diff --git a/cflib_groundstation/LogfileHandler.py b/cflib_groundstation/LogfileHandler.py
index 71220df0261e587f320a82f085bb7d92e7f15f55..049d1d130064f97c977d07f941fd44946040fcab 100644
--- a/cflib_groundstation/LogfileHandler.py
+++ b/cflib_groundstation/LogfileHandler.py
@@ -14,9 +14,6 @@ from cflib.crazyflie import Crazyflie
from cflib.crazyflie.syncCrazyflie import SyncCrazyflie
from queue import Queue
#import groundstation_socket as gs
-import uCartCommander
-from groundstation_socket import MessageTypeID
-from SetpointHandler import SetpointHandler, FlightMode
from cflib.crazyflie.log import LogConfig
import numpy as np
@@ -46,7 +43,8 @@ class LogfileHandler:
self.logging_configs = []
self.data_log = None
self.data_log_name = ""
- self.header_id = 0
+ self.header_id = -1
+ self.header = []
self.create_log_data_file()
@@ -80,7 +78,7 @@ class LogfileHandler:
file = open(filename, "a")
for group in list(toc.keys()):
for name in list(toc[group].keys()):
- file.write(f"{toc[group][name].ident} {types.get(toc[group][name].ctype)} {group} {name}\n")
+ file.write(f"{toc[group][name].ident}\t{types.get(toc[group][name].ctype)}\t{group}\t{name}\n")
#print(f" Identity: {toc[group][name].ident} Packet Type:{toc[group][name].pytype} CType:{toc[group][name].ctype} Group:{group} Name:{name}\n")
@@ -133,15 +131,15 @@ class LogfileHandler:
self.data_log.close()
def add_config_headers(self, config_list: List[LogConfig]):
+ self.header = []
+ self.header_id += 1
self.data_log = open(self.data_log_name, 'a')
header = "#" + str(self.header_id) + "\ttime"
for config in config_list:
- print(config)
for variable in config.variables:
- print("Var: " + variable.name)
header += "\t" + variable.name
+ self.header.append(variable.name)
self.data_log.write(header + "\r")
- self.header_id += 1
self.data_log.close()
@@ -153,13 +151,13 @@ class LogfileHandler:
def stop_logging(self):
raise Exception
- def write_data_points(self, data, timestamp):
+ def write_data_points(self, data):
self.data_log = open(self.data_log_name, 'a')
- line = str(timestamp) + " "
- for group in data:
- for data in group.values():
- line += str(data) + "\t"
- line += "\r"
+ line = str(data[0]['timestamp']) + "\t"
+ for point in data:
+ line += str('%.4f'%(point['data'])) + "\t"
+ line += "\t\r"
+ print(line)
self.data_log.write(line)
self.data_log.close()
diff --git a/cflib_groundstation/__pycache__/LogfileHandler.cpython-38.pyc b/cflib_groundstation/__pycache__/LogfileHandler.cpython-38.pyc
index 38c58eb95bad0da7d7cb58dabaca510ba2832a5c..655b6dbaa086985e8ea014180995549af7d4bd19 100644
Binary files a/cflib_groundstation/__pycache__/LogfileHandler.cpython-38.pyc and b/cflib_groundstation/__pycache__/LogfileHandler.cpython-38.pyc differ
diff --git a/cflib_groundstation/__pycache__/SetpointHandler.cpython-38.pyc b/cflib_groundstation/__pycache__/SetpointHandler.cpython-38.pyc
index 4b6fa575d603a6f5965726a792f3559d6bdcb65f..26cf1c6d90a211f7d387723eac619a13fc9c56a2 100644
Binary files a/cflib_groundstation/__pycache__/SetpointHandler.cpython-38.pyc and b/cflib_groundstation/__pycache__/SetpointHandler.cpython-38.pyc differ
diff --git a/cflib_groundstation/__pycache__/crazyflie_connection.cpython-38.pyc b/cflib_groundstation/__pycache__/crazyflie_connection.cpython-38.pyc
index c8b8d69dfd7a79b2ef07b4e7cc8c8446aa446fb0..cad3efe8423c986ea192b24e4fc604091f2694d4 100644
Binary files a/cflib_groundstation/__pycache__/crazyflie_connection.cpython-38.pyc and b/cflib_groundstation/__pycache__/crazyflie_connection.cpython-38.pyc differ
diff --git a/cflib_groundstation/__pycache__/groundstation_socket.cpython-38.pyc b/cflib_groundstation/__pycache__/groundstation_socket.cpython-38.pyc
index be803194c29d9124de995ab5d59fc3d0dbd15cd0..564e9957431c3074df62c281d13b5e50e8bcb4f6 100644
Binary files a/cflib_groundstation/__pycache__/groundstation_socket.cpython-38.pyc and b/cflib_groundstation/__pycache__/groundstation_socket.cpython-38.pyc differ
diff --git a/cflib_groundstation/__pycache__/uCartCommander.cpython-38.pyc b/cflib_groundstation/__pycache__/uCartCommander.cpython-38.pyc
index 85e268143825e20c74f5e47f55281d03cd536423..b0ceddca3d1fd2a9f5b0bb5af7ba2253ea1f266d 100644
Binary files a/cflib_groundstation/__pycache__/uCartCommander.cpython-38.pyc and b/cflib_groundstation/__pycache__/uCartCommander.cpython-38.pyc differ
diff --git a/cflib_groundstation/crazyflie_connection.py b/cflib_groundstation/crazyflie_connection.py
index 6030a4464f8bba5f706a08218908f7fb81c6cb8f..727d965c1a8c9ecf74ac2a2c327982bb4514a204 100644
--- a/cflib_groundstation/crazyflie_connection.py
+++ b/cflib_groundstation/crazyflie_connection.py
@@ -54,7 +54,9 @@ class CrazyflieConnection:
self.stop_thread = False
self.setpoint_handler = SetpointHandler()
self.logfile_handler = LogfileHandler()
+ self.logging_configs = self.logfile_handler.read_all_active_blocks()
self.timestamp = 0
+ self.logging_queue = Queue()
# self.timer = QTimer()
# self.timer.timeout.connect(self.update_plot)
@@ -256,7 +258,7 @@ class CrazyflieConnection:
if id == 0: # logdata?
filename = self.logfile_handler.data_log_name
data = bytearray()
- data += bytes(filename, 'utf-8')
+ data += bytes("_" + filename, 'utf-8')
responsedata = {
"msg_type": (MessageTypeID.RESPLOGFILE_ID),
"msg_id": command['msg_id'],
@@ -268,7 +270,7 @@ class CrazyflieConnection:
params = self.get_param_toc()
filename = self.logfile_handler.CopyTocToFile(params, True)
data = bytearray()
- data += bytes(filename, 'utf-8')
+ data += bytes("_" + filename, 'utf-8')
responsedata = {
"msg_type": (MessageTypeID.RESPLOGFILE_ID),
"msg_id": command['msg_id'],
@@ -280,7 +282,23 @@ class CrazyflieConnection:
logs = self.get_logging_toc()
filename = self.logfile_handler.CopyTocToFile(logs, False)
data = bytearray()
- data += bytes(filename, 'utf-8')
+ data += bytes("_" + filename, 'utf-8')
+ responsedata = {
+ "msg_type": (MessageTypeID.RESPLOGFILE_ID),
+ "msg_id": command['msg_id'],
+ "data_len": len(data),
+ "data": data
+ }
+ outputQueue.put(responsedata)
+ elif id == 3:
+ header = "_" + str(self.logfile_handler.header_id) + ":,time,"
+ for config in self.logging_configs:
+ for variable in config.variables:
+ header += variable.name + ","
+ print(header)
+ data = bytearray()
+ data += bytes(header, 'utf-8')
+
responsedata = {
"msg_type": (MessageTypeID.RESPLOGFILE_ID),
"msg_id": command['msg_id'],
@@ -288,10 +306,16 @@ class CrazyflieConnection:
"data": data
}
outputQueue.put(responsedata)
- elif id == 3: # active header of the data log
- raise Exception # Not implemented
elif id == 4: # state of test stand connection
- raise Exception # Not implemented
+ data = bytearray()
+ data += bytes("_false", 'utf-8')
+ responsedata = {
+ "msg_type": (MessageTypeID.RESPLOGFILE_ID),
+ "msg_id": command['msg_id'],
+ "data_len": len(data),
+ "data": data
+ }
+ outputQueue.put(responsedata)
else :
raise Exception
@@ -304,8 +328,16 @@ class CrazyflieConnection:
elif id == 1:
self.delete_log_blocks()
self.logging_configs = self.logfile_handler.read_all_active_blocks()
+ for config in self.logging_configs:
+ config.data_received_cb.add_callback(
+ self.logging_callback)
+ self.scf.cf.log.add_config(config)
elif id == 2:
self.logging_configs = self.logfile_handler.read_all_active_blocks()
+ for config in self.logging_configs:
+ config.data_received_cb.add_callback(
+ self.logging_callback)
+ self.scf.cf.log.add_config(config)
elif id == 3:
block_id = command['data'][1]
self.logging_configs.remove(self.logging_configs[block_id])
@@ -314,9 +346,11 @@ class CrazyflieConnection:
elif id == 5:
self.disable_logging()
elif id == 8:
+ self.enable_logging()
self.start_logging()
elif id == 9:
self.stop_logging()
+ self.disable_logging()
def simple_log(self, scf, logconf):
print("Logging...")
@@ -343,9 +377,10 @@ class CrazyflieConnection:
self.logging_configs[i].stop()
def delete_log_blocks(self):
- for block in self.logging_configs:
- block.delete()
- self.logging_configs.remove(block)
+ self.logging_configs = []
+ #for block in self.logging_configs:
+ #block.delete()
+ #self.logging_configs.remove(block)
def start_logging(self):
self.stop_thread = False
@@ -357,13 +392,23 @@ class CrazyflieConnection:
def continous_log(self):
while not self.stop_thread:
- data = []
- for config in self.logging_configs:
- data.append(self.simple_log(self.scf, config))
- print(data)
- self.logfile_handler.write_data_points(data, self.timestamp / 1000)
- sleep(0.3)
-
-
-
+ if self.logging_queue.qsize() > 3:
+ data = []
+ for i in range(0, 12):
+ point = self.logging_queue.get()
+ print(point)
+ data.append(point)
+ self.logfile_handler.write_data_points(data)
+ sleep(0.3)
+
+
+ def logging_callback(self, _timestamp, data, _logconf):
+ """ Whenever data comes in from the logging, it is sent here,
+ which routes it into our specific format for the logging queue. """
+
+ timestamp1 = time.time() - self.start_time
+ for key in data.keys():
+ value_pair = {'timestamp': timestamp1, 'data': data[key],
+ 'signal': key}
+ self.logging_queue.put(value_pair)
diff --git a/cflib_groundstation/logs/cflie1_2023_11_16_20:49:49.txt b/cflib_groundstation/logs/cflie1_2023_11_16_20:49:49.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f4cff9e7c5fb03a7cd360f5778f2925bc0f512a3
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_11_16_20:49:49.txt
@@ -0,0 +1 @@
+#Crazyflie
#Controller:Unknown
#0 time ctrlStdnt.rollRate ctrlStdnt.pitchRate ctrlStdnt.yawRate ctrlStdnt.roll ctrlStdnt.pitch ctrlStdnt.yaw
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_11_16_20:50:47.txt b/cflib_groundstation/logs/cflie1_2023_11_16_20:50:47.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f4cff9e7c5fb03a7cd360f5778f2925bc0f512a3
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_11_16_20:50:47.txt
@@ -0,0 +1 @@
+#Crazyflie
#Controller:Unknown
#0 time ctrlStdnt.rollRate ctrlStdnt.pitchRate ctrlStdnt.yawRate ctrlStdnt.roll ctrlStdnt.pitch ctrlStdnt.yaw
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_11_16_20:54:24.txt b/cflib_groundstation/logs/cflie1_2023_11_16_20:54:24.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c318f1ec737d58b8a5a06d1beee1471f1f0c6d34
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_11_16_20:54:24.txt
@@ -0,0 +1 @@
+#Crazyflie
#Controller:Unknown
#0 time ctrlStdnt.rollRate ctrlStdnt.pitchRate ctrlStdnt.yawRate ctrlStdnt.roll ctrlStdnt.pitch ctrlStdnt.yaw
245.924 0.0000 0.0000 0.0000 0.0000 0.0000 -172.3370
246.446 0.0000 0.0000 0.0000 0.0000 0.0000 -172.3355
246.986 0.0000 0.0000 0.0000 0.0000 0.0000 -172.3401
247.508 0.0000 0.0000 0.0000 0.0000 0.0000 -172.3401
248.076 0.0000 0.0000 0.0000 0.0000 0.0000 -172.3323
248.589 0.0000 0.0000 0.0000 0.0000 0.0000 -172.3356
249.115 0.0000 0.0000 0.0000 0.0000 0.0000 -172.3459
249.625 0.0000 0.0000 0.0000 0.0000 0.0000 -172.3500
250.083 0.0000 0.0000 0.0000 0.0000 0.0000 -172.3493
250.63 0.0000 0.0000 0.0000 0.0000 0.0000 -172.3567
251.127 0.0000 0.0000 0.0000 0.0000 0.0000 -172.3643
251.7 0.0000 0.0000 0.0000 0.0000 0.0000 -172.3687
252.193 0.0000 0.0000 0.0000 0.0000 0.0000 -172.3781
252.66 0.0000 0.0000 0.0000 0.0000 0.0000 -172.3826
253.148 0.0000 0.0000 0.0000 0.0000 0.0000 -172.3957
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_11_16_21:01:36.txt b/cflib_groundstation/logs/cflie1_2023_11_16_21:01:36.txt
new file mode 100644
index 0000000000000000000000000000000000000000..642ce05e7b8df15083b7c9dac21f4f8a802b6363
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_11_16_21:01:36.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
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_11_16_21:02:21.txt b/cflib_groundstation/logs/cflie1_2023_11_16_21:02:21.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2c2777aeb0ef87ba69e70aa5a909837d104b18cf
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_11_16_21:02:21.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
722.252 0.7951 -1.0905 -175.0134 0.0653 0.0367 -0.1235 0.0000 0.0000 0.0000 0.0000 0.0000 -175.0169
723.317 0.7947 -1.0747 -175.0142 0.2183 -0.0203 -0.1162 0.0000 0.0000 0.0000 0.0000 0.0000 -175.0136
724.37 0.7895 -1.0905 -175.0148 0.1074 -0.0298 0.0094 0.0000 0.0000 0.0000 0.0000 0.0000 -175.0219
725.42 0.7861 -1.0942 -175.0163 0.1695 0.6741 0.0468 0.0000 0.0000 0.0000 0.0000 0.0000 -175.0200
726.575 0.7856 -1.0849 -175.0266 -0.1172 0.0322 0.1098 0.0000 0.0000 0.0000 0.0000 0.0000 -175.0358
727.646 0.8028 -1.0750 -175.0343 0.2163 0.0274 0.0566 0.0000 0.0000 0.0000 0.0000 0.0000 -175.0394
728.671 0.8079 -1.0657 -175.0378 0.0922 0.0732 0.0089 0.0000 0.0000 0.0000 0.0000 0.0000 -175.0383
729.73 0.7987 -1.0619 -175.0321 -0.0510 0.2421 -0.0522 0.0000 0.0000 0.0000 0.0000 0.0000 -175.0326
730.881 0.8023 -1.0699 -175.0272 -0.1703 -0.0894 0.0300 0.0000 0.0000 0.0000 0.0000 0.0000 -175.0353
732.062 0.8013 -1.0790 -175.0408 0.3246 0.7222 0.1699 0.0000 0.0000 0.0000 0.0000 0.0000 -175.0479
734.182 0.7968 -1.0492 -175.0430 0.1299 -0.4678 0.0199 0.0000 0.0000 0.0000 0.0000 0.0000 -175.0563
735.366 0.7995 -1.0639 -175.0619 -0.0771 0.2842 -0.1257 0.0000 0.0000 0.0000 0.0000 0.0000 -175.0663
736.511 0.7885 -1.0845 -175.0659 0.3725 0.0991 0.0381 0.0000 0.0000 0.0000 0.0000 0.0000 -175.0699
738.303 0.8091 -1.0916 -175.0871 -0.3061 -0.3670 0.1308 0.0000 0.0000 0.0000 0.0000 0.0000 -175.0954
739.43 0.7976 -1.0867 -175.0964 0.2570 -0.1453 -0.0687 0.0000 0.0000 0.0000 0.0000 0.0000 -175.0981
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_11_16_21:04:46.txt b/cflib_groundstation/logs/cflie1_2023_11_16_21:04:46.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8ca75d6720b55ee5a4fa654c71b095e1818f2503
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_11_16_21:04:46.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
864.51 0.7909 -1.0503 -176.1295 0.2110 0.5171 -0.0595 0.0000 0.0000 0.0000 0.0000 0.0000 -176.1306
865.553 0.7807 -1.0638 -176.1291 0.2454 0.7006 0.0562 0.0000 0.0000 0.0000 0.0000 0.0000 -176.1370
867.349 0.7973 -1.0603 -176.1422 -0.4095 -0.1298 -0.1781 0.0000 0.0000 0.0000 0.0000 0.0000 -176.1479
868.364 0.8035 -1.0572 -176.1476 -0.2163 0.6298 -0.0252 0.0000 0.0000 0.0000 0.0000 0.0000 -176.1518
869.352 0.8022 -1.0435 -176.1571 0.2475 0.3301 0.0043 0.0000 0.0000 0.0000 0.0000 0.0000 -176.1626
870.345 0.8070 -1.0589 -176.1531 -0.1862 -0.5043 0.0409 0.0000 0.0000 0.0000 0.0000 0.0000 -176.1617
871.366 0.8078 -1.0869 -176.1615 0.4857 0.1622 -0.1997 0.0000 0.0000 0.0000 0.0000 0.0000 -176.1663
872.394 0.8102 -1.0790 -176.1753 0.1788 -0.6042 0.0344 0.0000 0.0000 0.0000 0.0000 0.0000 -176.1772
873.409 0.8100 -1.0720 -176.1794 0.4696 -0.0090 -0.2934 0.0000 0.0000 0.0000 0.0000 0.0000 -176.1880
874.42 0.8180 -1.0752 -176.1954 -0.3525 -0.5107 -0.0475 0.0000 0.0000 0.0000 0.0000 0.0000 -176.2001
875.43 0.8179 -1.0913 -176.2081 0.3733 -0.0236 0.0203 0.0000 0.0000 0.0000 0.0000 0.0000 -176.2187
876.475 0.8052 -1.0914 -176.2279 -0.0478 -0.3674 -0.1292 0.0000 0.0000 0.0000 0.0000 0.0000 -176.2261
877.515 0.8131 -1.0880 -176.2327 0.3236 -0.2320 0.2073 0.0000 0.0000 0.0000 0.0000 0.0000 -176.2418
878.52 0.8179 -1.0822 -176.2512 0.3645 -0.1031 0.1479 0.0000 0.0000 0.0000 0.0000 0.0000 -176.2596
879.532 0.8008 -1.0709 -176.2663 -0.2135 -0.0463 -0.0118 0.0000 0.0000 0.0000 0.0000 0.0000 -176.2653
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_11_16_21:12:52.txt b/cflib_groundstation/logs/cflie1_2023_11_16_21:12:52.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f6cfcafbd654ad98e1d6c360d440fb396dd3abf4
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_11_16_21:12:52.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
1352.518 0.1553 -1.0695 150.7455 0.1148 0.3395 0.2723 0.0000 0.0000 0.0000 0.0000 0.0000 150.7423
1353.558 0.1679 -1.0683 150.7479 -0.3594 -0.4034 0.1107 0.0000 0.0000 0.0000 0.0000 0.0000 150.7416
1354.613 0.1756 -1.0610 150.7354 -0.1518 -0.4791 -0.0707 0.0000 0.0000 0.0000 0.0000 0.0000 150.7309
1355.627 0.1620 -1.0692 150.7273 0.2021 0.0772 -0.1906 0.0000 0.0000 0.0000 0.0000 0.0000 150.7213
1356.637 0.1585 -1.0908 150.7200 0.3551 -0.1480 0.0394 0.0000 0.0000 0.0000 0.0000 0.0000 150.7250
1357.655 0.1624 -1.0808 150.7251 0.1299 -0.1189 0.0102 0.0000 0.0000 0.0000 0.0000 0.0000 150.7227
1358.666 0.1554 -1.0735 150.7281 -0.6816 -0.3363 -0.1377 0.0000 0.0000 0.0000 0.0000 0.0000 150.7171
1359.67 0.1609 -1.0763 150.7233 0.2794 -0.2513 -0.0011 0.0000 0.0000 0.0000 0.0000 0.0000 150.7180
1360.696 0.1601 -1.0809 150.7141 0.0460 -0.1432 -0.0002 0.0000 0.0000 0.0000 0.0000 0.0000 150.7156
1361.709 0.1563 -1.0844 150.7104 -0.0248 -0.6822 -0.1965 0.0000 0.0000 0.0000 0.0000 0.0000 150.6958
1362.742 0.1507 -1.0949 150.7022 -0.0869 -0.0047 0.0322 0.0000 0.0000 0.0000 0.0000 0.0000 150.7002
1363.787 0.1593 -1.0907 150.7008 0.2525 0.5781 0.0994 0.0000 0.0000 0.0000 0.0000 0.0000 150.6931
1364.814 0.1655 -1.0845 150.6861 -0.4971 -0.4051 -0.0690 0.0000 0.0000 0.0000 0.0000 0.0000 150.6882
1365.875 0.1535 -1.0837 150.6866 -0.4151 -0.1152 -0.0895 0.0000 0.0000 0.0000 0.0000 0.0000 150.6823
1366.921 0.1601 -1.0919 150.6716 0.0885 -0.3331 -0.1363 0.0000 0.0000 0.0000 0.0000 0.0000 150.6698
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_11_16_21:22:22.txt b/cflib_groundstation/logs/cflie1_2023_11_16_21:22:22.txt
new file mode 100644
index 0000000000000000000000000000000000000000..27abd69f992615f227d2351768d66f9e2d4cc86e
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_11_16_21:22:22.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
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_11_16_21:23:14.txt b/cflib_groundstation/logs/cflie1_2023_11_16_21:23:14.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9596c7fc144b2b28833edb3c64fe3311c2a7a98f
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_11_16_21:23:14.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
#1 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
1993.885 0.1622 -1.0439 146.6253 -0.1674 -0.6391 0.1232 0.0000 0.0000 0.0000 0.0000 0.0000 146.6284
1994.948 0.1517 -1.0716 146.6234 -0.1754 -0.1370 -0.1172 0.0000 0.0000 0.0000 0.0000 0.0000 146.6232
1996.1 0.1574 -1.0600 146.6164 0.1405 0.3992 0.0251 0.0000 0.0000 0.0000 0.0000 0.0000 146.6025
1997.183 0.1560 -1.0487 146.5997 -0.1389 -0.4073 -0.0859 0.0000 0.0000 0.0000 0.0000 0.0000 146.5916
1998.343 0.1575 -1.0618 146.5737 0.4266 0.0710 0.0190 0.0000 0.0000 0.0000 0.0000 0.0000 146.5618
1999.486 0.1498 -1.0766 146.5718 0.0020 0.2760 0.1005 0.0000 0.0000 0.0000 0.0000 0.0000 146.5703
2000.585 0.1476 -1.0622 146.5708 0.1345 -0.1365 0.0060 0.0000 0.0000 0.0000 0.0000 0.0000 146.5614
2001.753 0.1520 -1.0701 146.5597 0.0793 -0.1466 0.0077 0.0000 0.0000 0.0000 0.0000 0.0000 146.5642
2002.815 0.1546 -1.0551 146.5523 0.0091 0.1527 0.2183 0.0000 0.0000 0.0000 0.0000 0.0000 146.5482
2003.904 0.1323 -1.0645 146.5410 0.2591 0.7344 -0.3830 0.0000 0.0000 0.0000 0.0000 0.0000 146.5338
2005.007 0.1411 -1.0592 146.5329 -0.0371 0.0082 -0.0274 0.0000 0.0000 0.0000 0.0000 0.0000 146.5374
2006.077 0.1403 -1.0651 146.5344 0.0754 -0.4818 -0.0541 0.0000 0.0000 0.0000 0.0000 0.0000 146.5402
2007.199 0.1323 -1.0584 146.5422 0.5215 0.1642 0.1848 0.0000 0.0000 0.0000 0.0000 0.0000 146.5340
2008.328 0.1366 -1.0395 146.5310 -0.4499 -0.3993 0.1697 0.0000 0.0000 0.0000 0.0000 0.0000 146.5289
2010.217 0.1310 -1.0700 146.5222 0.1993 0.1093 -0.2071 0.0000 0.0000 0.0000 0.0000 0.0000 146.5204
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_11_16_21:26:47.txt b/cflib_groundstation/logs/cflie1_2023_11_16_21:26:47.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4264a896d366f9d4069acd4ca5dabf9553feecb1
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_11_16_21:26:47.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
2186.542 0.1560 -1.0192 145.2759 -0.1982 -0.0278 -0.0912 0.0000 0.0000 0.0000 0.0000 0.0000 145.2764
2187.62 0.1586 -1.0356 145.2699 -0.0784 -0.0241 -0.1000 0.0000 0.0000 0.0000 0.0000 0.0000 145.2681
2188.763 0.1596 -1.0687 145.2687 0.0426 0.5392 -0.1501 0.0000 0.0000 0.0000 0.0000 0.0000 145.2775
2189.927 0.1593 -1.0853 145.2694 0.7560 0.5525 -0.2665 0.0000 0.0000 0.0000 0.0000 0.0000 145.2648
2191.084 0.1437 -1.0611 145.2616 0.2185 -0.1831 0.0062 0.0000 0.0000 0.0000 0.0000 0.0000 145.2509
2192.194 0.1570 -1.0449 145.2471 -0.0376 -0.3348 -0.0707 0.0000 0.0000 0.0000 0.0000 0.0000 145.2318
2193.342 0.1507 -1.0488 145.2297 -0.1170 -0.1955 -0.1030 0.0000 0.0000 0.0000 0.0000 0.0000 145.2234
2194.473 0.1493 -1.0439 145.2177 -0.4029 -0.1653 0.0022 0.0000 0.0000 0.0000 0.0000 0.0000 145.2195
2195.627 0.1479 -1.0393 145.2189 0.2619 0.0379 0.0099 0.0000 0.0000 0.0000 0.0000 0.0000 145.2257
2196.778 0.1753 -1.0562 145.2162 -0.5332 0.0253 -0.0341 0.0000 0.0000 0.0000 0.0000 0.0000 145.2057
2197.969 0.1766 -1.0557 145.2127 0.4809 0.2250 0.0231 0.0000 0.0000 0.0000 0.0000 0.0000 145.2081
2199.101 0.1704 -1.0754 145.2071 0.0964 -0.1351 -0.0725 0.0000 0.0000 0.0000 0.0000 0.0000 145.2099
2200.262 0.1515 -1.0863 145.2109 -0.0382 -0.0988 0.1308 0.0000 0.0000 0.0000 0.0000 0.0000 145.2128
2201.433 0.1618 -1.0661 145.2080 0.5413 -0.2432 -0.2767 0.0000 0.0000 0.0000 0.0000 0.0000 145.2049
2202.669 0.1588 -1.0367 145.1959 -0.5626 -0.3292 0.1882 0.0000 0.0000 0.0000 0.0000 0.0000 145.1853
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_11_16_21:31:17.txt b/cflib_groundstation/logs/cflie1_2023_11_16_21:31:17.txt
new file mode 100644
index 0000000000000000000000000000000000000000..642ce05e7b8df15083b7c9dac21f4f8a802b6363
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_11_16_21:31:17.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
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_11_16_21:32:26.txt b/cflib_groundstation/logs/cflie1_2023_11_16_21:32:26.txt
new file mode 100644
index 0000000000000000000000000000000000000000..642ce05e7b8df15083b7c9dac21f4f8a802b6363
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_11_16_21:32:26.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
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_11_16_21:33:37.txt b/cflib_groundstation/logs/cflie1_2023_11_16_21:33:37.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1f0286d88f660517a4c86f1706be3d937b23cc90
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_11_16_21:33:37.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
#1 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
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_11_16_21:35:20.txt b/cflib_groundstation/logs/cflie1_2023_11_16_21:35:20.txt
new file mode 100644
index 0000000000000000000000000000000000000000..642ce05e7b8df15083b7c9dac21f4f8a802b6363
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_11_16_21:35:20.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
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_11_16_21:35:56.txt b/cflib_groundstation/logs/cflie1_2023_11_16_21:35:56.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1f0286d88f660517a4c86f1706be3d937b23cc90
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_11_16_21:35:56.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
#1 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
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_11_16_22:08:00.txt b/cflib_groundstation/logs/cflie1_2023_11_16_22:08:00.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1f0286d88f660517a4c86f1706be3d937b23cc90
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_11_16_22:08:00.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
#1 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
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_11_16_22:14:45.txt b/cflib_groundstation/logs/cflie1_2023_11_16_22:14:45.txt
new file mode 100644
index 0000000000000000000000000000000000000000..642ce05e7b8df15083b7c9dac21f4f8a802b6363
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_11_16_22:14:45.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
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_11_16_22:15:17.txt b/cflib_groundstation/logs/cflie1_2023_11_16_22:15:17.txt
new file mode 100644
index 0000000000000000000000000000000000000000..642ce05e7b8df15083b7c9dac21f4f8a802b6363
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_11_16_22:15:17.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
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_11_16_22:15:49.txt b/cflib_groundstation/logs/cflie1_2023_11_16_22:15:49.txt
new file mode 100644
index 0000000000000000000000000000000000000000..25d91de93c642df18df6c7f4b9b6ead32255d426
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_11_16_22:15:49.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
#1 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
17.82216715812683 0.0000 0.0000 0.0000 1.2128 0.5318 -71.0708 0.0000 0.0000 -71.0703 0.4950 -0.2173 -0.1157
17.890257358551025 0.0000 0.0000 0.0000 0.0000 0.0000 -71.0693 0.0000 0.0000 0.0000 0.0000 0.0000 -71.0697
17.962122678756714 0.0000 0.0000 0.0000 1.2072 0.5319 -71.0710 0.0000 0.0000 -71.0705 -0.4018 -0.2531 0.0017
18.022748231887817 0.0000 0.0000 0.0000 0.0000 0.0000 -71.0694 0.0000 0.0000 0.0000 0.0000 0.0000 -71.0701
18.063453912734985 0.0000 0.0000 0.0000 1.2019 0.5280 -71.0718 0.0000 0.0000 -71.0709 -0.8812 -0.3932 0.0500
18.095889806747437 0.0000 0.0000 0.0000 0.0000 0.0000 -71.0714 0.0000 0.0000 0.0000 0.0000 0.0000 -71.0734
18.14538049697876 0.0000 0.0000 0.0000 1.2037 0.5269 -71.0730 0.0000 0.0000 -71.0734 -0.0637 -0.3847 0.2638
18.202311277389526 0.0000 0.0000 0.0000 0.0000 0.0000 -71.0733 0.0000 0.0000 0.0000 0.0000 0.0000 -71.0744
18.303314685821533 0.0000 0.0000 0.0000 1.2043 0.5276 -71.0724 0.0000 0.0000 -71.0722 0.1429 0.2300 0.0360
18.346590757369995 0.0000 0.0000 0.0000 0.0000 0.0000 -71.0730 0.0000 0.0000 0.0000 0.0000 0.0000 -71.0741
18.44534397125244 0.0000 0.0000 0.0000 1.2057 0.5241 -71.0756 0.0000 0.0000 -71.0767 0.3399 0.5399 -0.3221
18.50357699394226 0.0000 0.0000 0.0000 0.0000 0.0000 -71.0780 0.0000 0.0000 0.0000 0.0000 0.0000 -71.0783
18.594069242477417 0.0000 0.0000 0.0000 1.2052 0.5260 -71.0778 0.0000 0.0000 -71.0776 0.3257 -0.0179 -0.1462
18.64578413963318 0.0000 0.0000 0.0000 0.0000 0.0000 -71.0782 0.0000 0.0000 0.0000 0.0000 0.0000 -71.0799
18.74553871154785 0.0000 0.0000 0.0000 1.2036 0.5257 -71.0808 0.0000 0.0000 -71.0812 -0.2569 -0.3003 -0.0253
18.79631018638611 0.0000 0.0000 0.0000 0.0000 0.0000 -71.0781 0.0000 0.0000 0.0000 0.0000 0.0000 -71.0775
18.893507480621338 0.0000 0.0000 0.0000 1.2017 0.5202 -71.0780 0.0000 0.0000 -71.0791 -0.5179 -0.0458 0.0602
18.941746950149536 0.0000 0.0000 0.0000 0.0000 0.0000 -71.0795 0.0000 0.0000 0.0000 0.0000 0.0000 -71.0782
19.045021295547485 0.0000 0.0000 0.0000 1.2006 0.5220 -71.0792 0.0000 0.0000 -71.0796 -0.1111 -0.4555 0.0735
19.10474920272827 0.0000 0.0000 0.0000 0.0000 0.0000 -71.0776 0.0000 0.0000 0.0000 0.0000 0.0000 -71.0810
19.197010278701782 0.0000 0.0000 0.0000 1.2016 0.5188 -71.0786 0.0000 0.0000 -71.0783 0.2303 -0.0960 -0.0765
19.244347095489502 0.0000 0.0000 0.0000 0.0000 0.0000 -71.0791 0.0000 0.0000 0.0000 0.0000 0.0000 -71.0785
19.345657110214233 0.0000 0.0000 0.0000 1.2024 0.5114 -71.0793 0.0000 0.0000 -71.0788 0.3417 0.5168 -0.1042
19.39313316345215 0.0000 0.0000 0.0000 0.0000 0.0000 -71.0800 0.0000 0.0000 0.0000 0.0000 0.0000 -71.0766
19.49292492866516 0.0000 0.0000 0.0000 1.2004 0.5089 -71.0770 0.0000 0.0000 -71.0767 0.3717 0.2111 0.0953
19.543877840042114 0.0000 0.0000 0.0000 0.0000 0.0000 -71.0767 0.0000 0.0000 0.0000 0.0000 0.0000 -71.0766
19.650084257125854 0.0000 0.0000 0.0000 1.1984 0.5048 -71.0767 0.0000 0.0000 -71.0775 -0.2158 -0.1923 -0.1240
19.698660373687744 0.0000 0.0000 0.0000 0.0000 0.0000 -71.0794 0.0000 0.0000 0.0000 0.0000 0.0000 -71.0789
19.79949951171875 0.0000 0.0000 0.0000 1.1927 0.4999 -71.0789 0.0000 0.0000 -71.0771 -0.3205 -0.3610 -0.2266
19.84388518333435 0.0000 0.0000 0.0000 0.0000 0.0000 -71.0786 0.0000 0.0000 0.0000 0.0000 0.0000 -71.0759
19.944090604782104 0.0000 0.0000 0.0000 1.1951 0.5087 -71.0762 0.0000 0.0000 -71.0756 -0.4563 -0.1111 0.0262
19.997475624084473 0.0000 0.0000 0.0000 0.0000 0.0000 -71.0766 0.0000 0.0000 0.0000 0.0000 0.0000 -71.0772
20.099945545196533 0.0000 0.0000 0.0000 1.1959 0.5156 -71.0795 0.0000 0.0000 -71.0812 -0.0605 -0.0677 0.1734
20.14411497116089 0.0000 0.0000 0.0000 0.0000 0.0000 -71.0811 0.0000 0.0000 0.0000 0.0000 0.0000 -71.0805
20.243518590927124 0.0000 0.0000 0.0000 1.2016 0.5245 -71.0794 0.0000 0.0000 -71.0803 0.2858 0.3084 -0.2222
20.292585134506226 0.0000 0.0000 0.0000 0.0000 0.0000 -71.0787 0.0000 0.0000 0.0000 0.0000 0.0000 -71.0756
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_11_16_22:16:54.txt b/cflib_groundstation/logs/cflie1_2023_11_16_22:16:54.txt
new file mode 100644
index 0000000000000000000000000000000000000000..642ce05e7b8df15083b7c9dac21f4f8a802b6363
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_11_16_22:16:54.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
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_11_16_22:17:14.txt b/cflib_groundstation/logs/cflie1_2023_11_16_22:17:14.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bdc1bb5d08719e59638f0986f2106a5a95049071
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_11_16_22:17:14.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
#1 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
32.423585653305054 1.2182 0.5231 -71.3717 0.2931 0.0635 -0.0748 0.0000 0.0000 0.0000 0.0000 0.0000 -71.3744
32.48416066169739 1.2227 0.5321 -71.3742 0.3039 -0.0319 -0.0390 0.0000 0.0000 0.0000 0.0000 0.0000 -71.3750
32.62799620628357 1.2245 0.5370 -71.3753 0.0888 0.2990 -0.0533 0.0000 0.0000 0.0000 0.0000 0.0000 -71.3751
32.78058195114136 1.2236 0.5397 -71.3753 -0.2328 -0.1207 0.1244 0.0000 0.0000 0.0000 0.0000 0.0000 -71.3752
32.931172609329224 1.2282 0.5396 -71.3755 0.1687 0.0828 -0.0313 0.0000 0.0000 0.0000 0.0000 0.0000 -71.3744
33.08298373222351 1.2325 0.5458 -71.3761 0.6207 0.2475 -0.1499 0.0000 0.0000 0.0000 0.0000 0.0000 -71.3792
33.23620295524597 1.2250 0.5479 -71.3798 -0.1768 0.2255 -0.0314 0.0000 0.0000 0.0000 0.0000 0.0000 -71.3847
33.38152194023132 1.2251 0.5466 -71.3854 -0.4059 -0.1017 -0.0446 0.0000 0.0000 0.0000 0.0000 0.0000 -71.3846
33.532062292099 1.2270 0.5457 -71.3849 -0.0216 -0.1399 -0.0568 0.0000 0.0000 0.0000 0.0000 0.0000 -71.3890
33.67922282218933 1.2276 0.5507 -71.3888 0.3768 -0.1695 -0.1342 0.0000 0.0000 0.0000 0.0000 0.0000 -71.3970
33.83244562149048 1.2251 0.5540 -71.3967 0.1549 0.2429 -0.0154 0.0000 0.0000 0.0000 0.0000 0.0000 -71.3938
33.97962975502014 1.2249 0.5574 -71.3942 -0.0828 -0.1004 0.0738 0.0000 0.0000 0.0000 0.0000 0.0000 -71.3941
34.13090658187866 1.2244 0.5555 -71.3935 -0.3032 0.2135 -0.0836 0.0000 0.0000 0.0000 0.0000 0.0000 -71.3951
34.279807567596436 1.2228 0.5541 -71.3945 -0.1311 -0.2693 -0.0454 0.0000 0.0000 0.0000 0.0000 0.0000 -71.3947
34.45785450935364 1.2187 0.5503 -71.3951 -0.1888 0.1227 -0.0652 0.0000 0.0000 0.0000 0.0000 0.0000 -71.3977
34.58078575134277 1.2208 0.5513 -71.3971 0.2927 -0.1377 -0.0304 0.0000 0.0000 0.0000 0.0000 0.0000 -71.4026
34.75911021232605 1.2192 0.5486 -71.4028 0.1559 0.6850 -0.0970 0.0000 0.0000 0.0000 0.0000 0.0000 -71.4088
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_11_16_22:19:22.txt b/cflib_groundstation/logs/cflie1_2023_11_16_22:19:22.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3792d7ce3dfd7fe92d7c06a98d531aee3cef52cd
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_11_16_22:19:22.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
#1 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
35.89614295959473 1.2179 0.5413 -71.7078 -0.0445 0.0940 -0.0761 1.2174 0.5432 -71.7077 0.0000 0.0000 0.0000
37.12311935424805 -0.0077 0.6264 -0.3125 0.0000 0.0000 -71.7075 1.2089 0.5414 -71.7104 0.0000 0.0000 -0.0000
37.27841806411743 0.3873 -0.1482 -0.0196 0.0000 0.0000 -71.7116 1.2113 0.5403 -71.7119 0.0000 0.0000 0.0000
37.40181636810303 -0.2357 0.0962 -0.1629 0.0000 0.0000 -71.7103 1.2175 0.5384 -71.7102 0.0000 0.0000 0.0000
37.57459378242493 -0.2734 -0.0015 0.0686 0.0000 0.0000 -71.7107 1.2180 0.5382 -71.7103 0.0000 0.0000 0.0000
37.70117163658142 0.6113 0.3554 0.2007 0.0000 0.0000 -71.7084 1.2223 0.5391 -71.7053 0.0000 0.0000 0.0000
39.05183553695679 -0.1024 -0.2823 0.2685 0.0000 0.0000 -71.7036 1.2260 0.5355 -71.7054 0.0000 0.0000 0.0000
39.26499700546265 0.2608 -0.3360 0.0564 0.0000 0.0000 -71.7046 1.2228 0.5376 -71.7078 0.0000 0.0000 0.0000
39.4908242225647 0.0704 -0.3606 0.0969 0.0000 0.0000 -71.7108 1.2235 0.5375 -71.7119 0.0000 0.0000 0.0000
39.717698097229004 -0.3621 -0.1963 0.0625 0.0000 0.0000 -71.7153 1.2228 0.5405 -71.7166 0.0000 0.0000 0.0000
39.90004086494446 0.4125 -0.3304 0.2814 0.0000 0.0000 -71.7136 1.2229 0.5401 -71.7141 0.0000 0.0000 0.0000
40.033050537109375 0.0009 -0.1905 0.0413 0.0000 0.0000 -71.7151 1.2230 0.5282 -71.7133 0.0000 0.0000 0.0000
41.26996445655823 0.1741 0.0019 -0.2054 0.0000 0.0000 -71.7180 1.2197 0.5292 -71.7152 0.0000 0.0000 -0.0000
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96.40444421768188 -0.3332 -0.2162 0.0502 0.0000 0.0000 -129.3127 1.4470 -0.6909 -129.3115 0.0000 0.0000 0.0000
96.51108312606812 0.1732 -0.3285 -0.1386 0.0000 0.0000 -129.3176 1.4468 -0.6921 -129.3154 0.0000 0.0000 0.0000
96.66659832000732 0.0000 0.0000 -129.3158 1.4473 -0.6963 -129.3155 0.0000 0.0000 0.0000 0.0000 0.0000 -129.3190
96.87290000915527 1.4430 -0.6940 -129.3187 0.1306 -0.2911 -0.0284 0.0000 0.0000 -129.3216 0.0000 0.0000 0.0000
97.01403999328613 -0.1840 -0.1973 0.0456 0.0000 0.0000 -129.3246 1.4405 -0.6908 -129.3253 0.0000 0.0000 0.0000
97.1252932548523 -0.2624 -0.1315 0.0477 0.0000 0.0000 -129.3238 0.0000 0.0000 0.0000 0.0000 0.0000 -129.3207
97.32253384590149 1.4355 -0.6855 -129.3224 0.0000 0.0000 0.0000 0.2303 -0.3402 -0.0092 0.0000 0.0000 -129.3199
97.43429207801819 1.4156 -0.6941 -129.3182 0.0000 0.0000 0.0000 -1.2672 3.0821 0.0895 0.0000 0.0000 -129.3154
97.57927632331848 1.4642 -0.6967 -129.3206 0.0000 0.0000 0.0000 -8.2690 1.9977 -0.1494 0.0000 0.0000 -129.3204
97.75432348251343 1.4590 -0.6986 -129.3197 0.0000 0.0000 0.0000 -2.0984 -1.0835 0.0826 0.0000 0.0000 -129.3166
97.88882756233215 0.0000 0.0000 0.0000 4.6115 -2.2356 0.1770 0.0000 0.0000 -129.3159 1.4042 -0.6573 -129.3140
99.1189980506897 4.4944 -0.2346 0.0846 1.3987 -0.6757 -129.3102 0.0000 0.0000 -0.0000 0.6634 1.4749 0.0081
99.33837532997131 0.0000 0.0000 -129.3116 1.4110 -0.6868 -129.3095 0.0000 0.0000 0.0000 -2.6372 0.8679 -0.1223
99.50079250335693 0.0000 0.0000 -129.3124 1.4286 -0.6748 -129.3122 0.0000 0.0000 0.0000 0.0000 0.0000 -129.3154
99.70627045631409 1.4249 -0.6719 -129.3128 0.0000 0.0000 0.0000 0.6138 -0.9690 0.2655 0.0000 0.0000 -129.3142
99.9179618358612 1.4097 -0.6606 -129.3132 0.0000 0.0000 0.0000 1.0978 0.0093 0.0575 0.0000 0.0000 -129.3114
100.09302616119385 1.4051 -0.6757 -129.3095 0.3030 0.8673 0.2342 1.4131 -0.6794 -129.3052 0.0000 0.0000 0.0000
100.24699997901917 -0.8278 0.1597 0.3899 1.4173 -0.6711 -129.3055 0.0000 0.0000 0.0000 -0.4108 -0.8886 -0.0219
100.36936736106873 0.0000 0.0000 -129.3072 1.4146 -0.6765 -129.3121 0.0000 0.0000 0.0000 0.5933 -0.5352 -0.0452
100.50388312339783 0.0000 0.0000 -129.3128 1.4156 -0.6723 -129.3129 0.0000 0.0000 -0.0000 0.2249 0.4658 -0.2539
100.70163702964783 0.0000 0.0000 -129.3140 1.4192 -0.6786 -129.3153 0.0000 0.0000 0.0000 0.0000 0.0000 -129.3173
100.87702584266663 1.4270 -0.6665 -129.3194 0.0000 0.0000 0.0000 0.1041 -0.3275 -0.2423 0.0000 0.0000 -129.3251
101.08429503440857 1.4263 -0.6643 -129.3205 0.0000 0.0000 -0.0000 0.1049 -0.6600 0.0858 0.0000 0.0000 -129.3201
101.27272582054138 1.4245 -0.6631 -129.3195 0.0000 0.0000 0.0000 0.0828 -0.0688 -0.3183 0.0000 0.0000 -129.3211
101.4818549156189 1.4271 -0.6584 -129.3209 0.0000 0.0000 0.0000 0.0000 0.0000 -129.3211 1.4325 -0.6617 -129.3245
101.61418771743774 0.0000 0.0000 0.0000 -0.0118 0.1549 0.1196 1.4345 -0.6632 -129.3256 0.0000 0.0000 0.0000
101.83162093162537 0.0000 0.0000 -129.3263 1.4302 -0.6603 -129.3253 0.0000 0.0000 -0.0000 0.0000 0.0000 -129.3290
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_Log_toc_2023_11_16_20:51:49.txt b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_16_20:51:49.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bf0de8eff89902d1c5a585858835d68c0b8c2693
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_16_20:51:49.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_16_22:19:41.txt b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_16_22:19:41.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3cc2956a50b9dcb948320a6f26c2a98acc83461e
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_16_22:19:41.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_16_20:51:49.txt b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_16_20:51:49.txt
new file mode 100644
index 0000000000000000000000000000000000000000..247790e6bead8ffa798cff4f4171028dc73ef34a
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_16_20:51:49.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_16_22:19:41.txt b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_16_22:19:41.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c611ab3c38904ce02b80528aa1ffc8f062828281
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_16_22:19:41.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/crazyflie_groundstation/loggingBlocks.txt b/crazyflie_groundstation/loggingBlocks.txt
index c85ffaff0bf1a3800384d2ce3ab1b9bbe068d69c..1cb1440e99844f44695cf66bafd5b180cb607737 100644
--- a/crazyflie_groundstation/loggingBlocks.txt
+++ b/crazyflie_groundstation/loggingBlocks.txt
@@ -25,7 +25,7 @@ END BLOCK
START BLOCK
2
Rate Setpoints
-50
+150
ctrlStdnt.rollRate
ctrlStdnt.pitchRate
ctrlStdnt.yawRate
@@ -35,7 +35,7 @@ END BLOCK
START BLOCK
3
Angle Setpoints
-50
+150
ctrlStdnt.roll
ctrlStdnt.pitch
ctrlStdnt.yaw