From 838621e0659f8c5ede38a51ad5e07763f5e78992 Mon Sep 17 00:00:00 2001
From: 488_MP-4 <488_MP-4@iastate.edu>
Date: Wed, 29 Nov 2023 20:50:07 +0100
Subject: [PATCH] removing unused code
---
.../__pycache__/LogfileHandler.cpython-38.pyc | Bin 5404 -> 5404 bytes
.../SetpointHandler.cpython-38.pyc | Bin 7436 -> 7436 bytes
.../crazyflie_connection.cpython-38.pyc | Bin 10450 -> 10450 bytes
.../groundstation_socket.cpython-38.pyc | Bin 4828 -> 4828 bytes
.../__pycache__/uCartCommander.cpython-38.pyc | Bin 7993 -> 7993 bytes
cflib_groundstation/crazyflie_connection.py | 16 -
.../logs/cflie1_2023_11_29_20:17:23.txt | 1 +
.../logs/cflie1_2023_11_29_20:21:04.txt | 1 +
.../logs/cflie1_2023_11_29_20:21:15.txt | 1 +
.../logs/cflie1_2023_11_29_20:25:47.txt | 1 +
.../logs/cflie1_2023_11_29_20:27:54.txt | 1 +
.../logs/cflie1_2023_11_29_20:34:19.txt | 1 +
.../logs/cflie1_2023_11_29_20:37:53.txt | 1 +
.../logs/cflie1_2023_11_29_20:39:18.txt | 1 +
.../logs/cflie1_2023_11_29_20:41:28.txt | 1 +
.../logs/cflie1_2023_11_29_20:46:04.txt | 1 +
.../cflie1_Log_toc_2023_11_29_20:18:23.txt | 506 ++++++++++++++++++
.../cflie1_Log_toc_2023_11_29_20:21:38.txt | 506 ++++++++++++++++++
.../cflie1_Log_toc_2023_11_29_20:36:33.txt | 506 ++++++++++++++++++
.../cflie1_Log_toc_2023_11_29_20:38:03.txt | 506 ++++++++++++++++++
.../cflie1_Log_toc_2023_11_29_20:43:47.txt | 506 ++++++++++++++++++
.../cflie1_Log_toc_2023_11_29_20:47:38.txt | 506 ++++++++++++++++++
.../cflie1_Param_toc_2023_11_29_20:18:23.txt | 247 +++++++++
.../cflie1_Param_toc_2023_11_29_20:21:38.txt | 247 +++++++++
.../cflie1_Param_toc_2023_11_29_20:36:33.txt | 247 +++++++++
.../cflie1_Param_toc_2023_11_29_20:38:03.txt | 247 +++++++++
.../cflie1_Param_toc_2023_11_29_20:43:47.txt | 247 +++++++++
.../cflie1_Param_toc_2023_11_29_20:47:37.txt | 247 +++++++++
28 files changed, 4528 insertions(+), 16 deletions(-)
create mode 100644 cflib_groundstation/logs/cflie1_2023_11_29_20:17:23.txt
create mode 100644 cflib_groundstation/logs/cflie1_2023_11_29_20:21:04.txt
create mode 100644 cflib_groundstation/logs/cflie1_2023_11_29_20:21:15.txt
create mode 100644 cflib_groundstation/logs/cflie1_2023_11_29_20:25:47.txt
create mode 100644 cflib_groundstation/logs/cflie1_2023_11_29_20:27:54.txt
create mode 100644 cflib_groundstation/logs/cflie1_2023_11_29_20:34:19.txt
create mode 100644 cflib_groundstation/logs/cflie1_2023_11_29_20:37:53.txt
create mode 100644 cflib_groundstation/logs/cflie1_2023_11_29_20:39:18.txt
create mode 100644 cflib_groundstation/logs/cflie1_2023_11_29_20:41:28.txt
create mode 100644 cflib_groundstation/logs/cflie1_2023_11_29_20:46:04.txt
create mode 100644 cflib_groundstation/logs/cflie1_Log_toc_2023_11_29_20:18:23.txt
create mode 100644 cflib_groundstation/logs/cflie1_Log_toc_2023_11_29_20:21:38.txt
create mode 100644 cflib_groundstation/logs/cflie1_Log_toc_2023_11_29_20:36:33.txt
create mode 100644 cflib_groundstation/logs/cflie1_Log_toc_2023_11_29_20:38:03.txt
create mode 100644 cflib_groundstation/logs/cflie1_Log_toc_2023_11_29_20:43:47.txt
create mode 100644 cflib_groundstation/logs/cflie1_Log_toc_2023_11_29_20:47:38.txt
create mode 100644 cflib_groundstation/logs/cflie1_Param_toc_2023_11_29_20:18:23.txt
create mode 100644 cflib_groundstation/logs/cflie1_Param_toc_2023_11_29_20:21:38.txt
create mode 100644 cflib_groundstation/logs/cflie1_Param_toc_2023_11_29_20:36:33.txt
create mode 100644 cflib_groundstation/logs/cflie1_Param_toc_2023_11_29_20:38:03.txt
create mode 100644 cflib_groundstation/logs/cflie1_Param_toc_2023_11_29_20:43:47.txt
create mode 100644 cflib_groundstation/logs/cflie1_Param_toc_2023_11_29_20:47:37.txt
diff --git a/cflib_groundstation/__pycache__/LogfileHandler.cpython-38.pyc b/cflib_groundstation/__pycache__/LogfileHandler.cpython-38.pyc
index 44449ffa0681ed5168d238064bb8b4710b708481..33601d92f3bff1b52a0390ea8ef53241d5901d7f 100644
GIT binary patch
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delta 20
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diff --git a/cflib_groundstation/__pycache__/SetpointHandler.cpython-38.pyc b/cflib_groundstation/__pycache__/SetpointHandler.cpython-38.pyc
index 36765f3a86ef95b6e3725f255a1f2ff12fe529cb..496bcbe5715ae70f7b9bdccd4511476a3ec3ce6c 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 30799d380dc37c2db87332887e291ff47dc7bf68..3ebc2bcdec0846efd5a592c76c20fcdf473fb773 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
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diff --git a/cflib_groundstation/__pycache__/uCartCommander.cpython-38.pyc b/cflib_groundstation/__pycache__/uCartCommander.cpython-38.pyc
index 6e415f6c0543baa1b3e3e9fecedd4237210bc6b8..3b64d3c6ba465eb58de0b8bc699745017720569d 100644
GIT binary patch
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diff --git a/cflib_groundstation/crazyflie_connection.py b/cflib_groundstation/crazyflie_connection.py
index 899062b1e..0ae6b4426 100644
--- a/cflib_groundstation/crazyflie_connection.py
+++ b/cflib_groundstation/crazyflie_connection.py
@@ -152,24 +152,12 @@ class CrazyflieConnection:
element = self.scf.cf.param.toc.get_element_by_id(name)
full_name = element.group + "." + element.name
cf = self.scf.cf
- # cf.param.add_update_callback(group=group, name=name,
- # cb=self.done_setting_param_value)
cf.param.set_value(full_name, value)
- # Don't return until the parameter is done getting set
- # while self.param_callback_count < 1:
- # time.sleep(0.01)
-
- # self.param_callback_count = 0
except AttributeError:
print("Nothing connected")
- # def done_setting_param_value(self, *_args):
- # """ Callback when done setting a parameter value. """
- # print("Done setting param")
- # self.param_callback_count += 1
-
def GetParam(self, command, outputQueue: Queue): #group: str, name: str,
""" Retrieve parameter value from crazyflie toc. """
#Bytes 0 and 1 are node ID, ie group
@@ -180,7 +168,6 @@ class CrazyflieConnection:
try:
if self.scf.is_link_open():
- #print(self.scf.cf.param.values)
element = self.scf.cf.param.toc.get_element_by_id(name)
print(element.group)
print(element.name)
@@ -357,9 +344,6 @@ class CrazyflieConnection:
def delete_log_blocks(self):
self.logging_configs = []
- #for block in self.logging_configs:
- #block.delete()
- #self.logging_configs.remove(block)
def start_logging(self):
self.stop_thread = False
diff --git a/cflib_groundstation/logs/cflie1_2023_11_29_20:17:23.txt b/cflib_groundstation/logs/cflie1_2023_11_29_20:17:23.txt
new file mode 100644
index 000000000..1753106a7
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_11_29_20:17:23.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
81.80317330360413 0.5766 -1.1055 -138.8240 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -138.8213
82.06552863121033 nan nan nan -0.2682 0.5334 0.0625 0.0000 0.0000 0.0000 0.0000 0.0000 -138.8236
82.13803315162659 0.5817 -1.1024 -138.8231 nan nan nan 0.0000 0.0000 -0.0000 0.0000 0.0000 -138.8223
82.20523858070374 nan nan nan 0.4053 -0.4985 -0.0049 0.0000 0.0000 -0.0000 0.0000 0.0000 -138.8206
82.25752639770508 0.5796 -1.0926 -138.8234 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -138.8229
82.31814455986023 nan nan nan -0.2075 0.5882 -0.1132 0.0000 0.0000 0.0000 0.0000 0.0000 -138.8259
82.39786767959595 0.5819 -1.0963 -138.8256 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -138.8252
82.46646618843079 nan nan nan 0.0491 0.0974 -0.1520 0.0000 0.0000 0.0000 0.0000 0.0000 -138.8280
82.53767728805542 0.5783 -1.0912 -138.8322 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -138.8316
82.61947441101074 nan nan nan 0.2483 -0.1986 -0.0510 0.0000 0.0000 0.0000 0.0000 0.0000 -138.8301
82.69145226478577 0.5833 -1.0869 -138.8291 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -138.8288
82.77216482162476 nan nan nan -0.2948 0.4069 0.0529 0.0000 0.0000 0.0000 0.0000 0.0000 -138.8272
82.84104633331299 0.5805 -1.0840 -138.8284 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -138.8285
83.5534873008728 nan nan nan 0.3174 -0.5045 -0.0655 0.0000 0.0000 0.0000 0.0000 0.0000 -138.8279
83.64175295829773 0.5788 -1.0804 -138.8266 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -138.8265
83.7152910232544 nan nan nan -0.3472 -0.0309 -0.1935 0.0000 0.0000 0.0000 0.0000 0.0000 -138.8233
83.78053069114685 0.5773 -1.0868 -138.8189 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -138.8217
83.84224319458008 nan nan nan -0.3416 0.4392 -0.0367 0.0000 0.0000 0.0000 0.0000 0.0000 -138.8215
84.54481601715088 0.5709 -1.0916 -138.8223 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -138.8239
84.62133169174194 nan nan nan 0.5445 -0.6399 0.0582 0.0000 0.0000 0.0000 0.0000 0.0000 -138.8210
84.72141861915588 0.5714 -1.0968 -138.8213 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -138.8217
84.77244210243225 nan nan nan -0.3322 -0.0811 -0.0188 0.0000 0.0000 0.0000 0.0000 0.0000 -138.8218
84.83106660842896 0.5788 -1.0999 -138.8246 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -138.8241
84.90780353546143 nan nan nan -0.3654 0.2195 0.0296 0.0000 0.0000 0.0000 0.0000 0.0000 -138.8256
84.96643328666687 0.5835 -1.1028 -138.8241 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -138.8244
85.03450393676758 nan nan nan 0.2551 0.0820 0.1481 0.0000 0.0000 -0.0000 0.0000 0.0000 -138.8235
85.10020661354065 0.5830 -1.1081 -138.8189 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -138.8216
85.54472613334656 nan nan nan -0.0512 0.0468 -0.1903 0.0000 0.0000 0.0000 0.0000 0.0000 -138.8208
85.60562109947205 0.5846 -1.1039 -138.8195 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -138.8205
85.68845844268799 nan nan nan 0.2748 -0.3177 0.4703 0.0000 0.0000 0.0000 0.0000 0.0000 -138.8178
85.74578642845154 0.5827 -1.1063 -138.8209 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -138.8212
85.80534100532532 nan nan nan -0.1896 0.1388 0.0700 0.0000 0.0000 0.0000 0.0000 0.0000 -138.8219
85.88906526565552 0.5792 -1.1080 -138.8202 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -138.8207
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_11_29_20:21:04.txt b/cflib_groundstation/logs/cflie1_2023_11_29_20:21:04.txt
new file mode 100644
index 000000000..f2deb3d7f
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_11_29_20:21:04.txt
@@ -0,0 +1 @@
+#Crazyflie
#Controller:Unknown
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_11_29_20:21:15.txt b/cflib_groundstation/logs/cflie1_2023_11_29_20:21:15.txt
new file mode 100644
index 000000000..37e643edc
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_11_29_20:21:15.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
40.44625806808472 0.5764 -1.0807 -138.0652 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -138.0646
40.508814334869385 nan nan nan 0.2762 0.0252 0.1284 0.0000 0.0000 0.0000 0.0000 0.0000 -138.0629
40.6130805015564 0.5794 -1.0734 -138.0634 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -138.0627
40.8098828792572 nan nan nan -0.0214 0.3566 -0.1914 0.0000 0.0000 0.0000 0.0000 0.0000 -138.0665
40.94212365150452 0.5801 -1.0719 -138.0707 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -138.0711
41.12558054924011 nan nan nan 0.3827 -0.7352 0.0726 0.0000 0.0000 -0.0000 0.0000 0.0000 -138.0723
41.20219969749451 0.5780 -1.0698 -138.0708 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -138.0712
41.30417466163635 nan nan nan -0.2044 0.4154 -0.1330 0.0000 0.0000 0.0000 0.0000 0.0000 -138.0688
41.374996185302734 0.5799 -1.0666 -138.0708 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -138.0708
41.469186544418335 nan nan nan 0.0282 0.0396 -0.1639 0.0000 0.0000 0.0000 0.0000 0.0000 -138.0731
41.5464768409729 0.5849 -1.0736 -138.0727 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -138.0732
41.613874435424805 nan nan nan 0.0564 0.1037 -0.0504 0.0000 0.0000 0.0000 0.0000 0.0000 -138.0745
42.01476550102234 0.5849 -1.0669 -138.0751 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -138.0752
42.17808771133423 nan nan nan -0.3009 0.0829 0.0556 0.0000 0.0000 0.0000 0.0000 0.0000 -138.0735
42.30816912651062 0.5847 -1.0791 -138.0704 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -138.0729
42.35128664970398 nan nan nan -0.0770 -0.2090 0.0166 0.0000 0.0000 0.0000 0.0000 0.0000 -138.0710
42.44458723068237 0.5838 -1.0798 -138.0700 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -138.0731
42.49707770347595 nan nan nan -0.0830 -0.3343 0.1695 0.0000 0.0000 0.0000 0.0000 0.0000 -138.0731
42.554781675338745 0.5835 -1.0791 -138.0755 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -138.0761
42.65210223197937 nan nan nan 0.0404 0.2775 -0.2202 0.0000 0.0000 0.0000 0.0000 0.0000 -138.0796
42.73960828781128 0.5848 -1.0759 -138.0806 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -138.0790
42.85547995567322 nan nan nan 0.1421 -0.2286 -0.0321 0.0000 0.0000 0.0000 0.0000 0.0000 -138.0795
42.92965126037598 0.5922 -1.0793 -138.0796 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -138.0787
43.00456619262695 nan nan nan 0.1455 -0.0250 0.0773 0.0000 0.0000 0.0000 0.0000 0.0000 -138.0763
43.09015917778015 0.5892 -1.0825 -138.0768 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -138.0776
43.163612842559814 nan nan nan -0.0835 -0.2500 -0.0501 0.0000 0.0000 0.0000 0.0000 0.0000 -138.0767
43.2484495639801 0.5884 -1.0798 -138.0772 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -138.0780
43.34004092216492 nan nan nan 0.0168 0.1826 -0.0043 0.0000 0.0000 0.0000 0.0000 0.0000 -138.0778
43.46506857872009 0.5830 -1.0761 -138.0785 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -138.0780
44.15826606750488 nan nan nan -0.2034 -0.1579 -0.1960 0.0000 0.0000 0.0000 0.0000 0.0000 -138.0809
44.24494457244873 0.5844 -1.0832 -138.0816 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -138.0816
44.29238247871399 nan nan nan 0.1428 -0.1552 -0.0675 0.0000 0.0000 0.0000 0.0000 0.0000 -138.0855
44.413949489593506 0.5847 -1.0851 -138.0853 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -138.0851
44.51163983345032 nan nan nan -0.3328 0.3856 0.3260 0.0000 0.0000 0.0000 0.0000 0.0000 -138.0831
44.580936431884766 0.5889 -1.0865 -138.0831 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -138.0838
44.67231202125549 nan nan nan 0.0748 -0.5012 -0.1128 0.0000 0.0000 0.0000 0.0000 0.0000 -138.0793
44.73607420921326 0.5830 -1.0928 -138.0783 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -138.0783
44.806108236312866 nan nan nan -0.2878 0.0854 -0.2268 0.0000 0.0000 0.0000 0.0000 0.0000 -138.0803
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104.85276651382446 nan nan nan 0.6426 -0.3833 -59.5782 0.0000 0.0000 0.0000 0.0000 0.0000 90.5297
104.9379472732544 -0.0692 -0.6220 84.2074 3.5969 -1.0903 -66.8867 0.0000 0.0000 0.0000 0.0000 0.0000 87.0553
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107.96441745758057 -0.3430 0.1424 59.6682 -0.1866 0.1241 0.1387 0.0000 0.0000 0.0000 0.0000 0.0000 59.6669
108.04111647605896 nan nan nan nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 59.6657
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108.21746802330017 nan nan nan nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 59.6650
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108.93350863456726 nan nan nan nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 59.6725
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109.43969964981079 nan nan nan -0.2210 0.0783 -0.2311 0.0000 0.0000 0.0000 0.0000 0.0000 59.6720
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109.60039281845093 nan nan nan nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 59.6759
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110.09133768081665 nan nan nan 0.1528 -0.1276 -0.2613 0.0000 0.0000 0.0000 0.0000 0.0000 59.6722
110.17106914520264 -0.3560 0.1344 59.6737 -0.0630 -0.2517 0.0271 0.0000 0.0000 0.0000 0.0000 0.0000 59.6734
110.28984594345093 nan nan nan nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 59.6743
110.65606951713562 -0.3562 0.1367 59.6749 0.0116 0.6615 0.1087 0.0000 0.0000 0.0000 0.0000 0.0000 59.6754
110.75312042236328 nan nan nan nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 59.6791
110.82040476799011 -0.3641 0.1380 59.6769 0.3859 -0.3842 -0.0830 0.0000 0.0000 0.0000 0.0000 0.0000 59.6763
110.90653109550476 nan nan nan nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 59.6729
111.00567555427551 -0.3611 0.1390 59.6726 -0.0678 -0.5332 0.0170 0.0000 0.0000 0.0000 0.0000 0.0000 59.6710
111.0727756023407 nan nan nan nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 59.6649
111.17327284812927 -0.3597 0.1326 59.6655 -0.2804 0.0499 0.0267 0.0000 0.0000 0.0000 0.0000 0.0000 59.6688
111.29839372634888 -0.3677 0.1467 59.6734 0.0497 -0.3002 -0.0264 0.0000 0.0000 0.0000 0.0000 0.0000 59.6703
111.42063522338867 nan nan nan nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 59.6716
111.60337567329407 -0.3682 0.1426 59.6698 -0.3909 0.2116 0.2668 0.0000 0.0000 0.0000 0.0000 0.0000 59.6696
111.78904557228088 -0.3758 0.1314 59.6683 0.5584 -0.0536 -0.1347 nan nan nan 0.0000 0.0000 59.6694
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_11_29_20:25:47.txt b/cflib_groundstation/logs/cflie1_2023_11_29_20:25:47.txt
new file mode 100644
index 000000000..51f9f4bff
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_11_29_20:25:47.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
16.991283178329468 -0.3366 0.1656 60.1684 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 60.1658
17.064439296722412 nan nan nan -0.3593 0.4218 0.0235 0.0000 0.0000 0.0000 0.0000 0.0000 60.1687
17.182235956192017 -0.3314 0.1578 60.1678 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 60.1671
17.28596305847168 nan nan nan 0.8980 -0.3783 0.0094 0.0000 0.0000 0.0000 0.0000 0.0000 60.1680
18.4511296749115 -0.3389 0.1651 60.1662 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 60.1669
18.55309009552002 nan nan nan -0.5995 -0.2785 0.1414 0.0000 0.0000 0.0000 0.0000 0.0000 60.1683
18.65511393547058 -0.3280 0.1593 60.1683 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 60.1687
18.77119755744934 nan nan nan 0.4053 0.5387 -0.0432 0.0000 0.0000 0.0000 0.0000 0.0000 60.1680
18.891486167907715 -0.3254 0.1669 60.1708 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 60.1701
19.07451295852661 nan nan nan 0.0120 -0.7169 0.0777 0.0000 0.0000 0.0000 0.0000 0.0000 60.1716
19.187808990478516 -0.3297 0.1778 60.1730 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 60.1712
19.30512499809265 nan nan nan -0.2414 0.6795 0.2246 0.0000 0.0000 0.0000 0.0000 0.0000 60.1730
19.431182861328125 -0.3302 0.1660 60.1713 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 60.1741
19.53726601600647 nan nan nan 0.1761 -0.5927 -0.2991 0.0000 0.0000 0.0000 0.0000 0.0000 60.1696
19.638979196548462 -0.3382 0.1684 60.1704 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 60.1687
19.737630128860474 nan nan nan 0.0469 -0.1403 -0.1349 0.0000 0.0000 0.0000 0.0000 0.0000 60.1679
19.84497356414795 -0.3372 0.1783 60.1651 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 60.1651
19.90677285194397 nan nan nan -0.3674 0.2308 -0.2895 0.0000 0.0000 0.0000 0.0000 0.0000 60.1616
20.02682399749756 -0.3353 0.1725 60.1605 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 60.1623
20.453896284103394 nan nan nan 0.3685 -0.4368 -0.1098 0.0000 0.0000 0.0000 0.0000 0.0000 60.1592
20.58388924598694 -0.3441 0.1672 60.1571 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 60.1579
20.70653533935547 nan nan nan -0.1968 0.3163 0.0606 0.0000 0.0000 0.0000 0.0000 0.0000 60.1550
20.79759168624878 -0.3389 0.1595 60.1586 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 60.1563
20.94216561317444 nan nan nan 0.1112 0.3748 0.0727 0.0000 0.0000 0.0000 0.0000 0.0000 60.1606
21.042771816253662 -0.3418 0.1636 60.1621 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 60.1628
21.159306049346924 nan nan nan 0.0319 -0.6757 0.2311 0.0000 0.0000 0.0000 0.0000 0.0000 60.1638
21.286051511764526 -0.3371 0.1732 60.1618 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 60.1618
21.406486749649048 nan nan nan -0.2150 0.1835 0.1649 0.0000 0.0000 0.0000 0.0000 0.0000 60.1616
21.503124475479126 -0.3347 0.1613 60.1636 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 60.1631
21.66236448287964 nan nan nan -0.1227 0.0323 -0.1063 0.0000 0.0000 0.0000 0.0000 0.0000 60.1669
21.760786056518555 -0.3369 0.1564 60.1657 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 60.1673
21.865525245666504 nan nan nan 0.2304 -0.1230 0.0790 0.0000 0.0000 0.0000 0.0000 0.0000 60.1672
21.95407009124756 -0.3395 0.1544 60.1674 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 60.1672
22.03095841407776 nan nan nan -0.0979 0.1195 -0.1894 0.0000 0.0000 0.0000 0.0000 0.0000 60.1657
22.190574645996094 -0.3434 0.1533 60.1668 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 60.1670
22.310717344284058 nan nan nan -0.0315 -0.2286 0.1981 0.0000 0.0000 0.0000 0.0000 0.0000 60.1675
22.42154836654663 -0.3463 0.1587 60.1672 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 60.1676
22.551239252090454 nan nan nan -0.2453 0.1200 0.0926 0.0000 0.0000 0.0000 0.0000 0.0000 60.1661
22.67125368118286 -0.3402 0.1541 60.1714 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 60.1680
22.77235722541809 nan nan nan 0.0745 -0.0311 0.0834 0.0000 0.0000 0.0000 0.0000 0.0000 60.1739
22.908061027526855 -0.3451 0.1577 60.1716 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 60.1728
23.050297737121582 nan nan nan 0.3358 0.0111 -0.2916 0.0000 0.0000 0.0000 0.0000 0.0000 60.1734
23.147868156433105 -0.3461 0.1517 60.1725 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 60.1699
23.27560567855835 nan nan nan -0.3839 0.4576 -0.0038 0.0000 0.0000 0.0000 0.0000 0.0000 60.1728
23.40327525138855 -0.3482 0.1459 60.1726 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 60.1718
23.55078148841858 nan nan nan 0.3533 -0.4946 0.1793 0.0000 0.0000 0.0000 0.0000 0.0000 60.1721
23.65876865386963 -0.3572 0.1572 60.1737 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 60.1738
23.788001775741577 nan nan nan -0.2830 0.0178 0.0378 0.0000 0.0000 0.0000 0.0000 0.0000 60.1746
23.887590408325195 -0.3583 0.1527 60.1762 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 60.1761
23.980647802352905 nan nan nan 0.1319 0.0884 -0.0924 0.0000 0.0000 0.0000 0.0000 0.0000 60.1764
24.10860013961792 -0.3607 0.1515 60.1785 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 60.1777
24.221163272857666 nan nan nan -0.1457 -0.3601 -0.0416 0.0000 0.0000 0.0000 0.0000 0.0000 60.1776
24.32974410057068 -0.3611 0.1510 60.1796 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 60.1772
24.493197441101074 nan nan nan 0.2520 0.2465 0.0398 0.0000 0.0000 0.0000 0.0000 0.0000 60.1814
24.63530659675598 -0.3631 0.1591 60.1784 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 60.1807
24.809404611587524 nan nan nan nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 60.1761
24.917937517166138 -0.3595 0.1656 60.1769 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 60.1782
25.038619995117188 -0.3568 0.1625 60.1774 0.4440 -0.3900 -0.1176 0.0000 0.0000 0.0000 0.0000 0.0000 60.1806
25.180991888046265 nan nan nan -0.3029 -0.0473 0.0416 0.0000 0.0000 0.0000 nan nan nan
25.277817249298096 -0.3511 0.1692 60.1874 -0.0010 0.6396 -0.0115 0.0000 0.0000 0.0000 0.0000 0.0000 60.1861
25.41112184524536 nan nan nan nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 60.1853
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_11_29_20:27:54.txt b/cflib_groundstation/logs/cflie1_2023_11_29_20:27:54.txt
new file mode 100644
index 000000000..e8e1b2219
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_11_29_20:27:54.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
10.508713006973267 -0.3483 0.1557 60.4879 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 60.4876
10.605442762374878 nan nan nan -0.2320 -0.5969 -0.0651 0.0000 0.0000 0.0000 0.0000 0.0000 60.4876
10.717405319213867 -0.3479 0.1533 60.4900 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 60.4907
10.840616941452026 nan nan nan -0.1173 0.2705 0.1897 0.0000 0.0000 0.0000 0.0000 0.0000 60.4881
10.979853868484497 -0.3481 0.1513 60.4872 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 60.4877
11.122005462646484 nan nan nan 0.3559 -0.2240 0.1252 0.0000 0.0000 0.0000 0.0000 0.0000 60.4883
11.239045143127441 -0.3494 0.1538 60.4883 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 60.4866
11.40146803855896 nan nan nan -0.0984 0.0642 0.2605 0.0000 0.0000 0.0000 0.0000 0.0000 60.4913
11.564509630203247 -0.3441 0.1535 60.4918 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 60.4917
11.683421611785889 nan nan nan -0.0762 0.0734 0.1097 0.0000 0.0000 0.0000 0.0000 0.0000 60.4892
11.784937143325806 -0.3502 0.1467 60.4904 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 60.4884
11.91641616821289 nan nan nan 0.0735 -0.3151 -0.1124 0.0000 0.0000 0.0000 0.0000 0.0000 60.4875
12.037107467651367 -0.3579 0.1517 60.4892 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 60.4884
12.186090469360352 nan nan nan -0.0449 0.6682 -0.1787 0.0000 0.0000 0.0000 0.0000 0.0000 60.4876
12.322462797164917 -0.3548 0.1528 60.4908 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 60.4902
12.44856882095337 nan nan nan 0.2174 -0.1116 -0.1575 0.0000 0.0000 0.0000 0.0000 0.0000 60.4872
12.609716653823853 -0.3584 0.1495 60.4846 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 60.4838
12.75514030456543 nan nan nan 0.0294 -0.5673 0.0527 0.0000 0.0000 0.0000 0.0000 0.0000 60.4867
12.857192754745483 -0.3526 0.1482 60.4876 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 60.4876
12.970505237579346 nan nan nan -0.2341 0.4532 -0.1148 0.0000 0.0000 0.0000 0.0000 0.0000 60.4896
13.134233951568604 -0.3512 0.1469 60.4879 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 60.4883
13.293830394744873 nan nan nan 0.0838 -0.8419 0.1167 0.0000 0.0000 0.0000 0.0000 0.0000 60.4884
13.419501543045044 -0.3492 0.1609 60.4869 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 60.4872
13.652927160263062 nan nan nan -0.2508 0.5756 0.2288 0.0000 0.0000 0.0000 0.0000 0.0000 60.4871
13.831312894821167 -0.3482 0.1576 60.4848 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 60.4859
13.962740182876587 nan nan nan 0.2849 0.5061 0.2065 0.0000 0.0000 0.0000 0.0000 0.0000 60.4863
14.116732597351074 -0.3490 0.1563 60.4908 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 60.4891
14.250318765640259 nan nan nan 0.3899 -0.5634 -0.1468 0.0000 0.0000 0.0000 0.0000 0.0000 60.4933
14.40118932723999 -0.3474 0.1536 60.4974 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 60.4952
14.568110942840576 nan nan nan -0.4243 0.6662 0.1888 0.0000 0.0000 0.0000 0.0000 0.0000 60.4936
14.707541465759277 -0.3437 0.1505 60.4926 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 60.4929
14.849186897277832 nan nan nan 0.4760 -0.5038 0.0318 0.0000 0.0000 0.0000 0.0000 0.0000 60.4905
14.996748208999634 -0.3455 0.1583 60.4909 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 60.4911
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\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_11_29_20:34:19.txt b/cflib_groundstation/logs/cflie1_2023_11_29_20:34:19.txt
new file mode 100644
index 000000000..1d5092ea3
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_11_29_20:34:19.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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200.99386644363403 -160.7379 84.6675 -137.3940 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -137.3222
201.37850332260132 nan nan nan nan nan nan 0.0000 0.0000 -0.0000 0.0000 0.0000 -137.5553
201.43962240219116 nan nan nan -0.2231 0.2530 -0.2107 0.0000 0.0000 0.0000 0.0000 0.0000 -137.7462
201.87835693359375 nan nan nan nan nan nan 0.0000 0.0000 -0.0000 0.0000 0.0000 -137.9846
202.01521253585815 -159.9546 84.6753 -138.1989 nan nan nan 0.0000 0.0000 0.0000 nan nan nan
202.34890985488892 nan nan nan 0.0005 0.2019 0.3146 0.0000 0.0000 -0.0000 0.0000 0.0000 -138.4232
202.62310886383057 nan nan nan nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -138.4642
202.891419172287 nan nan nan nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -138.5072
203.0439305305481 nan nan nan -0.0122 -0.3619 0.1162 0.0000 0.0000 0.0000 0.0000 0.0000 -138.6289
203.3313992023468 nan nan nan 0.0673 -0.3453 -0.0520 0.0000 0.0000 0.0000 0.0000 0.0000 -138.6036
203.58970522880554 nan nan nan nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -138.6392
203.85671615600586 -159.4579 84.6666 -138.7253 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -138.6239
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_11_29_20:37:53.txt b/cflib_groundstation/logs/cflie1_2023_11_29_20:37:53.txt
new file mode 100644
index 000000000..0eae957a2
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_11_29_20:37:53.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
31.15659809112549 -159.1454 84.6885 -140.3725 0.1054 0.2087 -0.0083 0.0000 0.0000 0.0000 nan nan nan
31.56605625152588 nan nan nan 0.3118 0.3768 0.0027 0.0000 0.0000 0.0000 0.0000 0.0000 -140.3198
32.18152856826782 -159.1690 84.6878 -140.3559 nan nan nan 0.0000 0.0000 -0.0000 0.0000 0.0000 -140.3977
32.710078716278076 nan nan nan -0.1620 -0.3159 -0.2216 0.0000 0.0000 -0.0000 0.0000 0.0000 -140.4065
32.97326874732971 -159.1535 84.6889 -140.3756 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -140.4452
33.37503933906555 nan nan nan 0.0081 -0.4413 0.0068 0.0000 0.0000 0.0000 0.0000 0.0000 -140.3673
33.69786763191223 -159.2205 84.6888 -140.3117 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -140.2607
33.9420850276947 nan nan nan -0.0809 0.2504 -0.2252 0.0000 0.0000 0.0000 0.0000 0.0000 -140.2677
34.24650716781616 -159.2643 84.6870 -140.2688 nan nan nan 0.0000 0.0000 -0.0000 0.0000 0.0000 -140.2651
34.549700021743774 nan nan nan -0.1863 0.3624 -0.1046 0.0000 0.0000 -0.0000 0.0000 0.0000 -140.2732
34.87018084526062 -159.2127 84.6850 -140.3228 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -140.3383
35.34546113014221 nan nan nan 0.1185 -0.5799 0.2263 0.0000 0.0000 0.0000 0.0000 0.0000 -140.4500
35.78969597816467 -159.1232 84.6832 -140.4200 nan nan nan 0.0000 0.0000 -0.0000 0.0000 0.0000 -140.3884
36.07811164855957 nan nan nan -0.0599 0.1810 -0.0482 0.0000 0.0000 -0.0000 0.0000 0.0000 -140.3576
36.27429389953613 -159.2131 84.6787 -140.3284 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -140.2532
36.64588665962219 nan nan nan 0.1173 -0.3769 0.0656 0.0000 0.0000 0.0000 0.0000 0.0000 -140.1534
36.89115118980408 -159.3953 84.6774 -140.1499 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -140.1443
37.12803554534912 nan nan nan -0.0542 0.4848 0.0828 0.0000 0.0000 -0.0000 0.0000 0.0000 -139.9563
37.50560665130615 -159.5742 84.6750 -139.9781 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -139.9449
37.85904622077942 nan nan nan -0.1563 -0.3482 -0.0551 0.0000 0.0000 0.0000 0.0000 0.0000 -139.9094
38.13450241088867 -159.6652 84.6715 -139.8906 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -139.9196
38.4979202747345 nan nan nan -0.0898 -0.2972 0.2865 0.0000 0.0000 0.0000 0.0000 0.0000 -139.8936
38.79875445365906 -159.7088 84.6701 -139.8475 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -139.7627
39.10599088668823 nan nan nan -0.3363 0.4583 0.2050 0.0000 0.0000 -0.0000 0.0000 0.0000 -139.8933
39.44225883483887 -159.6475 84.6752 -139.9160 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -139.8833
39.75711226463318 nan nan nan -0.0488 0.3643 0.1656 0.0000 0.0000 0.0000 0.0000 0.0000 -139.8378
40.117772340774536 -159.7503 84.6736 -139.8167 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -139.7318
40.41717219352722 nan nan nan 0.2022 0.2261 -0.2333 0.0000 0.0000 0.0000 0.0000 0.0000 -139.5608
40.77573537826538 -159.9892 84.6712 -139.5728 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -139.6043
41.11542105674744 nan nan nan 0.1507 -0.6402 0.0722 0.0000 0.0000 -0.0000 0.0000 0.0000 -139.5569
41.48893618583679 -160.0500 84.6705 -139.5118 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -139.5560
41.675660371780396 nan nan nan 0.0412 -0.5980 0.0001 0.0000 0.0000 0.0000 0.0000 0.0000 -139.6201
41.91990256309509 -159.9932 84.6716 -139.5715 nan nan nan 0.0000 0.0000 -0.0000 0.0000 0.0000 -139.5876
42.147995471954346 nan nan nan 0.0845 0.5213 0.0133 0.0000 0.0000 -0.0000 0.0000 0.0000 -139.6532
42.49195146560669 -159.8808 84.6784 -139.6865 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -139.5554
42.987934827804565 nan nan nan -0.0008 0.1249 0.2147 0.0000 0.0000 -0.0000 0.0000 0.0000 -139.6190
43.1485800743103 -159.9493 84.6765 -139.6222 nan nan nan 0.0000 45.0000 0.0000 0.0000 0.0000 0.0000
43.51833176612854 nan nan nan -0.2874 5.5385 1.0797 0.0000 0.0000 -0.0000 0.0000 0.0000 0.0000
43.75995445251465 nan nan nan nan nan nan 0.0000 0.0000 -0.0000 0.0000 0.0000 0.0000
44.03383183479309 -164.7431 84.3978 -135.8086 nan nan nan nan nan nan 0.0000 0.0000 0.0000
44.36616563796997 nan nan nan nan nan nan 0.0000 45.0000 0.0000 0.0000 0.0000 0.0000
44.68976020812988 nan nan nan nan nan nan nan nan nan 0.0000 0.0000 0.0000
44.90728569030762 nan nan nan nan nan nan nan nan nan 0.0000 0.0000 0.0000
45.019060373306274 nan nan nan nan nan nan 0.0000 0.0000 -0.0000 0.0000 0.0000 0.0000
45.33125114440918 nan nan nan nan nan nan 0.0000 45.0000 0.0000 0.0000 0.0000 0.0000
45.61646342277527 nan nan nan nan nan nan 0.0000 45.0000 0.0000 0.0000 0.0000 -144.8635
45.998321771621704 nan nan nan nan nan nan 0.0000 0.0000 -0.0000 0.0000 0.0000 -164.4786
46.259647369384766 nan nan nan nan nan nan 0.0000 45.0000 0.0000 0.0000 0.0000 0.0000
46.48692989349365 nan nan nan nan nan nan nan nan nan 0.0000 0.0000 0.0000
46.806734561920166 -142.5465 85.1163 -59.0270 nan nan nan 0.0000 45.0000 0.0000 0.0000 0.0000 -11.7820
48.04561972618103 nan nan nan nan nan nan 0.0000 45.0000 0.0000 nan nan nan
48.41480803489685 144.7827 84.5977 140.7955 -400.3575 0.6776 18.1897 nan nan nan 0.0000 0.0000 0.0000
48.66363477706909 136.0396 85.1284 88.1000 -402.4682 -2.6446 16.7596 0.0000 45.0000 0.0000 0.0000 0.0000 -33.8166
49.02106213569641 nan nan nan nan nan nan 0.0000 45.0000 0.0000 0.0000 0.0000 0.0000
49.29632878303528 169.5819 84.1038 172.9429 -604.5461 10.2908 30.0599 nan nan nan 0.0000 0.0000 0.0000
49.54841375350952 nan nan nan -521.0991 0.5759 22.9764 0.0000 45.0000 0.0000 0.0000 0.0000 -166.9192
49.83645844459534 -177.9480 85.1751 0.0329 nan nan nan 0.0000 45.0000 0.0000 0.0000 0.0000 0.0000
50.27058434486389 nan nan nan nan nan nan 0.0000 0.0000 -0.0000 0.0000 0.0000 0.0000
50.52345609664917 nan nan nan -637.7982 -2.0887 24.1193 0.0000 0.0000 -0.0000 0.0000 0.0000 0.0000
50.979907751083374 nan nan nan nan nan nan 0.0000 45.0000 0.0000 0.0000 0.0000 0.0000
51.23393654823303 nan nan nan -583.6427 3.5418 22.8873 nan nan nan 0.0000 0.0000 0.0000
51.570223331451416 nan nan nan nan nan nan 0.0000 45.0000 0.0000 0.0000 0.0000 0.0000
51.874077796936035 nan nan nan -727.4188 -1.2469 33.7803 nan nan nan 0.0000 0.0000 0.0000
52.05569863319397 nan nan nan nan nan nan 0.0000 45.0000 0.0000 0.0000 0.0000 0.0000
52.36083173751831 nan nan nan nan nan nan 0.0000 0.0000 -0.0000 0.0000 0.0000 0.0000
52.60661268234253 nan nan nan nan nan nan nan nan nan 0.0000 0.0000 0.0000
52.84241080284119 nan nan nan nan nan nan 0.0000 45.0000 0.0000 0.0000 0.0000 0.0000
53.13389778137207 166.5060 84.2457 152.6336 nan nan nan nan nan nan 0.0000 0.0000 139.9061
53.45839548110962 141.3706 84.7731 103.9812 -452.4797 0.6001 18.1945 nan nan nan 0.0000 0.0000 0.0000
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_11_29_20:39:18.txt b/cflib_groundstation/logs/cflie1_2023_11_29_20:39:18.txt
new file mode 100644
index 000000000..0a8848784
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_11_29_20:39:18.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
12.602495908737183 152.2763 85.2212 6.3969 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 6.3699
12.682790040969849 nan nan nan -0.0530 -0.1730 -0.2077 0.0000 0.0000 0.0000 0.0000 0.0000 6.1737
12.778555393218994 152.2432 85.2203 6.4266 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 6.4353
12.929977178573608 nan nan nan 0.0902 -0.3321 -0.1145 0.0000 0.0000 0.0000 0.0000 0.0000 6.2432
13.016201496124268 152.5765 85.2198 6.0886 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 6.0596
13.181840658187866 nan nan nan 0.3484 -0.0263 0.0800 0.0000 0.0000 0.0000 0.0000 0.0000 5.9112
13.270731210708618 152.7489 85.2182 5.9147 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 5.9133
13.406255722045898 nan nan nan 0.1358 0.1510 0.0130 0.0000 0.0000 0.0000 0.0000 0.0000 5.8091
13.486035823822021 153.1156 85.2173 5.5470 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 5.3977
13.608198642730713 nan nan nan -0.3174 -0.1371 0.4294 0.0000 0.0000 0.0000 0.0000 0.0000 5.5111
13.791079044342041 153.1229 85.2170 5.5367 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 5.5762
13.850400924682617 nan nan nan 0.0301 0.0580 0.0851 0.0000 0.0000 0.0000 0.0000 0.0000 5.6081
13.975293159484863 152.9340 85.2188 5.7231 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 5.6283
14.087103366851807 nan nan nan 0.1169 0.1137 -0.2627 0.0000 0.0000 0.0000 0.0000 0.0000 5.9289
14.208502054214478 152.4587 85.2182 6.1997 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 6.1994
14.304821729660034 nan nan nan -0.2364 -0.0241 -0.1260 0.0000 0.0000 0.0000 0.0000 0.0000 6.3487
14.418569326400757 152.5275 85.2172 6.1255 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 6.2448
14.547220945358276 nan nan nan 0.1549 -0.4435 -0.1367 0.0000 0.0000 0.0000 0.0000 0.0000 6.2918
14.642228364944458 152.0596 85.2169 6.5881 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 6.5577
14.755914688110352 nan nan nan 0.0387 -0.0124 -0.0817 0.0000 0.0000 0.0000 0.0000 0.0000 6.6446
14.87893795967102 152.0370 85.2180 6.6078 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 6.4540
14.994748830795288 nan nan nan -0.1907 0.1676 0.3432 0.0000 0.0000 0.0000 0.0000 0.0000 6.3540
15.146779537200928 152.1844 85.2183 6.4533 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 6.2920
15.243281841278076 nan nan nan -0.1045 0.0012 -0.0700 0.0000 0.0000 0.0000 0.0000 0.0000 6.2311
15.38074016571045 152.3131 85.2189 6.3207 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 6.3941
15.517431735992432 nan nan nan -0.2726 -0.0174 -0.2098 0.0000 0.0000 0.0000 0.0000 0.0000 6.2814
15.615804672241211 152.1552 85.2187 6.4765 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 6.2693
15.721458673477173 nan nan nan -0.0624 -0.1201 0.3057 0.0000 0.0000 0.0000 0.0000 0.0000 6.6769
15.823443412780762 152.2133 85.2200 6.4120 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 6.3422
16.083691358566284 nan nan nan -0.1551 0.0314 0.0994 0.0000 0.0000 0.0000 0.0000 0.0000 6.3144
16.19551181793213 152.0970 85.2214 6.5171 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 6.4267
17.034608364105225 nan nan nan -0.0658 0.1935 0.0651 0.0000 0.0000 0.0000 0.0000 0.0000 6.4039
17.171111822128296 152.2125 85.2210 6.3954 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 6.5267
17.286672115325928 nan nan nan -0.2175 -0.5068 -0.0989 0.0000 0.0000 0.0000 0.0000 0.0000 6.8083
17.4279682636261 151.7379 85.2219 6.8663 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 6.7445
17.553881883621216 nan nan nan -0.1491 0.1898 -0.2094 0.0000 0.0000 0.0000 0.0000 0.0000 6.9894
17.67766547203064 151.8291 85.2230 6.7678 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 6.9265
17.798052310943604 nan nan nan -0.1547 0.1559 -0.2676 0.0000 0.0000 0.0000 0.0000 0.0000 6.8934
17.89398956298828 151.6958 85.2229 6.8962 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 6.8466
17.982755661010742 nan nan nan -0.1312 -0.1034 -0.0568 0.0000 0.0000 0.0000 0.0000 0.0000 6.9454
18.1520779132843 151.2949 85.2225 7.2990 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 7.3736
18.263100624084473 nan nan nan 0.0838 -0.5976 0.1255 0.0000 0.0000 0.0000 0.0000 0.0000 7.2781
18.427387475967407 151.9728 85.2238 6.6137 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 7.0189
18.50848698616028 nan nan nan 0.2308 -0.2927 -0.2507 0.0000 0.0000 0.0000 0.0000 0.0000 11.1657
18.581573247909546 59.0018 85.2647 93.2993 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 72.1088
18.7065589427948 nan nan nan 53.9644 25.3707 9.3171 0.0000 0.0000 0.0000 0.0000 0.0000 -26.7490
18.812952041625977 173.1721 85.2807 -18.4942 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -19.0650
18.908302545547485 nan nan nan -13.7027 -1.4373 -0.2128 0.0000 0.0000 0.0000 0.0000 0.0000 -41.4160
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19.335059881210327 78.7434 85.2205 82.2603 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 64.4086
19.412378311157227 nan nan nan -24.8912 -6.2340 3.5881 0.0000 0.0000 0.0000 0.0000 0.0000 115.5590
20.546701192855835 44.5105 85.0094 107.5937 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 114.1182
20.67292332649231 nan nan nan -134.4691 5.1558 1.0716 0.0000 0.0000 0.0000 0.0000 0.0000 103.0147
20.786544799804688 32.2975 85.0760 102.3815 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 103.4570
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21.030238389968872 21.0948 85.1428 100.1641 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 104.8294
21.108776092529297 nan nan nan -60.1691 2.2888 -3.7346 0.0000 0.0000 0.0000 0.0000 0.0000 90.4845
21.202470779418945 33.5964 85.1425 79.7844 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 80.9038
21.312143564224243 nan nan nan -34.9234 -0.4908 3.3763 0.0000 0.0000 0.0000 0.0000 0.0000 81.8839
21.470887899398804 51.8856 85.2143 56.8687 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 66.9125
21.569409608840942 nan nan nan -20.8153 -0.6492 -1.9418 0.0000 0.0000 0.0000 0.0000 0.0000 47.7938
21.654189348220825 72.8782 85.1689 29.2390 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 36.7423
21.800588130950928 nan nan nan nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 7.9921
21.88462543487549 nan nan nan nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -0.9825
21.98383140563965 nan nan nan -81.9452 1.2304 -0.2903 0.0000 0.0000 0.0000 nan nan nan
22.116634845733643 130.8083 85.2793 -64.2574 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -52.3258
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22.377650260925293 nan nan nan nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -105.6091
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22.629664421081543 172.5333 85.2598 -124.3848 nan nan nan nan nan nan 0.0000 0.0000 -122.4687
22.72051739692688 163.2654 85.2478 -119.6137 -32.9548 0.6048 0.0171 0.0000 0.0000 0.0000 nan nan nan
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23.659827709197998 175.8303 85.1993 -149.3928 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -148.4749
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23.885462522506714 -176.4214 85.1866 -161.3832 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -161.1028
25.030636072158813 nan nan nan nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 178.6824
25.192800998687744 -165.7592 85.1189 177.1743 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 176.8919
25.291478395462036 -171.5585 85.1355 -178.8963 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -179.4393
26.435585021972656 nan nan nan -14.1129 -0.2645 1.6514 0.0000 0.0000 0.0000 0.0000 0.0000 177.7035
26.53069233894348 -169.4048 85.1183 177.4159 10.5714 -1.4836 0.0137 0.0000 0.0000 0.0000 0.0000 0.0000 177.2651
26.66263484954834 -161.4282 85.1076 170.3036 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 169.9035
26.752959966659546 -161.8148 85.1224 170.9252 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 170.0343
26.89346694946289 nan nan nan nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 170.6124
27.003316640853882 nan nan nan nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 171.3498
27.122699737548828 -164.9691 85.1788 176.2257 nan nan nan nan nan nan 0.0000 0.0000 176.3535
27.219820737838745 -163.0629 85.1599 172.9315 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 174.4502
27.34110426902771 nan nan nan nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 173.0996
27.43645429611206 nan nan nan nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 173.6856
27.521480798721313 -163.2326 85.1592 173.5272 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 172.6100
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_11_29_20:41:28.txt b/cflib_groundstation/logs/cflie1_2023_11_29_20:41:28.txt
new file mode 100644
index 000000000..eff6f87b1
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_11_29_20:41:28.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
13.175700902938843 -163.2269 85.1460 171.0690 -0.2775 -0.7335 0.1441 0.0000 0.0000 0.0000 0.0000 0.0000 170.8212
15.083797693252563 -162.9384 85.1467 170.7664 0.2807 -0.4330 0.0830 0.0000 0.0000 0.0000 0.0000 0.0000 170.9464
15.135812997817993 -163.1713 85.1443 171.0033 -0.0967 0.2603 -0.0223 0.0000 0.0000 0.0000 0.0000 0.0000 170.8118
15.250316143035889 -162.9875 85.1432 170.8199 0.1967 0.5978 -0.1144 0.0000 0.0000 0.0000 0.0000 0.0000 170.7105
15.361591339111328 -162.7020 85.1464 170.5240 0.0075 -0.4358 -0.1457 0.0000 0.0000 0.0000 0.0000 0.0000 170.5955
15.513772010803223 -162.7250 85.1493 170.5464 -0.0540 -0.9560 -0.2745 0.0000 0.0000 0.0000 0.0000 0.0000 170.4605
15.664884090423584 -162.6457 85.1481 170.4649 0.2239 -0.3186 -0.1822 0.0000 0.0000 0.0000 0.0000 0.0000 170.4932
15.795156002044678 -162.4764 85.1471 170.2985 0.1648 0.8156 0.2365 0.0000 0.0000 0.0000 0.0000 0.0000 170.4653
15.92797064781189 -162.6220 85.1490 170.4402 -0.3587 0.1280 0.1952 0.0000 0.0000 0.0000 0.0000 0.0000 170.2406
16.08816909790039 -162.5154 85.1505 170.3257 0.0559 -0.7635 0.0108 0.0000 0.0000 0.0000 0.0000 0.0000 170.1644
16.19933772087097 -162.1899 85.1485 169.9928 0.2245 -0.0934 -0.3235 0.0000 0.0000 0.0000 0.0000 0.0000 170.2685
16.325785160064697 -162.5366 85.1482 170.3404 -0.3133 0.6079 0.1647 0.0000 0.0000 0.0000 0.0000 0.0000 170.0562
16.447636604309082 -162.2709 85.1505 170.0730 -0.2180 0.1162 0.0225 0.0000 0.0000 0.0000 0.0000 0.0000 170.0058
16.5979061126709 -162.1068 85.1505 169.8967 -0.0903 -1.0770 -0.4730 0.0000 0.0000 0.0000 0.0000 0.0000 170.2029
17.713942527770996 -162.2353 85.1496 170.0215 -0.1318 -0.4510 -0.1415 0.0000 0.0000 0.0000 0.0000 0.0000 170.1713
17.84706950187683 -162.5891 85.1492 170.3694 -0.0048 0.7004 -0.1176 0.0000 0.0000 0.0000 0.0000 0.0000 170.1039
17.98148226737976 -162.2535 85.1511 170.0271 0.2043 0.6449 -0.0215 0.0000 0.0000 0.0000 0.0000 0.0000 170.2418
18.105297803878784 -162.2875 85.1497 170.0569 0.1252 -0.8514 -0.1272 0.0000 0.0000 0.0000 0.0000 0.0000 170.1328
18.228657722473145 -162.0972 85.1486 169.8600 0.0860 -0.3625 0.0125 0.0000 0.0000 0.0000 0.0000 0.0000 170.1458
18.350817680358887 -162.4146 85.1456 170.1786 -0.3715 0.3821 0.0239 0.0000 0.0000 0.0000 0.0000 0.0000 169.8559
18.448878288269043 -162.3148 85.1484 170.0762 -0.0011 0.7371 0.1585 0.0000 0.0000 0.0000 0.0000 0.0000 169.7688
18.570376873016357 -161.8512 85.1495 169.6057 0.2501 -1.0207 -0.2434 0.0000 0.0000 0.0000 0.0000 0.0000 170.1260
18.679842710494995 -162.4043 85.1460 170.1632 0.1082 -0.3084 -0.2351 0.0000 0.0000 0.0000 0.0000 0.0000 170.0979
18.791556358337402 -162.6724 85.1447 170.4309 -0.1687 1.1191 -0.1932 0.0000 0.0000 0.0000 0.0000 0.0000 170.4387
18.882386445999146 -162.5981 85.1473 170.3530 -0.2870 0.8426 0.3444 0.0000 0.0000 0.0000 0.0000 0.0000 170.4015
19.01139497756958 -162.4025 85.1514 170.1587 -0.1361 -0.3650 -0.1321 0.0000 0.0000 0.0000 0.0000 0.0000 170.4257
19.122578620910645 -162.6836 85.1496 170.4384 -0.2176 -1.0694 0.2827 0.0000 0.0000 0.0000 0.0000 0.0000 170.1458
19.237034559249878 -162.7622 85.1464 170.5168 -0.2536 0.2703 -0.0622 0.0000 0.0000 0.0000 0.0000 0.0000 169.8382
19.350777864456177 -162.4012 85.1455 170.1503 0.0991 -0.0344 -0.0206 0.0000 0.0000 0.0000 0.0000 0.0000 170.3594
19.465847969055176 -162.1953 85.1462 169.9305 0.2585 -0.2662 0.1110 0.0000 0.0000 0.0000 0.0000 0.0000 169.2931
19.604658365249634 -161.7699 85.1428 169.5086 0.1061 2.5530 -2.4314 0.0000 0.0000 0.0000 0.0000 0.0000 170.5837
19.718115091323853 -162.4509 85.1441 170.1851 0.1573 1.8599 1.4307 0.0000 0.0000 0.0000 0.0000 0.0000 170.5392
19.846078634262085 -162.7605 85.1474 170.4902 -0.0983 -2.3054 0.2370 0.0000 0.0000 0.0000 0.0000 0.0000 169.9953
20.061649084091187 -162.6729 85.1470 170.4056 -0.0686 -0.1054 -1.0743 0.0000 0.0000 0.0000 0.0000 0.0000 170.4905
20.181309700012207 -162.6718 85.1433 170.3961 0.5564 1.2510 0.1973 0.0000 0.0000 0.0000 0.0000 0.0000 170.5420
20.323137521743774 -162.9127 85.1421 170.6323 -0.2415 0.9179 -0.0233 0.0000 0.0000 0.0000 0.0000 0.0000 170.4373
20.49820041656494 -162.6904 85.1448 170.4065 -0.3090 -0.8623 -0.4961 0.0000 0.0000 0.0000 0.0000 0.0000 170.7231
20.61661171913147 -162.4330 85.1472 170.1385 0.4167 -0.8913 0.0398 0.0000 0.0000 0.0000 0.0000 0.0000 170.6199
20.74956965446472 -163.0533 85.1429 170.7591 -0.3103 0.8990 0.7066 0.0000 0.0000 0.0000 0.0000 0.0000 170.4107
20.882487535476685 -176.0247 85.0568 -177.0586 -188.5667 47.5357 14.0814 0.0000 0.0000 0.0000 0.0000 0.0000 179.7392
20.953026294708252 171.8867 85.2767 175.8730 -3.8334 -7.1513 -3.1101 0.0000 0.0000 0.0000 0.0000 0.0000 177.8349
21.053736209869385 147.3712 85.2493 -162.3735 -50.5890 -9.2512 1.2390 0.0000 0.0000 0.0000 0.0000 0.0000 -142.8114
21.168564081192017 128.7847 85.2056 -149.2964 -63.1969 10.3915 3.2110 0.0000 0.0000 0.0000 0.0000 0.0000 -171.7163
21.25478506088257 134.4931 85.0338 -167.2878 -81.8130 4.0652 4.7395 0.0000 0.0000 0.0000 0.0000 0.0000 178.3575
21.376506805419922 149.9769 84.6658 171.2247 -5.5519 -4.4451 2.5922 0.0000 0.0000 0.0000 0.0000 0.0000 170.4528
21.476094961166382 146.3114 84.6466 173.0415 -40.1711 2.1471 0.6397 0.0000 0.0000 0.0000 0.0000 0.0000 175.5151
21.564353942871094 140.9720 84.5363 172.2778 -27.4527 -2.3483 0.0764 0.0000 0.0000 0.0000 0.0000 0.0000 165.3648
21.656429290771484 145.2200 84.4708 164.8973 -48.0750 10.8812 1.6696 0.0000 0.0000 0.0000 0.0000 0.0000 166.5645
21.764594793319702 137.8354 84.3998 165.5990 -24.9046 5.1538 3.7814 0.0000 0.0000 0.0000 0.0000 0.0000 166.3567
21.833698749542236 123.4007 84.9141 171.3644 -76.9723 0.2110 -2.3293 0.0000 0.0000 0.0000 0.0000 0.0000 176.7184
21.934601545333862 111.9337 84.9440 178.4351 -15.3045 1.9713 3.9653 0.0000 0.0000 0.0000 0.0000 0.0000 167.0111
22.076945543289185 134.3172 84.7168 158.6378 4.7079 7.2715 -2.1216 0.0000 0.0000 0.0000 0.0000 0.0000 155.6564
22.20853328704834 134.2344 84.6661 156.5324 -14.9012 -0.0695 1.1483 0.0000 0.0000 0.0000 0.0000 0.0000 154.5757
22.338279008865356 137.7391 84.6704 151.9099 5.2260 0.8184 -1.4823 0.0000 0.0000 0.0000 0.0000 0.0000 150.0621
22.470468282699585 138.9256 84.5240 150.4931 -0.6251 5.2073 4.4950 0.0000 0.0000 0.0000 0.0000 0.0000 141.1668
22.557687997817993 153.0402 84.5906 135.2996 -23.1817 1.6371 7.4768 0.0000 0.0000 0.0000 0.0000 0.0000 132.8822
22.675719499588013 150.8635 84.7322 135.1255 -9.2770 -4.9721 -3.2120 0.0000 0.0000 0.0000 0.0000 0.0000 139.0525
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23.766051054000854 66.5895 85.1014 -154.6680 -13.1957 1.9627 3.8251 0.0000 0.0000 0.0000 0.0000 0.0000 -158.5109
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190.8096742630005 nan nan nan -2.1638 0.2760 -0.0179 nan nan nan 0.0000 0.0000 0.0000
191.11172127723694 -0.1801 -6.0675 -21.2914 0.6124 -2.2788 1.7114 nan nan nan 0.0000 0.0000 0.0000
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191.76721858978271 -0.1908 -5.9612 -21.2763 -0.1869 -3.8181 0.9871 nan nan nan 0.0000 0.0000 0.0000
192.07250833511353 -0.2296 -6.4178 -21.2977 -1.3680 -1.6572 -0.6729 nan nan nan nan nan nan
192.33433270454407 nan nan nan -1.0814 -4.5780 0.6238 nan nan nan 0.0000 0.0000 -21.3011
192.70547747612 -0.2185 -6.5772 -21.3224 -0.6229 -1.2375 -4.4223 nan nan nan 0.0000 0.0000 0.0000
#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_29_20:46:04.txt b/cflib_groundstation/logs/cflie1_2023_11_29_20:46:04.txt
new file mode 100644
index 000000000..b18fce6a2
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_11_29_20:46:04.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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50.75182604789734 2.5613 39.5378 -17.7977 -0.4286 0.3492 0.0814 0.0000 0.0000 0.0000 0.0000 0.0000 -17.7915
50.890514612197876 2.5536 39.5402 -17.7882 0.2699 -0.0258 -0.2168 0.0000 0.0000 0.0000 0.0000 0.0000 -17.7871
51.04578495025635 2.5613 39.5426 -17.7895 0.4086 0.2496 0.1918 0.0000 0.0000 0.0000 0.0000 0.0000 -17.7879
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51.94471263885498 2.5423 39.5363 -17.7670 -0.2074 0.2589 -0.1074 0.0000 0.0000 0.0000 0.0000 0.0000 -17.7655
52.04934048652649 2.5433 39.5413 -17.7623 0.2277 -0.2519 0.1387 0.0000 0.0000 0.0000 0.0000 0.0000 -17.7539
52.300437688827515 2.5394 39.5416 -17.7513 -0.0055 -0.5466 -0.2146 0.0000 0.0000 0.0000 0.0000 0.0000 -17.7549
52.36362385749817 2.5406 39.5291 -17.7586 -0.2559 0.4123 0.0295 0.0000 0.0000 0.0000 0.0000 0.0000 -17.7546
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165.60608077049255 -0.7222 0.5730 -109.2946 -0.5610 -1.2618 -164.7440 0.0000 0.0000 0.0000 0.0000 10.0000 0.0000
165.90018129348755 -0.3323 0.7731 -134.7726 -5.0731 -2.0352 -175.2063 0.0000 0.0000 0.0000 0.0000 10.0000 0.0000
166.1243805885315 -0.0416 0.7556 -160.9496 2.8182 -0.7890 -177.0952 0.0000 0.0000 -0.0000 0.0000 0.0000 -168.0538
166.32493114471436 0.4046 0.5841 172.3542 1.3729 -0.2201 -170.9714 0.0000 0.0000 0.0000 0.0000 10.0000 0.0000
166.6358823776245 0.6716 0.2450 146.9923 -0.4605 -0.8381 -177.9240 0.0000 0.0000 0.0000 0.0000 10.0000 0.0000
166.81468653678894 0.7183 -0.1888 119.4710 0.2278 -3.4462 -194.0759 0.0000 0.0000 0.0000 0.0000 10.0000 0.0000
167.20151662826538 0.6180 -0.6133 89.2325 -3.1862 -5.0157 -212.5070 0.0000 0.0000 0.0000 0.0000 10.0000 0.0000
167.47748231887817 0.0232 -1.1465 57.2372 2.5801 2.2265 -224.8588 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000
167.66045665740967 -0.5915 -0.9864 23.0698 -0.0486 0.7964 -229.6431 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000
168.120751619339 -0.5001 0.8997 -131.3237 nan nan nan 0.0000 0.0000 -0.0000 nan nan nan
168.40742444992065 0.7249 0.4079 150.6378 nan nan nan nan nan nan 0.0000 10.0000 0.0000
168.7277054786682 0.6782 -0.8749 73.1462 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 101.7547
169.12670922279358 0.0662 -1.2297 36.0162 nan nan nan 0.0000 0.0000 -0.0000 0.0000 10.0000 0.0000
169.40347456932068 -1.1529 -0.6380 -36.5770 0.9449 -0.7147 -247.2494 nan nan nan 0.0000 10.0000 0.0000
169.6791615486145 -0.1822 0.9067 -149.0963 nan nan nan 0.0000 0.0000 -0.0000 0.0000 10.0000 0.0000
169.89785432815552 nan nan nan 1.8821 1.0439 -228.9196 0.0000 0.0000 0.0000 0.0000 10.0000 0.0000
170.13125848770142 0.8787 -0.3092 109.1460 0.7796 -2.8604 -216.2399 0.0000 0.0000 -0.0000 0.0000 10.0000 0.0000
170.47441005706787 -0.0012 -1.1866 42.0600 nan nan nan nan nan nan 0.0000 10.0000 0.0000
170.75565338134766 -1.0701 -0.4561 -35.0478 -1.4703 -0.9119 -235.5797 0.0000 0.0000 0.0000 nan nan nan
171.0239634513855 -1.0641 0.1758 -75.7136 nan nan nan 0.0000 0.0000 0.0000 0.0000 10.0000 0.0000
171.35542607307434 0.0248 0.7662 -166.6715 -0.1420 -0.9032 -289.0110 nan nan nan 0.0000 0.0000 -179.4275
171.60682129859924 0.4515 0.6476 165.3064 nan nan nan 0.0000 0.0000 0.0000 0.0000 10.0000 0.0000
172.040700674057 0.7987 -0.5830 86.6059 nan nan nan 0.0000 0.0000 -0.0000 0.0000 0.0000 76.2971
172.29698395729065 -0.7740 -0.9798 -16.5290 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 5.8841
172.56109499931335 nan nan nan nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -77.7627
173.80239939689636 -0.8367 0.5399 -114.8748 nan nan nan nan nan nan 0.0000 0.0000 -119.8436
174.04981350898743 -0.1630 0.8274 -158.5422 nan nan nan nan nan nan 0.0000 0.0000 -150.2058
174.28835153579712 0.0845 0.7285 -172.6880 2.0173 -5.5268 -63.0899 nan nan nan 0.0000 0.0000 -168.9181
174.57455682754517 0.0535 0.7134 -173.8678 nan nan nan nan nan nan 0.0000 0.0000 -173.6367
174.95328450202942 0.0067 0.7255 -171.8738 nan nan nan nan nan nan 0.0000 0.0000 -172.6449
175.135901927948 -0.0193 0.7220 -170.8308 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -170.5569
175.44287085533142 -0.0712 0.7283 -168.7158 nan nan nan nan nan nan 0.0000 0.0000 -168.3794
175.78617978096008 -0.1308 0.7229 -165.4738 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -165.0422
176.0040738582611 -0.1653 0.7297 -164.0619 -0.3328 -0.1734 10.0005 0.0000 0.0000 -0.0000 0.0000 0.0000 -163.7538
176.21483874320984 -0.1902 0.7284 -162.6479 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -160.3878
176.40129327774048 -0.2478 0.7372 -160.4090 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -160.1770
176.56125855445862 -0.2500 0.7305 -160.5743 0.0712 -0.9231 -1.8981 nan nan nan 0.0000 0.0000 -160.4891
176.91684532165527 nan nan nan nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -160.5617
177.18398904800415 -0.2573 0.7502 -160.5502 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -160.5576
177.48136520385742 nan nan nan -0.3116 -0.2159 -0.1448 0.0000 0.0000 0.0000 0.0000 0.0000 -160.5491
177.76628232002258 -0.2655 0.7471 -160.5369 -0.1972 -0.5939 0.1193 nan nan nan 0.0000 0.0000 -160.5379
177.962965965271 -0.2709 0.7584 -160.5223 nan nan nan nan nan nan 0.0000 0.0000 -160.5268
178.23212599754333 -0.2746 0.7662 -160.5006 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -160.5226
178.47279834747314 -0.2754 0.7589 -160.4855 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -160.5004
179.73074293136597 -0.2836 0.7509 -160.4692 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -160.4748
180.00664472579956 -0.2781 0.7567 -160.4651 0.1964 0.3842 0.0892 nan nan nan 0.0000 0.0000 -160.4614
180.31526231765747 -0.2775 0.7425 -160.4494 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -160.4535
180.66981840133667 -0.2783 0.7401 -160.4377 -0.0818 0.5178 -0.1407 nan nan nan 0.0000 0.0000 -160.4487
180.94727158546448 -0.2785 0.7333 -160.4223 -0.2989 -0.0476 -0.0769 nan nan nan 0.0000 0.0000 -160.4295
181.1649239063263 -0.2822 0.7328 -160.4209 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -160.4184
181.387610912323 -0.2813 0.7238 -160.3978 nan nan nan nan nan nan 0.0000 0.0000 -160.4106
181.6470229625702 -0.2764 0.7384 -160.3881 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -160.3941
181.88796734809875 -0.2866 0.7401 -160.3705 nan nan nan nan nan nan 0.0000 0.0000 -160.3669
182.22544836997986 -0.2780 0.7290 -160.3521 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -160.3591
182.5465087890625 -0.2855 0.7306 -160.3415 nan nan nan 0.0000 0.0000 -0.0000 0.0000 0.0000 -160.3498
182.86471605300903 -0.2792 0.7282 -160.3356 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -160.3351
183.31412363052368 -0.2977 0.7179 -160.3882 nan nan nan 0.0000 0.0000 0.0000 10.0000 10.0000 10.0000
183.62684154510498 -0.2692 0.6999 -163.3229 nan nan nan 0.0000 0.0000 0.0000 0.0000 0.0000 -162.4895
183.83678078651428 -0.2270 0.6832 -166.0004 -0.1660 0.4268 -5.0023 0.0000 0.0000 0.0000 0.0000 0.0000 -163.5344
184.2256863117218 -0.1498 0.6817 -168.8038 0.5807 1.5123 -17.5411 nan nan nan 0.0000 0.0000 -169.6871
184.5769965648651 -0.0062 0.6813 -178.1850 -0.6469 -3.3371 -40.2585 nan nan nan 10.0000 10.0000 10.0000
184.88339138031006 0.1643 0.6177 171.2878 -0.0441 -0.4813 -33.1747 0.0000 0.0000 0.0000 nan nan nan
185.03190422058105 0.2215 0.5997 168.0281 nan nan nan nan nan nan 10.0000 10.0000 10.0000
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_Log_toc_2023_11_29_20:18:23.txt b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_29_20:18:23.txt
new file mode 100644
index 000000000..5f7bea63c
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_29_20:18:23.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_29_20:21:38.txt b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_29_20:21:38.txt
new file mode 100644
index 000000000..5f7bea63c
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_29_20:21:38.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_29_20:36:33.txt b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_29_20:36:33.txt
new file mode 100644
index 000000000..5f7bea63c
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_29_20:36:33.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_29_20:38:03.txt b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_29_20:38:03.txt
new file mode 100644
index 000000000..5f7bea63c
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_29_20:38:03.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_29_20:43:47.txt b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_29_20:43:47.txt
new file mode 100644
index 000000000..5f7bea63c
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_29_20:43:47.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_29_20:47:38.txt b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_29_20:47:38.txt
new file mode 100644
index 000000000..5f7bea63c
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_29_20:47:38.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_29_20:18:23.txt b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_29_20:18:23.txt
new file mode 100644
index 000000000..12008f581
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_29_20:18:23.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_29_20:21:38.txt b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_29_20:21:38.txt
new file mode 100644
index 000000000..12008f581
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_29_20:21:38.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_29_20:36:33.txt b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_29_20:36:33.txt
new file mode 100644
index 000000000..12008f581
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_29_20:36:33.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_29_20:38:03.txt b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_29_20:38:03.txt
new file mode 100644
index 000000000..12008f581
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_29_20:38:03.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_29_20:43:47.txt b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_29_20:43:47.txt
new file mode 100644
index 000000000..12008f581
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_29_20:43:47.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_29_20:47:37.txt b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_29_20:47:37.txt
new file mode 100644
index 000000000..12008f581
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_29_20:47:37.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