6 baro asl
+168 6 baro temp
+169 6 baro pressure
+170 1 controller ctr_yaw
+171 6 controller cmd_thrust
+172 6 controller cmd_roll
+173 6 controller cmd_pitch
+174 6 controller cmd_yaw
+175 6 controller r_roll
+176 6 controller r_pitch
+177 6 controller r_yaw
+178 6 controller accelz
+179 6 controller actuatorThrust
+180 6 controller roll
+181 6 controller pitch
+182 6 controller yaw
+183 6 controller rollRate
+184 6 controller pitchRate
+185 6 controller yawRate
+186 6 ctrltarget x
+187 6 ctrltarget y
+188 6 ctrltarget z
+189 6 ctrltarget vx
+190 6 ctrltarget vy
+191 6 ctrltarget vz
+192 6 ctrltarget ax
+193 6 ctrltarget ay
+194 6 ctrltarget az
+195 6 ctrltarget roll
+196 6 ctrltarget pitch
+197 6 ctrltarget yaw
+198 1 ctrltargetZ x
+199 1 ctrltargetZ y
+200 1 ctrltargetZ z
+201 1 ctrltargetZ vx
+202 1 ctrltargetZ vy
+203 1 ctrltargetZ vz
+204 1 ctrltargetZ ax
+205 1 ctrltargetZ ay
+206 1 ctrltargetZ az
+207 6 mag x
+208 6 mag y
+209 6 mag z
+210 6 stabilizer roll
+211 6 stabilizer pitch
+212 6 stabilizer yaw
+213 6 stabilizer thrust
+214 6 stabilizer rtStab
+215 10 stabilizer intToOut
+216 6 stateEstimate x
+217 6 stateEstimate y
+218 6 stateEstimate z
+219 6 stateEstimate vx
+220 6 stateEstimate vy
+221 6 stateEstimate vz
+222 6 stateEstimate ax
+223 6 stateEstimate ay
+224 6 stateEstimate az
+225 6 stateEstimate roll
+226 6 stateEstimate pitch
+227 6 stateEstimate yaw
+228 6 stateEstimate qx
+229 6 stateEstimate qy
+230 6 stateEstimate qz
+231 6 stateEstimate qw
+232 1 stateEstimateZ x
+233 1 stateEstimateZ y
+234 1 stateEstimateZ z
+235 1 stateEstimateZ vx
+236 1 stateEstimateZ vy
+237 1 stateEstimateZ vz
+238 1 stateEstimateZ ax
+239 1 stateEstimateZ ay
+240 1 stateEstimateZ az
+241 10 stateEstimateZ quat
+242 1 stateEstimateZ rateRoll
+243 1 stateEstimateZ ratePitch
+244 1 stateEstimateZ rateYaw
+245 9 supervisor info
+246 8 sys canfly
+247 8 sys isFlying
+248 8 sys isTumbled
+249 0 sys testLogParam
+250 6 tdoaEngine stRx
+251 6 tdoaEngine stEst
+252 6 tdoaEngine stTime
+253 6 tdoaEngine stFound
+254 6 tdoaEngine stCc
+255 6 tdoaEngine stHit
+256 6 tdoaEngine stMiss
+257 6 tdoaEngine cc
+258 9 tdoaEngine tof
+259 6 tdoaEngine tdoa
+260 6 kalman_pred predNX
+261 6 kalman_pred predNY
+262 6 kalman_pred measNX
+263 6 kalman_pred measNY
+264 8 lighthouse validAngles
+265 6 lighthouse rawAngle0x
+266 6 lighthouse rawAngle0y
+267 6 lighthouse rawAngle1x
+268 6 lighthouse rawAngle1y
+269 6 lighthouse angle0x
+270 6 lighthouse angle0y
+271 6 lighthouse angle1x
+272 6 lighthouse angle1y
+273 6 lighthouse angle0x_1
+274 6 lighthouse angle0y_1
+275 6 lighthouse angle1x_1
+276 6 lighthouse angle1y_1
+277 6 lighthouse angle0x_2
+278 6 lighthouse angle0y_2
+279 6 lighthouse angle1x_2
+280 6 lighthouse angle1y_2
+281 6 lighthouse angle0x_3
+282 6 lighthouse angle0y_3
+283 6 lighthouse angle1x_3
+284 6 lighthouse angle1y_3
+285 6 lighthouse rawAngle0xlh2
+286 6 lighthouse rawAngle0ylh2
+287 6 lighthouse rawAngle1xlh2
+288 6 lighthouse rawAngle1ylh2
+289 6 lighthouse angle0x_0lh2
+290 6 lighthouse angle0y_0lh2
+291 6 lighthouse angle1x_0lh2
+292 6 lighthouse angle1y_0lh2
+293 9 lighthouse width0
+294 9 lighthouse width1
+295 9 lighthouse width2
+296 9 lighthouse width3
+297 8 lighthouse comSync
+298 9 lighthouse bsAvailable
+299 9 lighthouse bsReceive
+300 9 lighthouse bsActive
+301 9 lighthouse bsCalUd
+302 9 lighthouse bsCalCon
+303 8 lighthouse status
+304 6 lighthouse posRt
+305 6 lighthouse estBs0Rt
+306 6 lighthouse estBs1Rt
+307 6 lighthouse x
+308 6 lighthouse y
+309 6 lighthouse z
+310 6 lighthouse delta
+311 9 lighthouse bsGeoVal
+312 9 lighthouse bsCalVal
+313 6 lighthouse disProb
+314 6 pid_attitude roll_outP
+315 6 pid_attitude roll_outI
+316 6 pid_attitude roll_outD
+317 6 pid_attitude roll_outFF
+318 6 pid_attitude pitch_outP
+319 6 pid_attitude pitch_outI
+320 6 pid_attitude pitch_outD
+321 6 pid_attitude pitch_outFF
+322 6 pid_attitude yaw_outP
+323 6 pid_attitude yaw_outI
+324 6 pid_attitude yaw_outD
+325 6 pid_attitude yaw_outFF
+326 6 pid_rate roll_outP
+327 6 pid_rate roll_outI
+328 6 pid_rate roll_outD
+329 6 pid_rate roll_outFF
+330 6 pid_rate pitch_outP
+331 6 pid_rate pitch_outI
+332 6 pid_rate pitch_outD
+333 6 pid_rate pitch_outFF
+334 6 pid_rate yaw_outP
+335 6 pid_rate yaw_outI
+336 6 pid_rate yaw_outD
+337 6 pid_rate yaw_outFF
+338 6 ctrlINDI cmd_thrust
+339 6 ctrlINDI cmd_roll
+340 6 ctrlINDI cmd_pitch
+341 6 ctrlINDI cmd_yaw
+342 6 ctrlINDI r_roll
+343 6 ctrlINDI r_pitch
+344 6 ctrlINDI r_yaw
+345 6 ctrlINDI u_act_dyn_p
+346 6 ctrlINDI u_act_dyn_q
+347 6 ctrlINDI u_act_dyn_r
+348 6 ctrlINDI du_p
+349 6 ctrlINDI du_q
+350 6 ctrlINDI du_r
+351 6 ctrlINDI ang_accel_ref_p
+352 6 ctrlINDI ang_accel_ref_q
+353 6 ctrlINDI ang_accel_ref_r
+354 6 ctrlINDI rate_d[0]
+355 6 ctrlINDI rate_d[1]
+356 6 ctrlINDI rate_d[2]
+357 6 ctrlINDI uf_p
+358 6 ctrlINDI uf_q
+359 6 ctrlINDI uf_r
+360 6 ctrlINDI Omega_f_p
+361 6 ctrlINDI Omega_f_q
+362 6 ctrlINDI Omega_f_r
+363 6 ctrlINDI n_p
+364 6 ctrlINDI n_q
+365 6 ctrlINDI n_r
+366 6 ctrlMel cmd_thrust
+367 6 ctrlMel cmd_roll
+368 6 ctrlMel cmd_pitch
+369 6 ctrlMel cmd_yaw
+370 6 ctrlMel r_roll
+371 6 ctrlMel r_pitch
+372 6 ctrlMel r_yaw
+373 6 ctrlMel accelz
+374 6 ctrlMel zdx
+375 6 ctrlMel zdy
+376 6 ctrlMel zdz
+377 6 ctrlMel i_err_x
+378 6 ctrlMel i_err_y
+379 6 ctrlMel i_err_z
+380 6 posCtrlIndi posRef_x
+381 6 posCtrlIndi posRef_y
+382 6 posCtrlIndi posRef_z
+383 6 posCtrlIndi velS_x
+384 6 posCtrlIndi velS_y
+385 6 posCtrlIndi velS_z
+386 6 posCtrlIndi velRef_x
+387 6 posCtrlIndi velRef_y
+388 6 posCtrlIndi velRef_z
+389 6 posCtrlIndi angS_roll
+390 6 posCtrlIndi angS_pitch
+391 6 posCtrlIndi angS_yaw
+392 6 posCtrlIndi angF_roll
+393 6 posCtrlIndi angF_pitch
+394 6 posCtrlIndi angF_yaw
+395 6 posCtrlIndi accRef_x
+396 6 posCtrlIndi accRef_y
+397 6 posCtrlIndi accRef_z
+398 6 posCtrlIndi accS_x
+399 6 posCtrlIndi accS_y
+400 6 posCtrlIndi accS_z
+401 6 posCtrlIndi accF_x
+402 6 posCtrlIndi accF_y
+403 6 posCtrlIndi accF_z
+404 6 posCtrlIndi accFT_x
+405 6 posCtrlIndi accFT_y
+406 6 posCtrlIndi accFT_z
+407 6 posCtrlIndi accErr_x
+408 6 posCtrlIndi accErr_y
+409 6 posCtrlIndi accErr_z
+410 6 posCtrlIndi phi_tilde
+411 6 posCtrlIndi theta_tilde
+412 6 posCtrlIndi T_tilde
+413 6 posCtrlIndi T_inner
+414 6 posCtrlIndi T_inner_f
+415 6 posCtrlIndi T_incremented
+416 6 posCtrlIndi cmd_phi
+417 6 posCtrlIndi cmd_theta
+418 6 posCtl targetVX
+419 6 posCtl targetVY
+420 6 posCtl targetVZ
+421 6 posCtl targetX
+422 6 posCtl targetY
+423 6 posCtl targetZ
+424 6 posCtl bodyVX
+425 6 posCtl bodyVY
+426 6 posCtl bodyX
+427 6 posCtl bodyY
+428 6 posCtl Xp
+429 6 posCtl Xi
+430 6 posCtl Xd
+431 6 posCtl Xff
+432 6 posCtl Yp
+433 6 posCtl Yi
+434 6 posCtl Yd
+435 6 posCtl Yff
+436 6 posCtl Zp
+437 6 posCtl Zi
+438 6 posCtl Zd
+439 6 posCtl Zff
+440 6 posCtl VXp
+441 6 posCtl VXi
+442 6 posCtl VXd
+443 6 posCtl VXff
+444 6 posCtl VYp
+445 6 posCtl VYi
+446 6 posCtl VYd
+447 6 posCtl VYff
+448 6 posCtl VZp
+449 6 posCtl VZi
+450 6 posCtl VZd
+451 6 posCtl VZff
+452 6 kalman stateX
+453 6 kalman stateY
+454 6 kalman stateZ
+455 6 kalman statePX
+456 6 kalman statePY
+457 6 kalman statePZ
+458 6 kalman stateD0
+459 6 kalman stateD1
+460 6 kalman stateD2
+461 6 kalman varX
+462 6 kalman varY
+463 6 kalman varZ
+464 6 kalman varPX
+465 6 kalman varPY
+466 6 kalman varPZ
+467 6 kalman varD0
+468 6 kalman varD1
+469 6 kalman varD2
+470 6 kalman q0
+471 6 kalman q1
+472 6 kalman q2
+473 6 kalman q3
+474 6 kalman rtUpdate
+475 6 kalman rtPred
+476 6 kalman rtFinal
+477 2 outlierf lhWin
+478 6 estimator rtApnd
+479 6 estimator rtRej
+480 6 posEstAlt estimatedZ
+481 6 posEstAlt estVZ
+482 6 posEstAlt velocityZ
+483 8 DTR_P2P rx_state
+484 8 DTR_P2P tx_state
diff --git a/cflib_groundstation/logs/cflie1_Log_toc_2023_11_21_21:36:54.txt b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_21_21:36:54.txt
new file mode 100644
index 000000000..5f7bea63c
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_21_21:36:54.txt
@@ -0,0 +1,506 @@
+Log ID Type Group Identifier Name
+0 1 gyro xRaw
+1 1 gyro yRaw
+2 1 gyro zRaw
+3 6 gyro xVariance
+4 6 gyro yVariance
+5 6 gyro zVariance
+108 6 gyro x
+109 6 gyro y
+110 6 gyro z
+6 10 pwm m1_pwm
+7 10 pwm m2_pwm
+8 10 pwm m3_pwm
+9 10 pwm m4_pwm
+10 9 crtp rxRate
+11 9 crtp txRate
+12 6 pm vbat
+13 9 pm vbatMV
+14 6 pm extVbat
+15 9 pm extVbatMV
+16 6 pm extCurr
+17 6 pm chargeCurrent
+18 0 pm state
+19 8 pm batteryLevel
+20 8 radio rssi
+21 8 radio isConnected
+22 0 sys armed
+38 8 sys canfly
+39 8 sys isFlying
+40 8 sys isTumbled
+23 9 extrx ch0
+24 9 extrx ch1
+25 9 extrx ch2
+26 9 extrx ch3
+27 9 extrx thrust
+28 6 extrx roll
+29 6 extrx pitch
+30 6 extrx yaw
+31 10 memTst errCntW
+32 9 range front
+33 9 range back
+34 9 range up
+35 9 range left
+36 9 range right
+37 9 range zrange
+41 6 ext_pos X
+42 6 ext_pos Y
+43 6 ext_pos Z
+44 6 locSrv x
+45 6 locSrv y
+46 6 locSrv z
+47 6 locSrv qx
+48 6 locSrv qy
+49 6 locSrv qz
+50 6 locSrv qw
+51 9 locSrvZ tick
+52 6 pid_attitude roll_outP
+53 6 pid_attitude roll_outI
+54 6 pid_attitude roll_outD
+55 6 pid_attitude pitch_outP
+56 6 pid_attitude pitch_outI
+57 6 pid_attitude pitch_outD
+58 6 pid_attitude yaw_outP
+59 6 pid_attitude yaw_outI
+60 6 pid_attitude yaw_outD
+61 6 pid_rate roll_outP
+62 6 pid_rate roll_outI
+63 6 pid_rate roll_outD
+64 6 pid_rate pitch_outP
+65 6 pid_rate pitch_outI
+66 6 pid_rate pitch_outD
+67 6 pid_rate yaw_outP
+68 6 pid_rate yaw_outI
+69 6 pid_rate yaw_outD
+70 6 sensfusion6 qw
+71 6 sensfusion6 qx
+72 6 sensfusion6 qy
+73 6 sensfusion6 qz
+74 6 sensfusion6 gravityX
+75 6 sensfusion6 gravityY
+76 6 sensfusion6 gravityZ
+77 6 sensfusion6 accZbase
+78 8 sensfusion6 isInit
+79 8 sensfusion6 isCalibrated
+80 6 acc x
+81 6 acc y
+82 6 acc z
+83 6 baro asl
+84 6 baro temp
+85 6 baro pressure
+86 1 controller ctr_yaw
+213 6 controller cmd_thrust
+214 6 controller cmd_roll
+215 6 controller cmd_pitch
+216 6 controller cmd_yaw
+217 6 controller r_roll
+218 6 controller r_pitch
+219 6 controller r_yaw
+220 6 controller accelz
+221 6 controller actuatorThrust
+222 6 controller roll
+223 6 controller pitch
+224 6 controller yaw
+225 6 controller rollRate
+226 6 controller pitchRate
+227 6 controller yawRate
+87 6 ctrltarget x
+88 6 ctrltarget y
+89 6 ctrltarget z
+90 6 ctrltarget vx
+91 6 ctrltarget vy
+92 6 ctrltarget vz
+93 6 ctrltarget ax
+94 6 ctrltarget ay
+95 6 ctrltarget az
+96 6 ctrltarget roll
+97 6 ctrltarget pitch
+98 6 ctrltarget yaw
+99 1 ctrltargetZ x
+100 1 ctrltargetZ y
+101 1 ctrltargetZ z
+102 1 ctrltargetZ vx
+103 1 ctrltargetZ vy
+104 1 ctrltargetZ vz
+105 1 ctrltargetZ ax
+106 1 ctrltargetZ ay
+107 1 ctrltargetZ az
+111 6 mag x
+112 6 mag y
+113 6 mag z
+114 6 stabilizer roll
+115 6 stabilizer pitch
+116 6 stabilizer yaw
+117 6 stabilizer thrust
+118 6 stabilizer rtStab
+119 10 stabilizer intToOut
+120 6 stateEstimate x
+121 6 stateEstimate y
+122 6 stateEstimate z
+123 6 stateEstimate vx
+124 6 stateEstimate vy
+125 6 stateEstimate vz
+126 6 stateEstimate ax
+127 6 stateEstimate ay
+128 6 stateEstimate az
+129 6 stateEstimate roll
+130 6 stateEstimate pitch
+131 6 stateEstimate yaw
+132 6 stateEstimate qx
+133 6 stateEstimate qy
+134 6 stateEstimate qz
+135 6 stateEstimate qw
+136 1 stateEstimateZ x
+137 1 stateEstimateZ y
+138 1 stateEstimateZ z
+139 1 stateEstimateZ vx
+140 1 stateEstimateZ vy
+141 1 stateEstimateZ vz
+142 1 stateEstimateZ ax
+143 1 stateEstimateZ ay
+144 1 stateEstimateZ az
+145 10 stateEstimateZ quat
+146 1 stateEstimateZ rateRoll
+147 1 stateEstimateZ ratePitch
+148 1 stateEstimateZ rateYaw
+149 6 posEstAlt estimatedZ
+150 6 posEstAlt estVZ
+151 6 posEstAlt velocityZ
+152 6 posCtl targetVX
+153 6 posCtl targetVY
+154 6 posCtl targetVZ
+155 6 posCtl targetX
+156 6 posCtl targetY
+157 6 posCtl targetZ
+158 6 posCtl Xp
+159 6 posCtl Xi
+160 6 posCtl Xd
+161 6 posCtl Yp
+162 6 posCtl Yi
+163 6 posCtl Yd
+164 6 posCtl Zp
+165 6 posCtl Zi
+166 6 posCtl Zd
+167 6 posCtl VXp
+168 6 posCtl VXi
+169 6 posCtl VXd
+170 6 posCtl VZp
+171 6 posCtl VZi
+172 6 posCtl VZd
+173 6 posCtrlIndi posRef_x
+174 6 posCtrlIndi posRef_y
+175 6 posCtrlIndi posRef_z
+176 6 posCtrlIndi velS_x
+177 6 posCtrlIndi velS_y
+178 6 posCtrlIndi velS_z
+179 6 posCtrlIndi velRef_x
+180 6 posCtrlIndi velRef_y
+181 6 posCtrlIndi velRef_z
+182 6 posCtrlIndi angS_roll
+183 6 posCtrlIndi angS_pitch
+184 6 posCtrlIndi angS_yaw
+185 6 posCtrlIndi angF_roll
+186 6 posCtrlIndi angF_pitch
+187 6 posCtrlIndi angF_yaw
+188 6 posCtrlIndi accRef_x
+189 6 posCtrlIndi accRef_y
+190 6 posCtrlIndi accRef_z
+191 6 posCtrlIndi accS_x
+192 6 posCtrlIndi accS_y
+193 6 posCtrlIndi accS_z
+194 6 posCtrlIndi accF_x
+195 6 posCtrlIndi accF_y
+196 6 posCtrlIndi accF_z
+197 6 posCtrlIndi accFT_x
+198 6 posCtrlIndi accFT_y
+199 6 posCtrlIndi accFT_z
+200 6 posCtrlIndi accErr_x
+201 6 posCtrlIndi accErr_y
+202 6 posCtrlIndi accErr_z
+203 6 posCtrlIndi phi_tilde
+204 6 posCtrlIndi theta_tilde
+205 6 posCtrlIndi T_tilde
+206 6 posCtrlIndi T_inner
+207 6 posCtrlIndi T_inner_f
+208 6 posCtrlIndi T_incremented
+209 6 posCtrlIndi cmd_phi
+210 6 posCtrlIndi cmd_theta
+211 6 estimator rtApnd
+212 6 estimator rtRej
+228 6 ctrlMel cmd_thrust
+229 6 ctrlMel cmd_roll
+230 6 ctrlMel cmd_pitch
+231 6 ctrlMel cmd_yaw
+232 6 ctrlMel r_roll
+233 6 ctrlMel r_pitch
+234 6 ctrlMel r_yaw
+235 6 ctrlMel accelz
+236 6 ctrlMel zdx
+237 6 ctrlMel zdy
+238 6 ctrlMel zdz
+239 6 ctrlMel i_err_x
+240 6 ctrlMel i_err_y
+241 6 ctrlMel i_err_z
+242 6 ctrlINDI cmd_thrust
+243 6 ctrlINDI cmd_roll
+244 6 ctrlINDI cmd_pitch
+245 6 ctrlINDI cmd_yaw
+246 6 ctrlINDI r_roll
+247 6 ctrlINDI r_pitch
+248 6 ctrlINDI r_yaw
+249 6 ctrlINDI u_act_dyn_p
+250 6 ctrlINDI u_act_dyn_q
+251 6 ctrlINDI u_act_dyn_r
+252 6 ctrlINDI du_p
+253 6 ctrlINDI du_q
+254 6 ctrlINDI du_r
+255 6 ctrlINDI ang_accel_ref_p
+256 6 ctrlINDI ang_accel_ref_q
+257 6 ctrlINDI ang_accel_ref_r
+258 6 ctrlINDI rate_d[0]
+259 6 ctrlINDI rate_d[1]
+260 6 ctrlINDI rate_d[2]
+261 6 ctrlINDI uf_p
+262 6 ctrlINDI uf_q
+263 6 ctrlINDI uf_r
+264 6 ctrlINDI Omega_f_p
+265 6 ctrlINDI Omega_f_q
+266 6 ctrlINDI Omega_f_r
+267 6 ctrlINDI n_p
+268 6 ctrlINDI n_q
+269 6 ctrlINDI n_r
+270 6 s_pid_attitude roll_outP
+271 6 s_pid_attitude roll_outI
+272 6 s_pid_attitude roll_outD
+273 6 s_pid_attitude pitch_outP
+274 6 s_pid_attitude pitch_outI
+275 6 s_pid_attitude pitch_outD
+276 6 s_pid_attitude yaw_outP
+277 6 s_pid_attitude yaw_outI
+278 6 s_pid_attitude yaw_outD
+279 6 s_pid_rate roll_outP
+280 6 s_pid_rate roll_outI
+281 6 s_pid_rate roll_outD
+282 6 s_pid_rate pitch_outP
+283 6 s_pid_rate pitch_outI
+284 6 s_pid_rate pitch_outD
+285 6 s_pid_rate yaw_outP
+286 6 s_pid_rate yaw_outI
+287 6 s_pid_rate yaw_outD
+288 6 ctrlStdnt cmd_thrust
+289 6 ctrlStdnt cmd_roll
+290 6 ctrlStdnt cmd_pitch
+291 6 ctrlStdnt cmd_yaw
+292 6 ctrlStdnt r_roll
+293 6 ctrlStdnt r_pitch
+294 6 ctrlStdnt r_yaw
+295 6 ctrlStdnt accelz
+296 6 ctrlStdnt thrustDesired
+297 6 ctrlStdnt roll
+298 6 ctrlStdnt pitch
+299 6 ctrlStdnt yaw
+300 6 ctrlStdnt rollRate
+301 6 ctrlStdnt pitchRate
+302 6 ctrlStdnt yawRate
+303 10 motor m1
+304 10 motor m2
+305 10 motor m3
+306 10 motor m4
+307 10 colAv latency
+308 6 health motorVarXM1
+309 6 health motorVarYM1
+310 6 health motorVarXM2
+311 6 health motorVarYM2
+312 6 health motorVarXM3
+313 6 health motorVarYM3
+314 6 health motorVarXM4
+315 6 health motorVarYM4
+316 8 health motorPass
+317 6 health batterySag
+318 8 health batteryPass
+319 9 health motorTestCount
+320 8 kalman inFlight
+321 6 kalman stateX
+322 6 kalman stateY
+323 6 kalman stateZ
+324 6 kalman statePX
+325 6 kalman statePY
+326 6 kalman statePZ
+327 6 kalman stateD0
+328 6 kalman stateD1
+329 6 kalman stateD2
+330 6 kalman varX
+331 6 kalman varY
+332 6 kalman varZ
+333 6 kalman varPX
+334 6 kalman varPY
+335 6 kalman varPZ
+336 6 kalman varD0
+337 6 kalman varD1
+338 6 kalman varD2
+339 6 kalman q0
+340 6 kalman q1
+341 6 kalman q2
+342 6 kalman q3
+343 6 kalman rtUpdate
+344 6 kalman rtPred
+345 6 kalman rtFinal
+346 2 outlierf lhWin
+427 2 outlierf bucket0
+428 2 outlierf bucket1
+429 2 outlierf bucket2
+430 2 outlierf bucket3
+431 2 outlierf bucket4
+432 6 outlierf accLev
+433 6 outlierf errD
+347 6 kalman_pred predNX
+348 6 kalman_pred predNY
+349 6 kalman_pred measNX
+350 6 kalman_pred measNY
+351 6 ring fadeTime
+352 2 gps lat
+353 2 gps lon
+354 6 gps hMSL
+355 6 gps hAcc
+356 2 gps nsat
+357 2 gps fix
+358 6 usd spiWrBps
+359 6 usd spiReBps
+360 6 usd fatWrBps
+361 8 loco mode
+362 6 loco spiWr
+363 6 loco spiRe
+364 9 ranging state
+365 6 ranging distance0
+366 6 ranging distance1
+367 6 ranging distance2
+368 6 ranging distance3
+369 6 ranging distance4
+370 6 ranging distance5
+371 6 ranging distance6
+372 6 ranging distance7
+373 6 ranging pressure0
+374 6 ranging pressure1
+375 6 ranging pressure2
+376 6 ranging pressure3
+377 6 ranging pressure4
+378 6 ranging pressure5
+379 6 ranging pressure6
+380 6 ranging pressure7
+381 8 twr rangingSuccessRate0
+382 8 twr rangingPerSec0
+383 8 twr rangingSuccessRate1
+384 8 twr rangingPerSec1
+385 8 twr rangingSuccessRate2
+386 8 twr rangingPerSec2
+387 8 twr rangingSuccessRate3
+388 8 twr rangingPerSec3
+389 8 twr rangingSuccessRate4
+390 8 twr rangingPerSec4
+391 8 twr rangingSuccessRate5
+392 8 twr rangingPerSec5
+393 6 tdoa2 d7-0
+394 6 tdoa2 d0-1
+395 6 tdoa2 d1-2
+396 6 tdoa2 d2-3
+397 6 tdoa2 d3-4
+398 6 tdoa2 d4-5
+399 6 tdoa2 d5-6
+400 6 tdoa2 d6-7
+401 6 tdoa2 cc0
+402 6 tdoa2 cc1
+403 6 tdoa2 cc2
+404 6 tdoa2 cc3
+405 6 tdoa2 cc4
+406 6 tdoa2 cc5
+407 6 tdoa2 cc6
+408 6 tdoa2 cc7
+409 9 tdoa2 dist7-0
+410 9 tdoa2 dist0-1
+411 9 tdoa2 dist1-2
+412 9 tdoa2 dist2-3
+413 9 tdoa2 dist3-4
+414 9 tdoa2 dist4-5
+415 9 tdoa2 dist5-6
+416 9 tdoa2 dist6-7
+417 6 tdoaEngine stRx
+418 6 tdoaEngine stEst
+419 6 tdoaEngine stTime
+420 6 tdoaEngine stFound
+421 6 tdoaEngine stCc
+422 6 tdoaEngine stHit
+423 6 tdoaEngine stMiss
+424 6 tdoaEngine cc
+425 9 tdoaEngine tof
+426 6 tdoaEngine tdoa
+434 8 motion motion
+435 1 motion deltaX
+436 1 motion deltaY
+437 9 motion shutter
+438 8 motion maxRaw
+439 8 motion minRaw
+440 8 motion Rawsum
+441 8 motion outlierCount
+442 8 motion squal
+443 6 motion std
+444 9 oa front
+445 9 oa back
+446 9 oa up
+447 9 oa left
+448 9 oa right
+449 8 activeMarker btSns
+450 8 activeMarker i2cOk
+451 8 aideck receivebyte
+452 8 lighthouse validAngles
+453 6 lighthouse rawAngle0x
+454 6 lighthouse rawAngle0y
+455 6 lighthouse rawAngle1x
+456 6 lighthouse rawAngle1y
+457 6 lighthouse angle0x
+458 6 lighthouse angle0y
+459 6 lighthouse angle1x
+460 6 lighthouse angle1y
+461 6 lighthouse angle0x_1
+462 6 lighthouse angle0y_1
+463 6 lighthouse angle1x_1
+464 6 lighthouse angle1y_1
+465 6 lighthouse angle0x_2
+466 6 lighthouse angle0y_2
+467 6 lighthouse angle1x_2
+468 6 lighthouse angle1y_2
+469 6 lighthouse angle0x_3
+470 6 lighthouse angle0y_3
+471 6 lighthouse angle1x_3
+472 6 lighthouse angle1y_3
+473 6 lighthouse rawAngle0xlh2
+474 6 lighthouse rawAngle0ylh2
+475 6 lighthouse rawAngle1xlh2
+476 6 lighthouse rawAngle1ylh2
+477 6 lighthouse angle0x_0lh2
+478 6 lighthouse angle0y_0lh2
+479 6 lighthouse angle1x_0lh2
+480 6 lighthouse angle1y_0lh2
+481 6 lighthouse serRt
+482 6 lighthouse frmRt
+483 6 lighthouse cycleRt
+484 6 lighthouse bs0Rt
+485 6 lighthouse bs1Rt
+486 9 lighthouse width0
+487 9 lighthouse width1
+488 9 lighthouse width2
+489 9 lighthouse width3
+490 8 lighthouse comSync
+491 9 lighthouse bsReceive
+492 9 lighthouse bsActive
+493 9 lighthouse bsCalUd
+494 9 lighthouse bsCalCon
+495 8 lighthouse status
+496 6 lighthouse posRt
+497 6 lighthouse estBs0Rt
+498 6 lighthouse estBs1Rt
+499 6 lighthouse x
+500 6 lighthouse y
+501 6 lighthouse z
+502 6 lighthouse delta
+503 9 lighthouse bsGeoVal
+504 9 lighthouse bsCalVal
diff --git a/cflib_groundstation/logs/cflie1_Log_toc_2023_11_21_21:38:20.txt b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_21_21:38:20.txt
new file mode 100644
index 000000000..5f7bea63c
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_21_21:38:20.txt
@@ -0,0 +1,506 @@
+Log ID Type Group Identifier Name
+0 1 gyro xRaw
+1 1 gyro yRaw
+2 1 gyro zRaw
+3 6 gyro xVariance
+4 6 gyro yVariance
+5 6 gyro zVariance
+108 6 gyro x
+109 6 gyro y
+110 6 gyro z
+6 10 pwm m1_pwm
+7 10 pwm m2_pwm
+8 10 pwm m3_pwm
+9 10 pwm m4_pwm
+10 9 crtp rxRate
+11 9 crtp txRate
+12 6 pm vbat
+13 9 pm vbatMV
+14 6 pm extVbat
+15 9 pm extVbatMV
+16 6 pm extCurr
+17 6 pm chargeCurrent
+18 0 pm state
+19 8 pm batteryLevel
+20 8 radio rssi
+21 8 radio isConnected
+22 0 sys armed
+38 8 sys canfly
+39 8 sys isFlying
+40 8 sys isTumbled
+23 9 extrx ch0
+24 9 extrx ch1
+25 9 extrx ch2
+26 9 extrx ch3
+27 9 extrx thrust
+28 6 extrx roll
+29 6 extrx pitch
+30 6 extrx yaw
+31 10 memTst errCntW
+32 9 range front
+33 9 range back
+34 9 range up
+35 9 range left
+36 9 range right
+37 9 range zrange
+41 6 ext_pos X
+42 6 ext_pos Y
+43 6 ext_pos Z
+44 6 locSrv x
+45 6 locSrv y
+46 6 locSrv z
+47 6 locSrv qx
+48 6 locSrv qy
+49 6 locSrv qz
+50 6 locSrv qw
+51 9 locSrvZ tick
+52 6 pid_attitude roll_outP
+53 6 pid_attitude roll_outI
+54 6 pid_attitude roll_outD
+55 6 pid_attitude pitch_outP
+56 6 pid_attitude pitch_outI
+57 6 pid_attitude pitch_outD
+58 6 pid_attitude yaw_outP
+59 6 pid_attitude yaw_outI
+60 6 pid_attitude yaw_outD
+61 6 pid_rate roll_outP
+62 6 pid_rate roll_outI
+63 6 pid_rate roll_outD
+64 6 pid_rate pitch_outP
+65 6 pid_rate pitch_outI
+66 6 pid_rate pitch_outD
+67 6 pid_rate yaw_outP
+68 6 pid_rate yaw_outI
+69 6 pid_rate yaw_outD
+70 6 sensfusion6 qw
+71 6 sensfusion6 qx
+72 6 sensfusion6 qy
+73 6 sensfusion6 qz
+74 6 sensfusion6 gravityX
+75 6 sensfusion6 gravityY
+76 6 sensfusion6 gravityZ
+77 6 sensfusion6 accZbase
+78 8 sensfusion6 isInit
+79 8 sensfusion6 isCalibrated
+80 6 acc x
+81 6 acc y
+82 6 acc z
+83 6 baro asl
+84 6 baro temp
+85 6 baro pressure
+86 1 controller ctr_yaw
+213 6 controller cmd_thrust
+214 6 controller cmd_roll
+215 6 controller cmd_pitch
+216 6 controller cmd_yaw
+217 6 controller r_roll
+218 6 controller r_pitch
+219 6 controller r_yaw
+220 6 controller accelz
+221 6 controller actuatorThrust
+222 6 controller roll
+223 6 controller pitch
+224 6 controller yaw
+225 6 controller rollRate
+226 6 controller pitchRate
+227 6 controller yawRate
+87 6 ctrltarget x
+88 6 ctrltarget y
+89 6 ctrltarget z
+90 6 ctrltarget vx
+91 6 ctrltarget vy
+92 6 ctrltarget vz
+93 6 ctrltarget ax
+94 6 ctrltarget ay
+95 6 ctrltarget az
+96 6 ctrltarget roll
+97 6 ctrltarget pitch
+98 6 ctrltarget yaw
+99 1 ctrltargetZ x
+100 1 ctrltargetZ y
+101 1 ctrltargetZ z
+102 1 ctrltargetZ vx
+103 1 ctrltargetZ vy
+104 1 ctrltargetZ vz
+105 1 ctrltargetZ ax
+106 1 ctrltargetZ ay
+107 1 ctrltargetZ az
+111 6 mag x
+112 6 mag y
+113 6 mag z
+114 6 stabilizer roll
+115 6 stabilizer pitch
+116 6 stabilizer yaw
+117 6 stabilizer thrust
+118 6 stabilizer rtStab
+119 10 stabilizer intToOut
+120 6 stateEstimate x
+121 6 stateEstimate y
+122 6 stateEstimate z
+123 6 stateEstimate vx
+124 6 stateEstimate vy
+125 6 stateEstimate vz
+126 6 stateEstimate ax
+127 6 stateEstimate ay
+128 6 stateEstimate az
+129 6 stateEstimate roll
+130 6 stateEstimate pitch
+131 6 stateEstimate yaw
+132 6 stateEstimate qx
+133 6 stateEstimate qy
+134 6 stateEstimate qz
+135 6 stateEstimate qw
+136 1 stateEstimateZ x
+137 1 stateEstimateZ y
+138 1 stateEstimateZ z
+139 1 stateEstimateZ vx
+140 1 stateEstimateZ vy
+141 1 stateEstimateZ vz
+142 1 stateEstimateZ ax
+143 1 stateEstimateZ ay
+144 1 stateEstimateZ az
+145 10 stateEstimateZ quat
+146 1 stateEstimateZ rateRoll
+147 1 stateEstimateZ ratePitch
+148 1 stateEstimateZ rateYaw
+149 6 posEstAlt estimatedZ
+150 6 posEstAlt estVZ
+151 6 posEstAlt velocityZ
+152 6 posCtl targetVX
+153 6 posCtl targetVY
+154 6 posCtl targetVZ
+155 6 posCtl targetX
+156 6 posCtl targetY
+157 6 posCtl targetZ
+158 6 posCtl Xp
+159 6 posCtl Xi
+160 6 posCtl Xd
+161 6 posCtl Yp
+162 6 posCtl Yi
+163 6 posCtl Yd
+164 6 posCtl Zp
+165 6 posCtl Zi
+166 6 posCtl Zd
+167 6 posCtl VXp
+168 6 posCtl VXi
+169 6 posCtl VXd
+170 6 posCtl VZp
+171 6 posCtl VZi
+172 6 posCtl VZd
+173 6 posCtrlIndi posRef_x
+174 6 posCtrlIndi posRef_y
+175 6 posCtrlIndi posRef_z
+176 6 posCtrlIndi velS_x
+177 6 posCtrlIndi velS_y
+178 6 posCtrlIndi velS_z
+179 6 posCtrlIndi velRef_x
+180 6 posCtrlIndi velRef_y
+181 6 posCtrlIndi velRef_z
+182 6 posCtrlIndi angS_roll
+183 6 posCtrlIndi angS_pitch
+184 6 posCtrlIndi angS_yaw
+185 6 posCtrlIndi angF_roll
+186 6 posCtrlIndi angF_pitch
+187 6 posCtrlIndi angF_yaw
+188 6 posCtrlIndi accRef_x
+189 6 posCtrlIndi accRef_y
+190 6 posCtrlIndi accRef_z
+191 6 posCtrlIndi accS_x
+192 6 posCtrlIndi accS_y
+193 6 posCtrlIndi accS_z
+194 6 posCtrlIndi accF_x
+195 6 posCtrlIndi accF_y
+196 6 posCtrlIndi accF_z
+197 6 posCtrlIndi accFT_x
+198 6 posCtrlIndi accFT_y
+199 6 posCtrlIndi accFT_z
+200 6 posCtrlIndi accErr_x
+201 6 posCtrlIndi accErr_y
+202 6 posCtrlIndi accErr_z
+203 6 posCtrlIndi phi_tilde
+204 6 posCtrlIndi theta_tilde
+205 6 posCtrlIndi T_tilde
+206 6 posCtrlIndi T_inner
+207 6 posCtrlIndi T_inner_f
+208 6 posCtrlIndi T_incremented
+209 6 posCtrlIndi cmd_phi
+210 6 posCtrlIndi cmd_theta
+211 6 estimator rtApnd
+212 6 estimator rtRej
+228 6 ctrlMel cmd_thrust
+229 6 ctrlMel cmd_roll
+230 6 ctrlMel cmd_pitch
+231 6 ctrlMel cmd_yaw
+232 6 ctrlMel r_roll
+233 6 ctrlMel r_pitch
+234 6 ctrlMel r_yaw
+235 6 ctrlMel accelz
+236 6 ctrlMel zdx
+237 6 ctrlMel zdy
+238 6 ctrlMel zdz
+239 6 ctrlMel i_err_x
+240 6 ctrlMel i_err_y
+241 6 ctrlMel i_err_z
+242 6 ctrlINDI cmd_thrust
+243 6 ctrlINDI cmd_roll
+244 6 ctrlINDI cmd_pitch
+245 6 ctrlINDI cmd_yaw
+246 6 ctrlINDI r_roll
+247 6 ctrlINDI r_pitch
+248 6 ctrlINDI r_yaw
+249 6 ctrlINDI u_act_dyn_p
+250 6 ctrlINDI u_act_dyn_q
+251 6 ctrlINDI u_act_dyn_r
+252 6 ctrlINDI du_p
+253 6 ctrlINDI du_q
+254 6 ctrlINDI du_r
+255 6 ctrlINDI ang_accel_ref_p
+256 6 ctrlINDI ang_accel_ref_q
+257 6 ctrlINDI ang_accel_ref_r
+258 6 ctrlINDI rate_d[0]
+259 6 ctrlINDI rate_d[1]
+260 6 ctrlINDI rate_d[2]
+261 6 ctrlINDI uf_p
+262 6 ctrlINDI uf_q
+263 6 ctrlINDI uf_r
+264 6 ctrlINDI Omega_f_p
+265 6 ctrlINDI Omega_f_q
+266 6 ctrlINDI Omega_f_r
+267 6 ctrlINDI n_p
+268 6 ctrlINDI n_q
+269 6 ctrlINDI n_r
+270 6 s_pid_attitude roll_outP
+271 6 s_pid_attitude roll_outI
+272 6 s_pid_attitude roll_outD
+273 6 s_pid_attitude pitch_outP
+274 6 s_pid_attitude pitch_outI
+275 6 s_pid_attitude pitch_outD
+276 6 s_pid_attitude yaw_outP
+277 6 s_pid_attitude yaw_outI
+278 6 s_pid_attitude yaw_outD
+279 6 s_pid_rate roll_outP
+280 6 s_pid_rate roll_outI
+281 6 s_pid_rate roll_outD
+282 6 s_pid_rate pitch_outP
+283 6 s_pid_rate pitch_outI
+284 6 s_pid_rate pitch_outD
+285 6 s_pid_rate yaw_outP
+286 6 s_pid_rate yaw_outI
+287 6 s_pid_rate yaw_outD
+288 6 ctrlStdnt cmd_thrust
+289 6 ctrlStdnt cmd_roll
+290 6 ctrlStdnt cmd_pitch
+291 6 ctrlStdnt cmd_yaw
+292 6 ctrlStdnt r_roll
+293 6 ctrlStdnt r_pitch
+294 6 ctrlStdnt r_yaw
+295 6 ctrlStdnt accelz
+296 6 ctrlStdnt thrustDesired
+297 6 ctrlStdnt roll
+298 6 ctrlStdnt pitch
+299 6 ctrlStdnt yaw
+300 6 ctrlStdnt rollRate
+301 6 ctrlStdnt pitchRate
+302 6 ctrlStdnt yawRate
+303 10 motor m1
+304 10 motor m2
+305 10 motor m3
+306 10 motor m4
+307 10 colAv latency
+308 6 health motorVarXM1
+309 6 health motorVarYM1
+310 6 health motorVarXM2
+311 6 health motorVarYM2
+312 6 health motorVarXM3
+313 6 health motorVarYM3
+314 6 health motorVarXM4
+315 6 health motorVarYM4
+316 8 health motorPass
+317 6 health batterySag
+318 8 health batteryPass
+319 9 health motorTestCount
+320 8 kalman inFlight
+321 6 kalman stateX
+322 6 kalman stateY
+323 6 kalman stateZ
+324 6 kalman statePX
+325 6 kalman statePY
+326 6 kalman statePZ
+327 6 kalman stateD0
+328 6 kalman stateD1
+329 6 kalman stateD2
+330 6 kalman varX
+331 6 kalman varY
+332 6 kalman varZ
+333 6 kalman varPX
+334 6 kalman varPY
+335 6 kalman varPZ
+336 6 kalman varD0
+337 6 kalman varD1
+338 6 kalman varD2
+339 6 kalman q0
+340 6 kalman q1
+341 6 kalman q2
+342 6 kalman q3
+343 6 kalman rtUpdate
+344 6 kalman rtPred
+345 6 kalman rtFinal
+346 2 outlierf lhWin
+427 2 outlierf bucket0
+428 2 outlierf bucket1
+429 2 outlierf bucket2
+430 2 outlierf bucket3
+431 2 outlierf bucket4
+432 6 outlierf accLev
+433 6 outlierf errD
+347 6 kalman_pred predNX
+348 6 kalman_pred predNY
+349 6 kalman_pred measNX
+350 6 kalman_pred measNY
+351 6 ring fadeTime
+352 2 gps lat
+353 2 gps lon
+354 6 gps hMSL
+355 6 gps hAcc
+356 2 gps nsat
+357 2 gps fix
+358 6 usd spiWrBps
+359 6 usd spiReBps
+360 6 usd fatWrBps
+361 8 loco mode
+362 6 loco spiWr
+363 6 loco spiRe
+364 9 ranging state
+365 6 ranging distance0
+366 6 ranging distance1
+367 6 ranging distance2
+368 6 ranging distance3
+369 6 ranging distance4
+370 6 ranging distance5
+371 6 ranging distance6
+372 6 ranging distance7
+373 6 ranging pressure0
+374 6 ranging pressure1
+375 6 ranging pressure2
+376 6 ranging pressure3
+377 6 ranging pressure4
+378 6 ranging pressure5
+379 6 ranging pressure6
+380 6 ranging pressure7
+381 8 twr rangingSuccessRate0
+382 8 twr rangingPerSec0
+383 8 twr rangingSuccessRate1
+384 8 twr rangingPerSec1
+385 8 twr rangingSuccessRate2
+386 8 twr rangingPerSec2
+387 8 twr rangingSuccessRate3
+388 8 twr rangingPerSec3
+389 8 twr rangingSuccessRate4
+390 8 twr rangingPerSec4
+391 8 twr rangingSuccessRate5
+392 8 twr rangingPerSec5
+393 6 tdoa2 d7-0
+394 6 tdoa2 d0-1
+395 6 tdoa2 d1-2
+396 6 tdoa2 d2-3
+397 6 tdoa2 d3-4
+398 6 tdoa2 d4-5
+399 6 tdoa2 d5-6
+400 6 tdoa2 d6-7
+401 6 tdoa2 cc0
+402 6 tdoa2 cc1
+403 6 tdoa2 cc2
+404 6 tdoa2 cc3
+405 6 tdoa2 cc4
+406 6 tdoa2 cc5
+407 6 tdoa2 cc6
+408 6 tdoa2 cc7
+409 9 tdoa2 dist7-0
+410 9 tdoa2 dist0-1
+411 9 tdoa2 dist1-2
+412 9 tdoa2 dist2-3
+413 9 tdoa2 dist3-4
+414 9 tdoa2 dist4-5
+415 9 tdoa2 dist5-6
+416 9 tdoa2 dist6-7
+417 6 tdoaEngine stRx
+418 6 tdoaEngine stEst
+419 6 tdoaEngine stTime
+420 6 tdoaEngine stFound
+421 6 tdoaEngine stCc
+422 6 tdoaEngine stHit
+423 6 tdoaEngine stMiss
+424 6 tdoaEngine cc
+425 9 tdoaEngine tof
+426 6 tdoaEngine tdoa
+434 8 motion motion
+435 1 motion deltaX
+436 1 motion deltaY
+437 9 motion shutter
+438 8 motion maxRaw
+439 8 motion minRaw
+440 8 motion Rawsum
+441 8 motion outlierCount
+442 8 motion squal
+443 6 motion std
+444 9 oa front
+445 9 oa back
+446 9 oa up
+447 9 oa left
+448 9 oa right
+449 8 activeMarker btSns
+450 8 activeMarker i2cOk
+451 8 aideck receivebyte
+452 8 lighthouse validAngles
+453 6 lighthouse rawAngle0x
+454 6 lighthouse rawAngle0y
+455 6 lighthouse rawAngle1x
+456 6 lighthouse rawAngle1y
+457 6 lighthouse angle0x
+458 6 lighthouse angle0y
+459 6 lighthouse angle1x
+460 6 lighthouse angle1y
+461 6 lighthouse angle0x_1
+462 6 lighthouse angle0y_1
+463 6 lighthouse angle1x_1
+464 6 lighthouse angle1y_1
+465 6 lighthouse angle0x_2
+466 6 lighthouse angle0y_2
+467 6 lighthouse angle1x_2
+468 6 lighthouse angle1y_2
+469 6 lighthouse angle0x_3
+470 6 lighthouse angle0y_3
+471 6 lighthouse angle1x_3
+472 6 lighthouse angle1y_3
+473 6 lighthouse rawAngle0xlh2
+474 6 lighthouse rawAngle0ylh2
+475 6 lighthouse rawAngle1xlh2
+476 6 lighthouse rawAngle1ylh2
+477 6 lighthouse angle0x_0lh2
+478 6 lighthouse angle0y_0lh2
+479 6 lighthouse angle1x_0lh2
+480 6 lighthouse angle1y_0lh2
+481 6 lighthouse serRt
+482 6 lighthouse frmRt
+483 6 lighthouse cycleRt
+484 6 lighthouse bs0Rt
+485 6 lighthouse bs1Rt
+486 9 lighthouse width0
+487 9 lighthouse width1
+488 9 lighthouse width2
+489 9 lighthouse width3
+490 8 lighthouse comSync
+491 9 lighthouse bsReceive
+492 9 lighthouse bsActive
+493 9 lighthouse bsCalUd
+494 9 lighthouse bsCalCon
+495 8 lighthouse status
+496 6 lighthouse posRt
+497 6 lighthouse estBs0Rt
+498 6 lighthouse estBs1Rt
+499 6 lighthouse x
+500 6 lighthouse y
+501 6 lighthouse z
+502 6 lighthouse delta
+503 9 lighthouse bsGeoVal
+504 9 lighthouse bsCalVal
diff --git a/cflib_groundstation/logs/cflie1_Log_toc_2023_11_21_21:42:40.txt b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_21_21:42:40.txt
new file mode 100644
index 000000000..5f7bea63c
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_21_21:42:40.txt
@@ -0,0 +1,506 @@
+Log ID Type Group Identifier Name
+0 1 gyro xRaw
+1 1 gyro yRaw
+2 1 gyro zRaw
+3 6 gyro xVariance
+4 6 gyro yVariance
+5 6 gyro zVariance
+108 6 gyro x
+109 6 gyro y
+110 6 gyro z
+6 10 pwm m1_pwm
+7 10 pwm m2_pwm
+8 10 pwm m3_pwm
+9 10 pwm m4_pwm
+10 9 crtp rxRate
+11 9 crtp txRate
+12 6 pm vbat
+13 9 pm vbatMV
+14 6 pm extVbat
+15 9 pm extVbatMV
+16 6 pm extCurr
+17 6 pm chargeCurrent
+18 0 pm state
+19 8 pm batteryLevel
+20 8 radio rssi
+21 8 radio isConnected
+22 0 sys armed
+38 8 sys canfly
+39 8 sys isFlying
+40 8 sys isTumbled
+23 9 extrx ch0
+24 9 extrx ch1
+25 9 extrx ch2
+26 9 extrx ch3
+27 9 extrx thrust
+28 6 extrx roll
+29 6 extrx pitch
+30 6 extrx yaw
+31 10 memTst errCntW
+32 9 range front
+33 9 range back
+34 9 range up
+35 9 range left
+36 9 range right
+37 9 range zrange
+41 6 ext_pos X
+42 6 ext_pos Y
+43 6 ext_pos Z
+44 6 locSrv x
+45 6 locSrv y
+46 6 locSrv z
+47 6 locSrv qx
+48 6 locSrv qy
+49 6 locSrv qz
+50 6 locSrv qw
+51 9 locSrvZ tick
+52 6 pid_attitude roll_outP
+53 6 pid_attitude roll_outI
+54 6 pid_attitude roll_outD
+55 6 pid_attitude pitch_outP
+56 6 pid_attitude pitch_outI
+57 6 pid_attitude pitch_outD
+58 6 pid_attitude yaw_outP
+59 6 pid_attitude yaw_outI
+60 6 pid_attitude yaw_outD
+61 6 pid_rate roll_outP
+62 6 pid_rate roll_outI
+63 6 pid_rate roll_outD
+64 6 pid_rate pitch_outP
+65 6 pid_rate pitch_outI
+66 6 pid_rate pitch_outD
+67 6 pid_rate yaw_outP
+68 6 pid_rate yaw_outI
+69 6 pid_rate yaw_outD
+70 6 sensfusion6 qw
+71 6 sensfusion6 qx
+72 6 sensfusion6 qy
+73 6 sensfusion6 qz
+74 6 sensfusion6 gravityX
+75 6 sensfusion6 gravityY
+76 6 sensfusion6 gravityZ
+77 6 sensfusion6 accZbase
+78 8 sensfusion6 isInit
+79 8 sensfusion6 isCalibrated
+80 6 acc x
+81 6 acc y
+82 6 acc z
+83 6 baro asl
+84 6 baro temp
+85 6 baro pressure
+86 1 controller ctr_yaw
+213 6 controller cmd_thrust
+214 6 controller cmd_roll
+215 6 controller cmd_pitch
+216 6 controller cmd_yaw
+217 6 controller r_roll
+218 6 controller r_pitch
+219 6 controller r_yaw
+220 6 controller accelz
+221 6 controller actuatorThrust
+222 6 controller roll
+223 6 controller pitch
+224 6 controller yaw
+225 6 controller rollRate
+226 6 controller pitchRate
+227 6 controller yawRate
+87 6 ctrltarget x
+88 6 ctrltarget y
+89 6 ctrltarget z
+90 6 ctrltarget vx
+91 6 ctrltarget vy
+92 6 ctrltarget vz
+93 6 ctrltarget ax
+94 6 ctrltarget ay
+95 6 ctrltarget az
+96 6 ctrltarget roll
+97 6 ctrltarget pitch
+98 6 ctrltarget yaw
+99 1 ctrltargetZ x
+100 1 ctrltargetZ y
+101 1 ctrltargetZ z
+102 1 ctrltargetZ vx
+103 1 ctrltargetZ vy
+104 1 ctrltargetZ vz
+105 1 ctrltargetZ ax
+106 1 ctrltargetZ ay
+107 1 ctrltargetZ az
+111 6 mag x
+112 6 mag y
+113 6 mag z
+114 6 stabilizer roll
+115 6 stabilizer pitch
+116 6 stabilizer yaw
+117 6 stabilizer thrust
+118 6 stabilizer rtStab
+119 10 stabilizer intToOut
+120 6 stateEstimate x
+121 6 stateEstimate y
+122 6 stateEstimate z
+123 6 stateEstimate vx
+124 6 stateEstimate vy
+125 6 stateEstimate vz
+126 6 stateEstimate ax
+127 6 stateEstimate ay
+128 6 stateEstimate az
+129 6 stateEstimate roll
+130 6 stateEstimate pitch
+131 6 stateEstimate yaw
+132 6 stateEstimate qx
+133 6 stateEstimate qy
+134 6 stateEstimate qz
+135 6 stateEstimate qw
+136 1 stateEstimateZ x
+137 1 stateEstimateZ y
+138 1 stateEstimateZ z
+139 1 stateEstimateZ vx
+140 1 stateEstimateZ vy
+141 1 stateEstimateZ vz
+142 1 stateEstimateZ ax
+143 1 stateEstimateZ ay
+144 1 stateEstimateZ az
+145 10 stateEstimateZ quat
+146 1 stateEstimateZ rateRoll
+147 1 stateEstimateZ ratePitch
+148 1 stateEstimateZ rateYaw
+149 6 posEstAlt estimatedZ
+150 6 posEstAlt estVZ
+151 6 posEstAlt velocityZ
+152 6 posCtl targetVX
+153 6 posCtl targetVY
+154 6 posCtl targetVZ
+155 6 posCtl targetX
+156 6 posCtl targetY
+157 6 posCtl targetZ
+158 6 posCtl Xp
+159 6 posCtl Xi
+160 6 posCtl Xd
+161 6 posCtl Yp
+162 6 posCtl Yi
+163 6 posCtl Yd
+164 6 posCtl Zp
+165 6 posCtl Zi
+166 6 posCtl Zd
+167 6 posCtl VXp
+168 6 posCtl VXi
+169 6 posCtl VXd
+170 6 posCtl VZp
+171 6 posCtl VZi
+172 6 posCtl VZd
+173 6 posCtrlIndi posRef_x
+174 6 posCtrlIndi posRef_y
+175 6 posCtrlIndi posRef_z
+176 6 posCtrlIndi velS_x
+177 6 posCtrlIndi velS_y
+178 6 posCtrlIndi velS_z
+179 6 posCtrlIndi velRef_x
+180 6 posCtrlIndi velRef_y
+181 6 posCtrlIndi velRef_z
+182 6 posCtrlIndi angS_roll
+183 6 posCtrlIndi angS_pitch
+184 6 posCtrlIndi angS_yaw
+185 6 posCtrlIndi angF_roll
+186 6 posCtrlIndi angF_pitch
+187 6 posCtrlIndi angF_yaw
+188 6 posCtrlIndi accRef_x
+189 6 posCtrlIndi accRef_y
+190 6 posCtrlIndi accRef_z
+191 6 posCtrlIndi accS_x
+192 6 posCtrlIndi accS_y
+193 6 posCtrlIndi accS_z
+194 6 posCtrlIndi accF_x
+195 6 posCtrlIndi accF_y
+196 6 posCtrlIndi accF_z
+197 6 posCtrlIndi accFT_x
+198 6 posCtrlIndi accFT_y
+199 6 posCtrlIndi accFT_z
+200 6 posCtrlIndi accErr_x
+201 6 posCtrlIndi accErr_y
+202 6 posCtrlIndi accErr_z
+203 6 posCtrlIndi phi_tilde
+204 6 posCtrlIndi theta_tilde
+205 6 posCtrlIndi T_tilde
+206 6 posCtrlIndi T_inner
+207 6 posCtrlIndi T_inner_f
+208 6 posCtrlIndi T_incremented
+209 6 posCtrlIndi cmd_phi
+210 6 posCtrlIndi cmd_theta
+211 6 estimator rtApnd
+212 6 estimator rtRej
+228 6 ctrlMel cmd_thrust
+229 6 ctrlMel cmd_roll
+230 6 ctrlMel cmd_pitch
+231 6 ctrlMel cmd_yaw
+232 6 ctrlMel r_roll
+233 6 ctrlMel r_pitch
+234 6 ctrlMel r_yaw
+235 6 ctrlMel accelz
+236 6 ctrlMel zdx
+237 6 ctrlMel zdy
+238 6 ctrlMel zdz
+239 6 ctrlMel i_err_x
+240 6 ctrlMel i_err_y
+241 6 ctrlMel i_err_z
+242 6 ctrlINDI cmd_thrust
+243 6 ctrlINDI cmd_roll
+244 6 ctrlINDI cmd_pitch
+245 6 ctrlINDI cmd_yaw
+246 6 ctrlINDI r_roll
+247 6 ctrlINDI r_pitch
+248 6 ctrlINDI r_yaw
+249 6 ctrlINDI u_act_dyn_p
+250 6 ctrlINDI u_act_dyn_q
+251 6 ctrlINDI u_act_dyn_r
+252 6 ctrlINDI du_p
+253 6 ctrlINDI du_q
+254 6 ctrlINDI du_r
+255 6 ctrlINDI ang_accel_ref_p
+256 6 ctrlINDI ang_accel_ref_q
+257 6 ctrlINDI ang_accel_ref_r
+258 6 ctrlINDI rate_d[0]
+259 6 ctrlINDI rate_d[1]
+260 6 ctrlINDI rate_d[2]
+261 6 ctrlINDI uf_p
+262 6 ctrlINDI uf_q
+263 6 ctrlINDI uf_r
+264 6 ctrlINDI Omega_f_p
+265 6 ctrlINDI Omega_f_q
+266 6 ctrlINDI Omega_f_r
+267 6 ctrlINDI n_p
+268 6 ctrlINDI n_q
+269 6 ctrlINDI n_r
+270 6 s_pid_attitude roll_outP
+271 6 s_pid_attitude roll_outI
+272 6 s_pid_attitude roll_outD
+273 6 s_pid_attitude pitch_outP
+274 6 s_pid_attitude pitch_outI
+275 6 s_pid_attitude pitch_outD
+276 6 s_pid_attitude yaw_outP
+277 6 s_pid_attitude yaw_outI
+278 6 s_pid_attitude yaw_outD
+279 6 s_pid_rate roll_outP
+280 6 s_pid_rate roll_outI
+281 6 s_pid_rate roll_outD
+282 6 s_pid_rate pitch_outP
+283 6 s_pid_rate pitch_outI
+284 6 s_pid_rate pitch_outD
+285 6 s_pid_rate yaw_outP
+286 6 s_pid_rate yaw_outI
+287 6 s_pid_rate yaw_outD
+288 6 ctrlStdnt cmd_thrust
+289 6 ctrlStdnt cmd_roll
+290 6 ctrlStdnt cmd_pitch
+291 6 ctrlStdnt cmd_yaw
+292 6 ctrlStdnt r_roll
+293 6 ctrlStdnt r_pitch
+294 6 ctrlStdnt r_yaw
+295 6 ctrlStdnt accelz
+296 6 ctrlStdnt thrustDesired
+297 6 ctrlStdnt roll
+298 6 ctrlStdnt pitch
+299 6 ctrlStdnt yaw
+300 6 ctrlStdnt rollRate
+301 6 ctrlStdnt pitchRate
+302 6 ctrlStdnt yawRate
+303 10 motor m1
+304 10 motor m2
+305 10 motor m3
+306 10 motor m4
+307 10 colAv latency
+308 6 health motorVarXM1
+309 6 health motorVarYM1
+310 6 health motorVarXM2
+311 6 health motorVarYM2
+312 6 health motorVarXM3
+313 6 health motorVarYM3
+314 6 health motorVarXM4
+315 6 health motorVarYM4
+316 8 health motorPass
+317 6 health batterySag
+318 8 health batteryPass
+319 9 health motorTestCount
+320 8 kalman inFlight
+321 6 kalman stateX
+322 6 kalman stateY
+323 6 kalman stateZ
+324 6 kalman statePX
+325 6 kalman statePY
+326 6 kalman statePZ
+327 6 kalman stateD0
+328 6 kalman stateD1
+329 6 kalman stateD2
+330 6 kalman varX
+331 6 kalman varY
+332 6 kalman varZ
+333 6 kalman varPX
+334 6 kalman varPY
+335 6 kalman varPZ
+336 6 kalman varD0
+337 6 kalman varD1
+338 6 kalman varD2
+339 6 kalman q0
+340 6 kalman q1
+341 6 kalman q2
+342 6 kalman q3
+343 6 kalman rtUpdate
+344 6 kalman rtPred
+345 6 kalman rtFinal
+346 2 outlierf lhWin
+427 2 outlierf bucket0
+428 2 outlierf bucket1
+429 2 outlierf bucket2
+430 2 outlierf bucket3
+431 2 outlierf bucket4
+432 6 outlierf accLev
+433 6 outlierf errD
+347 6 kalman_pred predNX
+348 6 kalman_pred predNY
+349 6 kalman_pred measNX
+350 6 kalman_pred measNY
+351 6 ring fadeTime
+352 2 gps lat
+353 2 gps lon
+354 6 gps hMSL
+355 6 gps hAcc
+356 2 gps nsat
+357 2 gps fix
+358 6 usd spiWrBps
+359 6 usd spiReBps
+360 6 usd fatWrBps
+361 8 loco mode
+362 6 loco spiWr
+363 6 loco spiRe
+364 9 ranging state
+365 6 ranging distance0
+366 6 ranging distance1
+367 6 ranging distance2
+368 6 ranging distance3
+369 6 ranging distance4
+370 6 ranging distance5
+371 6 ranging distance6
+372 6 ranging distance7
+373 6 ranging pressure0
+374 6 ranging pressure1
+375 6 ranging pressure2
+376 6 ranging pressure3
+377 6 ranging pressure4
+378 6 ranging pressure5
+379 6 ranging pressure6
+380 6 ranging pressure7
+381 8 twr rangingSuccessRate0
+382 8 twr rangingPerSec0
+383 8 twr rangingSuccessRate1
+384 8 twr rangingPerSec1
+385 8 twr rangingSuccessRate2
+386 8 twr rangingPerSec2
+387 8 twr rangingSuccessRate3
+388 8 twr rangingPerSec3
+389 8 twr rangingSuccessRate4
+390 8 twr rangingPerSec4
+391 8 twr rangingSuccessRate5
+392 8 twr rangingPerSec5
+393 6 tdoa2 d7-0
+394 6 tdoa2 d0-1
+395 6 tdoa2 d1-2
+396 6 tdoa2 d2-3
+397 6 tdoa2 d3-4
+398 6 tdoa2 d4-5
+399 6 tdoa2 d5-6
+400 6 tdoa2 d6-7
+401 6 tdoa2 cc0
+402 6 tdoa2 cc1
+403 6 tdoa2 cc2
+404 6 tdoa2 cc3
+405 6 tdoa2 cc4
+406 6 tdoa2 cc5
+407 6 tdoa2 cc6
+408 6 tdoa2 cc7
+409 9 tdoa2 dist7-0
+410 9 tdoa2 dist0-1
+411 9 tdoa2 dist1-2
+412 9 tdoa2 dist2-3
+413 9 tdoa2 dist3-4
+414 9 tdoa2 dist4-5
+415 9 tdoa2 dist5-6
+416 9 tdoa2 dist6-7
+417 6 tdoaEngine stRx
+418 6 tdoaEngine stEst
+419 6 tdoaEngine stTime
+420 6 tdoaEngine stFound
+421 6 tdoaEngine stCc
+422 6 tdoaEngine stHit
+423 6 tdoaEngine stMiss
+424 6 tdoaEngine cc
+425 9 tdoaEngine tof
+426 6 tdoaEngine tdoa
+434 8 motion motion
+435 1 motion deltaX
+436 1 motion deltaY
+437 9 motion shutter
+438 8 motion maxRaw
+439 8 motion minRaw
+440 8 motion Rawsum
+441 8 motion outlierCount
+442 8 motion squal
+443 6 motion std
+444 9 oa front
+445 9 oa back
+446 9 oa up
+447 9 oa left
+448 9 oa right
+449 8 activeMarker btSns
+450 8 activeMarker i2cOk
+451 8 aideck receivebyte
+452 8 lighthouse validAngles
+453 6 lighthouse rawAngle0x
+454 6 lighthouse rawAngle0y
+455 6 lighthouse rawAngle1x
+456 6 lighthouse rawAngle1y
+457 6 lighthouse angle0x
+458 6 lighthouse angle0y
+459 6 lighthouse angle1x
+460 6 lighthouse angle1y
+461 6 lighthouse angle0x_1
+462 6 lighthouse angle0y_1
+463 6 lighthouse angle1x_1
+464 6 lighthouse angle1y_1
+465 6 lighthouse angle0x_2
+466 6 lighthouse angle0y_2
+467 6 lighthouse angle1x_2
+468 6 lighthouse angle1y_2
+469 6 lighthouse angle0x_3
+470 6 lighthouse angle0y_3
+471 6 lighthouse angle1x_3
+472 6 lighthouse angle1y_3
+473 6 lighthouse rawAngle0xlh2
+474 6 lighthouse rawAngle0ylh2
+475 6 lighthouse rawAngle1xlh2
+476 6 lighthouse rawAngle1ylh2
+477 6 lighthouse angle0x_0lh2
+478 6 lighthouse angle0y_0lh2
+479 6 lighthouse angle1x_0lh2
+480 6 lighthouse angle1y_0lh2
+481 6 lighthouse serRt
+482 6 lighthouse frmRt
+483 6 lighthouse cycleRt
+484 6 lighthouse bs0Rt
+485 6 lighthouse bs1Rt
+486 9 lighthouse width0
+487 9 lighthouse width1
+488 9 lighthouse width2
+489 9 lighthouse width3
+490 8 lighthouse comSync
+491 9 lighthouse bsReceive
+492 9 lighthouse bsActive
+493 9 lighthouse bsCalUd
+494 9 lighthouse bsCalCon
+495 8 lighthouse status
+496 6 lighthouse posRt
+497 6 lighthouse estBs0Rt
+498 6 lighthouse estBs1Rt
+499 6 lighthouse x
+500 6 lighthouse y
+501 6 lighthouse z
+502 6 lighthouse delta
+503 9 lighthouse bsGeoVal
+504 9 lighthouse bsCalVal
diff --git a/cflib_groundstation/logs/cflie1_Log_toc_2023_11_21_21:46:35.txt b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_21_21:46:35.txt
new file mode 100644
index 000000000..5f7bea63c
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_21_21:46:35.txt
@@ -0,0 +1,506 @@
+Log ID Type Group Identifier Name
+0 1 gyro xRaw
+1 1 gyro yRaw
+2 1 gyro zRaw
+3 6 gyro xVariance
+4 6 gyro yVariance
+5 6 gyro zVariance
+108 6 gyro x
+109 6 gyro y
+110 6 gyro z
+6 10 pwm m1_pwm
+7 10 pwm m2_pwm
+8 10 pwm m3_pwm
+9 10 pwm m4_pwm
+10 9 crtp rxRate
+11 9 crtp txRate
+12 6 pm vbat
+13 9 pm vbatMV
+14 6 pm extVbat
+15 9 pm extVbatMV
+16 6 pm extCurr
+17 6 pm chargeCurrent
+18 0 pm state
+19 8 pm batteryLevel
+20 8 radio rssi
+21 8 radio isConnected
+22 0 sys armed
+38 8 sys canfly
+39 8 sys isFlying
+40 8 sys isTumbled
+23 9 extrx ch0
+24 9 extrx ch1
+25 9 extrx ch2
+26 9 extrx ch3
+27 9 extrx thrust
+28 6 extrx roll
+29 6 extrx pitch
+30 6 extrx yaw
+31 10 memTst errCntW
+32 9 range front
+33 9 range back
+34 9 range up
+35 9 range left
+36 9 range right
+37 9 range zrange
+41 6 ext_pos X
+42 6 ext_pos Y
+43 6 ext_pos Z
+44 6 locSrv x
+45 6 locSrv y
+46 6 locSrv z
+47 6 locSrv qx
+48 6 locSrv qy
+49 6 locSrv qz
+50 6 locSrv qw
+51 9 locSrvZ tick
+52 6 pid_attitude roll_outP
+53 6 pid_attitude roll_outI
+54 6 pid_attitude roll_outD
+55 6 pid_attitude pitch_outP
+56 6 pid_attitude pitch_outI
+57 6 pid_attitude pitch_outD
+58 6 pid_attitude yaw_outP
+59 6 pid_attitude yaw_outI
+60 6 pid_attitude yaw_outD
+61 6 pid_rate roll_outP
+62 6 pid_rate roll_outI
+63 6 pid_rate roll_outD
+64 6 pid_rate pitch_outP
+65 6 pid_rate pitch_outI
+66 6 pid_rate pitch_outD
+67 6 pid_rate yaw_outP
+68 6 pid_rate yaw_outI
+69 6 pid_rate yaw_outD
+70 6 sensfusion6 qw
+71 6 sensfusion6 qx
+72 6 sensfusion6 qy
+73 6 sensfusion6 qz
+74 6 sensfusion6 gravityX
+75 6 sensfusion6 gravityY
+76 6 sensfusion6 gravityZ
+77 6 sensfusion6 accZbase
+78 8 sensfusion6 isInit
+79 8 sensfusion6 isCalibrated
+80 6 acc x
+81 6 acc y
+82 6 acc z
+83 6 baro asl
+84 6 baro temp
+85 6 baro pressure
+86 1 controller ctr_yaw
+213 6 controller cmd_thrust
+214 6 controller cmd_roll
+215 6 controller cmd_pitch
+216 6 controller cmd_yaw
+217 6 controller r_roll
+218 6 controller r_pitch
+219 6 controller r_yaw
+220 6 controller accelz
+221 6 controller actuatorThrust
+222 6 controller roll
+223 6 controller pitch
+224 6 controller yaw
+225 6 controller rollRate
+226 6 controller pitchRate
+227 6 controller yawRate
+87 6 ctrltarget x
+88 6 ctrltarget y
+89 6 ctrltarget z
+90 6 ctrltarget vx
+91 6 ctrltarget vy
+92 6 ctrltarget vz
+93 6 ctrltarget ax
+94 6 ctrltarget ay
+95 6 ctrltarget az
+96 6 ctrltarget roll
+97 6 ctrltarget pitch
+98 6 ctrltarget yaw
+99 1 ctrltargetZ x
+100 1 ctrltargetZ y
+101 1 ctrltargetZ z
+102 1 ctrltargetZ vx
+103 1 ctrltargetZ vy
+104 1 ctrltargetZ vz
+105 1 ctrltargetZ ax
+106 1 ctrltargetZ ay
+107 1 ctrltargetZ az
+111 6 mag x
+112 6 mag y
+113 6 mag z
+114 6 stabilizer roll
+115 6 stabilizer pitch
+116 6 stabilizer yaw
+117 6 stabilizer thrust
+118 6 stabilizer rtStab
+119 10 stabilizer intToOut
+120 6 stateEstimate x
+121 6 stateEstimate y
+122 6 stateEstimate z
+123 6 stateEstimate vx
+124 6 stateEstimate vy
+125 6 stateEstimate vz
+126 6 stateEstimate ax
+127 6 stateEstimate ay
+128 6 stateEstimate az
+129 6 stateEstimate roll
+130 6 stateEstimate pitch
+131 6 stateEstimate yaw
+132 6 stateEstimate qx
+133 6 stateEstimate qy
+134 6 stateEstimate qz
+135 6 stateEstimate qw
+136 1 stateEstimateZ x
+137 1 stateEstimateZ y
+138 1 stateEstimateZ z
+139 1 stateEstimateZ vx
+140 1 stateEstimateZ vy
+141 1 stateEstimateZ vz
+142 1 stateEstimateZ ax
+143 1 stateEstimateZ ay
+144 1 stateEstimateZ az
+145 10 stateEstimateZ quat
+146 1 stateEstimateZ rateRoll
+147 1 stateEstimateZ ratePitch
+148 1 stateEstimateZ rateYaw
+149 6 posEstAlt estimatedZ
+150 6 posEstAlt estVZ
+151 6 posEstAlt velocityZ
+152 6 posCtl targetVX
+153 6 posCtl targetVY
+154 6 posCtl targetVZ
+155 6 posCtl targetX
+156 6 posCtl targetY
+157 6 posCtl targetZ
+158 6 posCtl Xp
+159 6 posCtl Xi
+160 6 posCtl Xd
+161 6 posCtl Yp
+162 6 posCtl Yi
+163 6 posCtl Yd
+164 6 posCtl Zp
+165 6 posCtl Zi
+166 6 posCtl Zd
+167 6 posCtl VXp
+168 6 posCtl VXi
+169 6 posCtl VXd
+170 6 posCtl VZp
+171 6 posCtl VZi
+172 6 posCtl VZd
+173 6 posCtrlIndi posRef_x
+174 6 posCtrlIndi posRef_y
+175 6 posCtrlIndi posRef_z
+176 6 posCtrlIndi velS_x
+177 6 posCtrlIndi velS_y
+178 6 posCtrlIndi velS_z
+179 6 posCtrlIndi velRef_x
+180 6 posCtrlIndi velRef_y
+181 6 posCtrlIndi velRef_z
+182 6 posCtrlIndi angS_roll
+183 6 posCtrlIndi angS_pitch
+184 6 posCtrlIndi angS_yaw
+185 6 posCtrlIndi angF_roll
+186 6 posCtrlIndi angF_pitch
+187 6 posCtrlIndi angF_yaw
+188 6 posCtrlIndi accRef_x
+189 6 posCtrlIndi accRef_y
+190 6 posCtrlIndi accRef_z
+191 6 posCtrlIndi accS_x
+192 6 posCtrlIndi accS_y
+193 6 posCtrlIndi accS_z
+194 6 posCtrlIndi accF_x
+195 6 posCtrlIndi accF_y
+196 6 posCtrlIndi accF_z
+197 6 posCtrlIndi accFT_x
+198 6 posCtrlIndi accFT_y
+199 6 posCtrlIndi accFT_z
+200 6 posCtrlIndi accErr_x
+201 6 posCtrlIndi accErr_y
+202 6 posCtrlIndi accErr_z
+203 6 posCtrlIndi phi_tilde
+204 6 posCtrlIndi theta_tilde
+205 6 posCtrlIndi T_tilde
+206 6 posCtrlIndi T_inner
+207 6 posCtrlIndi T_inner_f
+208 6 posCtrlIndi T_incremented
+209 6 posCtrlIndi cmd_phi
+210 6 posCtrlIndi cmd_theta
+211 6 estimator rtApnd
+212 6 estimator rtRej
+228 6 ctrlMel cmd_thrust
+229 6 ctrlMel cmd_roll
+230 6 ctrlMel cmd_pitch
+231 6 ctrlMel cmd_yaw
+232 6 ctrlMel r_roll
+233 6 ctrlMel r_pitch
+234 6 ctrlMel r_yaw
+235 6 ctrlMel accelz
+236 6 ctrlMel zdx
+237 6 ctrlMel zdy
+238 6 ctrlMel zdz
+239 6 ctrlMel i_err_x
+240 6 ctrlMel i_err_y
+241 6 ctrlMel i_err_z
+242 6 ctrlINDI cmd_thrust
+243 6 ctrlINDI cmd_roll
+244 6 ctrlINDI cmd_pitch
+245 6 ctrlINDI cmd_yaw
+246 6 ctrlINDI r_roll
+247 6 ctrlINDI r_pitch
+248 6 ctrlINDI r_yaw
+249 6 ctrlINDI u_act_dyn_p
+250 6 ctrlINDI u_act_dyn_q
+251 6 ctrlINDI u_act_dyn_r
+252 6 ctrlINDI du_p
+253 6 ctrlINDI du_q
+254 6 ctrlINDI du_r
+255 6 ctrlINDI ang_accel_ref_p
+256 6 ctrlINDI ang_accel_ref_q
+257 6 ctrlINDI ang_accel_ref_r
+258 6 ctrlINDI rate_d[0]
+259 6 ctrlINDI rate_d[1]
+260 6 ctrlINDI rate_d[2]
+261 6 ctrlINDI uf_p
+262 6 ctrlINDI uf_q
+263 6 ctrlINDI uf_r
+264 6 ctrlINDI Omega_f_p
+265 6 ctrlINDI Omega_f_q
+266 6 ctrlINDI Omega_f_r
+267 6 ctrlINDI n_p
+268 6 ctrlINDI n_q
+269 6 ctrlINDI n_r
+270 6 s_pid_attitude roll_outP
+271 6 s_pid_attitude roll_outI
+272 6 s_pid_attitude roll_outD
+273 6 s_pid_attitude pitch_outP
+274 6 s_pid_attitude pitch_outI
+275 6 s_pid_attitude pitch_outD
+276 6 s_pid_attitude yaw_outP
+277 6 s_pid_attitude yaw_outI
+278 6 s_pid_attitude yaw_outD
+279 6 s_pid_rate roll_outP
+280 6 s_pid_rate roll_outI
+281 6 s_pid_rate roll_outD
+282 6 s_pid_rate pitch_outP
+283 6 s_pid_rate pitch_outI
+284 6 s_pid_rate pitch_outD
+285 6 s_pid_rate yaw_outP
+286 6 s_pid_rate yaw_outI
+287 6 s_pid_rate yaw_outD
+288 6 ctrlStdnt cmd_thrust
+289 6 ctrlStdnt cmd_roll
+290 6 ctrlStdnt cmd_pitch
+291 6 ctrlStdnt cmd_yaw
+292 6 ctrlStdnt r_roll
+293 6 ctrlStdnt r_pitch
+294 6 ctrlStdnt r_yaw
+295 6 ctrlStdnt accelz
+296 6 ctrlStdnt thrustDesired
+297 6 ctrlStdnt roll
+298 6 ctrlStdnt pitch
+299 6 ctrlStdnt yaw
+300 6 ctrlStdnt rollRate
+301 6 ctrlStdnt pitchRate
+302 6 ctrlStdnt yawRate
+303 10 motor m1
+304 10 motor m2
+305 10 motor m3
+306 10 motor m4
+307 10 colAv latency
+308 6 health motorVarXM1
+309 6 health motorVarYM1
+310 6 health motorVarXM2
+311 6 health motorVarYM2
+312 6 health motorVarXM3
+313 6 health motorVarYM3
+314 6 health motorVarXM4
+315 6 health motorVarYM4
+316 8 health motorPass
+317 6 health batterySag
+318 8 health batteryPass
+319 9 health motorTestCount
+320 8 kalman inFlight
+321 6 kalman stateX
+322 6 kalman stateY
+323 6 kalman stateZ
+324 6 kalman statePX
+325 6 kalman statePY
+326 6 kalman statePZ
+327 6 kalman stateD0
+328 6 kalman stateD1
+329 6 kalman stateD2
+330 6 kalman varX
+331 6 kalman varY
+332 6 kalman varZ
+333 6 kalman varPX
+334 6 kalman varPY
+335 6 kalman varPZ
+336 6 kalman varD0
+337 6 kalman varD1
+338 6 kalman varD2
+339 6 kalman q0
+340 6 kalman q1
+341 6 kalman q2
+342 6 kalman q3
+343 6 kalman rtUpdate
+344 6 kalman rtPred
+345 6 kalman rtFinal
+346 2 outlierf lhWin
+427 2 outlierf bucket0
+428 2 outlierf bucket1
+429 2 outlierf bucket2
+430 2 outlierf bucket3
+431 2 outlierf bucket4
+432 6 outlierf accLev
+433 6 outlierf errD
+347 6 kalman_pred predNX
+348 6 kalman_pred predNY
+349 6 kalman_pred measNX
+350 6 kalman_pred measNY
+351 6 ring fadeTime
+352 2 gps lat
+353 2 gps lon
+354 6 gps hMSL
+355 6 gps hAcc
+356 2 gps nsat
+357 2 gps fix
+358 6 usd spiWrBps
+359 6 usd spiReBps
+360 6 usd fatWrBps
+361 8 loco mode
+362 6 loco spiWr
+363 6 loco spiRe
+364 9 ranging state
+365 6 ranging distance0
+366 6 ranging distance1
+367 6 ranging distance2
+368 6 ranging distance3
+369 6 ranging distance4
+370 6 ranging distance5
+371 6 ranging distance6
+372 6 ranging distance7
+373 6 ranging pressure0
+374 6 ranging pressure1
+375 6 ranging pressure2
+376 6 ranging pressure3
+377 6 ranging pressure4
+378 6 ranging pressure5
+379 6 ranging pressure6
+380 6 ranging pressure7
+381 8 twr rangingSuccessRate0
+382 8 twr rangingPerSec0
+383 8 twr rangingSuccessRate1
+384 8 twr rangingPerSec1
+385 8 twr rangingSuccessRate2
+386 8 twr rangingPerSec2
+387 8 twr rangingSuccessRate3
+388 8 twr rangingPerSec3
+389 8 twr rangingSuccessRate4
+390 8 twr rangingPerSec4
+391 8 twr rangingSuccessRate5
+392 8 twr rangingPerSec5
+393 6 tdoa2 d7-0
+394 6 tdoa2 d0-1
+395 6 tdoa2 d1-2
+396 6 tdoa2 d2-3
+397 6 tdoa2 d3-4
+398 6 tdoa2 d4-5
+399 6 tdoa2 d5-6
+400 6 tdoa2 d6-7
+401 6 tdoa2 cc0
+402 6 tdoa2 cc1
+403 6 tdoa2 cc2
+404 6 tdoa2 cc3
+405 6 tdoa2 cc4
+406 6 tdoa2 cc5
+407 6 tdoa2 cc6
+408 6 tdoa2 cc7
+409 9 tdoa2 dist7-0
+410 9 tdoa2 dist0-1
+411 9 tdoa2 dist1-2
+412 9 tdoa2 dist2-3
+413 9 tdoa2 dist3-4
+414 9 tdoa2 dist4-5
+415 9 tdoa2 dist5-6
+416 9 tdoa2 dist6-7
+417 6 tdoaEngine stRx
+418 6 tdoaEngine stEst
+419 6 tdoaEngine stTime
+420 6 tdoaEngine stFound
+421 6 tdoaEngine stCc
+422 6 tdoaEngine stHit
+423 6 tdoaEngine stMiss
+424 6 tdoaEngine cc
+425 9 tdoaEngine tof
+426 6 tdoaEngine tdoa
+434 8 motion motion
+435 1 motion deltaX
+436 1 motion deltaY
+437 9 motion shutter
+438 8 motion maxRaw
+439 8 motion minRaw
+440 8 motion Rawsum
+441 8 motion outlierCount
+442 8 motion squal
+443 6 motion std
+444 9 oa front
+445 9 oa back
+446 9 oa up
+447 9 oa left
+448 9 oa right
+449 8 activeMarker btSns
+450 8 activeMarker i2cOk
+451 8 aideck receivebyte
+452 8 lighthouse validAngles
+453 6 lighthouse rawAngle0x
+454 6 lighthouse rawAngle0y
+455 6 lighthouse rawAngle1x
+456 6 lighthouse rawAngle1y
+457 6 lighthouse angle0x
+458 6 lighthouse angle0y
+459 6 lighthouse angle1x
+460 6 lighthouse angle1y
+461 6 lighthouse angle0x_1
+462 6 lighthouse angle0y_1
+463 6 lighthouse angle1x_1
+464 6 lighthouse angle1y_1
+465 6 lighthouse angle0x_2
+466 6 lighthouse angle0y_2
+467 6 lighthouse angle1x_2
+468 6 lighthouse angle1y_2
+469 6 lighthouse angle0x_3
+470 6 lighthouse angle0y_3
+471 6 lighthouse angle1x_3
+472 6 lighthouse angle1y_3
+473 6 lighthouse rawAngle0xlh2
+474 6 lighthouse rawAngle0ylh2
+475 6 lighthouse rawAngle1xlh2
+476 6 lighthouse rawAngle1ylh2
+477 6 lighthouse angle0x_0lh2
+478 6 lighthouse angle0y_0lh2
+479 6 lighthouse angle1x_0lh2
+480 6 lighthouse angle1y_0lh2
+481 6 lighthouse serRt
+482 6 lighthouse frmRt
+483 6 lighthouse cycleRt
+484 6 lighthouse bs0Rt
+485 6 lighthouse bs1Rt
+486 9 lighthouse width0
+487 9 lighthouse width1
+488 9 lighthouse width2
+489 9 lighthouse width3
+490 8 lighthouse comSync
+491 9 lighthouse bsReceive
+492 9 lighthouse bsActive
+493 9 lighthouse bsCalUd
+494 9 lighthouse bsCalCon
+495 8 lighthouse status
+496 6 lighthouse posRt
+497 6 lighthouse estBs0Rt
+498 6 lighthouse estBs1Rt
+499 6 lighthouse x
+500 6 lighthouse y
+501 6 lighthouse z
+502 6 lighthouse delta
+503 9 lighthouse bsGeoVal
+504 9 lighthouse bsCalVal
diff --git a/cflib_groundstation/logs/cflie1_Log_toc_2023_11_21_21:49:43.txt b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_21_21:49:43.txt
new file mode 100644
index 000000000..5f7bea63c
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_21_21:49:43.txt
@@ -0,0 +1,506 @@
+Log ID Type Group Identifier Name
+0 1 gyro xRaw
+1 1 gyro yRaw
+2 1 gyro zRaw
+3 6 gyro xVariance
+4 6 gyro yVariance
+5 6 gyro zVariance
+108 6 gyro x
+109 6 gyro y
+110 6 gyro z
+6 10 pwm m1_pwm
+7 10 pwm m2_pwm
+8 10 pwm m3_pwm
+9 10 pwm m4_pwm
+10 9 crtp rxRate
+11 9 crtp txRate
+12 6 pm vbat
+13 9 pm vbatMV
+14 6 pm extVbat
+15 9 pm extVbatMV
+16 6 pm extCurr
+17 6 pm chargeCurrent
+18 0 pm state
+19 8 pm batteryLevel
+20 8 radio rssi
+21 8 radio isConnected
+22 0 sys armed
+38 8 sys canfly
+39 8 sys isFlying
+40 8 sys isTumbled
+23 9 extrx ch0
+24 9 extrx ch1
+25 9 extrx ch2
+26 9 extrx ch3
+27 9 extrx thrust
+28 6 extrx roll
+29 6 extrx pitch
+30 6 extrx yaw
+31 10 memTst errCntW
+32 9 range front
+33 9 range back
+34 9 range up
+35 9 range left
+36 9 range right
+37 9 range zrange
+41 6 ext_pos X
+42 6 ext_pos Y
+43 6 ext_pos Z
+44 6 locSrv x
+45 6 locSrv y
+46 6 locSrv z
+47 6 locSrv qx
+48 6 locSrv qy
+49 6 locSrv qz
+50 6 locSrv qw
+51 9 locSrvZ tick
+52 6 pid_attitude roll_outP
+53 6 pid_attitude roll_outI
+54 6 pid_attitude roll_outD
+55 6 pid_attitude pitch_outP
+56 6 pid_attitude pitch_outI
+57 6 pid_attitude pitch_outD
+58 6 pid_attitude yaw_outP
+59 6 pid_attitude yaw_outI
+60 6 pid_attitude yaw_outD
+61 6 pid_rate roll_outP
+62 6 pid_rate roll_outI
+63 6 pid_rate roll_outD
+64 6 pid_rate pitch_outP
+65 6 pid_rate pitch_outI
+66 6 pid_rate pitch_outD
+67 6 pid_rate yaw_outP
+68 6 pid_rate yaw_outI
+69 6 pid_rate yaw_outD
+70 6 sensfusion6 qw
+71 6 sensfusion6 qx
+72 6 sensfusion6 qy
+73 6 sensfusion6 qz
+74 6 sensfusion6 gravityX
+75 6 sensfusion6 gravityY
+76 6 sensfusion6 gravityZ
+77 6 sensfusion6 accZbase
+78 8 sensfusion6 isInit
+79 8 sensfusion6 isCalibrated
+80 6 acc x
+81 6 acc y
+82 6 acc z
+83 6 baro asl
+84 6 baro temp
+85 6 baro pressure
+86 1 controller ctr_yaw
+213 6 controller cmd_thrust
+214 6 controller cmd_roll
+215 6 controller cmd_pitch
+216 6 controller cmd_yaw
+217 6 controller r_roll
+218 6 controller r_pitch
+219 6 controller r_yaw
+220 6 controller accelz
+221 6 controller actuatorThrust
+222 6 controller roll
+223 6 controller pitch
+224 6 controller yaw
+225 6 controller rollRate
+226 6 controller pitchRate
+227 6 controller yawRate
+87 6 ctrltarget x
+88 6 ctrltarget y
+89 6 ctrltarget z
+90 6 ctrltarget vx
+91 6 ctrltarget vy
+92 6 ctrltarget vz
+93 6 ctrltarget ax
+94 6 ctrltarget ay
+95 6 ctrltarget az
+96 6 ctrltarget roll
+97 6 ctrltarget pitch
+98 6 ctrltarget yaw
+99 1 ctrltargetZ x
+100 1 ctrltargetZ y
+101 1 ctrltargetZ z
+102 1 ctrltargetZ vx
+103 1 ctrltargetZ vy
+104 1 ctrltargetZ vz
+105 1 ctrltargetZ ax
+106 1 ctrltargetZ ay
+107 1 ctrltargetZ az
+111 6 mag x
+112 6 mag y
+113 6 mag z
+114 6 stabilizer roll
+115 6 stabilizer pitch
+116 6 stabilizer yaw
+117 6 stabilizer thrust
+118 6 stabilizer rtStab
+119 10 stabilizer intToOut
+120 6 stateEstimate x
+121 6 stateEstimate y
+122 6 stateEstimate z
+123 6 stateEstimate vx
+124 6 stateEstimate vy
+125 6 stateEstimate vz
+126 6 stateEstimate ax
+127 6 stateEstimate ay
+128 6 stateEstimate az
+129 6 stateEstimate roll
+130 6 stateEstimate pitch
+131 6 stateEstimate yaw
+132 6 stateEstimate qx
+133 6 stateEstimate qy
+134 6 stateEstimate qz
+135 6 stateEstimate qw
+136 1 stateEstimateZ x
+137 1 stateEstimateZ y
+138 1 stateEstimateZ z
+139 1 stateEstimateZ vx
+140 1 stateEstimateZ vy
+141 1 stateEstimateZ vz
+142 1 stateEstimateZ ax
+143 1 stateEstimateZ ay
+144 1 stateEstimateZ az
+145 10 stateEstimateZ quat
+146 1 stateEstimateZ rateRoll
+147 1 stateEstimateZ ratePitch
+148 1 stateEstimateZ rateYaw
+149 6 posEstAlt estimatedZ
+150 6 posEstAlt estVZ
+151 6 posEstAlt velocityZ
+152 6 posCtl targetVX
+153 6 posCtl targetVY
+154 6 posCtl targetVZ
+155 6 posCtl targetX
+156 6 posCtl targetY
+157 6 posCtl targetZ
+158 6 posCtl Xp
+159 6 posCtl Xi
+160 6 posCtl Xd
+161 6 posCtl Yp
+162 6 posCtl Yi
+163 6 posCtl Yd
+164 6 posCtl Zp
+165 6 posCtl Zi
+166 6 posCtl Zd
+167 6 posCtl VXp
+168 6 posCtl VXi
+169 6 posCtl VXd
+170 6 posCtl VZp
+171 6 posCtl VZi
+172 6 posCtl VZd
+173 6 posCtrlIndi posRef_x
+174 6 posCtrlIndi posRef_y
+175 6 posCtrlIndi posRef_z
+176 6 posCtrlIndi velS_x
+177 6 posCtrlIndi velS_y
+178 6 posCtrlIndi velS_z
+179 6 posCtrlIndi velRef_x
+180 6 posCtrlIndi velRef_y
+181 6 posCtrlIndi velRef_z
+182 6 posCtrlIndi angS_roll
+183 6 posCtrlIndi angS_pitch
+184 6 posCtrlIndi angS_yaw
+185 6 posCtrlIndi angF_roll
+186 6 posCtrlIndi angF_pitch
+187 6 posCtrlIndi angF_yaw
+188 6 posCtrlIndi accRef_x
+189 6 posCtrlIndi accRef_y
+190 6 posCtrlIndi accRef_z
+191 6 posCtrlIndi accS_x
+192 6 posCtrlIndi accS_y
+193 6 posCtrlIndi accS_z
+194 6 posCtrlIndi accF_x
+195 6 posCtrlIndi accF_y
+196 6 posCtrlIndi accF_z
+197 6 posCtrlIndi accFT_x
+198 6 posCtrlIndi accFT_y
+199 6 posCtrlIndi accFT_z
+200 6 posCtrlIndi accErr_x
+201 6 posCtrlIndi accErr_y
+202 6 posCtrlIndi accErr_z
+203 6 posCtrlIndi phi_tilde
+204 6 posCtrlIndi theta_tilde
+205 6 posCtrlIndi T_tilde
+206 6 posCtrlIndi T_inner
+207 6 posCtrlIndi T_inner_f
+208 6 posCtrlIndi T_incremented
+209 6 posCtrlIndi cmd_phi
+210 6 posCtrlIndi cmd_theta
+211 6 estimator rtApnd
+212 6 estimator rtRej
+228 6 ctrlMel cmd_thrust
+229 6 ctrlMel cmd_roll
+230 6 ctrlMel cmd_pitch
+231 6 ctrlMel cmd_yaw
+232 6 ctrlMel r_roll
+233 6 ctrlMel r_pitch
+234 6 ctrlMel r_yaw
+235 6 ctrlMel accelz
+236 6 ctrlMel zdx
+237 6 ctrlMel zdy
+238 6 ctrlMel zdz
+239 6 ctrlMel i_err_x
+240 6 ctrlMel i_err_y
+241 6 ctrlMel i_err_z
+242 6 ctrlINDI cmd_thrust
+243 6 ctrlINDI cmd_roll
+244 6 ctrlINDI cmd_pitch
+245 6 ctrlINDI cmd_yaw
+246 6 ctrlINDI r_roll
+247 6 ctrlINDI r_pitch
+248 6 ctrlINDI r_yaw
+249 6 ctrlINDI u_act_dyn_p
+250 6 ctrlINDI u_act_dyn_q
+251 6 ctrlINDI u_act_dyn_r
+252 6 ctrlINDI du_p
+253 6 ctrlINDI du_q
+254 6 ctrlINDI du_r
+255 6 ctrlINDI ang_accel_ref_p
+256 6 ctrlINDI ang_accel_ref_q
+257 6 ctrlINDI ang_accel_ref_r
+258 6 ctrlINDI rate_d[0]
+259 6 ctrlINDI rate_d[1]
+260 6 ctrlINDI rate_d[2]
+261 6 ctrlINDI uf_p
+262 6 ctrlINDI uf_q
+263 6 ctrlINDI uf_r
+264 6 ctrlINDI Omega_f_p
+265 6 ctrlINDI Omega_f_q
+266 6 ctrlINDI Omega_f_r
+267 6 ctrlINDI n_p
+268 6 ctrlINDI n_q
+269 6 ctrlINDI n_r
+270 6 s_pid_attitude roll_outP
+271 6 s_pid_attitude roll_outI
+272 6 s_pid_attitude roll_outD
+273 6 s_pid_attitude pitch_outP
+274 6 s_pid_attitude pitch_outI
+275 6 s_pid_attitude pitch_outD
+276 6 s_pid_attitude yaw_outP
+277 6 s_pid_attitude yaw_outI
+278 6 s_pid_attitude yaw_outD
+279 6 s_pid_rate roll_outP
+280 6 s_pid_rate roll_outI
+281 6 s_pid_rate roll_outD
+282 6 s_pid_rate pitch_outP
+283 6 s_pid_rate pitch_outI
+284 6 s_pid_rate pitch_outD
+285 6 s_pid_rate yaw_outP
+286 6 s_pid_rate yaw_outI
+287 6 s_pid_rate yaw_outD
+288 6 ctrlStdnt cmd_thrust
+289 6 ctrlStdnt cmd_roll
+290 6 ctrlStdnt cmd_pitch
+291 6 ctrlStdnt cmd_yaw
+292 6 ctrlStdnt r_roll
+293 6 ctrlStdnt r_pitch
+294 6 ctrlStdnt r_yaw
+295 6 ctrlStdnt accelz
+296 6 ctrlStdnt thrustDesired
+297 6 ctrlStdnt roll
+298 6 ctrlStdnt pitch
+299 6 ctrlStdnt yaw
+300 6 ctrlStdnt rollRate
+301 6 ctrlStdnt pitchRate
+302 6 ctrlStdnt yawRate
+303 10 motor m1
+304 10 motor m2
+305 10 motor m3
+306 10 motor m4
+307 10 colAv latency
+308 6 health motorVarXM1
+309 6 health motorVarYM1
+310 6 health motorVarXM2
+311 6 health motorVarYM2
+312 6 health motorVarXM3
+313 6 health motorVarYM3
+314 6 health motorVarXM4
+315 6 health motorVarYM4
+316 8 health motorPass
+317 6 health batterySag
+318 8 health batteryPass
+319 9 health motorTestCount
+320 8 kalman inFlight
+321 6 kalman stateX
+322 6 kalman stateY
+323 6 kalman stateZ
+324 6 kalman statePX
+325 6 kalman statePY
+326 6 kalman statePZ
+327 6 kalman stateD0
+328 6 kalman stateD1
+329 6 kalman stateD2
+330 6 kalman varX
+331 6 kalman varY
+332 6 kalman varZ
+333 6 kalman varPX
+334 6 kalman varPY
+335 6 kalman varPZ
+336 6 kalman varD0
+337 6 kalman varD1
+338 6 kalman varD2
+339 6 kalman q0
+340 6 kalman q1
+341 6 kalman q2
+342 6 kalman q3
+343 6 kalman rtUpdate
+344 6 kalman rtPred
+345 6 kalman rtFinal
+346 2 outlierf lhWin
+427 2 outlierf bucket0
+428 2 outlierf bucket1
+429 2 outlierf bucket2
+430 2 outlierf bucket3
+431 2 outlierf bucket4
+432 6 outlierf accLev
+433 6 outlierf errD
+347 6 kalman_pred predNX
+348 6 kalman_pred predNY
+349 6 kalman_pred measNX
+350 6 kalman_pred measNY
+351 6 ring fadeTime
+352 2 gps lat
+353 2 gps lon
+354 6 gps hMSL
+355 6 gps hAcc
+356 2 gps nsat
+357 2 gps fix
+358 6 usd spiWrBps
+359 6 usd spiReBps
+360 6 usd fatWrBps
+361 8 loco mode
+362 6 loco spiWr
+363 6 loco spiRe
+364 9 ranging state
+365 6 ranging distance0
+366 6 ranging distance1
+367 6 ranging distance2
+368 6 ranging distance3
+369 6 ranging distance4
+370 6 ranging distance5
+371 6 ranging distance6
+372 6 ranging distance7
+373 6 ranging pressure0
+374 6 ranging pressure1
+375 6 ranging pressure2
+376 6 ranging pressure3
+377 6 ranging pressure4
+378 6 ranging pressure5
+379 6 ranging pressure6
+380 6 ranging pressure7
+381 8 twr rangingSuccessRate0
+382 8 twr rangingPerSec0
+383 8 twr rangingSuccessRate1
+384 8 twr rangingPerSec1
+385 8 twr rangingSuccessRate2
+386 8 twr rangingPerSec2
+387 8 twr rangingSuccessRate3
+388 8 twr rangingPerSec3
+389 8 twr rangingSuccessRate4
+390 8 twr rangingPerSec4
+391 8 twr rangingSuccessRate5
+392 8 twr rangingPerSec5
+393 6 tdoa2 d7-0
+394 6 tdoa2 d0-1
+395 6 tdoa2 d1-2
+396 6 tdoa2 d2-3
+397 6 tdoa2 d3-4
+398 6 tdoa2 d4-5
+399 6 tdoa2 d5-6
+400 6 tdoa2 d6-7
+401 6 tdoa2 cc0
+402 6 tdoa2 cc1
+403 6 tdoa2 cc2
+404 6 tdoa2 cc3
+405 6 tdoa2 cc4
+406 6 tdoa2 cc5
+407 6 tdoa2 cc6
+408 6 tdoa2 cc7
+409 9 tdoa2 dist7-0
+410 9 tdoa2 dist0-1
+411 9 tdoa2 dist1-2
+412 9 tdoa2 dist2-3
+413 9 tdoa2 dist3-4
+414 9 tdoa2 dist4-5
+415 9 tdoa2 dist5-6
+416 9 tdoa2 dist6-7
+417 6 tdoaEngine stRx
+418 6 tdoaEngine stEst
+419 6 tdoaEngine stTime
+420 6 tdoaEngine stFound
+421 6 tdoaEngine stCc
+422 6 tdoaEngine stHit
+423 6 tdoaEngine stMiss
+424 6 tdoaEngine cc
+425 9 tdoaEngine tof
+426 6 tdoaEngine tdoa
+434 8 motion motion
+435 1 motion deltaX
+436 1 motion deltaY
+437 9 motion shutter
+438 8 motion maxRaw
+439 8 motion minRaw
+440 8 motion Rawsum
+441 8 motion outlierCount
+442 8 motion squal
+443 6 motion std
+444 9 oa front
+445 9 oa back
+446 9 oa up
+447 9 oa left
+448 9 oa right
+449 8 activeMarker btSns
+450 8 activeMarker i2cOk
+451 8 aideck receivebyte
+452 8 lighthouse validAngles
+453 6 lighthouse rawAngle0x
+454 6 lighthouse rawAngle0y
+455 6 lighthouse rawAngle1x
+456 6 lighthouse rawAngle1y
+457 6 lighthouse angle0x
+458 6 lighthouse angle0y
+459 6 lighthouse angle1x
+460 6 lighthouse angle1y
+461 6 lighthouse angle0x_1
+462 6 lighthouse angle0y_1
+463 6 lighthouse angle1x_1
+464 6 lighthouse angle1y_1
+465 6 lighthouse angle0x_2
+466 6 lighthouse angle0y_2
+467 6 lighthouse angle1x_2
+468 6 lighthouse angle1y_2
+469 6 lighthouse angle0x_3
+470 6 lighthouse angle0y_3
+471 6 lighthouse angle1x_3
+472 6 lighthouse angle1y_3
+473 6 lighthouse rawAngle0xlh2
+474 6 lighthouse rawAngle0ylh2
+475 6 lighthouse rawAngle1xlh2
+476 6 lighthouse rawAngle1ylh2
+477 6 lighthouse angle0x_0lh2
+478 6 lighthouse angle0y_0lh2
+479 6 lighthouse angle1x_0lh2
+480 6 lighthouse angle1y_0lh2
+481 6 lighthouse serRt
+482 6 lighthouse frmRt
+483 6 lighthouse cycleRt
+484 6 lighthouse bs0Rt
+485 6 lighthouse bs1Rt
+486 9 lighthouse width0
+487 9 lighthouse width1
+488 9 lighthouse width2
+489 9 lighthouse width3
+490 8 lighthouse comSync
+491 9 lighthouse bsReceive
+492 9 lighthouse bsActive
+493 9 lighthouse bsCalUd
+494 9 lighthouse bsCalCon
+495 8 lighthouse status
+496 6 lighthouse posRt
+497 6 lighthouse estBs0Rt
+498 6 lighthouse estBs1Rt
+499 6 lighthouse x
+500 6 lighthouse y
+501 6 lighthouse z
+502 6 lighthouse delta
+503 9 lighthouse bsGeoVal
+504 9 lighthouse bsCalVal
diff --git a/cflib_groundstation/logs/cflie1_Param_toc_2023_11_21_20:53:22.txt b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_21_20:53:22.txt
new file mode 100644
index 000000000..12008f581
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_21_20:53:22.txt
@@ -0,0 +1,247 @@
+Param ID Type Group Identifier Name
+0 8 imu_sensors AK8963
+1 8 imu_sensors LPS25H
+5 8 imu_sensors BMP388
+2 8 imu_tests MPU6500
+3 8 imu_tests AK8963
+4 8 imu_tests LPS25H
+6 9 cpu flash
+7 10 cpu id0
+8 10 cpu id1
+9 10 cpu id2
+10 0 system selftestPassed
+11 0 system forceArm
+16 8 system taskDump
+208 8 system highlight
+12 9 crtpsrv echoDelay
+13 8 sound effect
+14 10 sound neffect
+15 9 sound freq
+17 8 memTst resetW
+18 0 sys e_stop
+19 8 commander enHighLevel
+20 8 flightmode althold
+21 8 flightmode poshold
+22 8 flightmode posSet
+23 8 flightmode yawMode
+24 8 flightmode stabModeRoll
+25 8 flightmode stabModePitch
+26 8 flightmode stabModeYaw
+27 6 cmdrCPPM rateRoll
+28 6 cmdrCPPM ratePitch
+29 6 cmdrCPPM angPitch
+30 6 cmdrCPPM angRoll
+31 6 cmdrCPPM rateYaw
+32 8 locSrv enRangeStreamFP32
+33 8 locSrv enLhAngleStream
+34 6 locSrv extPosStdDev
+35 6 locSrv extQuatStdDev
+36 6 pid_attitude roll_kp
+37 6 pid_attitude roll_ki
+38 6 pid_attitude roll_kd
+39 6 pid_attitude pitch_kp
+40 6 pid_attitude pitch_ki
+41 6 pid_attitude pitch_kd
+42 6 pid_attitude yaw_kp
+43 6 pid_attitude yaw_ki
+44 6 pid_attitude yaw_kd
+45 6 pid_rate roll_kp
+46 6 pid_rate roll_ki
+47 6 pid_rate roll_kd
+48 6 pid_rate pitch_kp
+49 6 pid_rate pitch_ki
+50 6 pid_rate pitch_kd
+51 6 pid_rate yaw_kp
+52 6 pid_rate yaw_ki
+53 6 pid_rate yaw_kd
+54 6 sensfusion6 kp
+55 6 sensfusion6 ki
+56 6 sensfusion6 baseZacc
+57 8 stabilizer estimator
+58 8 stabilizer controller
+59 8 stabilizer stop
+60 6 posEstAlt estAlphaAsl
+61 6 posEstAlt estAlphaZr
+62 6 posEstAlt velFactor
+63 6 posEstAlt velZAlpha
+64 6 posEstAlt vAccDeadband
+65 6 posCtlPid xKp
+66 6 posCtlPid xKi
+67 6 posCtlPid xKd
+68 6 posCtlPid yKp
+69 6 posCtlPid yKi
+70 6 posCtlPid yKd
+71 6 posCtlPid zKp
+72 6 posCtlPid zKi
+73 6 posCtlPid zKd
+74 9 posCtlPid thrustBase
+75 9 posCtlPid thrustMin
+76 6 posCtlPid rpLimit
+77 6 posCtlPid xyVelMax
+78 6 posCtlPid zVelMax
+79 6 velCtlPid vxKp
+80 6 velCtlPid vxKi
+81 6 velCtlPid vxKd
+82 6 velCtlPid vyKp
+83 6 velCtlPid vyKi
+84 6 velCtlPid vyKd
+85 6 velCtlPid vzKp
+86 6 velCtlPid vzKi
+87 6 velCtlPid vzKd
+88 6 posCtrlIndi K_xi_x
+89 6 posCtrlIndi K_xi_y
+90 6 posCtrlIndi K_xi_z
+91 6 posCtrlIndi K_dxi_x
+92 6 posCtrlIndi K_dxi_y
+93 6 posCtrlIndi K_dxi_z
+94 6 posCtrlIndi pq_clamping
+95 8 controller tiltComp
+96 6 ctrlMel kp_xy
+97 6 ctrlMel kd_xy
+98 6 ctrlMel ki_xy
+99 6 ctrlMel i_range_xy
+100 6 ctrlMel kp_z
+101 6 ctrlMel kd_z
+102 6 ctrlMel ki_z
+103 6 ctrlMel i_range_z
+104 6 ctrlMel mass
+105 6 ctrlMel massThrust
+106 6 ctrlMel kR_xy
+107 6 ctrlMel kR_z
+108 6 ctrlMel kw_xy
+109 6 ctrlMel kw_z
+110 6 ctrlMel ki_m_xy
+111 6 ctrlMel ki_m_z
+112 6 ctrlMel kd_omega_rp
+113 6 ctrlMel i_range_m_xy
+114 6 ctrlMel i_range_m_z
+115 6 ctrlINDI thrust_threshold
+116 6 ctrlINDI bound_ctrl_input
+117 6 ctrlINDI g1_p
+118 6 ctrlINDI g1_q
+119 6 ctrlINDI g1_r
+120 6 ctrlINDI g2
+121 6 ctrlINDI ref_err_p
+122 6 ctrlINDI ref_err_q
+123 6 ctrlINDI ref_err_r
+124 6 ctrlINDI ref_rate_p
+125 6 ctrlINDI ref_rate_q
+126 6 ctrlINDI ref_rate_r
+127 6 ctrlINDI act_dyn_p
+128 6 ctrlINDI act_dyn_q
+129 6 ctrlINDI act_dyn_r
+130 6 ctrlINDI filt_cutoff
+131 6 ctrlINDI filt_cutoff_r
+132 8 ctrlINDI outerLoopActive
+133 6 s_pid_attitude roll_kp
+134 6 s_pid_attitude roll_ki
+135 6 s_pid_attitude roll_kd
+136 6 s_pid_attitude pitch_kp
+137 6 s_pid_attitude pitch_ki
+138 6 s_pid_attitude pitch_kd
+139 6 s_pid_attitude yaw_kp
+140 6 s_pid_attitude yaw_ki
+141 6 s_pid_attitude yaw_kd
+142 6 s_pid_rate roll_kp
+143 6 s_pid_rate roll_ki
+144 6 s_pid_rate roll_kd
+145 6 s_pid_rate pitch_kp
+146 6 s_pid_rate pitch_ki
+147 6 s_pid_rate pitch_kd
+148 6 s_pid_rate yaw_kp
+149 6 s_pid_rate yaw_ki
+150 6 s_pid_rate yaw_kd
+151 8 ctrlStdnt tiltComp
+152 8 ctrlStdnt TEST_PARAM
+153 8 motorPowerSet enable
+154 9 motorPowerSet m1
+155 9 motorPowerSet m2
+156 9 motorPowerSet m3
+157 9 motorPowerSet m4
+158 10 powerDist idleThrust
+159 8 colAv enable
+160 6 colAv ellipsoidX
+161 6 colAv ellipsoidY
+162 6 colAv ellipsoidZ
+163 6 colAv bboxMinX
+164 6 colAv bboxMinY
+165 6 colAv bboxMinZ
+166 6 colAv bboxMaxX
+167 6 colAv bboxMaxY
+168 6 colAv bboxMaxZ
+169 6 colAv horizon
+170 6 colAv maxSpeed
+171 6 colAv sidestepThrsh
+172 2 colAv maxPeerLocAge
+173 6 colAv vorTol
+174 2 colAv vorIters
+175 8 health startPropTest
+176 8 health startBatTest
+177 8 kalman resetEstimation
+178 8 kalman quadIsFlying
+179 8 kalman robustTdoa
+180 8 kalman robustTwr
+181 6 kalman pNAcc_xy
+182 6 kalman pNAcc_z
+183 6 kalman pNVel
+184 6 kalman pNPos
+185 6 kalman pNAtt
+186 6 kalman mNBaro
+187 6 kalman mNGyro_rollpitch
+188 6 kalman mNGyro_yaw
+189 6 kalman initialX
+190 6 kalman initialY
+191 6 kalman initialZ
+192 6 kalman initialYaw
+193 6 kalman maxPos
+194 6 kalman maxVel
+195 6 hlCommander vtoff
+196 6 hlCommander vland
+197 8 deck bcLedRing
+209 8 deck bcBuzzer
+210 8 deck bcGTGPS
+211 8 deck bcCPPM
+212 8 deck bcUSD
+215 8 deck bcZRanger
+216 8 deck bcZRanger2
+217 8 deck bcDWM1000
+222 8 deck bcFlow
+223 8 deck bcFlow2
+227 8 deck bcOA
+228 8 deck bcMultiranger
+229 8 deck bcLighthouse4
+236 8 deck bcActiveMarker
+237 8 deck bcAIDeck
+198 8 ring effect
+199 10 ring neffect
+200 8 ring solidRed
+201 8 ring solidGreen
+202 8 ring solidBlue
+203 8 ring headlightEnable
+204 6 ring emptyCharge
+205 6 ring fullCharge
+206 10 ring fadeColor
+207 6 ring fadeTime
+213 8 usd canLog
+214 8 usd logging
+218 8 loco mode
+219 8 tdoaEngine logId
+220 8 tdoaEngine logOthrId
+221 8 tdoaEngine matchAlgo
+224 8 motion disable
+225 8 motion adaptive
+226 6 motion flowStdFixed
+230 8 activeMarker front
+231 8 activeMarker back
+232 8 activeMarker left
+233 8 activeMarker right
+234 8 activeMarker mode
+235 8 activeMarker poll
+238 10 firmware revision0
+239 9 firmware revision1
+240 8 firmware modified
+241 8 lighthouse method
+242 8 lighthouse bsCalibReset
+243 8 lighthouse systemType
+244 6 lighthouse sweepStd
+245 6 lighthouse sweepStd2
diff --git a/cflib_groundstation/logs/cflie1_Param_toc_2023_11_21_20:58:23.txt b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_21_20:58:23.txt
new file mode 100644
index 000000000..12008f581
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_21_20:58:23.txt
@@ -0,0 +1,247 @@
+Param ID Type Group Identifier Name
+0 8 imu_sensors AK8963
+1 8 imu_sensors LPS25H
+5 8 imu_sensors BMP388
+2 8 imu_tests MPU6500
+3 8 imu_tests AK8963
+4 8 imu_tests LPS25H
+6 9 cpu flash
+7 10 cpu id0
+8 10 cpu id1
+9 10 cpu id2
+10 0 system selftestPassed
+11 0 system forceArm
+16 8 system taskDump
+208 8 system highlight
+12 9 crtpsrv echoDelay
+13 8 sound effect
+14 10 sound neffect
+15 9 sound freq
+17 8 memTst resetW
+18 0 sys e_stop
+19 8 commander enHighLevel
+20 8 flightmode althold
+21 8 flightmode poshold
+22 8 flightmode posSet
+23 8 flightmode yawMode
+24 8 flightmode stabModeRoll
+25 8 flightmode stabModePitch
+26 8 flightmode stabModeYaw
+27 6 cmdrCPPM rateRoll
+28 6 cmdrCPPM ratePitch
+29 6 cmdrCPPM angPitch
+30 6 cmdrCPPM angRoll
+31 6 cmdrCPPM rateYaw
+32 8 locSrv enRangeStreamFP32
+33 8 locSrv enLhAngleStream
+34 6 locSrv extPosStdDev
+35 6 locSrv extQuatStdDev
+36 6 pid_attitude roll_kp
+37 6 pid_attitude roll_ki
+38 6 pid_attitude roll_kd
+39 6 pid_attitude pitch_kp
+40 6 pid_attitude pitch_ki
+41 6 pid_attitude pitch_kd
+42 6 pid_attitude yaw_kp
+43 6 pid_attitude yaw_ki
+44 6 pid_attitude yaw_kd
+45 6 pid_rate roll_kp
+46 6 pid_rate roll_ki
+47 6 pid_rate roll_kd
+48 6 pid_rate pitch_kp
+49 6 pid_rate pitch_ki
+50 6 pid_rate pitch_kd
+51 6 pid_rate yaw_kp
+52 6 pid_rate yaw_ki
+53 6 pid_rate yaw_kd
+54 6 sensfusion6 kp
+55 6 sensfusion6 ki
+56 6 sensfusion6 baseZacc
+57 8 stabilizer estimator
+58 8 stabilizer controller
+59 8 stabilizer stop
+60 6 posEstAlt estAlphaAsl
+61 6 posEstAlt estAlphaZr
+62 6 posEstAlt velFactor
+63 6 posEstAlt velZAlpha
+64 6 posEstAlt vAccDeadband
+65 6 posCtlPid xKp
+66 6 posCtlPid xKi
+67 6 posCtlPid xKd
+68 6 posCtlPid yKp
+69 6 posCtlPid yKi
+70 6 posCtlPid yKd
+71 6 posCtlPid zKp
+72 6 posCtlPid zKi
+73 6 posCtlPid zKd
+74 9 posCtlPid thrustBase
+75 9 posCtlPid thrustMin
+76 6 posCtlPid rpLimit
+77 6 posCtlPid xyVelMax
+78 6 posCtlPid zVelMax
+79 6 velCtlPid vxKp
+80 6 velCtlPid vxKi
+81 6 velCtlPid vxKd
+82 6 velCtlPid vyKp
+83 6 velCtlPid vyKi
+84 6 velCtlPid vyKd
+85 6 velCtlPid vzKp
+86 6 velCtlPid vzKi
+87 6 velCtlPid vzKd
+88 6 posCtrlIndi K_xi_x
+89 6 posCtrlIndi K_xi_y
+90 6 posCtrlIndi K_xi_z
+91 6 posCtrlIndi K_dxi_x
+92 6 posCtrlIndi K_dxi_y
+93 6 posCtrlIndi K_dxi_z
+94 6 posCtrlIndi pq_clamping
+95 8 controller tiltComp
+96 6 ctrlMel kp_xy
+97 6 ctrlMel kd_xy
+98 6 ctrlMel ki_xy
+99 6 ctrlMel i_range_xy
+100 6 ctrlMel kp_z
+101 6 ctrlMel kd_z
+102 6 ctrlMel ki_z
+103 6 ctrlMel i_range_z
+104 6 ctrlMel mass
+105 6 ctrlMel massThrust
+106 6 ctrlMel kR_xy
+107 6 ctrlMel kR_z
+108 6 ctrlMel kw_xy
+109 6 ctrlMel kw_z
+110 6 ctrlMel ki_m_xy
+111 6 ctrlMel ki_m_z
+112 6 ctrlMel kd_omega_rp
+113 6 ctrlMel i_range_m_xy
+114 6 ctrlMel i_range_m_z
+115 6 ctrlINDI thrust_threshold
+116 6 ctrlINDI bound_ctrl_input
+117 6 ctrlINDI g1_p
+118 6 ctrlINDI g1_q
+119 6 ctrlINDI g1_r
+120 6 ctrlINDI g2
+121 6 ctrlINDI ref_err_p
+122 6 ctrlINDI ref_err_q
+123 6 ctrlINDI ref_err_r
+124 6 ctrlINDI ref_rate_p
+125 6 ctrlINDI ref_rate_q
+126 6 ctrlINDI ref_rate_r
+127 6 ctrlINDI act_dyn_p
+128 6 ctrlINDI act_dyn_q
+129 6 ctrlINDI act_dyn_r
+130 6 ctrlINDI filt_cutoff
+131 6 ctrlINDI filt_cutoff_r
+132 8 ctrlINDI outerLoopActive
+133 6 s_pid_attitude roll_kp
+134 6 s_pid_attitude roll_ki
+135 6 s_pid_attitude roll_kd
+136 6 s_pid_attitude pitch_kp
+137 6 s_pid_attitude pitch_ki
+138 6 s_pid_attitude pitch_kd
+139 6 s_pid_attitude yaw_kp
+140 6 s_pid_attitude yaw_ki
+141 6 s_pid_attitude yaw_kd
+142 6 s_pid_rate roll_kp
+143 6 s_pid_rate roll_ki
+144 6 s_pid_rate roll_kd
+145 6 s_pid_rate pitch_kp
+146 6 s_pid_rate pitch_ki
+147 6 s_pid_rate pitch_kd
+148 6 s_pid_rate yaw_kp
+149 6 s_pid_rate yaw_ki
+150 6 s_pid_rate yaw_kd
+151 8 ctrlStdnt tiltComp
+152 8 ctrlStdnt TEST_PARAM
+153 8 motorPowerSet enable
+154 9 motorPowerSet m1
+155 9 motorPowerSet m2
+156 9 motorPowerSet m3
+157 9 motorPowerSet m4
+158 10 powerDist idleThrust
+159 8 colAv enable
+160 6 colAv ellipsoidX
+161 6 colAv ellipsoidY
+162 6 colAv ellipsoidZ
+163 6 colAv bboxMinX
+164 6 colAv bboxMinY
+165 6 colAv bboxMinZ
+166 6 colAv bboxMaxX
+167 6 colAv bboxMaxY
+168 6 colAv bboxMaxZ
+169 6 colAv horizon
+170 6 colAv maxSpeed
+171 6 colAv sidestepThrsh
+172 2 colAv maxPeerLocAge
+173 6 colAv vorTol
+174 2 colAv vorIters
+175 8 health startPropTest
+176 8 health startBatTest
+177 8 kalman resetEstimation
+178 8 kalman quadIsFlying
+179 8 kalman robustTdoa
+180 8 kalman robustTwr
+181 6 kalman pNAcc_xy
+182 6 kalman pNAcc_z
+183 6 kalman pNVel
+184 6 kalman pNPos
+185 6 kalman pNAtt
+186 6 kalman mNBaro
+187 6 kalman mNGyro_rollpitch
+188 6 kalman mNGyro_yaw
+189 6 kalman initialX
+190 6 kalman initialY
+191 6 kalman initialZ
+192 6 kalman initialYaw
+193 6 kalman maxPos
+194 6 kalman maxVel
+195 6 hlCommander vtoff
+196 6 hlCommander vland
+197 8 deck bcLedRing
+209 8 deck bcBuzzer
+210 8 deck bcGTGPS
+211 8 deck bcCPPM
+212 8 deck bcUSD
+215 8 deck bcZRanger
+216 8 deck bcZRanger2
+217 8 deck bcDWM1000
+222 8 deck bcFlow
+223 8 deck bcFlow2
+227 8 deck bcOA
+228 8 deck bcMultiranger
+229 8 deck bcLighthouse4
+236 8 deck bcActiveMarker
+237 8 deck bcAIDeck
+198 8 ring effect
+199 10 ring neffect
+200 8 ring solidRed
+201 8 ring solidGreen
+202 8 ring solidBlue
+203 8 ring headlightEnable
+204 6 ring emptyCharge
+205 6 ring fullCharge
+206 10 ring fadeColor
+207 6 ring fadeTime
+213 8 usd canLog
+214 8 usd logging
+218 8 loco mode
+219 8 tdoaEngine logId
+220 8 tdoaEngine logOthrId
+221 8 tdoaEngine matchAlgo
+224 8 motion disable
+225 8 motion adaptive
+226 6 motion flowStdFixed
+230 8 activeMarker front
+231 8 activeMarker back
+232 8 activeMarker left
+233 8 activeMarker right
+234 8 activeMarker mode
+235 8 activeMarker poll
+238 10 firmware revision0
+239 9 firmware revision1
+240 8 firmware modified
+241 8 lighthouse method
+242 8 lighthouse bsCalibReset
+243 8 lighthouse systemType
+244 6 lighthouse sweepStd
+245 6 lighthouse sweepStd2
diff --git a/cflib_groundstation/logs/cflie1_Param_toc_2023_11_21_21:14:52.txt b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_21_21:14:52.txt
new file mode 100644
index 000000000..12008f581
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_21_21:14:52.txt
@@ -0,0 +1,247 @@
+Param ID Type Group Identifier Name
+0 8 imu_sensors AK8963
+1 8 imu_sensors LPS25H
+5 8 imu_sensors BMP388
+2 8 imu_tests MPU6500
+3 8 imu_tests AK8963
+4 8 imu_tests LPS25H
+6 9 cpu flash
+7 10 cpu id0
+8 10 cpu id1
+9 10 cpu id2
+10 0 system selftestPassed
+11 0 system forceArm
+16 8 system taskDump
+208 8 system highlight
+12 9 crtpsrv echoDelay
+13 8 sound effect
+14 10 sound neffect
+15 9 sound freq
+17 8 memTst resetW
+18 0 sys e_stop
+19 8 commander enHighLevel
+20 8 flightmode althold
+21 8 flightmode poshold
+22 8 flightmode posSet
+23 8 flightmode yawMode
+24 8 flightmode stabModeRoll
+25 8 flightmode stabModePitch
+26 8 flightmode stabModeYaw
+27 6 cmdrCPPM rateRoll
+28 6 cmdrCPPM ratePitch
+29 6 cmdrCPPM angPitch
+30 6 cmdrCPPM angRoll
+31 6 cmdrCPPM rateYaw
+32 8 locSrv enRangeStreamFP32
+33 8 locSrv enLhAngleStream
+34 6 locSrv extPosStdDev
+35 6 locSrv extQuatStdDev
+36 6 pid_attitude roll_kp
+37 6 pid_attitude roll_ki
+38 6 pid_attitude roll_kd
+39 6 pid_attitude pitch_kp
+40 6 pid_attitude pitch_ki
+41 6 pid_attitude pitch_kd
+42 6 pid_attitude yaw_kp
+43 6 pid_attitude yaw_ki
+44 6 pid_attitude yaw_kd
+45 6 pid_rate roll_kp
+46 6 pid_rate roll_ki
+47 6 pid_rate roll_kd
+48 6 pid_rate pitch_kp
+49 6 pid_rate pitch_ki
+50 6 pid_rate pitch_kd
+51 6 pid_rate yaw_kp
+52 6 pid_rate yaw_ki
+53 6 pid_rate yaw_kd
+54 6 sensfusion6 kp
+55 6 sensfusion6 ki
+56 6 sensfusion6 baseZacc
+57 8 stabilizer estimator
+58 8 stabilizer controller
+59 8 stabilizer stop
+60 6 posEstAlt estAlphaAsl
+61 6 posEstAlt estAlphaZr
+62 6 posEstAlt velFactor
+63 6 posEstAlt velZAlpha
+64 6 posEstAlt vAccDeadband
+65 6 posCtlPid xKp
+66 6 posCtlPid xKi
+67 6 posCtlPid xKd
+68 6 posCtlPid yKp
+69 6 posCtlPid yKi
+70 6 posCtlPid yKd
+71 6 posCtlPid zKp
+72 6 posCtlPid zKi
+73 6 posCtlPid zKd
+74 9 posCtlPid thrustBase
+75 9 posCtlPid thrustMin
+76 6 posCtlPid rpLimit
+77 6 posCtlPid xyVelMax
+78 6 posCtlPid zVelMax
+79 6 velCtlPid vxKp
+80 6 velCtlPid vxKi
+81 6 velCtlPid vxKd
+82 6 velCtlPid vyKp
+83 6 velCtlPid vyKi
+84 6 velCtlPid vyKd
+85 6 velCtlPid vzKp
+86 6 velCtlPid vzKi
+87 6 velCtlPid vzKd
+88 6 posCtrlIndi K_xi_x
+89 6 posCtrlIndi K_xi_y
+90 6 posCtrlIndi K_xi_z
+91 6 posCtrlIndi K_dxi_x
+92 6 posCtrlIndi K_dxi_y
+93 6 posCtrlIndi K_dxi_z
+94 6 posCtrlIndi pq_clamping
+95 8 controller tiltComp
+96 6 ctrlMel kp_xy
+97 6 ctrlMel kd_xy
+98 6 ctrlMel ki_xy
+99 6 ctrlMel i_range_xy
+100 6 ctrlMel kp_z
+101 6 ctrlMel kd_z
+102 6 ctrlMel ki_z
+103 6 ctrlMel i_range_z
+104 6 ctrlMel mass
+105 6 ctrlMel massThrust
+106 6 ctrlMel kR_xy
+107 6 ctrlMel kR_z
+108 6 ctrlMel kw_xy
+109 6 ctrlMel kw_z
+110 6 ctrlMel ki_m_xy
+111 6 ctrlMel ki_m_z
+112 6 ctrlMel kd_omega_rp
+113 6 ctrlMel i_range_m_xy
+114 6 ctrlMel i_range_m_z
+115 6 ctrlINDI thrust_threshold
+116 6 ctrlINDI bound_ctrl_input
+117 6 ctrlINDI g1_p
+118 6 ctrlINDI g1_q
+119 6 ctrlINDI g1_r
+120 6 ctrlINDI g2
+121 6 ctrlINDI ref_err_p
+122 6 ctrlINDI ref_err_q
+123 6 ctrlINDI ref_err_r
+124 6 ctrlINDI ref_rate_p
+125 6 ctrlINDI ref_rate_q
+126 6 ctrlINDI ref_rate_r
+127 6 ctrlINDI act_dyn_p
+128 6 ctrlINDI act_dyn_q
+129 6 ctrlINDI act_dyn_r
+130 6 ctrlINDI filt_cutoff
+131 6 ctrlINDI filt_cutoff_r
+132 8 ctrlINDI outerLoopActive
+133 6 s_pid_attitude roll_kp
+134 6 s_pid_attitude roll_ki
+135 6 s_pid_attitude roll_kd
+136 6 s_pid_attitude pitch_kp
+137 6 s_pid_attitude pitch_ki
+138 6 s_pid_attitude pitch_kd
+139 6 s_pid_attitude yaw_kp
+140 6 s_pid_attitude yaw_ki
+141 6 s_pid_attitude yaw_kd
+142 6 s_pid_rate roll_kp
+143 6 s_pid_rate roll_ki
+144 6 s_pid_rate roll_kd
+145 6 s_pid_rate pitch_kp
+146 6 s_pid_rate pitch_ki
+147 6 s_pid_rate pitch_kd
+148 6 s_pid_rate yaw_kp
+149 6 s_pid_rate yaw_ki
+150 6 s_pid_rate yaw_kd
+151 8 ctrlStdnt tiltComp
+152 8 ctrlStdnt TEST_PARAM
+153 8 motorPowerSet enable
+154 9 motorPowerSet m1
+155 9 motorPowerSet m2
+156 9 motorPowerSet m3
+157 9 motorPowerSet m4
+158 10 powerDist idleThrust
+159 8 colAv enable
+160 6 colAv ellipsoidX
+161 6 colAv ellipsoidY
+162 6 colAv ellipsoidZ
+163 6 colAv bboxMinX
+164 6 colAv bboxMinY
+165 6 colAv bboxMinZ
+166 6 colAv bboxMaxX
+167 6 colAv bboxMaxY
+168 6 colAv bboxMaxZ
+169 6 colAv horizon
+170 6 colAv maxSpeed
+171 6 colAv sidestepThrsh
+172 2 colAv maxPeerLocAge
+173 6 colAv vorTol
+174 2 colAv vorIters
+175 8 health startPropTest
+176 8 health startBatTest
+177 8 kalman resetEstimation
+178 8 kalman quadIsFlying
+179 8 kalman robustTdoa
+180 8 kalman robustTwr
+181 6 kalman pNAcc_xy
+182 6 kalman pNAcc_z
+183 6 kalman pNVel
+184 6 kalman pNPos
+185 6 kalman pNAtt
+186 6 kalman mNBaro
+187 6 kalman mNGyro_rollpitch
+188 6 kalman mNGyro_yaw
+189 6 kalman initialX
+190 6 kalman initialY
+191 6 kalman initialZ
+192 6 kalman initialYaw
+193 6 kalman maxPos
+194 6 kalman maxVel
+195 6 hlCommander vtoff
+196 6 hlCommander vland
+197 8 deck bcLedRing
+209 8 deck bcBuzzer
+210 8 deck bcGTGPS
+211 8 deck bcCPPM
+212 8 deck bcUSD
+215 8 deck bcZRanger
+216 8 deck bcZRanger2
+217 8 deck bcDWM1000
+222 8 deck bcFlow
+223 8 deck bcFlow2
+227 8 deck bcOA
+228 8 deck bcMultiranger
+229 8 deck bcLighthouse4
+236 8 deck bcActiveMarker
+237 8 deck bcAIDeck
+198 8 ring effect
+199 10 ring neffect
+200 8 ring solidRed
+201 8 ring solidGreen
+202 8 ring solidBlue
+203 8 ring headlightEnable
+204 6 ring emptyCharge
+205 6 ring fullCharge
+206 10 ring fadeColor
+207 6 ring fadeTime
+213 8 usd canLog
+214 8 usd logging
+218 8 loco mode
+219 8 tdoaEngine logId
+220 8 tdoaEngine logOthrId
+221 8 tdoaEngine matchAlgo
+224 8 motion disable
+225 8 motion adaptive
+226 6 motion flowStdFixed
+230 8 activeMarker front
+231 8 activeMarker back
+232 8 activeMarker left
+233 8 activeMarker right
+234 8 activeMarker mode
+235 8 activeMarker poll
+238 10 firmware revision0
+239 9 firmware revision1
+240 8 firmware modified
+241 8 lighthouse method
+242 8 lighthouse bsCalibReset
+243 8 lighthouse systemType
+244 6 lighthouse sweepStd
+245 6 lighthouse sweepStd2
diff --git a/cflib_groundstation/logs/cflie1_Param_toc_2023_11_21_21:33:57.txt b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_21_21:33:57.txt
new file mode 100644
index 000000000..66cb523e2
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_21_21:33:57.txt
@@ -0,0 +1,280 @@
+Param ID Type Group Identifier Name
+0 8 activeMarker front
+1 8 activeMarker back
+2 8 activeMarker left
+3 8 activeMarker right
+4 8 activeMarker mode
+5 8 activeMarker poll
+6 8 deck bcActiveMarker
+7 8 deck bcAI
+8 8 deck bcBuzzer
+9 8 deck bcFlow
+10 8 deck bcFlow2
+11 8 deck bcLedRing
+12 8 deck bcLighthouse4
+13 8 deck bcDWM1000
+14 8 deck bcLoco
+15 8 deck bcMultiranger
+16 8 deck bcOA
+17 8 deck bcUSD
+18 8 deck bcZRanger
+19 8 deck bcZRanger2
+20 8 motion disable
+21 8 motion adaptive
+22 6 motion flowStdFixed
+23 8 ring effect
+24 10 ring neffect
+25 8 ring solidRed
+26 8 ring solidGreen
+27 8 ring solidBlue
+28 8 ring headlightEnable
+29 6 ring emptyCharge
+30 6 ring fullCharge
+31 10 ring fadeColor
+32 6 ring fadeTime
+33 8 system highlight
+34 8 system storageStats
+35 8 system storageReformat
+36 0 system arm
+37 8 system taskDump
+38 0 system selftestPassed
+39 8 system assertInfo
+40 8 system testLogParam
+41 8 system doAssert
+42 8 loco mode
+43 6 tdoa2 stddev
+44 6 tdoa3 stddev
+45 9 multiranger filterMask
+46 8 usd canLog
+47 8 usd logging
+48 8 led bitmask
+49 8 motorPowerSet enable
+50 9 motorPowerSet m1
+51 9 motorPowerSet m2
+52 9 motorPowerSet m3
+53 9 motorPowerSet m4
+54 6 pm lowVoltage
+55 6 pm criticalLowVoltage
+56 8 imu_sensors BMP388
+57 6 imu_sensors imuPhi
+58 6 imu_sensors imuTheta
+59 6 imu_sensors imuPsi
+60 8 imu_sensors AK8963
+61 8 imu_sensors LPS25H
+62 8 imu_tests MPU6500
+63 8 imu_tests AK8963
+64 8 imu_tests LPS25H
+65 6 imu_tests imuPhi
+66 6 imu_tests imuTheta
+67 6 imu_tests imuPsi
+68 8 syslink probe
+69 8 usec reset
+70 8 colAv enable
+71 6 colAv ellipsoidX
+72 6 colAv ellipsoidY
+73 6 colAv ellipsoidZ
+74 6 colAv bboxMinX
+75 6 colAv bboxMinY
+76 6 colAv bboxMinZ
+77 6 colAv bboxMaxX
+78 6 colAv bboxMaxY
+79 6 colAv bboxMaxZ
+80 6 colAv horizon
+81 6 colAv maxSpeed
+82 6 colAv sidestepThrsh
+83 2 colAv maxPeerLocAge
+84 6 colAv vorTol
+85 2 colAv vorIters
+86 8 commander enHighLevel
+87 6 cppm rateRoll
+88 6 cppm ratePitch
+89 6 cppm angPitch
+90 6 cppm angRoll
+91 6 cppm rateYaw
+92 6 hlCommander vtoff
+93 6 hlCommander vland
+94 8 flightmode althold
+95 8 flightmode poshold
+96 8 flightmode posSet
+97 8 flightmode yawMode
+98 8 flightmode stabModeRoll
+99 8 flightmode stabModePitch
+100 8 flightmode stabModeYaw
+101 8 locSrv enRangeStreamFP32
+102 8 locSrv enLhAngleStream
+103 6 locSrv extPosStdDev
+104 6 locSrv extQuatStdDev
+105 9 crtpsrv echoDelay
+106 8 health startPropTest
+107 8 health startBatTest
+108 9 health propTestPWMRatio
+109 9 health batTestPWMRatio
+110 6 kalman maxPos
+111 6 kalman maxVel
+112 8 kalman resetEstimation
+113 8 kalman robustTdoa
+114 8 kalman robustTwr
+115 6 kalman pNAcc_xy
+116 6 kalman pNAcc_z
+117 6 kalman pNVel
+118 6 kalman pNPos
+119 6 kalman pNAtt
+120 6 kalman mNBaro
+121 6 kalman mNGyro_rollpitch
+122 6 kalman mNGyro_yaw
+123 6 kalman initialX
+124 6 kalman initialY
+125 6 kalman initialZ
+126 6 kalman initialYaw
+127 8 memTst resetW
+128 10 powerDist idleThrust
+129 6 quadSysId thrustToTorque
+130 6 quadSysId pwmToThrustA
+131 6 quadSysId pwmToThrustB
+132 6 quadSysId armLength
+133 6 sensfusion6 kp
+134 6 sensfusion6 ki
+135 6 sensfusion6 baseZacc
+136 8 sound effect
+137 10 sound neffect
+138 9 sound freq
+139 8 stabilizer estimator
+140 8 stabilizer controller
+141 8 stabilizer stop
+142 8 supervisor infdmp
+143 9 cpu flash
+144 10 cpu id0
+145 10 cpu id1
+146 10 cpu id2
+147 8 tdoaEngine logId
+148 8 tdoaEngine logOthrId
+149 8 tdoaEngine matchAlgo
+150 8 lighthouse method
+151 8 lighthouse bsCalibReset
+152 8 lighthouse systemType
+153 9 lighthouse bsAvailable
+154 6 lighthouse sweepStd
+155 6 lighthouse sweepStd2
+156 8 lighthouse enLhRawStream
+157 9 lighthouse lh2maxRate
+158 6 pid_attitude roll_kp
+159 6 pid_attitude roll_ki
+160 6 pid_attitude roll_kd
+161 6 pid_attitude roll_kff
+162 6 pid_attitude pitch_kp
+163 6 pid_attitude pitch_ki
+164 6 pid_attitude pitch_kd
+165 6 pid_attitude pitch_kff
+166 6 pid_attitude yaw_kp
+167 6 pid_attitude yaw_ki
+168 6 pid_attitude yaw_kd
+169 6 pid_attitude yaw_kff
+170 6 pid_attitude yawMaxDelta
+171 0 pid_attitude attFiltEn
+172 6 pid_attitude attFiltCut
+173 6 pid_rate roll_kp
+174 6 pid_rate roll_ki
+175 6 pid_rate roll_kd
+176 6 pid_rate roll_kff
+177 6 pid_rate pitch_kp
+178 6 pid_rate pitch_ki
+179 6 pid_rate pitch_kd
+180 6 pid_rate pitch_kff
+181 6 pid_rate yaw_kp
+182 6 pid_rate yaw_ki
+183 6 pid_rate yaw_kd
+184 6 pid_rate yaw_kff
+185 0 pid_rate rateFiltEn
+186 6 pid_rate omxFiltCut
+187 6 pid_rate omyFiltCut
+188 6 pid_rate omzFiltCut
+189 6 ctrlINDI thrust_threshold
+190 6 ctrlINDI bound_ctrl_input
+191 6 ctrlINDI g1_p
+192 6 ctrlINDI g1_q
+193 6 ctrlINDI g1_r
+194 6 ctrlINDI g2
+195 6 ctrlINDI ref_err_p
+196 6 ctrlINDI ref_err_q
+197 6 ctrlINDI ref_err_r
+198 6 ctrlINDI ref_rate_p
+199 6 ctrlINDI ref_rate_q
+200 6 ctrlINDI ref_rate_r
+201 6 ctrlINDI act_dyn_p
+202 6 ctrlINDI act_dyn_q
+203 6 ctrlINDI act_dyn_r
+204 6 ctrlINDI filt_cutoff
+205 6 ctrlINDI filt_cutoff_r
+206 8 ctrlINDI outerLoopActive
+207 6 ctrlMel kp_xy
+208 6 ctrlMel kd_xy
+209 6 ctrlMel ki_xy
+210 6 ctrlMel i_range_xy
+211 6 ctrlMel kp_z
+212 6 ctrlMel kd_z
+213 6 ctrlMel ki_z
+214 6 ctrlMel i_range_z
+215 6 ctrlMel mass
+216 6 ctrlMel massThrust
+217 6 ctrlMel kR_xy
+218 6 ctrlMel kR_z
+219 6 ctrlMel kw_xy
+220 6 ctrlMel kw_z
+221 6 ctrlMel ki_m_xy
+222 6 ctrlMel ki_m_z
+223 6 ctrlMel kd_omega_rp
+224 6 ctrlMel i_range_m_xy
+225 6 ctrlMel i_range_m_z
+226 6 ctrlAtt tau_xy
+227 6 ctrlAtt zeta_xy
+228 6 ctrlAtt tau_z
+229 6 ctrlAtt zeta_z
+230 6 ctrlAtt tau_rp
+231 6 ctrlAtt mixing_factor
+232 6 ctrlAtt coll_fairness
+233 6 posCtrlIndi K_xi_x
+234 6 posCtrlIndi K_xi_y
+235 6 posCtrlIndi K_xi_z
+236 6 posCtrlIndi K_dxi_x
+237 6 posCtrlIndi K_dxi_y
+238 6 posCtrlIndi K_dxi_z
+239 6 posCtrlIndi pq_clamping
+240 6 posCtlPid xKp
+241 6 posCtlPid xKi
+242 6 posCtlPid xKd
+243 6 posCtlPid xKff
+244 6 posCtlPid yKp
+245 6 posCtlPid yKi
+246 6 posCtlPid yKd
+247 6 posCtlPid yKff
+248 6 posCtlPid zKp
+249 6 posCtlPid zKi
+250 6 posCtlPid zKd
+251 6 posCtlPid zKff
+252 9 posCtlPid thrustBase
+253 9 posCtlPid thrustMin
+254 6 posCtlPid rLimit
+255 6 posCtlPid pLimit
+256 6 posCtlPid xVelMax
+257 6 posCtlPid yVelMax
+258 6 posCtlPid zVelMax
+259 6 velCtlPid vxKp
+260 6 velCtlPid vxKi
+261 6 velCtlPid vxKd
+262 6 velCtlPid vxKFF
+263 6 velCtlPid vyKp
+264 6 velCtlPid vyKi
+265 6 velCtlPid vyKd
+266 6 velCtlPid vyKFF
+267 6 velCtlPid vzKp
+268 6 velCtlPid vzKi
+269 6 velCtlPid vzKd
+270 6 velCtlPid vzKFF
+271 6 posEstAlt estAlphaAsl
+272 6 posEstAlt estAlphaZr
+273 6 posEstAlt velFactor
+274 6 posEstAlt velZAlpha
+275 6 posEstAlt vAccDeadband
+276 10 firmware revision0
+277 9 firmware revision1
+278 8 firmware modified
diff --git a/cflib_groundstation/logs/cflie1_Param_toc_2023_11_21_21:35:43.txt b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_21_21:35:43.txt
new file mode 100644
index 000000000..66cb523e2
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_21_21:35:43.txt
@@ -0,0 +1,280 @@
+Param ID Type Group Identifier Name
+0 8 activeMarker front
+1 8 activeMarker back
+2 8 activeMarker left
+3 8 activeMarker right
+4 8 activeMarker mode
+5 8 activeMarker poll
+6 8 deck bcActiveMarker
+7 8 deck bcAI
+8 8 deck bcBuzzer
+9 8 deck bcFlow
+10 8 deck bcFlow2
+11 8 deck bcLedRing
+12 8 deck bcLighthouse4
+13 8 deck bcDWM1000
+14 8 deck bcLoco
+15 8 deck bcMultiranger
+16 8 deck bcOA
+17 8 deck bcUSD
+18 8 deck bcZRanger
+19 8 deck bcZRanger2
+20 8 motion disable
+21 8 motion adaptive
+22 6 motion flowStdFixed
+23 8 ring effect
+24 10 ring neffect
+25 8 ring solidRed
+26 8 ring solidGreen
+27 8 ring solidBlue
+28 8 ring headlightEnable
+29 6 ring emptyCharge
+30 6 ring fullCharge
+31 10 ring fadeColor
+32 6 ring fadeTime
+33 8 system highlight
+34 8 system storageStats
+35 8 system storageReformat
+36 0 system arm
+37 8 system taskDump
+38 0 system selftestPassed
+39 8 system assertInfo
+40 8 system testLogParam
+41 8 system doAssert
+42 8 loco mode
+43 6 tdoa2 stddev
+44 6 tdoa3 stddev
+45 9 multiranger filterMask
+46 8 usd canLog
+47 8 usd logging
+48 8 led bitmask
+49 8 motorPowerSet enable
+50 9 motorPowerSet m1
+51 9 motorPowerSet m2
+52 9 motorPowerSet m3
+53 9 motorPowerSet m4
+54 6 pm lowVoltage
+55 6 pm criticalLowVoltage
+56 8 imu_sensors BMP388
+57 6 imu_sensors imuPhi
+58 6 imu_sensors imuTheta
+59 6 imu_sensors imuPsi
+60 8 imu_sensors AK8963
+61 8 imu_sensors LPS25H
+62 8 imu_tests MPU6500
+63 8 imu_tests AK8963
+64 8 imu_tests LPS25H
+65 6 imu_tests imuPhi
+66 6 imu_tests imuTheta
+67 6 imu_tests imuPsi
+68 8 syslink probe
+69 8 usec reset
+70 8 colAv enable
+71 6 colAv ellipsoidX
+72 6 colAv ellipsoidY
+73 6 colAv ellipsoidZ
+74 6 colAv bboxMinX
+75 6 colAv bboxMinY
+76 6 colAv bboxMinZ
+77 6 colAv bboxMaxX
+78 6 colAv bboxMaxY
+79 6 colAv bboxMaxZ
+80 6 colAv horizon
+81 6 colAv maxSpeed
+82 6 colAv sidestepThrsh
+83 2 colAv maxPeerLocAge
+84 6 colAv vorTol
+85 2 colAv vorIters
+86 8 commander enHighLevel
+87 6 cppm rateRoll
+88 6 cppm ratePitch
+89 6 cppm angPitch
+90 6 cppm angRoll
+91 6 cppm rateYaw
+92 6 hlCommander vtoff
+93 6 hlCommander vland
+94 8 flightmode althold
+95 8 flightmode poshold
+96 8 flightmode posSet
+97 8 flightmode yawMode
+98 8 flightmode stabModeRoll
+99 8 flightmode stabModePitch
+100 8 flightmode stabModeYaw
+101 8 locSrv enRangeStreamFP32
+102 8 locSrv enLhAngleStream
+103 6 locSrv extPosStdDev
+104 6 locSrv extQuatStdDev
+105 9 crtpsrv echoDelay
+106 8 health startPropTest
+107 8 health startBatTest
+108 9 health propTestPWMRatio
+109 9 health batTestPWMRatio
+110 6 kalman maxPos
+111 6 kalman maxVel
+112 8 kalman resetEstimation
+113 8 kalman robustTdoa
+114 8 kalman robustTwr
+115 6 kalman pNAcc_xy
+116 6 kalman pNAcc_z
+117 6 kalman pNVel
+118 6 kalman pNPos
+119 6 kalman pNAtt
+120 6 kalman mNBaro
+121 6 kalman mNGyro_rollpitch
+122 6 kalman mNGyro_yaw
+123 6 kalman initialX
+124 6 kalman initialY
+125 6 kalman initialZ
+126 6 kalman initialYaw
+127 8 memTst resetW
+128 10 powerDist idleThrust
+129 6 quadSysId thrustToTorque
+130 6 quadSysId pwmToThrustA
+131 6 quadSysId pwmToThrustB
+132 6 quadSysId armLength
+133 6 sensfusion6 kp
+134 6 sensfusion6 ki
+135 6 sensfusion6 baseZacc
+136 8 sound effect
+137 10 sound neffect
+138 9 sound freq
+139 8 stabilizer estimator
+140 8 stabilizer controller
+141 8 stabilizer stop
+142 8 supervisor infdmp
+143 9 cpu flash
+144 10 cpu id0
+145 10 cpu id1
+146 10 cpu id2
+147 8 tdoaEngine logId
+148 8 tdoaEngine logOthrId
+149 8 tdoaEngine matchAlgo
+150 8 lighthouse method
+151 8 lighthouse bsCalibReset
+152 8 lighthouse systemType
+153 9 lighthouse bsAvailable
+154 6 lighthouse sweepStd
+155 6 lighthouse sweepStd2
+156 8 lighthouse enLhRawStream
+157 9 lighthouse lh2maxRate
+158 6 pid_attitude roll_kp
+159 6 pid_attitude roll_ki
+160 6 pid_attitude roll_kd
+161 6 pid_attitude roll_kff
+162 6 pid_attitude pitch_kp
+163 6 pid_attitude pitch_ki
+164 6 pid_attitude pitch_kd
+165 6 pid_attitude pitch_kff
+166 6 pid_attitude yaw_kp
+167 6 pid_attitude yaw_ki
+168 6 pid_attitude yaw_kd
+169 6 pid_attitude yaw_kff
+170 6 pid_attitude yawMaxDelta
+171 0 pid_attitude attFiltEn
+172 6 pid_attitude attFiltCut
+173 6 pid_rate roll_kp
+174 6 pid_rate roll_ki
+175 6 pid_rate roll_kd
+176 6 pid_rate roll_kff
+177 6 pid_rate pitch_kp
+178 6 pid_rate pitch_ki
+179 6 pid_rate pitch_kd
+180 6 pid_rate pitch_kff
+181 6 pid_rate yaw_kp
+182 6 pid_rate yaw_ki
+183 6 pid_rate yaw_kd
+184 6 pid_rate yaw_kff
+185 0 pid_rate rateFiltEn
+186 6 pid_rate omxFiltCut
+187 6 pid_rate omyFiltCut
+188 6 pid_rate omzFiltCut
+189 6 ctrlINDI thrust_threshold
+190 6 ctrlINDI bound_ctrl_input
+191 6 ctrlINDI g1_p
+192 6 ctrlINDI g1_q
+193 6 ctrlINDI g1_r
+194 6 ctrlINDI g2
+195 6 ctrlINDI ref_err_p
+196 6 ctrlINDI ref_err_q
+197 6 ctrlINDI ref_err_r
+198 6 ctrlINDI ref_rate_p
+199 6 ctrlINDI ref_rate_q
+200 6 ctrlINDI ref_rate_r
+201 6 ctrlINDI act_dyn_p
+202 6 ctrlINDI act_dyn_q
+203 6 ctrlINDI act_dyn_r
+204 6 ctrlINDI filt_cutoff
+205 6 ctrlINDI filt_cutoff_r
+206 8 ctrlINDI outerLoopActive
+207 6 ctrlMel kp_xy
+208 6 ctrlMel kd_xy
+209 6 ctrlMel ki_xy
+210 6 ctrlMel i_range_xy
+211 6 ctrlMel kp_z
+212 6 ctrlMel kd_z
+213 6 ctrlMel ki_z
+214 6 ctrlMel i_range_z
+215 6 ctrlMel mass
+216 6 ctrlMel massThrust
+217 6 ctrlMel kR_xy
+218 6 ctrlMel kR_z
+219 6 ctrlMel kw_xy
+220 6 ctrlMel kw_z
+221 6 ctrlMel ki_m_xy
+222 6 ctrlMel ki_m_z
+223 6 ctrlMel kd_omega_rp
+224 6 ctrlMel i_range_m_xy
+225 6 ctrlMel i_range_m_z
+226 6 ctrlAtt tau_xy
+227 6 ctrlAtt zeta_xy
+228 6 ctrlAtt tau_z
+229 6 ctrlAtt zeta_z
+230 6 ctrlAtt tau_rp
+231 6 ctrlAtt mixing_factor
+232 6 ctrlAtt coll_fairness
+233 6 posCtrlIndi K_xi_x
+234 6 posCtrlIndi K_xi_y
+235 6 posCtrlIndi K_xi_z
+236 6 posCtrlIndi K_dxi_x
+237 6 posCtrlIndi K_dxi_y
+238 6 posCtrlIndi K_dxi_z
+239 6 posCtrlIndi pq_clamping
+240 6 posCtlPid xKp
+241 6 posCtlPid xKi
+242 6 posCtlPid xKd
+243 6 posCtlPid xKff
+244 6 posCtlPid yKp
+245 6 posCtlPid yKi
+246 6 posCtlPid yKd
+247 6 posCtlPid yKff
+248 6 posCtlPid zKp
+249 6 posCtlPid zKi
+250 6 posCtlPid zKd
+251 6 posCtlPid zKff
+252 9 posCtlPid thrustBase
+253 9 posCtlPid thrustMin
+254 6 posCtlPid rLimit
+255 6 posCtlPid pLimit
+256 6 posCtlPid xVelMax
+257 6 posCtlPid yVelMax
+258 6 posCtlPid zVelMax
+259 6 velCtlPid vxKp
+260 6 velCtlPid vxKi
+261 6 velCtlPid vxKd
+262 6 velCtlPid vxKFF
+263 6 velCtlPid vyKp
+264 6 velCtlPid vyKi
+265 6 velCtlPid vyKd
+266 6 velCtlPid vyKFF
+267 6 velCtlPid vzKp
+268 6 velCtlPid vzKi
+269 6 velCtlPid vzKd
+270 6 velCtlPid vzKFF
+271 6 posEstAlt estAlphaAsl
+272 6 posEstAlt estAlphaZr
+273 6 posEstAlt velFactor
+274 6 posEstAlt velZAlpha
+275 6 posEstAlt vAccDeadband
+276 10 firmware revision0
+277 9 firmware revision1
+278 8 firmware modified
diff --git a/cflib_groundstation/logs/cflie1_Param_toc_2023_11_21_21:36:54.txt b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_21_21:36:54.txt
new file mode 100644
index 000000000..12008f581
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_21_21:36:54.txt
@@ -0,0 +1,247 @@
+Param ID Type Group Identifier Name
+0 8 imu_sensors AK8963
+1 8 imu_sensors LPS25H
+5 8 imu_sensors BMP388
+2 8 imu_tests MPU6500
+3 8 imu_tests AK8963
+4 8 imu_tests LPS25H
+6 9 cpu flash
+7 10 cpu id0
+8 10 cpu id1
+9 10 cpu id2
+10 0 system selftestPassed
+11 0 system forceArm
+16 8 system taskDump
+208 8 system highlight
+12 9 crtpsrv echoDelay
+13 8 sound effect
+14 10 sound neffect
+15 9 sound freq
+17 8 memTst resetW
+18 0 sys e_stop
+19 8 commander enHighLevel
+20 8 flightmode althold
+21 8 flightmode poshold
+22 8 flightmode posSet
+23 8 flightmode yawMode
+24 8 flightmode stabModeRoll
+25 8 flightmode stabModePitch
+26 8 flightmode stabModeYaw
+27 6 cmdrCPPM rateRoll
+28 6 cmdrCPPM ratePitch
+29 6 cmdrCPPM angPitch
+30 6 cmdrCPPM angRoll
+31 6 cmdrCPPM rateYaw
+32 8 locSrv enRangeStreamFP32
+33 8 locSrv enLhAngleStream
+34 6 locSrv extPosStdDev
+35 6 locSrv extQuatStdDev
+36 6 pid_attitude roll_kp
+37 6 pid_attitude roll_ki
+38 6 pid_attitude roll_kd
+39 6 pid_attitude pitch_kp
+40 6 pid_attitude pitch_ki
+41 6 pid_attitude pitch_kd
+42 6 pid_attitude yaw_kp
+43 6 pid_attitude yaw_ki
+44 6 pid_attitude yaw_kd
+45 6 pid_rate roll_kp
+46 6 pid_rate roll_ki
+47 6 pid_rate roll_kd
+48 6 pid_rate pitch_kp
+49 6 pid_rate pitch_ki
+50 6 pid_rate pitch_kd
+51 6 pid_rate yaw_kp
+52 6 pid_rate yaw_ki
+53 6 pid_rate yaw_kd
+54 6 sensfusion6 kp
+55 6 sensfusion6 ki
+56 6 sensfusion6 baseZacc
+57 8 stabilizer estimator
+58 8 stabilizer controller
+59 8 stabilizer stop
+60 6 posEstAlt estAlphaAsl
+61 6 posEstAlt estAlphaZr
+62 6 posEstAlt velFactor
+63 6 posEstAlt velZAlpha
+64 6 posEstAlt vAccDeadband
+65 6 posCtlPid xKp
+66 6 posCtlPid xKi
+67 6 posCtlPid xKd
+68 6 posCtlPid yKp
+69 6 posCtlPid yKi
+70 6 posCtlPid yKd
+71 6 posCtlPid zKp
+72 6 posCtlPid zKi
+73 6 posCtlPid zKd
+74 9 posCtlPid thrustBase
+75 9 posCtlPid thrustMin
+76 6 posCtlPid rpLimit
+77 6 posCtlPid xyVelMax
+78 6 posCtlPid zVelMax
+79 6 velCtlPid vxKp
+80 6 velCtlPid vxKi
+81 6 velCtlPid vxKd
+82 6 velCtlPid vyKp
+83 6 velCtlPid vyKi
+84 6 velCtlPid vyKd
+85 6 velCtlPid vzKp
+86 6 velCtlPid vzKi
+87 6 velCtlPid vzKd
+88 6 posCtrlIndi K_xi_x
+89 6 posCtrlIndi K_xi_y
+90 6 posCtrlIndi K_xi_z
+91 6 posCtrlIndi K_dxi_x
+92 6 posCtrlIndi K_dxi_y
+93 6 posCtrlIndi K_dxi_z
+94 6 posCtrlIndi pq_clamping
+95 8 controller tiltComp
+96 6 ctrlMel kp_xy
+97 6 ctrlMel kd_xy
+98 6 ctrlMel ki_xy
+99 6 ctrlMel i_range_xy
+100 6 ctrlMel kp_z
+101 6 ctrlMel kd_z
+102 6 ctrlMel ki_z
+103 6 ctrlMel i_range_z
+104 6 ctrlMel mass
+105 6 ctrlMel massThrust
+106 6 ctrlMel kR_xy
+107 6 ctrlMel kR_z
+108 6 ctrlMel kw_xy
+109 6 ctrlMel kw_z
+110 6 ctrlMel ki_m_xy
+111 6 ctrlMel ki_m_z
+112 6 ctrlMel kd_omega_rp
+113 6 ctrlMel i_range_m_xy
+114 6 ctrlMel i_range_m_z
+115 6 ctrlINDI thrust_threshold
+116 6 ctrlINDI bound_ctrl_input
+117 6 ctrlINDI g1_p
+118 6 ctrlINDI g1_q
+119 6 ctrlINDI g1_r
+120 6 ctrlINDI g2
+121 6 ctrlINDI ref_err_p
+122 6 ctrlINDI ref_err_q
+123 6 ctrlINDI ref_err_r
+124 6 ctrlINDI ref_rate_p
+125 6 ctrlINDI ref_rate_q
+126 6 ctrlINDI ref_rate_r
+127 6 ctrlINDI act_dyn_p
+128 6 ctrlINDI act_dyn_q
+129 6 ctrlINDI act_dyn_r
+130 6 ctrlINDI filt_cutoff
+131 6 ctrlINDI filt_cutoff_r
+132 8 ctrlINDI outerLoopActive
+133 6 s_pid_attitude roll_kp
+134 6 s_pid_attitude roll_ki
+135 6 s_pid_attitude roll_kd
+136 6 s_pid_attitude pitch_kp
+137 6 s_pid_attitude pitch_ki
+138 6 s_pid_attitude pitch_kd
+139 6 s_pid_attitude yaw_kp
+140 6 s_pid_attitude yaw_ki
+141 6 s_pid_attitude yaw_kd
+142 6 s_pid_rate roll_kp
+143 6 s_pid_rate roll_ki
+144 6 s_pid_rate roll_kd
+145 6 s_pid_rate pitch_kp
+146 6 s_pid_rate pitch_ki
+147 6 s_pid_rate pitch_kd
+148 6 s_pid_rate yaw_kp
+149 6 s_pid_rate yaw_ki
+150 6 s_pid_rate yaw_kd
+151 8 ctrlStdnt tiltComp
+152 8 ctrlStdnt TEST_PARAM
+153 8 motorPowerSet enable
+154 9 motorPowerSet m1
+155 9 motorPowerSet m2
+156 9 motorPowerSet m3
+157 9 motorPowerSet m4
+158 10 powerDist idleThrust
+159 8 colAv enable
+160 6 colAv ellipsoidX
+161 6 colAv ellipsoidY
+162 6 colAv ellipsoidZ
+163 6 colAv bboxMinX
+164 6 colAv bboxMinY
+165 6 colAv bboxMinZ
+166 6 colAv bboxMaxX
+167 6 colAv bboxMaxY
+168 6 colAv bboxMaxZ
+169 6 colAv horizon
+170 6 colAv maxSpeed
+171 6 colAv sidestepThrsh
+172 2 colAv maxPeerLocAge
+173 6 colAv vorTol
+174 2 colAv vorIters
+175 8 health startPropTest
+176 8 health startBatTest
+177 8 kalman resetEstimation
+178 8 kalman quadIsFlying
+179 8 kalman robustTdoa
+180 8 kalman robustTwr
+181 6 kalman pNAcc_xy
+182 6 kalman pNAcc_z
+183 6 kalman pNVel
+184 6 kalman pNPos
+185 6 kalman pNAtt
+186 6 kalman mNBaro
+187 6 kalman mNGyro_rollpitch
+188 6 kalman mNGyro_yaw
+189 6 kalman initialX
+190 6 kalman initialY
+191 6 kalman initialZ
+192 6 kalman initialYaw
+193 6 kalman maxPos
+194 6 kalman maxVel
+195 6 hlCommander vtoff
+196 6 hlCommander vland
+197 8 deck bcLedRing
+209 8 deck bcBuzzer
+210 8 deck bcGTGPS
+211 8 deck bcCPPM
+212 8 deck bcUSD
+215 8 deck bcZRanger
+216 8 deck bcZRanger2
+217 8 deck bcDWM1000
+222 8 deck bcFlow
+223 8 deck bcFlow2
+227 8 deck bcOA
+228 8 deck bcMultiranger
+229 8 deck bcLighthouse4
+236 8 deck bcActiveMarker
+237 8 deck bcAIDeck
+198 8 ring effect
+199 10 ring neffect
+200 8 ring solidRed
+201 8 ring solidGreen
+202 8 ring solidBlue
+203 8 ring headlightEnable
+204 6 ring emptyCharge
+205 6 ring fullCharge
+206 10 ring fadeColor
+207 6 ring fadeTime
+213 8 usd canLog
+214 8 usd logging
+218 8 loco mode
+219 8 tdoaEngine logId
+220 8 tdoaEngine logOthrId
+221 8 tdoaEngine matchAlgo
+224 8 motion disable
+225 8 motion adaptive
+226 6 motion flowStdFixed
+230 8 activeMarker front
+231 8 activeMarker back
+232 8 activeMarker left
+233 8 activeMarker right
+234 8 activeMarker mode
+235 8 activeMarker poll
+238 10 firmware revision0
+239 9 firmware revision1
+240 8 firmware modified
+241 8 lighthouse method
+242 8 lighthouse bsCalibReset
+243 8 lighthouse systemType
+244 6 lighthouse sweepStd
+245 6 lighthouse sweepStd2
diff --git a/cflib_groundstation/logs/cflie1_Param_toc_2023_11_21_21:38:20.txt b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_21_21:38:20.txt
new file mode 100644
index 000000000..12008f581
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_21_21:38:20.txt
@@ -0,0 +1,247 @@
+Param ID Type Group Identifier Name
+0 8 imu_sensors AK8963
+1 8 imu_sensors LPS25H
+5 8 imu_sensors BMP388
+2 8 imu_tests MPU6500
+3 8 imu_tests AK8963
+4 8 imu_tests LPS25H
+6 9 cpu flash
+7 10 cpu id0
+8 10 cpu id1
+9 10 cpu id2
+10 0 system selftestPassed
+11 0 system forceArm
+16 8 system taskDump
+208 8 system highlight
+12 9 crtpsrv echoDelay
+13 8 sound effect
+14 10 sound neffect
+15 9 sound freq
+17 8 memTst resetW
+18 0 sys e_stop
+19 8 commander enHighLevel
+20 8 flightmode althold
+21 8 flightmode poshold
+22 8 flightmode posSet
+23 8 flightmode yawMode
+24 8 flightmode stabModeRoll
+25 8 flightmode stabModePitch
+26 8 flightmode stabModeYaw
+27 6 cmdrCPPM rateRoll
+28 6 cmdrCPPM ratePitch
+29 6 cmdrCPPM angPitch
+30 6 cmdrCPPM angRoll
+31 6 cmdrCPPM rateYaw
+32 8 locSrv enRangeStreamFP32
+33 8 locSrv enLhAngleStream
+34 6 locSrv extPosStdDev
+35 6 locSrv extQuatStdDev
+36 6 pid_attitude roll_kp
+37 6 pid_attitude roll_ki
+38 6 pid_attitude roll_kd
+39 6 pid_attitude pitch_kp
+40 6 pid_attitude pitch_ki
+41 6 pid_attitude pitch_kd
+42 6 pid_attitude yaw_kp
+43 6 pid_attitude yaw_ki
+44 6 pid_attitude yaw_kd
+45 6 pid_rate roll_kp
+46 6 pid_rate roll_ki
+47 6 pid_rate roll_kd
+48 6 pid_rate pitch_kp
+49 6 pid_rate pitch_ki
+50 6 pid_rate pitch_kd
+51 6 pid_rate yaw_kp
+52 6 pid_rate yaw_ki
+53 6 pid_rate yaw_kd
+54 6 sensfusion6 kp
+55 6 sensfusion6 ki
+56 6 sensfusion6 baseZacc
+57 8 stabilizer estimator
+58 8 stabilizer controller
+59 8 stabilizer stop
+60 6 posEstAlt estAlphaAsl
+61 6 posEstAlt estAlphaZr
+62 6 posEstAlt velFactor
+63 6 posEstAlt velZAlpha
+64 6 posEstAlt vAccDeadband
+65 6 posCtlPid xKp
+66 6 posCtlPid xKi
+67 6 posCtlPid xKd
+68 6 posCtlPid yKp
+69 6 posCtlPid yKi
+70 6 posCtlPid yKd
+71 6 posCtlPid zKp
+72 6 posCtlPid zKi
+73 6 posCtlPid zKd
+74 9 posCtlPid thrustBase
+75 9 posCtlPid thrustMin
+76 6 posCtlPid rpLimit
+77 6 posCtlPid xyVelMax
+78 6 posCtlPid zVelMax
+79 6 velCtlPid vxKp
+80 6 velCtlPid vxKi
+81 6 velCtlPid vxKd
+82 6 velCtlPid vyKp
+83 6 velCtlPid vyKi
+84 6 velCtlPid vyKd
+85 6 velCtlPid vzKp
+86 6 velCtlPid vzKi
+87 6 velCtlPid vzKd
+88 6 posCtrlIndi K_xi_x
+89 6 posCtrlIndi K_xi_y
+90 6 posCtrlIndi K_xi_z
+91 6 posCtrlIndi K_dxi_x
+92 6 posCtrlIndi K_dxi_y
+93 6 posCtrlIndi K_dxi_z
+94 6 posCtrlIndi pq_clamping
+95 8 controller tiltComp
+96 6 ctrlMel kp_xy
+97 6 ctrlMel kd_xy
+98 6 ctrlMel ki_xy
+99 6 ctrlMel i_range_xy
+100 6 ctrlMel kp_z
+101 6 ctrlMel kd_z
+102 6 ctrlMel ki_z
+103 6 ctrlMel i_range_z
+104 6 ctrlMel mass
+105 6 ctrlMel massThrust
+106 6 ctrlMel kR_xy
+107 6 ctrlMel kR_z
+108 6 ctrlMel kw_xy
+109 6 ctrlMel kw_z
+110 6 ctrlMel ki_m_xy
+111 6 ctrlMel ki_m_z
+112 6 ctrlMel kd_omega_rp
+113 6 ctrlMel i_range_m_xy
+114 6 ctrlMel i_range_m_z
+115 6 ctrlINDI thrust_threshold
+116 6 ctrlINDI bound_ctrl_input
+117 6 ctrlINDI g1_p
+118 6 ctrlINDI g1_q
+119 6 ctrlINDI g1_r
+120 6 ctrlINDI g2
+121 6 ctrlINDI ref_err_p
+122 6 ctrlINDI ref_err_q
+123 6 ctrlINDI ref_err_r
+124 6 ctrlINDI ref_rate_p
+125 6 ctrlINDI ref_rate_q
+126 6 ctrlINDI ref_rate_r
+127 6 ctrlINDI act_dyn_p
+128 6 ctrlINDI act_dyn_q
+129 6 ctrlINDI act_dyn_r
+130 6 ctrlINDI filt_cutoff
+131 6 ctrlINDI filt_cutoff_r
+132 8 ctrlINDI outerLoopActive
+133 6 s_pid_attitude roll_kp
+134 6 s_pid_attitude roll_ki
+135 6 s_pid_attitude roll_kd
+136 6 s_pid_attitude pitch_kp
+137 6 s_pid_attitude pitch_ki
+138 6 s_pid_attitude pitch_kd
+139 6 s_pid_attitude yaw_kp
+140 6 s_pid_attitude yaw_ki
+141 6 s_pid_attitude yaw_kd
+142 6 s_pid_rate roll_kp
+143 6 s_pid_rate roll_ki
+144 6 s_pid_rate roll_kd
+145 6 s_pid_rate pitch_kp
+146 6 s_pid_rate pitch_ki
+147 6 s_pid_rate pitch_kd
+148 6 s_pid_rate yaw_kp
+149 6 s_pid_rate yaw_ki
+150 6 s_pid_rate yaw_kd
+151 8 ctrlStdnt tiltComp
+152 8 ctrlStdnt TEST_PARAM
+153 8 motorPowerSet enable
+154 9 motorPowerSet m1
+155 9 motorPowerSet m2
+156 9 motorPowerSet m3
+157 9 motorPowerSet m4
+158 10 powerDist idleThrust
+159 8 colAv enable
+160 6 colAv ellipsoidX
+161 6 colAv ellipsoidY
+162 6 colAv ellipsoidZ
+163 6 colAv bboxMinX
+164 6 colAv bboxMinY
+165 6 colAv bboxMinZ
+166 6 colAv bboxMaxX
+167 6 colAv bboxMaxY
+168 6 colAv bboxMaxZ
+169 6 colAv horizon
+170 6 colAv maxSpeed
+171 6 colAv sidestepThrsh
+172 2 colAv maxPeerLocAge
+173 6 colAv vorTol
+174 2 colAv vorIters
+175 8 health startPropTest
+176 8 health startBatTest
+177 8 kalman resetEstimation
+178 8 kalman quadIsFlying
+179 8 kalman robustTdoa
+180 8 kalman robustTwr
+181 6 kalman pNAcc_xy
+182 6 kalman pNAcc_z
+183 6 kalman pNVel
+184 6 kalman pNPos
+185 6 kalman pNAtt
+186 6 kalman mNBaro
+187 6 kalman mNGyro_rollpitch
+188 6 kalman mNGyro_yaw
+189 6 kalman initialX
+190 6 kalman initialY
+191 6 kalman initialZ
+192 6 kalman initialYaw
+193 6 kalman maxPos
+194 6 kalman maxVel
+195 6 hlCommander vtoff
+196 6 hlCommander vland
+197 8 deck bcLedRing
+209 8 deck bcBuzzer
+210 8 deck bcGTGPS
+211 8 deck bcCPPM
+212 8 deck bcUSD
+215 8 deck bcZRanger
+216 8 deck bcZRanger2
+217 8 deck bcDWM1000
+222 8 deck bcFlow
+223 8 deck bcFlow2
+227 8 deck bcOA
+228 8 deck bcMultiranger
+229 8 deck bcLighthouse4
+236 8 deck bcActiveMarker
+237 8 deck bcAIDeck
+198 8 ring effect
+199 10 ring neffect
+200 8 ring solidRed
+201 8 ring solidGreen
+202 8 ring solidBlue
+203 8 ring headlightEnable
+204 6 ring emptyCharge
+205 6 ring fullCharge
+206 10 ring fadeColor
+207 6 ring fadeTime
+213 8 usd canLog
+214 8 usd logging
+218 8 loco mode
+219 8 tdoaEngine logId
+220 8 tdoaEngine logOthrId
+221 8 tdoaEngine matchAlgo
+224 8 motion disable
+225 8 motion adaptive
+226 6 motion flowStdFixed
+230 8 activeMarker front
+231 8 activeMarker back
+232 8 activeMarker left
+233 8 activeMarker right
+234 8 activeMarker mode
+235 8 activeMarker poll
+238 10 firmware revision0
+239 9 firmware revision1
+240 8 firmware modified
+241 8 lighthouse method
+242 8 lighthouse bsCalibReset
+243 8 lighthouse systemType
+244 6 lighthouse sweepStd
+245 6 lighthouse sweepStd2
diff --git a/cflib_groundstation/logs/cflie1_Param_toc_2023_11_21_21:42:40.txt b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_21_21:42:40.txt
new file mode 100644
index 000000000..12008f581
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_21_21:42:40.txt
@@ -0,0 +1,247 @@
+Param ID Type Group Identifier Name
+0 8 imu_sensors AK8963
+1 8 imu_sensors LPS25H
+5 8 imu_sensors BMP388
+2 8 imu_tests MPU6500
+3 8 imu_tests AK8963
+4 8 imu_tests LPS25H
+6 9 cpu flash
+7 10 cpu id0
+8 10 cpu id1
+9 10 cpu id2
+10 0 system selftestPassed
+11 0 system forceArm
+16 8 system taskDump
+208 8 system highlight
+12 9 crtpsrv echoDelay
+13 8 sound effect
+14 10 sound neffect
+15 9 sound freq
+17 8 memTst resetW
+18 0 sys e_stop
+19 8 commander enHighLevel
+20 8 flightmode althold
+21 8 flightmode poshold
+22 8 flightmode posSet
+23 8 flightmode yawMode
+24 8 flightmode stabModeRoll
+25 8 flightmode stabModePitch
+26 8 flightmode stabModeYaw
+27 6 cmdrCPPM rateRoll
+28 6 cmdrCPPM ratePitch
+29 6 cmdrCPPM angPitch
+30 6 cmdrCPPM angRoll
+31 6 cmdrCPPM rateYaw
+32 8 locSrv enRangeStreamFP32
+33 8 locSrv enLhAngleStream
+34 6 locSrv extPosStdDev
+35 6 locSrv extQuatStdDev
+36 6 pid_attitude roll_kp
+37 6 pid_attitude roll_ki
+38 6 pid_attitude roll_kd
+39 6 pid_attitude pitch_kp
+40 6 pid_attitude pitch_ki
+41 6 pid_attitude pitch_kd
+42 6 pid_attitude yaw_kp
+43 6 pid_attitude yaw_ki
+44 6 pid_attitude yaw_kd
+45 6 pid_rate roll_kp
+46 6 pid_rate roll_ki
+47 6 pid_rate roll_kd
+48 6 pid_rate pitch_kp
+49 6 pid_rate pitch_ki
+50 6 pid_rate pitch_kd
+51 6 pid_rate yaw_kp
+52 6 pid_rate yaw_ki
+53 6 pid_rate yaw_kd
+54 6 sensfusion6 kp
+55 6 sensfusion6 ki
+56 6 sensfusion6 baseZacc
+57 8 stabilizer estimator
+58 8 stabilizer controller
+59 8 stabilizer stop
+60 6 posEstAlt estAlphaAsl
+61 6 posEstAlt estAlphaZr
+62 6 posEstAlt velFactor
+63 6 posEstAlt velZAlpha
+64 6 posEstAlt vAccDeadband
+65 6 posCtlPid xKp
+66 6 posCtlPid xKi
+67 6 posCtlPid xKd
+68 6 posCtlPid yKp
+69 6 posCtlPid yKi
+70 6 posCtlPid yKd
+71 6 posCtlPid zKp
+72 6 posCtlPid zKi
+73 6 posCtlPid zKd
+74 9 posCtlPid thrustBase
+75 9 posCtlPid thrustMin
+76 6 posCtlPid rpLimit
+77 6 posCtlPid xyVelMax
+78 6 posCtlPid zVelMax
+79 6 velCtlPid vxKp
+80 6 velCtlPid vxKi
+81 6 velCtlPid vxKd
+82 6 velCtlPid vyKp
+83 6 velCtlPid vyKi
+84 6 velCtlPid vyKd
+85 6 velCtlPid vzKp
+86 6 velCtlPid vzKi
+87 6 velCtlPid vzKd
+88 6 posCtrlIndi K_xi_x
+89 6 posCtrlIndi K_xi_y
+90 6 posCtrlIndi K_xi_z
+91 6 posCtrlIndi K_dxi_x
+92 6 posCtrlIndi K_dxi_y
+93 6 posCtrlIndi K_dxi_z
+94 6 posCtrlIndi pq_clamping
+95 8 controller tiltComp
+96 6 ctrlMel kp_xy
+97 6 ctrlMel kd_xy
+98 6 ctrlMel ki_xy
+99 6 ctrlMel i_range_xy
+100 6 ctrlMel kp_z
+101 6 ctrlMel kd_z
+102 6 ctrlMel ki_z
+103 6 ctrlMel i_range_z
+104 6 ctrlMel mass
+105 6 ctrlMel massThrust
+106 6 ctrlMel kR_xy
+107 6 ctrlMel kR_z
+108 6 ctrlMel kw_xy
+109 6 ctrlMel kw_z
+110 6 ctrlMel ki_m_xy
+111 6 ctrlMel ki_m_z
+112 6 ctrlMel kd_omega_rp
+113 6 ctrlMel i_range_m_xy
+114 6 ctrlMel i_range_m_z
+115 6 ctrlINDI thrust_threshold
+116 6 ctrlINDI bound_ctrl_input
+117 6 ctrlINDI g1_p
+118 6 ctrlINDI g1_q
+119 6 ctrlINDI g1_r
+120 6 ctrlINDI g2
+121 6 ctrlINDI ref_err_p
+122 6 ctrlINDI ref_err_q
+123 6 ctrlINDI ref_err_r
+124 6 ctrlINDI ref_rate_p
+125 6 ctrlINDI ref_rate_q
+126 6 ctrlINDI ref_rate_r
+127 6 ctrlINDI act_dyn_p
+128 6 ctrlINDI act_dyn_q
+129 6 ctrlINDI act_dyn_r
+130 6 ctrlINDI filt_cutoff
+131 6 ctrlINDI filt_cutoff_r
+132 8 ctrlINDI outerLoopActive
+133 6 s_pid_attitude roll_kp
+134 6 s_pid_attitude roll_ki
+135 6 s_pid_attitude roll_kd
+136 6 s_pid_attitude pitch_kp
+137 6 s_pid_attitude pitch_ki
+138 6 s_pid_attitude pitch_kd
+139 6 s_pid_attitude yaw_kp
+140 6 s_pid_attitude yaw_ki
+141 6 s_pid_attitude yaw_kd
+142 6 s_pid_rate roll_kp
+143 6 s_pid_rate roll_ki
+144 6 s_pid_rate roll_kd
+145 6 s_pid_rate pitch_kp
+146 6 s_pid_rate pitch_ki
+147 6 s_pid_rate pitch_kd
+148 6 s_pid_rate yaw_kp
+149 6 s_pid_rate yaw_ki
+150 6 s_pid_rate yaw_kd
+151 8 ctrlStdnt tiltComp
+152 8 ctrlStdnt TEST_PARAM
+153 8 motorPowerSet enable
+154 9 motorPowerSet m1
+155 9 motorPowerSet m2
+156 9 motorPowerSet m3
+157 9 motorPowerSet m4
+158 10 powerDist idleThrust
+159 8 colAv enable
+160 6 colAv ellipsoidX
+161 6 colAv ellipsoidY
+162 6 colAv ellipsoidZ
+163 6 colAv bboxMinX
+164 6 colAv bboxMinY
+165 6 colAv bboxMinZ
+166 6 colAv bboxMaxX
+167 6 colAv bboxMaxY
+168 6 colAv bboxMaxZ
+169 6 colAv horizon
+170 6 colAv maxSpeed
+171 6 colAv sidestepThrsh
+172 2 colAv maxPeerLocAge
+173 6 colAv vorTol
+174 2 colAv vorIters
+175 8 health startPropTest
+176 8 health startBatTest
+177 8 kalman resetEstimation
+178 8 kalman quadIsFlying
+179 8 kalman robustTdoa
+180 8 kalman robustTwr
+181 6 kalman pNAcc_xy
+182 6 kalman pNAcc_z
+183 6 kalman pNVel
+184 6 kalman pNPos
+185 6 kalman pNAtt
+186 6 kalman mNBaro
+187 6 kalman mNGyro_rollpitch
+188 6 kalman mNGyro_yaw
+189 6 kalman initialX
+190 6 kalman initialY
+191 6 kalman initialZ
+192 6 kalman initialYaw
+193 6 kalman maxPos
+194 6 kalman maxVel
+195 6 hlCommander vtoff
+196 6 hlCommander vland
+197 8 deck bcLedRing
+209 8 deck bcBuzzer
+210 8 deck bcGTGPS
+211 8 deck bcCPPM
+212 8 deck bcUSD
+215 8 deck bcZRanger
+216 8 deck bcZRanger2
+217 8 deck bcDWM1000
+222 8 deck bcFlow
+223 8 deck bcFlow2
+227 8 deck bcOA
+228 8 deck bcMultiranger
+229 8 deck bcLighthouse4
+236 8 deck bcActiveMarker
+237 8 deck bcAIDeck
+198 8 ring effect
+199 10 ring neffect
+200 8 ring solidRed
+201 8 ring solidGreen
+202 8 ring solidBlue
+203 8 ring headlightEnable
+204 6 ring emptyCharge
+205 6 ring fullCharge
+206 10 ring fadeColor
+207 6 ring fadeTime
+213 8 usd canLog
+214 8 usd logging
+218 8 loco mode
+219 8 tdoaEngine logId
+220 8 tdoaEngine logOthrId
+221 8 tdoaEngine matchAlgo
+224 8 motion disable
+225 8 motion adaptive
+226 6 motion flowStdFixed
+230 8 activeMarker front
+231 8 activeMarker back
+232 8 activeMarker left
+233 8 activeMarker right
+234 8 activeMarker mode
+235 8 activeMarker poll
+238 10 firmware revision0
+239 9 firmware revision1
+240 8 firmware modified
+241 8 lighthouse method
+242 8 lighthouse bsCalibReset
+243 8 lighthouse systemType
+244 6 lighthouse sweepStd
+245 6 lighthouse sweepStd2
diff --git a/cflib_groundstation/logs/cflie1_Param_toc_2023_11_21_21:46:35.txt b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_21_21:46:35.txt
new file mode 100644
index 000000000..12008f581
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_21_21:46:35.txt
@@ -0,0 +1,247 @@
+Param ID Type Group Identifier Name
+0 8 imu_sensors AK8963
+1 8 imu_sensors LPS25H
+5 8 imu_sensors BMP388
+2 8 imu_tests MPU6500
+3 8 imu_tests AK8963
+4 8 imu_tests LPS25H
+6 9 cpu flash
+7 10 cpu id0
+8 10 cpu id1
+9 10 cpu id2
+10 0 system selftestPassed
+11 0 system forceArm
+16 8 system taskDump
+208 8 system highlight
+12 9 crtpsrv echoDelay
+13 8 sound effect
+14 10 sound neffect
+15 9 sound freq
+17 8 memTst resetW
+18 0 sys e_stop
+19 8 commander enHighLevel
+20 8 flightmode althold
+21 8 flightmode poshold
+22 8 flightmode posSet
+23 8 flightmode yawMode
+24 8 flightmode stabModeRoll
+25 8 flightmode stabModePitch
+26 8 flightmode stabModeYaw
+27 6 cmdrCPPM rateRoll
+28 6 cmdrCPPM ratePitch
+29 6 cmdrCPPM angPitch
+30 6 cmdrCPPM angRoll
+31 6 cmdrCPPM rateYaw
+32 8 locSrv enRangeStreamFP32
+33 8 locSrv enLhAngleStream
+34 6 locSrv extPosStdDev
+35 6 locSrv extQuatStdDev
+36 6 pid_attitude roll_kp
+37 6 pid_attitude roll_ki
+38 6 pid_attitude roll_kd
+39 6 pid_attitude pitch_kp
+40 6 pid_attitude pitch_ki
+41 6 pid_attitude pitch_kd
+42 6 pid_attitude yaw_kp
+43 6 pid_attitude yaw_ki
+44 6 pid_attitude yaw_kd
+45 6 pid_rate roll_kp
+46 6 pid_rate roll_ki
+47 6 pid_rate roll_kd
+48 6 pid_rate pitch_kp
+49 6 pid_rate pitch_ki
+50 6 pid_rate pitch_kd
+51 6 pid_rate yaw_kp
+52 6 pid_rate yaw_ki
+53 6 pid_rate yaw_kd
+54 6 sensfusion6 kp
+55 6 sensfusion6 ki
+56 6 sensfusion6 baseZacc
+57 8 stabilizer estimator
+58 8 stabilizer controller
+59 8 stabilizer stop
+60 6 posEstAlt estAlphaAsl
+61 6 posEstAlt estAlphaZr
+62 6 posEstAlt velFactor
+63 6 posEstAlt velZAlpha
+64 6 posEstAlt vAccDeadband
+65 6 posCtlPid xKp
+66 6 posCtlPid xKi
+67 6 posCtlPid xKd
+68 6 posCtlPid yKp
+69 6 posCtlPid yKi
+70 6 posCtlPid yKd
+71 6 posCtlPid zKp
+72 6 posCtlPid zKi
+73 6 posCtlPid zKd
+74 9 posCtlPid thrustBase
+75 9 posCtlPid thrustMin
+76 6 posCtlPid rpLimit
+77 6 posCtlPid xyVelMax
+78 6 posCtlPid zVelMax
+79 6 velCtlPid vxKp
+80 6 velCtlPid vxKi
+81 6 velCtlPid vxKd
+82 6 velCtlPid vyKp
+83 6 velCtlPid vyKi
+84 6 velCtlPid vyKd
+85 6 velCtlPid vzKp
+86 6 velCtlPid vzKi
+87 6 velCtlPid vzKd
+88 6 posCtrlIndi K_xi_x
+89 6 posCtrlIndi K_xi_y
+90 6 posCtrlIndi K_xi_z
+91 6 posCtrlIndi K_dxi_x
+92 6 posCtrlIndi K_dxi_y
+93 6 posCtrlIndi K_dxi_z
+94 6 posCtrlIndi pq_clamping
+95 8 controller tiltComp
+96 6 ctrlMel kp_xy
+97 6 ctrlMel kd_xy
+98 6 ctrlMel ki_xy
+99 6 ctrlMel i_range_xy
+100 6 ctrlMel kp_z
+101 6 ctrlMel kd_z
+102 6 ctrlMel ki_z
+103 6 ctrlMel i_range_z
+104 6 ctrlMel mass
+105 6 ctrlMel massThrust
+106 6 ctrlMel kR_xy
+107 6 ctrlMel kR_z
+108 6 ctrlMel kw_xy
+109 6 ctrlMel kw_z
+110 6 ctrlMel ki_m_xy
+111 6 ctrlMel ki_m_z
+112 6 ctrlMel kd_omega_rp
+113 6 ctrlMel i_range_m_xy
+114 6 ctrlMel i_range_m_z
+115 6 ctrlINDI thrust_threshold
+116 6 ctrlINDI bound_ctrl_input
+117 6 ctrlINDI g1_p
+118 6 ctrlINDI g1_q
+119 6 ctrlINDI g1_r
+120 6 ctrlINDI g2
+121 6 ctrlINDI ref_err_p
+122 6 ctrlINDI ref_err_q
+123 6 ctrlINDI ref_err_r
+124 6 ctrlINDI ref_rate_p
+125 6 ctrlINDI ref_rate_q
+126 6 ctrlINDI ref_rate_r
+127 6 ctrlINDI act_dyn_p
+128 6 ctrlINDI act_dyn_q
+129 6 ctrlINDI act_dyn_r
+130 6 ctrlINDI filt_cutoff
+131 6 ctrlINDI filt_cutoff_r
+132 8 ctrlINDI outerLoopActive
+133 6 s_pid_attitude roll_kp
+134 6 s_pid_attitude roll_ki
+135 6 s_pid_attitude roll_kd
+136 6 s_pid_attitude pitch_kp
+137 6 s_pid_attitude pitch_ki
+138 6 s_pid_attitude pitch_kd
+139 6 s_pid_attitude yaw_kp
+140 6 s_pid_attitude yaw_ki
+141 6 s_pid_attitude yaw_kd
+142 6 s_pid_rate roll_kp
+143 6 s_pid_rate roll_ki
+144 6 s_pid_rate roll_kd
+145 6 s_pid_rate pitch_kp
+146 6 s_pid_rate pitch_ki
+147 6 s_pid_rate pitch_kd
+148 6 s_pid_rate yaw_kp
+149 6 s_pid_rate yaw_ki
+150 6 s_pid_rate yaw_kd
+151 8 ctrlStdnt tiltComp
+152 8 ctrlStdnt TEST_PARAM
+153 8 motorPowerSet enable
+154 9 motorPowerSet m1
+155 9 motorPowerSet m2
+156 9 motorPowerSet m3
+157 9 motorPowerSet m4
+158 10 powerDist idleThrust
+159 8 colAv enable
+160 6 colAv ellipsoidX
+161 6 colAv ellipsoidY
+162 6 colAv ellipsoidZ
+163 6 colAv bboxMinX
+164 6 colAv bboxMinY
+165 6 colAv bboxMinZ
+166 6 colAv bboxMaxX
+167 6 colAv bboxMaxY
+168 6 colAv bboxMaxZ
+169 6 colAv horizon
+170 6 colAv maxSpeed
+171 6 colAv sidestepThrsh
+172 2 colAv maxPeerLocAge
+173 6 colAv vorTol
+174 2 colAv vorIters
+175 8 health startPropTest
+176 8 health startBatTest
+177 8 kalman resetEstimation
+178 8 kalman quadIsFlying
+179 8 kalman robustTdoa
+180 8 kalman robustTwr
+181 6 kalman pNAcc_xy
+182 6 kalman pNAcc_z
+183 6 kalman pNVel
+184 6 kalman pNPos
+185 6 kalman pNAtt
+186 6 kalman mNBaro
+187 6 kalman mNGyro_rollpitch
+188 6 kalman mNGyro_yaw
+189 6 kalman initialX
+190 6 kalman initialY
+191 6 kalman initialZ
+192 6 kalman initialYaw
+193 6 kalman maxPos
+194 6 kalman maxVel
+195 6 hlCommander vtoff
+196 6 hlCommander vland
+197 8 deck bcLedRing
+209 8 deck bcBuzzer
+210 8 deck bcGTGPS
+211 8 deck bcCPPM
+212 8 deck bcUSD
+215 8 deck bcZRanger
+216 8 deck bcZRanger2
+217 8 deck bcDWM1000
+222 8 deck bcFlow
+223 8 deck bcFlow2
+227 8 deck bcOA
+228 8 deck bcMultiranger
+229 8 deck bcLighthouse4
+236 8 deck bcActiveMarker
+237 8 deck bcAIDeck
+198 8 ring effect
+199 10 ring neffect
+200 8 ring solidRed
+201 8 ring solidGreen
+202 8 ring solidBlue
+203 8 ring headlightEnable
+204 6 ring emptyCharge
+205 6 ring fullCharge
+206 10 ring fadeColor
+207 6 ring fadeTime
+213 8 usd canLog
+214 8 usd logging
+218 8 loco mode
+219 8 tdoaEngine logId
+220 8 tdoaEngine logOthrId
+221 8 tdoaEngine matchAlgo
+224 8 motion disable
+225 8 motion adaptive
+226 6 motion flowStdFixed
+230 8 activeMarker front
+231 8 activeMarker back
+232 8 activeMarker left
+233 8 activeMarker right
+234 8 activeMarker mode
+235 8 activeMarker poll
+238 10 firmware revision0
+239 9 firmware revision1
+240 8 firmware modified
+241 8 lighthouse method
+242 8 lighthouse bsCalibReset
+243 8 lighthouse systemType
+244 6 lighthouse sweepStd
+245 6 lighthouse sweepStd2
diff --git a/cflib_groundstation/logs/cflie1_Param_toc_2023_11_21_21:49:43.txt b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_21_21:49:43.txt
new file mode 100644
index 000000000..12008f581
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_21_21:49:43.txt
@@ -0,0 +1,247 @@
+Param ID Type Group Identifier Name
+0 8 imu_sensors AK8963
+1 8 imu_sensors LPS25H
+5 8 imu_sensors BMP388
+2 8 imu_tests MPU6500
+3 8 imu_tests AK8963
+4 8 imu_tests LPS25H
+6 9 cpu flash
+7 10 cpu id0
+8 10 cpu id1
+9 10 cpu id2
+10 0 system selftestPassed
+11 0 system forceArm
+16 8 system taskDump
+208 8 system highlight
+12 9 crtpsrv echoDelay
+13 8 sound effect
+14 10 sound neffect
+15 9 sound freq
+17 8 memTst resetW
+18 0 sys e_stop
+19 8 commander enHighLevel
+20 8 flightmode althold
+21 8 flightmode poshold
+22 8 flightmode posSet
+23 8 flightmode yawMode
+24 8 flightmode stabModeRoll
+25 8 flightmode stabModePitch
+26 8 flightmode stabModeYaw
+27 6 cmdrCPPM rateRoll
+28 6 cmdrCPPM ratePitch
+29 6 cmdrCPPM angPitch
+30 6 cmdrCPPM angRoll
+31 6 cmdrCPPM rateYaw
+32 8 locSrv enRangeStreamFP32
+33 8 locSrv enLhAngleStream
+34 6 locSrv extPosStdDev
+35 6 locSrv extQuatStdDev
+36 6 pid_attitude roll_kp
+37 6 pid_attitude roll_ki
+38 6 pid_attitude roll_kd
+39 6 pid_attitude pitch_kp
+40 6 pid_attitude pitch_ki
+41 6 pid_attitude pitch_kd
+42 6 pid_attitude yaw_kp
+43 6 pid_attitude yaw_ki
+44 6 pid_attitude yaw_kd
+45 6 pid_rate roll_kp
+46 6 pid_rate roll_ki
+47 6 pid_rate roll_kd
+48 6 pid_rate pitch_kp
+49 6 pid_rate pitch_ki
+50 6 pid_rate pitch_kd
+51 6 pid_rate yaw_kp
+52 6 pid_rate yaw_ki
+53 6 pid_rate yaw_kd
+54 6 sensfusion6 kp
+55 6 sensfusion6 ki
+56 6 sensfusion6 baseZacc
+57 8 stabilizer estimator
+58 8 stabilizer controller
+59 8 stabilizer stop
+60 6 posEstAlt estAlphaAsl
+61 6 posEstAlt estAlphaZr
+62 6 posEstAlt velFactor
+63 6 posEstAlt velZAlpha
+64 6 posEstAlt vAccDeadband
+65 6 posCtlPid xKp
+66 6 posCtlPid xKi
+67 6 posCtlPid xKd
+68 6 posCtlPid yKp
+69 6 posCtlPid yKi
+70 6 posCtlPid yKd
+71 6 posCtlPid zKp
+72 6 posCtlPid zKi
+73 6 posCtlPid zKd
+74 9 posCtlPid thrustBase
+75 9 posCtlPid thrustMin
+76 6 posCtlPid rpLimit
+77 6 posCtlPid xyVelMax
+78 6 posCtlPid zVelMax
+79 6 velCtlPid vxKp
+80 6 velCtlPid vxKi
+81 6 velCtlPid vxKd
+82 6 velCtlPid vyKp
+83 6 velCtlPid vyKi
+84 6 velCtlPid vyKd
+85 6 velCtlPid vzKp
+86 6 velCtlPid vzKi
+87 6 velCtlPid vzKd
+88 6 posCtrlIndi K_xi_x
+89 6 posCtrlIndi K_xi_y
+90 6 posCtrlIndi K_xi_z
+91 6 posCtrlIndi K_dxi_x
+92 6 posCtrlIndi K_dxi_y
+93 6 posCtrlIndi K_dxi_z
+94 6 posCtrlIndi pq_clamping
+95 8 controller tiltComp
+96 6 ctrlMel kp_xy
+97 6 ctrlMel kd_xy
+98 6 ctrlMel ki_xy
+99 6 ctrlMel i_range_xy
+100 6 ctrlMel kp_z
+101 6 ctrlMel kd_z
+102 6 ctrlMel ki_z
+103 6 ctrlMel i_range_z
+104 6 ctrlMel mass
+105 6 ctrlMel massThrust
+106 6 ctrlMel kR_xy
+107 6 ctrlMel kR_z
+108 6 ctrlMel kw_xy
+109 6 ctrlMel kw_z
+110 6 ctrlMel ki_m_xy
+111 6 ctrlMel ki_m_z
+112 6 ctrlMel kd_omega_rp
+113 6 ctrlMel i_range_m_xy
+114 6 ctrlMel i_range_m_z
+115 6 ctrlINDI thrust_threshold
+116 6 ctrlINDI bound_ctrl_input
+117 6 ctrlINDI g1_p
+118 6 ctrlINDI g1_q
+119 6 ctrlINDI g1_r
+120 6 ctrlINDI g2
+121 6 ctrlINDI ref_err_p
+122 6 ctrlINDI ref_err_q
+123 6 ctrlINDI ref_err_r
+124 6 ctrlINDI ref_rate_p
+125 6 ctrlINDI ref_rate_q
+126 6 ctrlINDI ref_rate_r
+127 6 ctrlINDI act_dyn_p
+128 6 ctrlINDI act_dyn_q
+129 6 ctrlINDI act_dyn_r
+130 6 ctrlINDI filt_cutoff
+131 6 ctrlINDI filt_cutoff_r
+132 8 ctrlINDI outerLoopActive
+133 6 s_pid_attitude roll_kp
+134 6 s_pid_attitude roll_ki
+135 6 s_pid_attitude roll_kd
+136 6 s_pid_attitude pitch_kp
+137 6 s_pid_attitude pitch_ki
+138 6 s_pid_attitude pitch_kd
+139 6 s_pid_attitude yaw_kp
+140 6 s_pid_attitude yaw_ki
+141 6 s_pid_attitude yaw_kd
+142 6 s_pid_rate roll_kp
+143 6 s_pid_rate roll_ki
+144 6 s_pid_rate roll_kd
+145 6 s_pid_rate pitch_kp
+146 6 s_pid_rate pitch_ki
+147 6 s_pid_rate pitch_kd
+148 6 s_pid_rate yaw_kp
+149 6 s_pid_rate yaw_ki
+150 6 s_pid_rate yaw_kd
+151 8 ctrlStdnt tiltComp
+152 8 ctrlStdnt TEST_PARAM
+153 8 motorPowerSet enable
+154 9 motorPowerSet m1
+155 9 motorPowerSet m2
+156 9 motorPowerSet m3
+157 9 motorPowerSet m4
+158 10 powerDist idleThrust
+159 8 colAv enable
+160 6 colAv ellipsoidX
+161 6 colAv ellipsoidY
+162 6 colAv ellipsoidZ
+163 6 colAv bboxMinX
+164 6 colAv bboxMinY
+165 6 colAv bboxMinZ
+166 6 colAv bboxMaxX
+167 6 colAv bboxMaxY
+168 6 colAv bboxMaxZ
+169 6 colAv horizon
+170 6 colAv maxSpeed
+171 6 colAv sidestepThrsh
+172 2 colAv maxPeerLocAge
+173 6 colAv vorTol
+174 2 colAv vorIters
+175 8 health startPropTest
+176 8 health startBatTest
+177 8 kalman resetEstimation
+178 8 kalman quadIsFlying
+179 8 kalman robustTdoa
+180 8 kalman robustTwr
+181 6 kalman pNAcc_xy
+182 6 kalman pNAcc_z
+183 6 kalman pNVel
+184 6 kalman pNPos
+185 6 kalman pNAtt
+186 6 kalman mNBaro
+187 6 kalman mNGyro_rollpitch
+188 6 kalman mNGyro_yaw
+189 6 kalman initialX
+190 6 kalman initialY
+191 6 kalman initialZ
+192 6 kalman initialYaw
+193 6 kalman maxPos
+194 6 kalman maxVel
+195 6 hlCommander vtoff
+196 6 hlCommander vland
+197 8 deck bcLedRing
+209 8 deck bcBuzzer
+210 8 deck bcGTGPS
+211 8 deck bcCPPM
+212 8 deck bcUSD
+215 8 deck bcZRanger
+216 8 deck bcZRanger2
+217 8 deck bcDWM1000
+222 8 deck bcFlow
+223 8 deck bcFlow2
+227 8 deck bcOA
+228 8 deck bcMultiranger
+229 8 deck bcLighthouse4
+236 8 deck bcActiveMarker
+237 8 deck bcAIDeck
+198 8 ring effect
+199 10 ring neffect
+200 8 ring solidRed
+201 8 ring solidGreen
+202 8 ring solidBlue
+203 8 ring headlightEnable
+204 6 ring emptyCharge
+205 6 ring fullCharge
+206 10 ring fadeColor
+207 6 ring fadeTime
+213 8 usd canLog
+214 8 usd logging
+218 8 loco mode
+219 8 tdoaEngine logId
+220 8 tdoaEngine logOthrId
+221 8 tdoaEngine matchAlgo
+224 8 motion disable
+225 8 motion adaptive
+226 6 motion flowStdFixed
+230 8 activeMarker front
+231 8 activeMarker back
+232 8 activeMarker left
+233 8 activeMarker right
+234 8 activeMarker mode
+235 8 activeMarker poll
+238 10 firmware revision0
+239 9 firmware revision1
+240 8 firmware modified
+241 8 lighthouse method
+242 8 lighthouse bsCalibReset
+243 8 lighthouse systemType
+244 6 lighthouse sweepStd
+245 6 lighthouse sweepStd2
--
GitLab