diff --git a/cflib_groundstation/CrazyflieProtoConnection.py b/cflib_groundstation/CrazyflieProtoConnection.py
deleted file mode 100644
index b2a0ed79e8ec13e37bcb832206f0b8122dbba8ab..0000000000000000000000000000000000000000
--- a/cflib_groundstation/CrazyflieProtoConnection.py
+++ /dev/null
@@ -1,221 +0,0 @@
-"""
-Crazyflie Proto Connection handles the actual interaction with the crazyflie.
-The only reason it exists is to serve as an intermediary between the frontend
-and the crazyflie itself so that it can handle all interactions with the
-cflib library and that the GUI doesn't have to.
-
-If one wanted to slot this GUI into the existing microcart infrastructure,
-CrazyflieProtoConnection could be rewritten to interface to frontend
-commands, and to connect to the backend, and the crazyflie adapter,
-and crazyflie groundstation.
-
-"""
-
-
-from time import time
-from typing import List
-import time
-
-import cflib.crtp
-from cflib.crazyflie import Crazyflie
-from cflib.crazyflie.syncCrazyflie import SyncCrazyflie
-from queue import Queue
-
-from cflib.crazyflie.log import LogConfig
-
-
-class CrazyflieProtoConnection:
- """
- Handles all interactions with cflib.
- """
-
- def __init__(self):
- """
- Initialize the start time, the logging queue which is given to the
- plotting window, and set the synchronous crazyflie connection by
- default to None. This should be set to the crazyflie when connecting
- to one.
- """
-
- # Get the start time, so that the timestamp returned to the user will
- # be in seconds since startup.
- self.start_time = time.time()
-
- self.logging_queue = Queue()
-
- self.scf = None
- self.is_connected = False
- self.param_callback_count = 0
- self.logging_configs = []
-
- # self.timer = QTimer()
- # self.timer.timeout.connect(self.update_plot)
- # self.timer.start(50)
-
- def check_link_is_alive_callback(self):
- """ Periodically investigate if the link is alive """
- if self.scf:
- if not self.scf.is_link_open():
- self.is_connected = False
-
- def logging_callback(self, _timestamp, data, _logconf):
- """ Whenever data comes in from the logging, it is sent here,
- which routes it into our specific format for the logging queue. """
-
- timestamp1 = time.time() - self.start_time
-
- for key in data.keys():
- value_pair = {'timestamp': timestamp1, 'data': data[key],
- 'signal': key}
- self.logging_queue.put(value_pair)
-
- def param_set_value(self, group: str, name: str, value: float):
- """ Set a crazyflie parameter value. """
-
- try:
- if self.scf.is_link_open():
- full_name = group + "." + 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 param_get_value(self, group: str, name: str):
- """ Retrieve parameter value from crazyflie toc. """
- try:
- if self.scf.is_link_open():
- return self.scf.cf.param.values[group][name]
-
- except AttributeError:
- pass
- return -1.234567890 # 1234567890 should be pretty obvious that
- # something has gone wrong.
-
- def get_logging_toc(self):
- """ Retrieve entire logging table of contents. Used in order to
- display list in logging tab. """
-
- try:
- if self.scf.is_link_open():
- tocFull = self.scf.cf.log.toc.toc
- toc = []
- for key in tocFull.keys():
- for inner_key in tocFull[key].keys():
- # concatenate group name with parameter name.
- full_name = key + "." + inner_key
- toc.append(full_name)
-
- return toc
- else:
- return []
- except AttributeError:
- pass
- return []
-
- def get_param_toc(self):
- """ Get the names of all groups available for parameters on the
- crazyflie. Used to populate parameter group list on parameter tab. """
-
- try:
- if self.scf.is_link_open():
- toc = self.scf.cf.param.values
-
- return toc
- except AttributeError:
- pass
- return {}
-
- def add_log_config(self, name: str, period: int, variables: List[str]):
- """ Add a logging config. Used from logging tab when refreshing
- logging variables. Add callback to route logged data to logging
- queue. """
-
- print("Name: " + name + ", period: " + str(period) + ", variables: "
- + str(variables))
- logging_group = LogConfig(name=name, period_in_ms=period)
-
- for variable in variables:
- logging_group.add_variable(variable, 'float')
-
- self.logging_configs.append(logging_group)
- self.logging_configs[-1].data_received_cb.add_callback(
- self.logging_callback)
- self.scf.cf.log.add_config(self.logging_configs[-1])
-
- def clear_logging_configs(self):
- """ Stop logging and clear configuration. Used when refreshing
- logging to stop anything that has configured to be logged from
- logging. """
-
- self.stop_logging()
- self.logging_configs = []
- # done refreshing toc is a callback function that is triggered when
- # refresh toc is done executing.
- self.scf.cf.log.refresh_toc(
- self.done_refreshing_toc, self.scf.cf.log._toc_cache)
- # Blocks until toc is done refreshing.
- while self.param_callback_count < 1:
- time.sleep(0.01)
- self.param_callback_count = 0
-
- # grabs new toc values
- self.scf.wait_for_params()
-
- def done_refreshing_toc(self, *_args):
- """ Callback for flow control, increments param callback count to
- allow exit of while loop. """
- self.param_callback_count = 1
-
- def start_logging(self):
- """ Begins logging all configured logging blocks. This is used from
- the controls tab when hitting begin logging. """
- for i in range(0, len(self.logging_configs)):
- self.logging_configs[i].start()
-
- def stop_logging(self):
- """ Stops logging all configured logging blocks. This is used from
- the controls tab when hitting pause logging. """
- for i in range(0, len(self.logging_configs)):
- self.logging_configs[i].stop()
-
- def connect(self, uri: str):
- """
- Handles connecting to a crazyflie. Bitcraze has excellent
- documentation on how to use the synchronous crazyflie object in order
- to send setpoints, set parameters or retrieve logging.
- :param uri: Radio channel
- """
- cflib.crtp.init_drivers()
- self.scf = SyncCrazyflie(uri, cf=Crazyflie(rw_cache='./cache'))
- self.scf.open_link()
- self.scf.wait_for_params()
- self.is_connected = True
-
- def disconnect(self):
- """ Disconnect from crazyflie. """
- print("Disconnect quad")
- if self.is_connected:
- self.scf.close_link()
- self.scf = None
- self.is_connected = False
-
- @staticmethod
- def list_available_crazyflies():
- """ Lists crazyflies that are on and within range. """
- cflib.crtp.init_drivers() # run this again just in case you plug the
- # dongle in
- return cflib.crtp.scan_interfaces()
diff --git a/cflib_groundstation/__pycache__/SetpointHandler.cpython-38.pyc b/cflib_groundstation/__pycache__/SetpointHandler.cpython-38.pyc
index aea5386ed3a0e1dbe1950edefb17ad6e80070331..1f7b29d96db05374caf84b36bb27a376d079a6e6 100644
Binary files a/cflib_groundstation/__pycache__/SetpointHandler.cpython-38.pyc and b/cflib_groundstation/__pycache__/SetpointHandler.cpython-38.pyc differ
diff --git a/cflib_groundstation/__pycache__/crazyflie_connection.cpython-38.pyc b/cflib_groundstation/__pycache__/crazyflie_connection.cpython-38.pyc
index cac02ee133fe85fa1a97816e8f50b647dc882836..1b8b9d5c09eb2e1505ecc55d4bab16f0590b7e48 100644
Binary files a/cflib_groundstation/__pycache__/crazyflie_connection.cpython-38.pyc and b/cflib_groundstation/__pycache__/crazyflie_connection.cpython-38.pyc differ
diff --git a/cflib_groundstation/__pycache__/groundstation_socket.cpython-38.pyc b/cflib_groundstation/__pycache__/groundstation_socket.cpython-38.pyc
index fbb238cbf81f77f208dfabc6eb770c3c40a1632d..0d31a41c9743e78bafe8b694fc9ba01ff72d0188 100644
Binary files a/cflib_groundstation/__pycache__/groundstation_socket.cpython-38.pyc and b/cflib_groundstation/__pycache__/groundstation_socket.cpython-38.pyc differ
diff --git a/cflib_groundstation/__pycache__/uCartCommander.cpython-38.pyc b/cflib_groundstation/__pycache__/uCartCommander.cpython-38.pyc
index 8aef59acd2e18bcda25b09972dec2a738f21a10d..79e2882d7d232439f10b23a0137ea7ba9a317b5d 100644
Binary files a/cflib_groundstation/__pycache__/uCartCommander.cpython-38.pyc and b/cflib_groundstation/__pycache__/uCartCommander.cpython-38.pyc differ
diff --git a/cflib_groundstation/crazyflie_connection.py b/cflib_groundstation/crazyflie_connection.py
index 6eb7395584d06609e9523bf643381bcda8340091..7ec2ab4e4620eab9b2f6ac3cf61cd96e5fe22999 100644
--- a/cflib_groundstation/crazyflie_connection.py
+++ b/cflib_groundstation/crazyflie_connection.py
@@ -226,17 +226,7 @@ class CrazyflieConnection:
try:
if self.scf.is_link_open():
- tocFull = self.scf.cf.log.toc.toc
- toc = []
- for key in tocFull.keys():
- for inner_key in tocFull[key].keys():
- # concatenate group name with parameter name.
- item = {
- 'group' : key,
- 'name' : inner_key
- }
- toc.append(item)
-
+ toc = self.scf.cf.log.toc.toc
return toc
else:
return []
@@ -245,13 +235,12 @@ class CrazyflieConnection:
return []
def get_param_toc(self):
- """ Get the names of all groups available for parameters on the
- crazyflie. Used to populate parameter group list on parameter tab. """
+ """ Retrieve entire param table of contents. Used in order to
+ display params. """
try:
if self.scf.is_link_open():
- toc = self.scf.cf.param.values
-
+ toc = self.scf.cf.param.toc.toc
return toc
except AttributeError:
pass
@@ -270,7 +259,7 @@ class CrazyflieConnection:
elif id == 2: # logging toc
logs = self.get_logging_toc()
print(logs)
- filename = self.CopyLogTocToFile(logs)
+ filename = self.CopyTocToFile(logs, False)
raise Exception # Not implemented
elif id == 3: # active header of the data log
raise Exception # Not implemented
@@ -283,37 +272,35 @@ class CrazyflieConnection:
raise Exception
- def CopyTocToFile(self, toc, isParams):
+ def CopyTocToFile(self, toc :dict, isParams):
if isParams:
logType = "Param"
else:
logType = "Log"
filename = f"logs/cflie1_{logType}_toc_{time.strftime('%Y_%m_%d_%H:%M:%S', time.localtime())}.txt"
+ types = {'uint8_t' : 0x08,
+ 'uint16_t' : 0x09,
+ 'uint32_t' : 0x0A,
+ 'uint64_t' : 0x0B,
+ 'int8_t' : 0x00,
+ 'int16_t' : 0x01,
+ 'int32_t' : 0x02,
+ 'int64_t' : 0x03,
+ 'FP16' : 0x05,
+ 'float' : 0x06,
+ 'double' : 0x07}
+
file = open(filename, "w")
file.write(f"{logType} ID Type Group Identifier Name\n")
file.close()
file = open(filename, "a")
- i = 0
- for group, values in toc.items():
- for name in values.keys():
- file.write(f"{i} 8 {group} {name}\n")
- i += 1
-
- file.close()
- return filename
-
- def CopyLogTocToFile(self, toc):
- filename = f"logs/cflie1_log_toc_{time.strftime('%Y_%m_%d_%H:%M:%S', time.localtime())}.txt"
+ for group in list(toc.keys()):
+ for name in list(toc[group].keys()):
+ file.write(f"{toc[group][name].ident} {types.get(toc[group][name].ctype)} {group} {name}\n")
+ #print(f" Identity: {toc[group][name].ident} Packet Type:{toc[group][name].pytype} CType:{toc[group][name].ctype} Group:{group} Name:{name}\n")
- file = open(filename, "w")
- file.write(f"Log ID Type Group Identifier Name\n")
- file.close()
- file = open(filename, "a")
- i = 0
- for item in toc:
- file.write(f"{i} 8 {item['group']} {item['name']}\n")
- i += 1
+
file.close()
return filename
diff --git a/cflib_groundstation/logs/cflie1_Log_toc_2023_11_05_23:05:23.txt b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_05_23:05:23.txt
deleted file mode 100644
index ede36eb82c2f3c119966361fc161ac6b68d66c5c..0000000000000000000000000000000000000000
--- a/cflib_groundstation/logs/cflie1_Log_toc_2023_11_05_23:05:23.txt
+++ /dev/null
@@ -1 +0,0 @@
-Log ID Type Group Identifier Name
diff --git a/cflib_groundstation/logs/cflie1_Log_toc_2023_11_05_23:06:09.txt b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_05_23:06:09.txt
deleted file mode 100644
index aeebb9e6935c8955dc8b2bc636c879922d99076a..0000000000000000000000000000000000000000
--- a/cflib_groundstation/logs/cflie1_Log_toc_2023_11_05_23:06:09.txt
+++ /dev/null
@@ -1,506 +0,0 @@
-Log ID Type Group Identifier Name
-0 8 gyro xRaw
-1 8 gyro yRaw
-2 8 gyro zRaw
-3 8 gyro xVariance
-4 8 gyro yVariance
-5 8 gyro zVariance
-6 8 gyro x
-7 8 gyro y
-8 8 gyro z
-9 8 pwm m1_pwm
-10 8 pwm m2_pwm
-11 8 pwm m3_pwm
-12 8 pwm m4_pwm
-13 8 crtp rxRate
-14 8 crtp txRate
-15 8 pm vbat
-16 8 pm vbatMV
-17 8 pm extVbat
-18 8 pm extVbatMV
-19 8 pm extCurr
-20 8 pm chargeCurrent
-21 8 pm state
-22 8 pm batteryLevel
-23 8 radio rssi
-24 8 radio isConnected
-25 8 sys armed
-26 8 sys canfly
-27 8 sys isFlying
-28 8 sys isTumbled
-29 8 extrx ch0
-30 8 extrx ch1
-31 8 extrx ch2
-32 8 extrx ch3
-33 8 extrx thrust
-34 8 extrx roll
-35 8 extrx pitch
-36 8 extrx yaw
-37 8 memTst errCntW
-38 8 range front
-39 8 range back
-40 8 range up
-41 8 range left
-42 8 range right
-43 8 range zrange
-44 8 ext_pos X
-45 8 ext_pos Y
-46 8 ext_pos Z
-47 8 locSrv x
-48 8 locSrv y
-49 8 locSrv z
-50 8 locSrv qx
-51 8 locSrv qy
-52 8 locSrv qz
-53 8 locSrv qw
-54 8 locSrvZ tick
-55 8 pid_attitude roll_outP
-56 8 pid_attitude roll_outI
-57 8 pid_attitude roll_outD
-58 8 pid_attitude pitch_outP
-59 8 pid_attitude pitch_outI
-60 8 pid_attitude pitch_outD
-61 8 pid_attitude yaw_outP
-62 8 pid_attitude yaw_outI
-63 8 pid_attitude yaw_outD
-64 8 pid_rate roll_outP
-65 8 pid_rate roll_outI
-66 8 pid_rate roll_outD
-67 8 pid_rate pitch_outP
-68 8 pid_rate pitch_outI
-69 8 pid_rate pitch_outD
-70 8 pid_rate yaw_outP
-71 8 pid_rate yaw_outI
-72 8 pid_rate yaw_outD
-73 8 sensfusion6 qw
-74 8 sensfusion6 qx
-75 8 sensfusion6 qy
-76 8 sensfusion6 qz
-77 8 sensfusion6 gravityX
-78 8 sensfusion6 gravityY
-79 8 sensfusion6 gravityZ
-80 8 sensfusion6 accZbase
-81 8 sensfusion6 isInit
-82 8 sensfusion6 isCalibrated
-83 8 acc x
-84 8 acc y
-85 8 acc z
-86 8 baro asl
-87 8 baro temp
-88 8 baro pressure
-89 8 controller ctr_yaw
-90 8 controller cmd_thrust
-91 8 controller cmd_roll
-92 8 controller cmd_pitch
-93 8 controller cmd_yaw
-94 8 controller r_roll
-95 8 controller r_pitch
-96 8 controller r_yaw
-97 8 controller accelz
-98 8 controller actuatorThrust
-99 8 controller roll
-100 8 controller pitch
-101 8 controller yaw
-102 8 controller rollRate
-103 8 controller pitchRate
-104 8 controller yawRate
-105 8 ctrltarget x
-106 8 ctrltarget y
-107 8 ctrltarget z
-108 8 ctrltarget vx
-109 8 ctrltarget vy
-110 8 ctrltarget vz
-111 8 ctrltarget ax
-112 8 ctrltarget ay
-113 8 ctrltarget az
-114 8 ctrltarget roll
-115 8 ctrltarget pitch
-116 8 ctrltarget yaw
-117 8 ctrltargetZ x
-118 8 ctrltargetZ y
-119 8 ctrltargetZ z
-120 8 ctrltargetZ vx
-121 8 ctrltargetZ vy
-122 8 ctrltargetZ vz
-123 8 ctrltargetZ ax
-124 8 ctrltargetZ ay
-125 8 ctrltargetZ az
-126 8 mag x
-127 8 mag y
-128 8 mag z
-129 8 stabilizer roll
-130 8 stabilizer pitch
-131 8 stabilizer yaw
-132 8 stabilizer thrust
-133 8 stabilizer rtStab
-134 8 stabilizer intToOut
-135 8 stateEstimate x
-136 8 stateEstimate y
-137 8 stateEstimate z
-138 8 stateEstimate vx
-139 8 stateEstimate vy
-140 8 stateEstimate vz
-141 8 stateEstimate ax
-142 8 stateEstimate ay
-143 8 stateEstimate az
-144 8 stateEstimate roll
-145 8 stateEstimate pitch
-146 8 stateEstimate yaw
-147 8 stateEstimate qx
-148 8 stateEstimate qy
-149 8 stateEstimate qz
-150 8 stateEstimate qw
-151 8 stateEstimateZ x
-152 8 stateEstimateZ y
-153 8 stateEstimateZ z
-154 8 stateEstimateZ vx
-155 8 stateEstimateZ vy
-156 8 stateEstimateZ vz
-157 8 stateEstimateZ ax
-158 8 stateEstimateZ ay
-159 8 stateEstimateZ az
-160 8 stateEstimateZ quat
-161 8 stateEstimateZ rateRoll
-162 8 stateEstimateZ ratePitch
-163 8 stateEstimateZ rateYaw
-164 8 posEstAlt estimatedZ
-165 8 posEstAlt estVZ
-166 8 posEstAlt velocityZ
-167 8 posCtl targetVX
-168 8 posCtl targetVY
-169 8 posCtl targetVZ
-170 8 posCtl targetX
-171 8 posCtl targetY
-172 8 posCtl targetZ
-173 8 posCtl Xp
-174 8 posCtl Xi
-175 8 posCtl Xd
-176 8 posCtl Yp
-177 8 posCtl Yi
-178 8 posCtl Yd
-179 8 posCtl Zp
-180 8 posCtl Zi
-181 8 posCtl Zd
-182 8 posCtl VXp
-183 8 posCtl VXi
-184 8 posCtl VXd
-185 8 posCtl VZp
-186 8 posCtl VZi
-187 8 posCtl VZd
-188 8 posCtrlIndi posRef_x
-189 8 posCtrlIndi posRef_y
-190 8 posCtrlIndi posRef_z
-191 8 posCtrlIndi velS_x
-192 8 posCtrlIndi velS_y
-193 8 posCtrlIndi velS_z
-194 8 posCtrlIndi velRef_x
-195 8 posCtrlIndi velRef_y
-196 8 posCtrlIndi velRef_z
-197 8 posCtrlIndi angS_roll
-198 8 posCtrlIndi angS_pitch
-199 8 posCtrlIndi angS_yaw
-200 8 posCtrlIndi angF_roll
-201 8 posCtrlIndi angF_pitch
-202 8 posCtrlIndi angF_yaw
-203 8 posCtrlIndi accRef_x
-204 8 posCtrlIndi accRef_y
-205 8 posCtrlIndi accRef_z
-206 8 posCtrlIndi accS_x
-207 8 posCtrlIndi accS_y
-208 8 posCtrlIndi accS_z
-209 8 posCtrlIndi accF_x
-210 8 posCtrlIndi accF_y
-211 8 posCtrlIndi accF_z
-212 8 posCtrlIndi accFT_x
-213 8 posCtrlIndi accFT_y
-214 8 posCtrlIndi accFT_z
-215 8 posCtrlIndi accErr_x
-216 8 posCtrlIndi accErr_y
-217 8 posCtrlIndi accErr_z
-218 8 posCtrlIndi phi_tilde
-219 8 posCtrlIndi theta_tilde
-220 8 posCtrlIndi T_tilde
-221 8 posCtrlIndi T_inner
-222 8 posCtrlIndi T_inner_f
-223 8 posCtrlIndi T_incremented
-224 8 posCtrlIndi cmd_phi
-225 8 posCtrlIndi cmd_theta
-226 8 estimator rtApnd
-227 8 estimator rtRej
-228 8 ctrlMel cmd_thrust
-229 8 ctrlMel cmd_roll
-230 8 ctrlMel cmd_pitch
-231 8 ctrlMel cmd_yaw
-232 8 ctrlMel r_roll
-233 8 ctrlMel r_pitch
-234 8 ctrlMel r_yaw
-235 8 ctrlMel accelz
-236 8 ctrlMel zdx
-237 8 ctrlMel zdy
-238 8 ctrlMel zdz
-239 8 ctrlMel i_err_x
-240 8 ctrlMel i_err_y
-241 8 ctrlMel i_err_z
-242 8 ctrlINDI cmd_thrust
-243 8 ctrlINDI cmd_roll
-244 8 ctrlINDI cmd_pitch
-245 8 ctrlINDI cmd_yaw
-246 8 ctrlINDI r_roll
-247 8 ctrlINDI r_pitch
-248 8 ctrlINDI r_yaw
-249 8 ctrlINDI u_act_dyn_p
-250 8 ctrlINDI u_act_dyn_q
-251 8 ctrlINDI u_act_dyn_r
-252 8 ctrlINDI du_p
-253 8 ctrlINDI du_q
-254 8 ctrlINDI du_r
-255 8 ctrlINDI ang_accel_ref_p
-256 8 ctrlINDI ang_accel_ref_q
-257 8 ctrlINDI ang_accel_ref_r
-258 8 ctrlINDI rate_d[0]
-259 8 ctrlINDI rate_d[1]
-260 8 ctrlINDI rate_d[2]
-261 8 ctrlINDI uf_p
-262 8 ctrlINDI uf_q
-263 8 ctrlINDI uf_r
-264 8 ctrlINDI Omega_f_p
-265 8 ctrlINDI Omega_f_q
-266 8 ctrlINDI Omega_f_r
-267 8 ctrlINDI n_p
-268 8 ctrlINDI n_q
-269 8 ctrlINDI n_r
-270 8 s_pid_attitude roll_outP
-271 8 s_pid_attitude roll_outI
-272 8 s_pid_attitude roll_outD
-273 8 s_pid_attitude pitch_outP
-274 8 s_pid_attitude pitch_outI
-275 8 s_pid_attitude pitch_outD
-276 8 s_pid_attitude yaw_outP
-277 8 s_pid_attitude yaw_outI
-278 8 s_pid_attitude yaw_outD
-279 8 s_pid_rate roll_outP
-280 8 s_pid_rate roll_outI
-281 8 s_pid_rate roll_outD
-282 8 s_pid_rate pitch_outP
-283 8 s_pid_rate pitch_outI
-284 8 s_pid_rate pitch_outD
-285 8 s_pid_rate yaw_outP
-286 8 s_pid_rate yaw_outI
-287 8 s_pid_rate yaw_outD
-288 8 ctrlStdnt cmd_thrust
-289 8 ctrlStdnt cmd_roll
-290 8 ctrlStdnt cmd_pitch
-291 8 ctrlStdnt cmd_yaw
-292 8 ctrlStdnt r_roll
-293 8 ctrlStdnt r_pitch
-294 8 ctrlStdnt r_yaw
-295 8 ctrlStdnt accelz
-296 8 ctrlStdnt thrustDesired
-297 8 ctrlStdnt roll
-298 8 ctrlStdnt pitch
-299 8 ctrlStdnt yaw
-300 8 ctrlStdnt rollRate
-301 8 ctrlStdnt pitchRate
-302 8 ctrlStdnt yawRate
-303 8 motor m1
-304 8 motor m2
-305 8 motor m3
-306 8 motor m4
-307 8 colAv latency
-308 8 health motorVarXM1
-309 8 health motorVarYM1
-310 8 health motorVarXM2
-311 8 health motorVarYM2
-312 8 health motorVarXM3
-313 8 health motorVarYM3
-314 8 health motorVarXM4
-315 8 health motorVarYM4
-316 8 health motorPass
-317 8 health batterySag
-318 8 health batteryPass
-319 8 health motorTestCount
-320 8 kalman inFlight
-321 8 kalman stateX
-322 8 kalman stateY
-323 8 kalman stateZ
-324 8 kalman statePX
-325 8 kalman statePY
-326 8 kalman statePZ
-327 8 kalman stateD0
-328 8 kalman stateD1
-329 8 kalman stateD2
-330 8 kalman varX
-331 8 kalman varY
-332 8 kalman varZ
-333 8 kalman varPX
-334 8 kalman varPY
-335 8 kalman varPZ
-336 8 kalman varD0
-337 8 kalman varD1
-338 8 kalman varD2
-339 8 kalman q0
-340 8 kalman q1
-341 8 kalman q2
-342 8 kalman q3
-343 8 kalman rtUpdate
-344 8 kalman rtPred
-345 8 kalman rtFinal
-346 8 outlierf lhWin
-347 8 outlierf bucket0
-348 8 outlierf bucket1
-349 8 outlierf bucket2
-350 8 outlierf bucket3
-351 8 outlierf bucket4
-352 8 outlierf accLev
-353 8 outlierf errD
-354 8 kalman_pred predNX
-355 8 kalman_pred predNY
-356 8 kalman_pred measNX
-357 8 kalman_pred measNY
-358 8 ring fadeTime
-359 8 gps lat
-360 8 gps lon
-361 8 gps hMSL
-362 8 gps hAcc
-363 8 gps nsat
-364 8 gps fix
-365 8 usd spiWrBps
-366 8 usd spiReBps
-367 8 usd fatWrBps
-368 8 loco mode
-369 8 loco spiWr
-370 8 loco spiRe
-371 8 ranging state
-372 8 ranging distance0
-373 8 ranging distance1
-374 8 ranging distance2
-375 8 ranging distance3
-376 8 ranging distance4
-377 8 ranging distance5
-378 8 ranging distance6
-379 8 ranging distance7
-380 8 ranging pressure0
-381 8 ranging pressure1
-382 8 ranging pressure2
-383 8 ranging pressure3
-384 8 ranging pressure4
-385 8 ranging pressure5
-386 8 ranging pressure6
-387 8 ranging pressure7
-388 8 twr rangingSuccessRate0
-389 8 twr rangingPerSec0
-390 8 twr rangingSuccessRate1
-391 8 twr rangingPerSec1
-392 8 twr rangingSuccessRate2
-393 8 twr rangingPerSec2
-394 8 twr rangingSuccessRate3
-395 8 twr rangingPerSec3
-396 8 twr rangingSuccessRate4
-397 8 twr rangingPerSec4
-398 8 twr rangingSuccessRate5
-399 8 twr rangingPerSec5
-400 8 tdoa2 d7-0
-401 8 tdoa2 d0-1
-402 8 tdoa2 d1-2
-403 8 tdoa2 d2-3
-404 8 tdoa2 d3-4
-405 8 tdoa2 d4-5
-406 8 tdoa2 d5-6
-407 8 tdoa2 d6-7
-408 8 tdoa2 cc0
-409 8 tdoa2 cc1
-410 8 tdoa2 cc2
-411 8 tdoa2 cc3
-412 8 tdoa2 cc4
-413 8 tdoa2 cc5
-414 8 tdoa2 cc6
-415 8 tdoa2 cc7
-416 8 tdoa2 dist7-0
-417 8 tdoa2 dist0-1
-418 8 tdoa2 dist1-2
-419 8 tdoa2 dist2-3
-420 8 tdoa2 dist3-4
-421 8 tdoa2 dist4-5
-422 8 tdoa2 dist5-6
-423 8 tdoa2 dist6-7
-424 8 tdoaEngine stRx
-425 8 tdoaEngine stEst
-426 8 tdoaEngine stTime
-427 8 tdoaEngine stFound
-428 8 tdoaEngine stCc
-429 8 tdoaEngine stHit
-430 8 tdoaEngine stMiss
-431 8 tdoaEngine cc
-432 8 tdoaEngine tof
-433 8 tdoaEngine tdoa
-434 8 motion motion
-435 8 motion deltaX
-436 8 motion deltaY
-437 8 motion shutter
-438 8 motion maxRaw
-439 8 motion minRaw
-440 8 motion Rawsum
-441 8 motion outlierCount
-442 8 motion squal
-443 8 motion std
-444 8 oa front
-445 8 oa back
-446 8 oa up
-447 8 oa left
-448 8 oa right
-449 8 activeMarker btSns
-450 8 activeMarker i2cOk
-451 8 aideck receivebyte
-452 8 lighthouse validAngles
-453 8 lighthouse rawAngle0x
-454 8 lighthouse rawAngle0y
-455 8 lighthouse rawAngle1x
-456 8 lighthouse rawAngle1y
-457 8 lighthouse angle0x
-458 8 lighthouse angle0y
-459 8 lighthouse angle1x
-460 8 lighthouse angle1y
-461 8 lighthouse angle0x_1
-462 8 lighthouse angle0y_1
-463 8 lighthouse angle1x_1
-464 8 lighthouse angle1y_1
-465 8 lighthouse angle0x_2
-466 8 lighthouse angle0y_2
-467 8 lighthouse angle1x_2
-468 8 lighthouse angle1y_2
-469 8 lighthouse angle0x_3
-470 8 lighthouse angle0y_3
-471 8 lighthouse angle1x_3
-472 8 lighthouse angle1y_3
-473 8 lighthouse rawAngle0xlh2
-474 8 lighthouse rawAngle0ylh2
-475 8 lighthouse rawAngle1xlh2
-476 8 lighthouse rawAngle1ylh2
-477 8 lighthouse angle0x_0lh2
-478 8 lighthouse angle0y_0lh2
-479 8 lighthouse angle1x_0lh2
-480 8 lighthouse angle1y_0lh2
-481 8 lighthouse serRt
-482 8 lighthouse frmRt
-483 8 lighthouse cycleRt
-484 8 lighthouse bs0Rt
-485 8 lighthouse bs1Rt
-486 8 lighthouse width0
-487 8 lighthouse width1
-488 8 lighthouse width2
-489 8 lighthouse width3
-490 8 lighthouse comSync
-491 8 lighthouse bsReceive
-492 8 lighthouse bsActive
-493 8 lighthouse bsCalUd
-494 8 lighthouse bsCalCon
-495 8 lighthouse status
-496 8 lighthouse posRt
-497 8 lighthouse estBs0Rt
-498 8 lighthouse estBs1Rt
-499 8 lighthouse x
-500 8 lighthouse y
-501 8 lighthouse z
-502 8 lighthouse delta
-503 8 lighthouse bsGeoVal
-504 8 lighthouse bsCalVal
diff --git a/cflib_groundstation/logs/cflie1_Log_toc_2023_11_05_23:08:09.txt b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_05_23:08:09.txt
deleted file mode 100644
index aeebb9e6935c8955dc8b2bc636c879922d99076a..0000000000000000000000000000000000000000
--- a/cflib_groundstation/logs/cflie1_Log_toc_2023_11_05_23:08:09.txt
+++ /dev/null
@@ -1,506 +0,0 @@
-Log ID Type Group Identifier Name
-0 8 gyro xRaw
-1 8 gyro yRaw
-2 8 gyro zRaw
-3 8 gyro xVariance
-4 8 gyro yVariance
-5 8 gyro zVariance
-6 8 gyro x
-7 8 gyro y
-8 8 gyro z
-9 8 pwm m1_pwm
-10 8 pwm m2_pwm
-11 8 pwm m3_pwm
-12 8 pwm m4_pwm
-13 8 crtp rxRate
-14 8 crtp txRate
-15 8 pm vbat
-16 8 pm vbatMV
-17 8 pm extVbat
-18 8 pm extVbatMV
-19 8 pm extCurr
-20 8 pm chargeCurrent
-21 8 pm state
-22 8 pm batteryLevel
-23 8 radio rssi
-24 8 radio isConnected
-25 8 sys armed
-26 8 sys canfly
-27 8 sys isFlying
-28 8 sys isTumbled
-29 8 extrx ch0
-30 8 extrx ch1
-31 8 extrx ch2
-32 8 extrx ch3
-33 8 extrx thrust
-34 8 extrx roll
-35 8 extrx pitch
-36 8 extrx yaw
-37 8 memTst errCntW
-38 8 range front
-39 8 range back
-40 8 range up
-41 8 range left
-42 8 range right
-43 8 range zrange
-44 8 ext_pos X
-45 8 ext_pos Y
-46 8 ext_pos Z
-47 8 locSrv x
-48 8 locSrv y
-49 8 locSrv z
-50 8 locSrv qx
-51 8 locSrv qy
-52 8 locSrv qz
-53 8 locSrv qw
-54 8 locSrvZ tick
-55 8 pid_attitude roll_outP
-56 8 pid_attitude roll_outI
-57 8 pid_attitude roll_outD
-58 8 pid_attitude pitch_outP
-59 8 pid_attitude pitch_outI
-60 8 pid_attitude pitch_outD
-61 8 pid_attitude yaw_outP
-62 8 pid_attitude yaw_outI
-63 8 pid_attitude yaw_outD
-64 8 pid_rate roll_outP
-65 8 pid_rate roll_outI
-66 8 pid_rate roll_outD
-67 8 pid_rate pitch_outP
-68 8 pid_rate pitch_outI
-69 8 pid_rate pitch_outD
-70 8 pid_rate yaw_outP
-71 8 pid_rate yaw_outI
-72 8 pid_rate yaw_outD
-73 8 sensfusion6 qw
-74 8 sensfusion6 qx
-75 8 sensfusion6 qy
-76 8 sensfusion6 qz
-77 8 sensfusion6 gravityX
-78 8 sensfusion6 gravityY
-79 8 sensfusion6 gravityZ
-80 8 sensfusion6 accZbase
-81 8 sensfusion6 isInit
-82 8 sensfusion6 isCalibrated
-83 8 acc x
-84 8 acc y
-85 8 acc z
-86 8 baro asl
-87 8 baro temp
-88 8 baro pressure
-89 8 controller ctr_yaw
-90 8 controller cmd_thrust
-91 8 controller cmd_roll
-92 8 controller cmd_pitch
-93 8 controller cmd_yaw
-94 8 controller r_roll
-95 8 controller r_pitch
-96 8 controller r_yaw
-97 8 controller accelz
-98 8 controller actuatorThrust
-99 8 controller roll
-100 8 controller pitch
-101 8 controller yaw
-102 8 controller rollRate
-103 8 controller pitchRate
-104 8 controller yawRate
-105 8 ctrltarget x
-106 8 ctrltarget y
-107 8 ctrltarget z
-108 8 ctrltarget vx
-109 8 ctrltarget vy
-110 8 ctrltarget vz
-111 8 ctrltarget ax
-112 8 ctrltarget ay
-113 8 ctrltarget az
-114 8 ctrltarget roll
-115 8 ctrltarget pitch
-116 8 ctrltarget yaw
-117 8 ctrltargetZ x
-118 8 ctrltargetZ y
-119 8 ctrltargetZ z
-120 8 ctrltargetZ vx
-121 8 ctrltargetZ vy
-122 8 ctrltargetZ vz
-123 8 ctrltargetZ ax
-124 8 ctrltargetZ ay
-125 8 ctrltargetZ az
-126 8 mag x
-127 8 mag y
-128 8 mag z
-129 8 stabilizer roll
-130 8 stabilizer pitch
-131 8 stabilizer yaw
-132 8 stabilizer thrust
-133 8 stabilizer rtStab
-134 8 stabilizer intToOut
-135 8 stateEstimate x
-136 8 stateEstimate y
-137 8 stateEstimate z
-138 8 stateEstimate vx
-139 8 stateEstimate vy
-140 8 stateEstimate vz
-141 8 stateEstimate ax
-142 8 stateEstimate ay
-143 8 stateEstimate az
-144 8 stateEstimate roll
-145 8 stateEstimate pitch
-146 8 stateEstimate yaw
-147 8 stateEstimate qx
-148 8 stateEstimate qy
-149 8 stateEstimate qz
-150 8 stateEstimate qw
-151 8 stateEstimateZ x
-152 8 stateEstimateZ y
-153 8 stateEstimateZ z
-154 8 stateEstimateZ vx
-155 8 stateEstimateZ vy
-156 8 stateEstimateZ vz
-157 8 stateEstimateZ ax
-158 8 stateEstimateZ ay
-159 8 stateEstimateZ az
-160 8 stateEstimateZ quat
-161 8 stateEstimateZ rateRoll
-162 8 stateEstimateZ ratePitch
-163 8 stateEstimateZ rateYaw
-164 8 posEstAlt estimatedZ
-165 8 posEstAlt estVZ
-166 8 posEstAlt velocityZ
-167 8 posCtl targetVX
-168 8 posCtl targetVY
-169 8 posCtl targetVZ
-170 8 posCtl targetX
-171 8 posCtl targetY
-172 8 posCtl targetZ
-173 8 posCtl Xp
-174 8 posCtl Xi
-175 8 posCtl Xd
-176 8 posCtl Yp
-177 8 posCtl Yi
-178 8 posCtl Yd
-179 8 posCtl Zp
-180 8 posCtl Zi
-181 8 posCtl Zd
-182 8 posCtl VXp
-183 8 posCtl VXi
-184 8 posCtl VXd
-185 8 posCtl VZp
-186 8 posCtl VZi
-187 8 posCtl VZd
-188 8 posCtrlIndi posRef_x
-189 8 posCtrlIndi posRef_y
-190 8 posCtrlIndi posRef_z
-191 8 posCtrlIndi velS_x
-192 8 posCtrlIndi velS_y
-193 8 posCtrlIndi velS_z
-194 8 posCtrlIndi velRef_x
-195 8 posCtrlIndi velRef_y
-196 8 posCtrlIndi velRef_z
-197 8 posCtrlIndi angS_roll
-198 8 posCtrlIndi angS_pitch
-199 8 posCtrlIndi angS_yaw
-200 8 posCtrlIndi angF_roll
-201 8 posCtrlIndi angF_pitch
-202 8 posCtrlIndi angF_yaw
-203 8 posCtrlIndi accRef_x
-204 8 posCtrlIndi accRef_y
-205 8 posCtrlIndi accRef_z
-206 8 posCtrlIndi accS_x
-207 8 posCtrlIndi accS_y
-208 8 posCtrlIndi accS_z
-209 8 posCtrlIndi accF_x
-210 8 posCtrlIndi accF_y
-211 8 posCtrlIndi accF_z
-212 8 posCtrlIndi accFT_x
-213 8 posCtrlIndi accFT_y
-214 8 posCtrlIndi accFT_z
-215 8 posCtrlIndi accErr_x
-216 8 posCtrlIndi accErr_y
-217 8 posCtrlIndi accErr_z
-218 8 posCtrlIndi phi_tilde
-219 8 posCtrlIndi theta_tilde
-220 8 posCtrlIndi T_tilde
-221 8 posCtrlIndi T_inner
-222 8 posCtrlIndi T_inner_f
-223 8 posCtrlIndi T_incremented
-224 8 posCtrlIndi cmd_phi
-225 8 posCtrlIndi cmd_theta
-226 8 estimator rtApnd
-227 8 estimator rtRej
-228 8 ctrlMel cmd_thrust
-229 8 ctrlMel cmd_roll
-230 8 ctrlMel cmd_pitch
-231 8 ctrlMel cmd_yaw
-232 8 ctrlMel r_roll
-233 8 ctrlMel r_pitch
-234 8 ctrlMel r_yaw
-235 8 ctrlMel accelz
-236 8 ctrlMel zdx
-237 8 ctrlMel zdy
-238 8 ctrlMel zdz
-239 8 ctrlMel i_err_x
-240 8 ctrlMel i_err_y
-241 8 ctrlMel i_err_z
-242 8 ctrlINDI cmd_thrust
-243 8 ctrlINDI cmd_roll
-244 8 ctrlINDI cmd_pitch
-245 8 ctrlINDI cmd_yaw
-246 8 ctrlINDI r_roll
-247 8 ctrlINDI r_pitch
-248 8 ctrlINDI r_yaw
-249 8 ctrlINDI u_act_dyn_p
-250 8 ctrlINDI u_act_dyn_q
-251 8 ctrlINDI u_act_dyn_r
-252 8 ctrlINDI du_p
-253 8 ctrlINDI du_q
-254 8 ctrlINDI du_r
-255 8 ctrlINDI ang_accel_ref_p
-256 8 ctrlINDI ang_accel_ref_q
-257 8 ctrlINDI ang_accel_ref_r
-258 8 ctrlINDI rate_d[0]
-259 8 ctrlINDI rate_d[1]
-260 8 ctrlINDI rate_d[2]
-261 8 ctrlINDI uf_p
-262 8 ctrlINDI uf_q
-263 8 ctrlINDI uf_r
-264 8 ctrlINDI Omega_f_p
-265 8 ctrlINDI Omega_f_q
-266 8 ctrlINDI Omega_f_r
-267 8 ctrlINDI n_p
-268 8 ctrlINDI n_q
-269 8 ctrlINDI n_r
-270 8 s_pid_attitude roll_outP
-271 8 s_pid_attitude roll_outI
-272 8 s_pid_attitude roll_outD
-273 8 s_pid_attitude pitch_outP
-274 8 s_pid_attitude pitch_outI
-275 8 s_pid_attitude pitch_outD
-276 8 s_pid_attitude yaw_outP
-277 8 s_pid_attitude yaw_outI
-278 8 s_pid_attitude yaw_outD
-279 8 s_pid_rate roll_outP
-280 8 s_pid_rate roll_outI
-281 8 s_pid_rate roll_outD
-282 8 s_pid_rate pitch_outP
-283 8 s_pid_rate pitch_outI
-284 8 s_pid_rate pitch_outD
-285 8 s_pid_rate yaw_outP
-286 8 s_pid_rate yaw_outI
-287 8 s_pid_rate yaw_outD
-288 8 ctrlStdnt cmd_thrust
-289 8 ctrlStdnt cmd_roll
-290 8 ctrlStdnt cmd_pitch
-291 8 ctrlStdnt cmd_yaw
-292 8 ctrlStdnt r_roll
-293 8 ctrlStdnt r_pitch
-294 8 ctrlStdnt r_yaw
-295 8 ctrlStdnt accelz
-296 8 ctrlStdnt thrustDesired
-297 8 ctrlStdnt roll
-298 8 ctrlStdnt pitch
-299 8 ctrlStdnt yaw
-300 8 ctrlStdnt rollRate
-301 8 ctrlStdnt pitchRate
-302 8 ctrlStdnt yawRate
-303 8 motor m1
-304 8 motor m2
-305 8 motor m3
-306 8 motor m4
-307 8 colAv latency
-308 8 health motorVarXM1
-309 8 health motorVarYM1
-310 8 health motorVarXM2
-311 8 health motorVarYM2
-312 8 health motorVarXM3
-313 8 health motorVarYM3
-314 8 health motorVarXM4
-315 8 health motorVarYM4
-316 8 health motorPass
-317 8 health batterySag
-318 8 health batteryPass
-319 8 health motorTestCount
-320 8 kalman inFlight
-321 8 kalman stateX
-322 8 kalman stateY
-323 8 kalman stateZ
-324 8 kalman statePX
-325 8 kalman statePY
-326 8 kalman statePZ
-327 8 kalman stateD0
-328 8 kalman stateD1
-329 8 kalman stateD2
-330 8 kalman varX
-331 8 kalman varY
-332 8 kalman varZ
-333 8 kalman varPX
-334 8 kalman varPY
-335 8 kalman varPZ
-336 8 kalman varD0
-337 8 kalman varD1
-338 8 kalman varD2
-339 8 kalman q0
-340 8 kalman q1
-341 8 kalman q2
-342 8 kalman q3
-343 8 kalman rtUpdate
-344 8 kalman rtPred
-345 8 kalman rtFinal
-346 8 outlierf lhWin
-347 8 outlierf bucket0
-348 8 outlierf bucket1
-349 8 outlierf bucket2
-350 8 outlierf bucket3
-351 8 outlierf bucket4
-352 8 outlierf accLev
-353 8 outlierf errD
-354 8 kalman_pred predNX
-355 8 kalman_pred predNY
-356 8 kalman_pred measNX
-357 8 kalman_pred measNY
-358 8 ring fadeTime
-359 8 gps lat
-360 8 gps lon
-361 8 gps hMSL
-362 8 gps hAcc
-363 8 gps nsat
-364 8 gps fix
-365 8 usd spiWrBps
-366 8 usd spiReBps
-367 8 usd fatWrBps
-368 8 loco mode
-369 8 loco spiWr
-370 8 loco spiRe
-371 8 ranging state
-372 8 ranging distance0
-373 8 ranging distance1
-374 8 ranging distance2
-375 8 ranging distance3
-376 8 ranging distance4
-377 8 ranging distance5
-378 8 ranging distance6
-379 8 ranging distance7
-380 8 ranging pressure0
-381 8 ranging pressure1
-382 8 ranging pressure2
-383 8 ranging pressure3
-384 8 ranging pressure4
-385 8 ranging pressure5
-386 8 ranging pressure6
-387 8 ranging pressure7
-388 8 twr rangingSuccessRate0
-389 8 twr rangingPerSec0
-390 8 twr rangingSuccessRate1
-391 8 twr rangingPerSec1
-392 8 twr rangingSuccessRate2
-393 8 twr rangingPerSec2
-394 8 twr rangingSuccessRate3
-395 8 twr rangingPerSec3
-396 8 twr rangingSuccessRate4
-397 8 twr rangingPerSec4
-398 8 twr rangingSuccessRate5
-399 8 twr rangingPerSec5
-400 8 tdoa2 d7-0
-401 8 tdoa2 d0-1
-402 8 tdoa2 d1-2
-403 8 tdoa2 d2-3
-404 8 tdoa2 d3-4
-405 8 tdoa2 d4-5
-406 8 tdoa2 d5-6
-407 8 tdoa2 d6-7
-408 8 tdoa2 cc0
-409 8 tdoa2 cc1
-410 8 tdoa2 cc2
-411 8 tdoa2 cc3
-412 8 tdoa2 cc4
-413 8 tdoa2 cc5
-414 8 tdoa2 cc6
-415 8 tdoa2 cc7
-416 8 tdoa2 dist7-0
-417 8 tdoa2 dist0-1
-418 8 tdoa2 dist1-2
-419 8 tdoa2 dist2-3
-420 8 tdoa2 dist3-4
-421 8 tdoa2 dist4-5
-422 8 tdoa2 dist5-6
-423 8 tdoa2 dist6-7
-424 8 tdoaEngine stRx
-425 8 tdoaEngine stEst
-426 8 tdoaEngine stTime
-427 8 tdoaEngine stFound
-428 8 tdoaEngine stCc
-429 8 tdoaEngine stHit
-430 8 tdoaEngine stMiss
-431 8 tdoaEngine cc
-432 8 tdoaEngine tof
-433 8 tdoaEngine tdoa
-434 8 motion motion
-435 8 motion deltaX
-436 8 motion deltaY
-437 8 motion shutter
-438 8 motion maxRaw
-439 8 motion minRaw
-440 8 motion Rawsum
-441 8 motion outlierCount
-442 8 motion squal
-443 8 motion std
-444 8 oa front
-445 8 oa back
-446 8 oa up
-447 8 oa left
-448 8 oa right
-449 8 activeMarker btSns
-450 8 activeMarker i2cOk
-451 8 aideck receivebyte
-452 8 lighthouse validAngles
-453 8 lighthouse rawAngle0x
-454 8 lighthouse rawAngle0y
-455 8 lighthouse rawAngle1x
-456 8 lighthouse rawAngle1y
-457 8 lighthouse angle0x
-458 8 lighthouse angle0y
-459 8 lighthouse angle1x
-460 8 lighthouse angle1y
-461 8 lighthouse angle0x_1
-462 8 lighthouse angle0y_1
-463 8 lighthouse angle1x_1
-464 8 lighthouse angle1y_1
-465 8 lighthouse angle0x_2
-466 8 lighthouse angle0y_2
-467 8 lighthouse angle1x_2
-468 8 lighthouse angle1y_2
-469 8 lighthouse angle0x_3
-470 8 lighthouse angle0y_3
-471 8 lighthouse angle1x_3
-472 8 lighthouse angle1y_3
-473 8 lighthouse rawAngle0xlh2
-474 8 lighthouse rawAngle0ylh2
-475 8 lighthouse rawAngle1xlh2
-476 8 lighthouse rawAngle1ylh2
-477 8 lighthouse angle0x_0lh2
-478 8 lighthouse angle0y_0lh2
-479 8 lighthouse angle1x_0lh2
-480 8 lighthouse angle1y_0lh2
-481 8 lighthouse serRt
-482 8 lighthouse frmRt
-483 8 lighthouse cycleRt
-484 8 lighthouse bs0Rt
-485 8 lighthouse bs1Rt
-486 8 lighthouse width0
-487 8 lighthouse width1
-488 8 lighthouse width2
-489 8 lighthouse width3
-490 8 lighthouse comSync
-491 8 lighthouse bsReceive
-492 8 lighthouse bsActive
-493 8 lighthouse bsCalUd
-494 8 lighthouse bsCalCon
-495 8 lighthouse status
-496 8 lighthouse posRt
-497 8 lighthouse estBs0Rt
-498 8 lighthouse estBs1Rt
-499 8 lighthouse x
-500 8 lighthouse y
-501 8 lighthouse z
-502 8 lighthouse delta
-503 8 lighthouse bsGeoVal
-504 8 lighthouse bsCalVal
diff --git a/cflib_groundstation/logs/cflie1_Log_toc_2023_11_05_23:10:27.txt b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_05_23:10:27.txt
deleted file mode 100644
index ede36eb82c2f3c119966361fc161ac6b68d66c5c..0000000000000000000000000000000000000000
--- a/cflib_groundstation/logs/cflie1_Log_toc_2023_11_05_23:10:27.txt
+++ /dev/null
@@ -1 +0,0 @@
-Log ID Type Group Identifier Name
diff --git a/cflib_groundstation/logs/cflie1_Log_toc_2023_11_05_23:11:34.txt b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_05_23:11:34.txt
deleted file mode 100644
index ede36eb82c2f3c119966361fc161ac6b68d66c5c..0000000000000000000000000000000000000000
--- a/cflib_groundstation/logs/cflie1_Log_toc_2023_11_05_23:11:34.txt
+++ /dev/null
@@ -1 +0,0 @@
-Log ID Type Group Identifier Name
diff --git a/cflib_groundstation/logs/cflie1_Log_toc_2023_11_05_23:12:28.txt b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_05_23:12:28.txt
deleted file mode 100644
index ede36eb82c2f3c119966361fc161ac6b68d66c5c..0000000000000000000000000000000000000000
--- a/cflib_groundstation/logs/cflie1_Log_toc_2023_11_05_23:12:28.txt
+++ /dev/null
@@ -1 +0,0 @@
-Log ID Type Group Identifier Name
diff --git a/cflib_groundstation/logs/cflie1_Log_toc_2023_11_05_23:18:49.txt b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_05_23:18:49.txt
deleted file mode 100644
index ede36eb82c2f3c119966361fc161ac6b68d66c5c..0000000000000000000000000000000000000000
--- a/cflib_groundstation/logs/cflie1_Log_toc_2023_11_05_23:18:49.txt
+++ /dev/null
@@ -1 +0,0 @@
-Log ID Type Group Identifier Name
diff --git a/cflib_groundstation/logs/cflie1_Log_toc_2023_11_05_23:21:10.txt b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_05_23:21:10.txt
deleted file mode 100644
index ede36eb82c2f3c119966361fc161ac6b68d66c5c..0000000000000000000000000000000000000000
--- a/cflib_groundstation/logs/cflie1_Log_toc_2023_11_05_23:21:10.txt
+++ /dev/null
@@ -1 +0,0 @@
-Log ID Type Group Identifier Name
diff --git a/cflib_groundstation/logs/cflie1_Log_toc_2023_11_05_23:23:49.txt b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_05_23:23:49.txt
deleted file mode 100644
index ede36eb82c2f3c119966361fc161ac6b68d66c5c..0000000000000000000000000000000000000000
--- a/cflib_groundstation/logs/cflie1_Log_toc_2023_11_05_23:23:49.txt
+++ /dev/null
@@ -1 +0,0 @@
-Log ID Type Group Identifier Name
diff --git a/cflib_groundstation/logs/cflie1_Log_toc_2023_11_05_23:25:32.txt b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_05_23:25:32.txt
deleted file mode 100644
index ede36eb82c2f3c119966361fc161ac6b68d66c5c..0000000000000000000000000000000000000000
--- a/cflib_groundstation/logs/cflie1_Log_toc_2023_11_05_23:25:32.txt
+++ /dev/null
@@ -1 +0,0 @@
-Log ID Type Group Identifier Name
diff --git a/cflib_groundstation/logs/cflie1_Log_toc_2023_11_08_22:05:21.txt b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_08_22:05:21.txt
new file mode 100644
index 0000000000000000000000000000000000000000..436f8f41ae914cbd037467e627eeff365a5c1900
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_08_22:05:21.txt
@@ -0,0 +1,506 @@
+Log ID Type Group Identifier Name
+0 int16_t gyro xRaw
+1 int16_t gyro yRaw
+2 int16_t gyro zRaw
+3 float gyro xVariance
+4 float gyro yVariance
+5 float gyro zVariance
+108 float gyro x
+109 float gyro y
+110 float gyro z
+6 uint32_t pwm m1_pwm
+7 uint32_t pwm m2_pwm
+8 uint32_t pwm m3_pwm
+9 uint32_t pwm m4_pwm
+10 uint16_t crtp rxRate
+11 uint16_t crtp txRate
+12 float pm vbat
+13 uint16_t pm vbatMV
+14 float pm extVbat
+15 uint16_t pm extVbatMV
+16 float pm extCurr
+17 float pm chargeCurrent
+18 int8_t pm state
+19 uint8_t pm batteryLevel
+20 uint8_t radio rssi
+21 uint8_t radio isConnected
+22 int8_t sys armed
+38 uint8_t sys canfly
+39 uint8_t sys isFlying
+40 uint8_t sys isTumbled
+23 uint16_t extrx ch0
+24 uint16_t extrx ch1
+25 uint16_t extrx ch2
+26 uint16_t extrx ch3
+27 uint16_t extrx thrust
+28 float extrx roll
+29 float extrx pitch
+30 float extrx yaw
+31 uint32_t memTst errCntW
+32 uint16_t range front
+33 uint16_t range back
+34 uint16_t range up
+35 uint16_t range left
+36 uint16_t range right
+37 uint16_t range zrange
+41 float ext_pos X
+42 float ext_pos Y
+43 float ext_pos Z
+44 float locSrv x
+45 float locSrv y
+46 float locSrv z
+47 float locSrv qx
+48 float locSrv qy
+49 float locSrv qz
+50 float locSrv qw
+51 uint16_t locSrvZ tick
+52 float pid_attitude roll_outP
+53 float pid_attitude roll_outI
+54 float pid_attitude roll_outD
+55 float pid_attitude pitch_outP
+56 float pid_attitude pitch_outI
+57 float pid_attitude pitch_outD
+58 float pid_attitude yaw_outP
+59 float pid_attitude yaw_outI
+60 float pid_attitude yaw_outD
+61 float pid_rate roll_outP
+62 float pid_rate roll_outI
+63 float pid_rate roll_outD
+64 float pid_rate pitch_outP
+65 float pid_rate pitch_outI
+66 float pid_rate pitch_outD
+67 float pid_rate yaw_outP
+68 float pid_rate yaw_outI
+69 float pid_rate yaw_outD
+70 float sensfusion6 qw
+71 float sensfusion6 qx
+72 float sensfusion6 qy
+73 float sensfusion6 qz
+74 float sensfusion6 gravityX
+75 float sensfusion6 gravityY
+76 float sensfusion6 gravityZ
+77 float sensfusion6 accZbase
+78 uint8_t sensfusion6 isInit
+79 uint8_t sensfusion6 isCalibrated
+80 float acc x
+81 float acc y
+82 float acc z
+83 float baro asl
+84 float baro temp
+85 float baro pressure
+86 int16_t controller ctr_yaw
+213 float controller cmd_thrust
+214 float controller cmd_roll
+215 float controller cmd_pitch
+216 float controller cmd_yaw
+217 float controller r_roll
+218 float controller r_pitch
+219 float controller r_yaw
+220 float controller accelz
+221 float controller actuatorThrust
+222 float controller roll
+223 float controller pitch
+224 float controller yaw
+225 float controller rollRate
+226 float controller pitchRate
+227 float controller yawRate
+87 float ctrltarget x
+88 float ctrltarget y
+89 float ctrltarget z
+90 float ctrltarget vx
+91 float ctrltarget vy
+92 float ctrltarget vz
+93 float ctrltarget ax
+94 float ctrltarget ay
+95 float ctrltarget az
+96 float ctrltarget roll
+97 float ctrltarget pitch
+98 float ctrltarget yaw
+99 int16_t ctrltargetZ x
+100 int16_t ctrltargetZ y
+101 int16_t ctrltargetZ z
+102 int16_t ctrltargetZ vx
+103 int16_t ctrltargetZ vy
+104 int16_t ctrltargetZ vz
+105 int16_t ctrltargetZ ax
+106 int16_t ctrltargetZ ay
+107 int16_t ctrltargetZ az
+111 float mag x
+112 float mag y
+113 float mag z
+114 float stabilizer roll
+115 float stabilizer pitch
+116 float stabilizer yaw
+117 float stabilizer thrust
+118 float stabilizer rtStab
+119 uint32_t stabilizer intToOut
+120 float stateEstimate x
+121 float stateEstimate y
+122 float stateEstimate z
+123 float stateEstimate vx
+124 float stateEstimate vy
+125 float stateEstimate vz
+126 float stateEstimate ax
+127 float stateEstimate ay
+128 float stateEstimate az
+129 float stateEstimate roll
+130 float stateEstimate pitch
+131 float stateEstimate yaw
+132 float stateEstimate qx
+133 float stateEstimate qy
+134 float stateEstimate qz
+135 float stateEstimate qw
+136 int16_t stateEstimateZ x
+137 int16_t stateEstimateZ y
+138 int16_t stateEstimateZ z
+139 int16_t stateEstimateZ vx
+140 int16_t stateEstimateZ vy
+141 int16_t stateEstimateZ vz
+142 int16_t stateEstimateZ ax
+143 int16_t stateEstimateZ ay
+144 int16_t stateEstimateZ az
+145 uint32_t stateEstimateZ quat
+146 int16_t stateEstimateZ rateRoll
+147 int16_t stateEstimateZ ratePitch
+148 int16_t stateEstimateZ rateYaw
+149 float posEstAlt estimatedZ
+150 float posEstAlt estVZ
+151 float posEstAlt velocityZ
+152 float posCtl targetVX
+153 float posCtl targetVY
+154 float posCtl targetVZ
+155 float posCtl targetX
+156 float posCtl targetY
+157 float posCtl targetZ
+158 float posCtl Xp
+159 float posCtl Xi
+160 float posCtl Xd
+161 float posCtl Yp
+162 float posCtl Yi
+163 float posCtl Yd
+164 float posCtl Zp
+165 float posCtl Zi
+166 float posCtl Zd
+167 float posCtl VXp
+168 float posCtl VXi
+169 float posCtl VXd
+170 float posCtl VZp
+171 float posCtl VZi
+172 float posCtl VZd
+173 float posCtrlIndi posRef_x
+174 float posCtrlIndi posRef_y
+175 float posCtrlIndi posRef_z
+176 float posCtrlIndi velS_x
+177 float posCtrlIndi velS_y
+178 float posCtrlIndi velS_z
+179 float posCtrlIndi velRef_x
+180 float posCtrlIndi velRef_y
+181 float posCtrlIndi velRef_z
+182 float posCtrlIndi angS_roll
+183 float posCtrlIndi angS_pitch
+184 float posCtrlIndi angS_yaw
+185 float posCtrlIndi angF_roll
+186 float posCtrlIndi angF_pitch
+187 float posCtrlIndi angF_yaw
+188 float posCtrlIndi accRef_x
+189 float posCtrlIndi accRef_y
+190 float posCtrlIndi accRef_z
+191 float posCtrlIndi accS_x
+192 float posCtrlIndi accS_y
+193 float posCtrlIndi accS_z
+194 float posCtrlIndi accF_x
+195 float posCtrlIndi accF_y
+196 float posCtrlIndi accF_z
+197 float posCtrlIndi accFT_x
+198 float posCtrlIndi accFT_y
+199 float posCtrlIndi accFT_z
+200 float posCtrlIndi accErr_x
+201 float posCtrlIndi accErr_y
+202 float posCtrlIndi accErr_z
+203 float posCtrlIndi phi_tilde
+204 float posCtrlIndi theta_tilde
+205 float posCtrlIndi T_tilde
+206 float posCtrlIndi T_inner
+207 float posCtrlIndi T_inner_f
+208 float posCtrlIndi T_incremented
+209 float posCtrlIndi cmd_phi
+210 float posCtrlIndi cmd_theta
+211 float estimator rtApnd
+212 float estimator rtRej
+228 float ctrlMel cmd_thrust
+229 float ctrlMel cmd_roll
+230 float ctrlMel cmd_pitch
+231 float ctrlMel cmd_yaw
+232 float ctrlMel r_roll
+233 float ctrlMel r_pitch
+234 float ctrlMel r_yaw
+235 float ctrlMel accelz
+236 float ctrlMel zdx
+237 float ctrlMel zdy
+238 float ctrlMel zdz
+239 float ctrlMel i_err_x
+240 float ctrlMel i_err_y
+241 float ctrlMel i_err_z
+242 float ctrlINDI cmd_thrust
+243 float ctrlINDI cmd_roll
+244 float ctrlINDI cmd_pitch
+245 float ctrlINDI cmd_yaw
+246 float ctrlINDI r_roll
+247 float ctrlINDI r_pitch
+248 float ctrlINDI r_yaw
+249 float ctrlINDI u_act_dyn_p
+250 float ctrlINDI u_act_dyn_q
+251 float ctrlINDI u_act_dyn_r
+252 float ctrlINDI du_p
+253 float ctrlINDI du_q
+254 float ctrlINDI du_r
+255 float ctrlINDI ang_accel_ref_p
+256 float ctrlINDI ang_accel_ref_q
+257 float ctrlINDI ang_accel_ref_r
+258 float ctrlINDI rate_d[0]
+259 float ctrlINDI rate_d[1]
+260 float ctrlINDI rate_d[2]
+261 float ctrlINDI uf_p
+262 float ctrlINDI uf_q
+263 float ctrlINDI uf_r
+264 float ctrlINDI Omega_f_p
+265 float ctrlINDI Omega_f_q
+266 float ctrlINDI Omega_f_r
+267 float ctrlINDI n_p
+268 float ctrlINDI n_q
+269 float ctrlINDI n_r
+270 float s_pid_attitude roll_outP
+271 float s_pid_attitude roll_outI
+272 float s_pid_attitude roll_outD
+273 float s_pid_attitude pitch_outP
+274 float s_pid_attitude pitch_outI
+275 float s_pid_attitude pitch_outD
+276 float s_pid_attitude yaw_outP
+277 float s_pid_attitude yaw_outI
+278 float s_pid_attitude yaw_outD
+279 float s_pid_rate roll_outP
+280 float s_pid_rate roll_outI
+281 float s_pid_rate roll_outD
+282 float s_pid_rate pitch_outP
+283 float s_pid_rate pitch_outI
+284 float s_pid_rate pitch_outD
+285 float s_pid_rate yaw_outP
+286 float s_pid_rate yaw_outI
+287 float s_pid_rate yaw_outD
+288 float ctrlStdnt cmd_thrust
+289 float ctrlStdnt cmd_roll
+290 float ctrlStdnt cmd_pitch
+291 float ctrlStdnt cmd_yaw
+292 float ctrlStdnt r_roll
+293 float ctrlStdnt r_pitch
+294 float ctrlStdnt r_yaw
+295 float ctrlStdnt accelz
+296 float ctrlStdnt thrustDesired
+297 float ctrlStdnt roll
+298 float ctrlStdnt pitch
+299 float ctrlStdnt yaw
+300 float ctrlStdnt rollRate
+301 float ctrlStdnt pitchRate
+302 float ctrlStdnt yawRate
+303 uint32_t motor m1
+304 uint32_t motor m2
+305 uint32_t motor m3
+306 uint32_t motor m4
+307 uint32_t colAv latency
+308 float health motorVarXM1
+309 float health motorVarYM1
+310 float health motorVarXM2
+311 float health motorVarYM2
+312 float health motorVarXM3
+313 float health motorVarYM3
+314 float health motorVarXM4
+315 float health motorVarYM4
+316 uint8_t health motorPass
+317 float health batterySag
+318 uint8_t health batteryPass
+319 uint16_t health motorTestCount
+320 uint8_t kalman inFlight
+321 float kalman stateX
+322 float kalman stateY
+323 float kalman stateZ
+324 float kalman statePX
+325 float kalman statePY
+326 float kalman statePZ
+327 float kalman stateD0
+328 float kalman stateD1
+329 float kalman stateD2
+330 float kalman varX
+331 float kalman varY
+332 float kalman varZ
+333 float kalman varPX
+334 float kalman varPY
+335 float kalman varPZ
+336 float kalman varD0
+337 float kalman varD1
+338 float kalman varD2
+339 float kalman q0
+340 float kalman q1
+341 float kalman q2
+342 float kalman q3
+343 float kalman rtUpdate
+344 float kalman rtPred
+345 float kalman rtFinal
+346 int32_t outlierf lhWin
+427 int32_t outlierf bucket0
+428 int32_t outlierf bucket1
+429 int32_t outlierf bucket2
+430 int32_t outlierf bucket3
+431 int32_t outlierf bucket4
+432 float outlierf accLev
+433 float outlierf errD
+347 float kalman_pred predNX
+348 float kalman_pred predNY
+349 float kalman_pred measNX
+350 float kalman_pred measNY
+351 float ring fadeTime
+352 int32_t gps lat
+353 int32_t gps lon
+354 float gps hMSL
+355 float gps hAcc
+356 int32_t gps nsat
+357 int32_t gps fix
+358 float usd spiWrBps
+359 float usd spiReBps
+360 float usd fatWrBps
+361 uint8_t loco mode
+362 float loco spiWr
+363 float loco spiRe
+364 uint16_t ranging state
+365 float ranging distance0
+366 float ranging distance1
+367 float ranging distance2
+368 float ranging distance3
+369 float ranging distance4
+370 float ranging distance5
+371 float ranging distance6
+372 float ranging distance7
+373 float ranging pressure0
+374 float ranging pressure1
+375 float ranging pressure2
+376 float ranging pressure3
+377 float ranging pressure4
+378 float ranging pressure5
+379 float ranging pressure6
+380 float ranging pressure7
+381 uint8_t twr rangingSuccessRate0
+382 uint8_t twr rangingPerSec0
+383 uint8_t twr rangingSuccessRate1
+384 uint8_t twr rangingPerSec1
+385 uint8_t twr rangingSuccessRate2
+386 uint8_t twr rangingPerSec2
+387 uint8_t twr rangingSuccessRate3
+388 uint8_t twr rangingPerSec3
+389 uint8_t twr rangingSuccessRate4
+390 uint8_t twr rangingPerSec4
+391 uint8_t twr rangingSuccessRate5
+392 uint8_t twr rangingPerSec5
+393 float tdoa2 d7-0
+394 float tdoa2 d0-1
+395 float tdoa2 d1-2
+396 float tdoa2 d2-3
+397 float tdoa2 d3-4
+398 float tdoa2 d4-5
+399 float tdoa2 d5-6
+400 float tdoa2 d6-7
+401 float tdoa2 cc0
+402 float tdoa2 cc1
+403 float tdoa2 cc2
+404 float tdoa2 cc3
+405 float tdoa2 cc4
+406 float tdoa2 cc5
+407 float tdoa2 cc6
+408 float tdoa2 cc7
+409 uint16_t tdoa2 dist7-0
+410 uint16_t tdoa2 dist0-1
+411 uint16_t tdoa2 dist1-2
+412 uint16_t tdoa2 dist2-3
+413 uint16_t tdoa2 dist3-4
+414 uint16_t tdoa2 dist4-5
+415 uint16_t tdoa2 dist5-6
+416 uint16_t tdoa2 dist6-7
+417 float tdoaEngine stRx
+418 float tdoaEngine stEst
+419 float tdoaEngine stTime
+420 float tdoaEngine stFound
+421 float tdoaEngine stCc
+422 float tdoaEngine stHit
+423 float tdoaEngine stMiss
+424 float tdoaEngine cc
+425 uint16_t tdoaEngine tof
+426 float tdoaEngine tdoa
+434 uint8_t motion motion
+435 int16_t motion deltaX
+436 int16_t motion deltaY
+437 uint16_t motion shutter
+438 uint8_t motion maxRaw
+439 uint8_t motion minRaw
+440 uint8_t motion Rawsum
+441 uint8_t motion outlierCount
+442 uint8_t motion squal
+443 float motion std
+444 uint16_t oa front
+445 uint16_t oa back
+446 uint16_t oa up
+447 uint16_t oa left
+448 uint16_t oa right
+449 uint8_t activeMarker btSns
+450 uint8_t activeMarker i2cOk
+451 uint8_t aideck receivebyte
+452 uint8_t lighthouse validAngles
+453 float lighthouse rawAngle0x
+454 float lighthouse rawAngle0y
+455 float lighthouse rawAngle1x
+456 float lighthouse rawAngle1y
+457 float lighthouse angle0x
+458 float lighthouse angle0y
+459 float lighthouse angle1x
+460 float lighthouse angle1y
+461 float lighthouse angle0x_1
+462 float lighthouse angle0y_1
+463 float lighthouse angle1x_1
+464 float lighthouse angle1y_1
+465 float lighthouse angle0x_2
+466 float lighthouse angle0y_2
+467 float lighthouse angle1x_2
+468 float lighthouse angle1y_2
+469 float lighthouse angle0x_3
+470 float lighthouse angle0y_3
+471 float lighthouse angle1x_3
+472 float lighthouse angle1y_3
+473 float lighthouse rawAngle0xlh2
+474 float lighthouse rawAngle0ylh2
+475 float lighthouse rawAngle1xlh2
+476 float lighthouse rawAngle1ylh2
+477 float lighthouse angle0x_0lh2
+478 float lighthouse angle0y_0lh2
+479 float lighthouse angle1x_0lh2
+480 float lighthouse angle1y_0lh2
+481 float lighthouse serRt
+482 float lighthouse frmRt
+483 float lighthouse cycleRt
+484 float lighthouse bs0Rt
+485 float lighthouse bs1Rt
+486 uint16_t lighthouse width0
+487 uint16_t lighthouse width1
+488 uint16_t lighthouse width2
+489 uint16_t lighthouse width3
+490 uint8_t lighthouse comSync
+491 uint16_t lighthouse bsReceive
+492 uint16_t lighthouse bsActive
+493 uint16_t lighthouse bsCalUd
+494 uint16_t lighthouse bsCalCon
+495 uint8_t lighthouse status
+496 float lighthouse posRt
+497 float lighthouse estBs0Rt
+498 float lighthouse estBs1Rt
+499 float lighthouse x
+500 float lighthouse y
+501 float lighthouse z
+502 float lighthouse delta
+503 uint16_t lighthouse bsGeoVal
+504 uint16_t lighthouse bsCalVal
diff --git a/cflib_groundstation/logs/cflie1_Log_toc_2023_11_08_22:20:14.txt b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_08_22:20:14.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6448ddbbbbed1b4f05d75434ce432cec749afd72
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_08_22:20:14.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_05_22:49:20.txt b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_05_22:49:20.txt
deleted file mode 100644
index 1aeda4651f83d31f8de7c4512b259fc2590c426e..0000000000000000000000000000000000000000
--- a/cflib_groundstation/logs/cflie1_Param_toc_2023_11_05_22:49:20.txt
+++ /dev/null
@@ -1,247 +0,0 @@
-Param ID Type Group Identifier Name
-1 8 imu_sensors AK8963
-1 8 imu_sensors LPS25H
-1 8 imu_sensors BMP388
-1 8 imu_tests MPU6500
-1 8 imu_tests AK8963
-1 8 imu_tests LPS25H
-1 8 cpu flash
-1 8 cpu id0
-1 8 cpu id1
-1 8 cpu id2
-1 8 system selftestPassed
-1 8 system forceArm
-1 8 system taskDump
-1 8 system highlight
-1 8 crtpsrv echoDelay
-1 8 sound effect
-1 8 sound neffect
-1 8 sound freq
-1 8 memTst resetW
-1 8 sys e_stop
-1 8 commander enHighLevel
-1 8 flightmode althold
-1 8 flightmode poshold
-1 8 flightmode posSet
-1 8 flightmode yawMode
-1 8 flightmode stabModeRoll
-1 8 flightmode stabModePitch
-1 8 flightmode stabModeYaw
-1 8 cmdrCPPM rateRoll
-1 8 cmdrCPPM ratePitch
-1 8 cmdrCPPM angPitch
-1 8 cmdrCPPM angRoll
-1 8 cmdrCPPM rateYaw
-1 8 locSrv enRangeStreamFP32
-1 8 locSrv enLhAngleStream
-1 8 locSrv extPosStdDev
-1 8 locSrv extQuatStdDev
-1 8 pid_attitude roll_kp
-1 8 pid_attitude roll_ki
-1 8 pid_attitude roll_kd
-1 8 pid_attitude pitch_kp
-1 8 pid_attitude pitch_ki
-1 8 pid_attitude pitch_kd
-1 8 pid_attitude yaw_kp
-1 8 pid_attitude yaw_ki
-1 8 pid_attitude yaw_kd
-1 8 pid_rate roll_kp
-1 8 pid_rate roll_ki
-1 8 pid_rate roll_kd
-1 8 pid_rate pitch_kp
-1 8 pid_rate pitch_ki
-1 8 pid_rate pitch_kd
-1 8 pid_rate yaw_kp
-1 8 pid_rate yaw_ki
-1 8 pid_rate yaw_kd
-1 8 sensfusion6 kp
-1 8 sensfusion6 ki
-1 8 sensfusion6 baseZacc
-1 8 stabilizer estimator
-1 8 stabilizer controller
-1 8 stabilizer stop
-1 8 posEstAlt estAlphaAsl
-1 8 posEstAlt estAlphaZr
-1 8 posEstAlt velFactor
-1 8 posEstAlt velZAlpha
-1 8 posEstAlt vAccDeadband
-1 8 posCtlPid xKp
-1 8 posCtlPid xKi
-1 8 posCtlPid xKd
-1 8 posCtlPid yKp
-1 8 posCtlPid yKi
-1 8 posCtlPid yKd
-1 8 posCtlPid zKp
-1 8 posCtlPid zKi
-1 8 posCtlPid zKd
-1 8 posCtlPid thrustBase
-1 8 posCtlPid thrustMin
-1 8 posCtlPid rpLimit
-1 8 posCtlPid xyVelMax
-1 8 posCtlPid zVelMax
-1 8 velCtlPid vxKp
-1 8 velCtlPid vxKi
-1 8 velCtlPid vxKd
-1 8 velCtlPid vyKp
-1 8 velCtlPid vyKi
-1 8 velCtlPid vyKd
-1 8 velCtlPid vzKp
-1 8 velCtlPid vzKi
-1 8 velCtlPid vzKd
-1 8 posCtrlIndi K_xi_x
-1 8 posCtrlIndi K_xi_y
-1 8 posCtrlIndi K_xi_z
-1 8 posCtrlIndi K_dxi_x
-1 8 posCtrlIndi K_dxi_y
-1 8 posCtrlIndi K_dxi_z
-1 8 posCtrlIndi pq_clamping
-1 8 controller tiltComp
-1 8 ctrlMel kp_xy
-1 8 ctrlMel kd_xy
-1 8 ctrlMel ki_xy
-1 8 ctrlMel i_range_xy
-1 8 ctrlMel kp_z
-1 8 ctrlMel kd_z
-1 8 ctrlMel ki_z
-1 8 ctrlMel i_range_z
-1 8 ctrlMel mass
-1 8 ctrlMel massThrust
-1 8 ctrlMel kR_xy
-1 8 ctrlMel kR_z
-1 8 ctrlMel kw_xy
-1 8 ctrlMel kw_z
-1 8 ctrlMel ki_m_xy
-1 8 ctrlMel ki_m_z
-1 8 ctrlMel kd_omega_rp
-1 8 ctrlMel i_range_m_xy
-1 8 ctrlMel i_range_m_z
-1 8 ctrlINDI thrust_threshold
-1 8 ctrlINDI bound_ctrl_input
-1 8 ctrlINDI g1_p
-1 8 ctrlINDI g1_q
-1 8 ctrlINDI g1_r
-1 8 ctrlINDI g2
-1 8 ctrlINDI ref_err_p
-1 8 ctrlINDI ref_err_q
-1 8 ctrlINDI ref_err_r
-1 8 ctrlINDI ref_rate_p
-1 8 ctrlINDI ref_rate_q
-1 8 ctrlINDI ref_rate_r
-1 8 ctrlINDI act_dyn_p
-1 8 ctrlINDI act_dyn_q
-1 8 ctrlINDI act_dyn_r
-1 8 ctrlINDI filt_cutoff
-1 8 ctrlINDI filt_cutoff_r
-1 8 ctrlINDI outerLoopActive
-1 8 s_pid_attitude roll_kp
-1 8 s_pid_attitude roll_ki
-1 8 s_pid_attitude roll_kd
-1 8 s_pid_attitude pitch_kp
-1 8 s_pid_attitude pitch_ki
-1 8 s_pid_attitude pitch_kd
-1 8 s_pid_attitude yaw_kp
-1 8 s_pid_attitude yaw_ki
-1 8 s_pid_attitude yaw_kd
-1 8 s_pid_rate roll_kp
-1 8 s_pid_rate roll_ki
-1 8 s_pid_rate roll_kd
-1 8 s_pid_rate pitch_kp
-1 8 s_pid_rate pitch_ki
-1 8 s_pid_rate pitch_kd
-1 8 s_pid_rate yaw_kp
-1 8 s_pid_rate yaw_ki
-1 8 s_pid_rate yaw_kd
-1 8 ctrlStdnt tiltComp
-1 8 ctrlStdnt TEST_PARAM
-1 8 motorPowerSet enable
-1 8 motorPowerSet m1
-1 8 motorPowerSet m2
-1 8 motorPowerSet m3
-1 8 motorPowerSet m4
-1 8 powerDist idleThrust
-1 8 colAv enable
-1 8 colAv ellipsoidX
-1 8 colAv ellipsoidY
-1 8 colAv ellipsoidZ
-1 8 colAv bboxMinX
-1 8 colAv bboxMinY
-1 8 colAv bboxMinZ
-1 8 colAv bboxMaxX
-1 8 colAv bboxMaxY
-1 8 colAv bboxMaxZ
-1 8 colAv horizon
-1 8 colAv maxSpeed
-1 8 colAv sidestepThrsh
-1 8 colAv maxPeerLocAge
-1 8 colAv vorTol
-1 8 colAv vorIters
-1 8 health startPropTest
-1 8 health startBatTest
-1 8 kalman resetEstimation
-1 8 kalman quadIsFlying
-1 8 kalman robustTdoa
-1 8 kalman robustTwr
-1 8 kalman pNAcc_xy
-1 8 kalman pNAcc_z
-1 8 kalman pNVel
-1 8 kalman pNPos
-1 8 kalman pNAtt
-1 8 kalman mNBaro
-1 8 kalman mNGyro_rollpitch
-1 8 kalman mNGyro_yaw
-1 8 kalman initialX
-1 8 kalman initialY
-1 8 kalman initialZ
-1 8 kalman initialYaw
-1 8 kalman maxPos
-1 8 kalman maxVel
-1 8 hlCommander vtoff
-1 8 hlCommander vland
-1 8 deck bcLedRing
-1 8 deck bcBuzzer
-1 8 deck bcGTGPS
-1 8 deck bcCPPM
-1 8 deck bcUSD
-1 8 deck bcZRanger
-1 8 deck bcZRanger2
-1 8 deck bcDWM1000
-1 8 deck bcFlow
-1 8 deck bcFlow2
-1 8 deck bcOA
-1 8 deck bcMultiranger
-1 8 deck bcLighthouse4
-1 8 deck bcActiveMarker
-1 8 deck bcAIDeck
-1 8 ring effect
-1 8 ring neffect
-1 8 ring solidRed
-1 8 ring solidGreen
-1 8 ring solidBlue
-1 8 ring headlightEnable
-1 8 ring emptyCharge
-1 8 ring fullCharge
-1 8 ring fadeColor
-1 8 ring fadeTime
-1 8 usd canLog
-1 8 usd logging
-1 8 loco mode
-1 8 tdoaEngine logId
-1 8 tdoaEngine logOthrId
-1 8 tdoaEngine matchAlgo
-1 8 motion disable
-1 8 motion adaptive
-1 8 motion flowStdFixed
-1 8 activeMarker front
-1 8 activeMarker back
-1 8 activeMarker left
-1 8 activeMarker right
-1 8 activeMarker mode
-1 8 activeMarker poll
-1 8 firmware revision0
-1 8 firmware revision1
-1 8 firmware modified
-1 8 lighthouse method
-1 8 lighthouse bsCalibReset
-1 8 lighthouse systemType
-1 8 lighthouse sweepStd
-1 8 lighthouse sweepStd2
diff --git a/cflib_groundstation/logs/cflie1_Param_toc_2023_11_05_22:50:34.txt b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_05_22:50:34.txt
deleted file mode 100644
index f5390ff580fca66250a6d3e36530db120034f407..0000000000000000000000000000000000000000
--- a/cflib_groundstation/logs/cflie1_Param_toc_2023_11_05_22:50:34.txt
+++ /dev/null
@@ -1,247 +0,0 @@
-Param ID Type Group Identifier Name
-1 8 imu_sensors AK8963
-2 8 imu_sensors LPS25H
-3 8 imu_sensors BMP388
-4 8 imu_tests MPU6500
-5 8 imu_tests AK8963
-6 8 imu_tests LPS25H
-7 8 cpu flash
-8 8 cpu id0
-9 8 cpu id1
-10 8 cpu id2
-11 8 system selftestPassed
-12 8 system forceArm
-13 8 system taskDump
-14 8 system highlight
-15 8 crtpsrv echoDelay
-16 8 sound effect
-17 8 sound neffect
-18 8 sound freq
-19 8 memTst resetW
-20 8 sys e_stop
-21 8 commander enHighLevel
-22 8 flightmode althold
-23 8 flightmode poshold
-24 8 flightmode posSet
-25 8 flightmode yawMode
-26 8 flightmode stabModeRoll
-27 8 flightmode stabModePitch
-28 8 flightmode stabModeYaw
-29 8 cmdrCPPM rateRoll
-30 8 cmdrCPPM ratePitch
-31 8 cmdrCPPM angPitch
-32 8 cmdrCPPM angRoll
-33 8 cmdrCPPM rateYaw
-34 8 locSrv enRangeStreamFP32
-35 8 locSrv enLhAngleStream
-36 8 locSrv extPosStdDev
-37 8 locSrv extQuatStdDev
-38 8 pid_attitude roll_kp
-39 8 pid_attitude roll_ki
-40 8 pid_attitude roll_kd
-41 8 pid_attitude pitch_kp
-42 8 pid_attitude pitch_ki
-43 8 pid_attitude pitch_kd
-44 8 pid_attitude yaw_kp
-45 8 pid_attitude yaw_ki
-46 8 pid_attitude yaw_kd
-47 8 pid_rate roll_kp
-48 8 pid_rate roll_ki
-49 8 pid_rate roll_kd
-50 8 pid_rate pitch_kp
-51 8 pid_rate pitch_ki
-52 8 pid_rate pitch_kd
-53 8 pid_rate yaw_kp
-54 8 pid_rate yaw_ki
-55 8 pid_rate yaw_kd
-56 8 sensfusion6 kp
-57 8 sensfusion6 ki
-58 8 sensfusion6 baseZacc
-59 8 stabilizer estimator
-60 8 stabilizer controller
-61 8 stabilizer stop
-62 8 posEstAlt estAlphaAsl
-63 8 posEstAlt estAlphaZr
-64 8 posEstAlt velFactor
-65 8 posEstAlt velZAlpha
-66 8 posEstAlt vAccDeadband
-67 8 posCtlPid xKp
-68 8 posCtlPid xKi
-69 8 posCtlPid xKd
-70 8 posCtlPid yKp
-71 8 posCtlPid yKi
-72 8 posCtlPid yKd
-73 8 posCtlPid zKp
-74 8 posCtlPid zKi
-75 8 posCtlPid zKd
-76 8 posCtlPid thrustBase
-77 8 posCtlPid thrustMin
-78 8 posCtlPid rpLimit
-79 8 posCtlPid xyVelMax
-80 8 posCtlPid zVelMax
-81 8 velCtlPid vxKp
-82 8 velCtlPid vxKi
-83 8 velCtlPid vxKd
-84 8 velCtlPid vyKp
-85 8 velCtlPid vyKi
-86 8 velCtlPid vyKd
-87 8 velCtlPid vzKp
-88 8 velCtlPid vzKi
-89 8 velCtlPid vzKd
-90 8 posCtrlIndi K_xi_x
-91 8 posCtrlIndi K_xi_y
-92 8 posCtrlIndi K_xi_z
-93 8 posCtrlIndi K_dxi_x
-94 8 posCtrlIndi K_dxi_y
-95 8 posCtrlIndi K_dxi_z
-96 8 posCtrlIndi pq_clamping
-97 8 controller tiltComp
-98 8 ctrlMel kp_xy
-99 8 ctrlMel kd_xy
-100 8 ctrlMel ki_xy
-101 8 ctrlMel i_range_xy
-102 8 ctrlMel kp_z
-103 8 ctrlMel kd_z
-104 8 ctrlMel ki_z
-105 8 ctrlMel i_range_z
-106 8 ctrlMel mass
-107 8 ctrlMel massThrust
-108 8 ctrlMel kR_xy
-109 8 ctrlMel kR_z
-110 8 ctrlMel kw_xy
-111 8 ctrlMel kw_z
-112 8 ctrlMel ki_m_xy
-113 8 ctrlMel ki_m_z
-114 8 ctrlMel kd_omega_rp
-115 8 ctrlMel i_range_m_xy
-116 8 ctrlMel i_range_m_z
-117 8 ctrlINDI thrust_threshold
-118 8 ctrlINDI bound_ctrl_input
-119 8 ctrlINDI g1_p
-120 8 ctrlINDI g1_q
-121 8 ctrlINDI g1_r
-122 8 ctrlINDI g2
-123 8 ctrlINDI ref_err_p
-124 8 ctrlINDI ref_err_q
-125 8 ctrlINDI ref_err_r
-126 8 ctrlINDI ref_rate_p
-127 8 ctrlINDI ref_rate_q
-128 8 ctrlINDI ref_rate_r
-129 8 ctrlINDI act_dyn_p
-130 8 ctrlINDI act_dyn_q
-131 8 ctrlINDI act_dyn_r
-132 8 ctrlINDI filt_cutoff
-133 8 ctrlINDI filt_cutoff_r
-134 8 ctrlINDI outerLoopActive
-135 8 s_pid_attitude roll_kp
-136 8 s_pid_attitude roll_ki
-137 8 s_pid_attitude roll_kd
-138 8 s_pid_attitude pitch_kp
-139 8 s_pid_attitude pitch_ki
-140 8 s_pid_attitude pitch_kd
-141 8 s_pid_attitude yaw_kp
-142 8 s_pid_attitude yaw_ki
-143 8 s_pid_attitude yaw_kd
-144 8 s_pid_rate roll_kp
-145 8 s_pid_rate roll_ki
-146 8 s_pid_rate roll_kd
-147 8 s_pid_rate pitch_kp
-148 8 s_pid_rate pitch_ki
-149 8 s_pid_rate pitch_kd
-150 8 s_pid_rate yaw_kp
-151 8 s_pid_rate yaw_ki
-152 8 s_pid_rate yaw_kd
-153 8 ctrlStdnt tiltComp
-154 8 ctrlStdnt TEST_PARAM
-155 8 motorPowerSet enable
-156 8 motorPowerSet m1
-157 8 motorPowerSet m2
-158 8 motorPowerSet m3
-159 8 motorPowerSet m4
-160 8 powerDist idleThrust
-161 8 colAv enable
-162 8 colAv ellipsoidX
-163 8 colAv ellipsoidY
-164 8 colAv ellipsoidZ
-165 8 colAv bboxMinX
-166 8 colAv bboxMinY
-167 8 colAv bboxMinZ
-168 8 colAv bboxMaxX
-169 8 colAv bboxMaxY
-170 8 colAv bboxMaxZ
-171 8 colAv horizon
-172 8 colAv maxSpeed
-173 8 colAv sidestepThrsh
-174 8 colAv maxPeerLocAge
-175 8 colAv vorTol
-176 8 colAv vorIters
-177 8 health startPropTest
-178 8 health startBatTest
-179 8 kalman resetEstimation
-180 8 kalman quadIsFlying
-181 8 kalman robustTdoa
-182 8 kalman robustTwr
-183 8 kalman pNAcc_xy
-184 8 kalman pNAcc_z
-185 8 kalman pNVel
-186 8 kalman pNPos
-187 8 kalman pNAtt
-188 8 kalman mNBaro
-189 8 kalman mNGyro_rollpitch
-190 8 kalman mNGyro_yaw
-191 8 kalman initialX
-192 8 kalman initialY
-193 8 kalman initialZ
-194 8 kalman initialYaw
-195 8 kalman maxPos
-196 8 kalman maxVel
-197 8 hlCommander vtoff
-198 8 hlCommander vland
-199 8 deck bcLedRing
-200 8 deck bcBuzzer
-201 8 deck bcGTGPS
-202 8 deck bcCPPM
-203 8 deck bcUSD
-204 8 deck bcZRanger
-205 8 deck bcZRanger2
-206 8 deck bcDWM1000
-207 8 deck bcFlow
-208 8 deck bcFlow2
-209 8 deck bcOA
-210 8 deck bcMultiranger
-211 8 deck bcLighthouse4
-212 8 deck bcActiveMarker
-213 8 deck bcAIDeck
-214 8 ring effect
-215 8 ring neffect
-216 8 ring solidRed
-217 8 ring solidGreen
-218 8 ring solidBlue
-219 8 ring headlightEnable
-220 8 ring emptyCharge
-221 8 ring fullCharge
-222 8 ring fadeColor
-223 8 ring fadeTime
-224 8 usd canLog
-225 8 usd logging
-226 8 loco mode
-227 8 tdoaEngine logId
-228 8 tdoaEngine logOthrId
-229 8 tdoaEngine matchAlgo
-230 8 motion disable
-231 8 motion adaptive
-232 8 motion flowStdFixed
-233 8 activeMarker front
-234 8 activeMarker back
-235 8 activeMarker left
-236 8 activeMarker right
-237 8 activeMarker mode
-238 8 activeMarker poll
-239 8 firmware revision0
-240 8 firmware revision1
-241 8 firmware modified
-242 8 lighthouse method
-243 8 lighthouse bsCalibReset
-244 8 lighthouse systemType
-245 8 lighthouse sweepStd
-246 8 lighthouse sweepStd2
diff --git a/cflib_groundstation/logs/cflie1_Param_toc_2023_11_08_21:48:52.txt b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_08_21:48:52.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1c0f38ea7e83b0b3eaa08f307d94bb706335aa58
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_08_21:48:52.txt
@@ -0,0 +1,2 @@
+Param ID Type Group Identifier Name
+0 8 imu_sensors AK8963
diff --git a/cflib_groundstation/logs/cflie1_Param_toc_2023_11_08_21:53:26.txt b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_08_21:53:26.txt
new file mode 100644
index 0000000000000000000000000000000000000000..01c5c42b413a49ef0c6504f60e46be4f3dad913f
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_08_21:53:26.txt
@@ -0,0 +1 @@
+Param ID Type Group Identifier Name
diff --git a/cflib_groundstation/logs/cflie1_Param_toc_2023_11_08_21:56:43.txt b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_08_21:56:43.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d48f7eb4a34270f08daa3f702d93da9b0d09f581
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_08_21:56:43.txt
@@ -0,0 +1,247 @@
+Param ID Type Group Identifier Name
+0 8 imu_sensors AK8963
+1 8 imu_sensors LPS25H
+2 8 imu_sensors BMP388
+3 8 imu_tests MPU6500
+4 8 imu_tests AK8963
+5 8 imu_tests LPS25H
+6 8 cpu flash
+7 8 cpu id0
+8 8 cpu id1
+9 8 cpu id2
+10 8 system selftestPassed
+11 8 system forceArm
+12 8 system taskDump
+13 8 system highlight
+14 8 crtpsrv echoDelay
+15 8 sound effect
+16 8 sound neffect
+17 8 sound freq
+18 8 memTst resetW
+19 8 sys e_stop
+20 8 commander enHighLevel
+21 8 flightmode althold
+22 8 flightmode poshold
+23 8 flightmode posSet
+24 8 flightmode yawMode
+25 8 flightmode stabModeRoll
+26 8 flightmode stabModePitch
+27 8 flightmode stabModeYaw
+28 8 cmdrCPPM rateRoll
+29 8 cmdrCPPM ratePitch
+30 8 cmdrCPPM angPitch
+31 8 cmdrCPPM angRoll
+32 8 cmdrCPPM rateYaw
+33 8 locSrv enRangeStreamFP32
+34 8 locSrv enLhAngleStream
+35 8 locSrv extPosStdDev
+36 8 locSrv extQuatStdDev
+37 8 pid_attitude roll_kp
+38 8 pid_attitude roll_ki
+39 8 pid_attitude roll_kd
+40 8 pid_attitude pitch_kp
+41 8 pid_attitude pitch_ki
+42 8 pid_attitude pitch_kd
+43 8 pid_attitude yaw_kp
+44 8 pid_attitude yaw_ki
+45 8 pid_attitude yaw_kd
+46 8 pid_rate roll_kp
+47 8 pid_rate roll_ki
+48 8 pid_rate roll_kd
+49 8 pid_rate pitch_kp
+50 8 pid_rate pitch_ki
+51 8 pid_rate pitch_kd
+52 8 pid_rate yaw_kp
+53 8 pid_rate yaw_ki
+54 8 pid_rate yaw_kd
+55 8 sensfusion6 kp
+56 8 sensfusion6 ki
+57 8 sensfusion6 baseZacc
+58 8 stabilizer estimator
+59 8 stabilizer controller
+60 8 stabilizer stop
+61 8 posEstAlt estAlphaAsl
+62 8 posEstAlt estAlphaZr
+63 8 posEstAlt velFactor
+64 8 posEstAlt velZAlpha
+65 8 posEstAlt vAccDeadband
+66 8 posCtlPid xKp
+67 8 posCtlPid xKi
+68 8 posCtlPid xKd
+69 8 posCtlPid yKp
+70 8 posCtlPid yKi
+71 8 posCtlPid yKd
+72 8 posCtlPid zKp
+73 8 posCtlPid zKi
+74 8 posCtlPid zKd
+75 8 posCtlPid thrustBase
+76 8 posCtlPid thrustMin
+77 8 posCtlPid rpLimit
+78 8 posCtlPid xyVelMax
+79 8 posCtlPid zVelMax
+80 8 velCtlPid vxKp
+81 8 velCtlPid vxKi
+82 8 velCtlPid vxKd
+83 8 velCtlPid vyKp
+84 8 velCtlPid vyKi
+85 8 velCtlPid vyKd
+86 8 velCtlPid vzKp
+87 8 velCtlPid vzKi
+88 8 velCtlPid vzKd
+89 8 posCtrlIndi K_xi_x
+90 8 posCtrlIndi K_xi_y
+91 8 posCtrlIndi K_xi_z
+92 8 posCtrlIndi K_dxi_x
+93 8 posCtrlIndi K_dxi_y
+94 8 posCtrlIndi K_dxi_z
+95 8 posCtrlIndi pq_clamping
+96 8 controller tiltComp
+97 8 ctrlMel kp_xy
+98 8 ctrlMel kd_xy
+99 8 ctrlMel ki_xy
+100 8 ctrlMel i_range_xy
+101 8 ctrlMel kp_z
+102 8 ctrlMel kd_z
+103 8 ctrlMel ki_z
+104 8 ctrlMel i_range_z
+105 8 ctrlMel mass
+106 8 ctrlMel massThrust
+107 8 ctrlMel kR_xy
+108 8 ctrlMel kR_z
+109 8 ctrlMel kw_xy
+110 8 ctrlMel kw_z
+111 8 ctrlMel ki_m_xy
+112 8 ctrlMel ki_m_z
+113 8 ctrlMel kd_omega_rp
+114 8 ctrlMel i_range_m_xy
+115 8 ctrlMel i_range_m_z
+116 8 ctrlINDI thrust_threshold
+117 8 ctrlINDI bound_ctrl_input
+118 8 ctrlINDI g1_p
+119 8 ctrlINDI g1_q
+120 8 ctrlINDI g1_r
+121 8 ctrlINDI g2
+122 8 ctrlINDI ref_err_p
+123 8 ctrlINDI ref_err_q
+124 8 ctrlINDI ref_err_r
+125 8 ctrlINDI ref_rate_p
+126 8 ctrlINDI ref_rate_q
+127 8 ctrlINDI ref_rate_r
+128 8 ctrlINDI act_dyn_p
+129 8 ctrlINDI act_dyn_q
+130 8 ctrlINDI act_dyn_r
+131 8 ctrlINDI filt_cutoff
+132 8 ctrlINDI filt_cutoff_r
+133 8 ctrlINDI outerLoopActive
+134 8 s_pid_attitude roll_kp
+135 8 s_pid_attitude roll_ki
+136 8 s_pid_attitude roll_kd
+137 8 s_pid_attitude pitch_kp
+138 8 s_pid_attitude pitch_ki
+139 8 s_pid_attitude pitch_kd
+140 8 s_pid_attitude yaw_kp
+141 8 s_pid_attitude yaw_ki
+142 8 s_pid_attitude yaw_kd
+143 8 s_pid_rate roll_kp
+144 8 s_pid_rate roll_ki
+145 8 s_pid_rate roll_kd
+146 8 s_pid_rate pitch_kp
+147 8 s_pid_rate pitch_ki
+148 8 s_pid_rate pitch_kd
+149 8 s_pid_rate yaw_kp
+150 8 s_pid_rate yaw_ki
+151 8 s_pid_rate yaw_kd
+152 8 ctrlStdnt tiltComp
+153 8 ctrlStdnt TEST_PARAM
+154 8 motorPowerSet enable
+155 8 motorPowerSet m1
+156 8 motorPowerSet m2
+157 8 motorPowerSet m3
+158 8 motorPowerSet m4
+159 8 powerDist idleThrust
+160 8 colAv enable
+161 8 colAv ellipsoidX
+162 8 colAv ellipsoidY
+163 8 colAv ellipsoidZ
+164 8 colAv bboxMinX
+165 8 colAv bboxMinY
+166 8 colAv bboxMinZ
+167 8 colAv bboxMaxX
+168 8 colAv bboxMaxY
+169 8 colAv bboxMaxZ
+170 8 colAv horizon
+171 8 colAv maxSpeed
+172 8 colAv sidestepThrsh
+173 8 colAv maxPeerLocAge
+174 8 colAv vorTol
+175 8 colAv vorIters
+176 8 health startPropTest
+177 8 health startBatTest
+178 8 kalman resetEstimation
+179 8 kalman quadIsFlying
+180 8 kalman robustTdoa
+181 8 kalman robustTwr
+182 8 kalman pNAcc_xy
+183 8 kalman pNAcc_z
+184 8 kalman pNVel
+185 8 kalman pNPos
+186 8 kalman pNAtt
+187 8 kalman mNBaro
+188 8 kalman mNGyro_rollpitch
+189 8 kalman mNGyro_yaw
+190 8 kalman initialX
+191 8 kalman initialY
+192 8 kalman initialZ
+193 8 kalman initialYaw
+194 8 kalman maxPos
+195 8 kalman maxVel
+196 8 hlCommander vtoff
+197 8 hlCommander vland
+198 8 deck bcLedRing
+199 8 deck bcBuzzer
+200 8 deck bcGTGPS
+201 8 deck bcCPPM
+202 8 deck bcUSD
+203 8 deck bcZRanger
+204 8 deck bcZRanger2
+205 8 deck bcDWM1000
+206 8 deck bcFlow
+207 8 deck bcFlow2
+208 8 deck bcOA
+209 8 deck bcMultiranger
+210 8 deck bcLighthouse4
+211 8 deck bcActiveMarker
+212 8 deck bcAIDeck
+213 8 ring effect
+214 8 ring neffect
+215 8 ring solidRed
+216 8 ring solidGreen
+217 8 ring solidBlue
+218 8 ring headlightEnable
+219 8 ring emptyCharge
+220 8 ring fullCharge
+221 8 ring fadeColor
+222 8 ring fadeTime
+223 8 usd canLog
+224 8 usd logging
+225 8 loco mode
+226 8 tdoaEngine logId
+227 8 tdoaEngine logOthrId
+228 8 tdoaEngine matchAlgo
+229 8 motion disable
+230 8 motion adaptive
+231 8 motion flowStdFixed
+232 8 activeMarker front
+233 8 activeMarker back
+234 8 activeMarker left
+235 8 activeMarker right
+236 8 activeMarker mode
+237 8 activeMarker poll
+238 8 firmware revision0
+239 8 firmware revision1
+240 8 firmware modified
+241 8 lighthouse method
+242 8 lighthouse bsCalibReset
+243 8 lighthouse systemType
+244 8 lighthouse sweepStd
+245 8 lighthouse sweepStd2
diff --git a/cflib_groundstation/logs/cflie1_Param_toc_2023_11_08_21:57:44.txt b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_08_21:57:44.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d48f7eb4a34270f08daa3f702d93da9b0d09f581
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_08_21:57:44.txt
@@ -0,0 +1,247 @@
+Param ID Type Group Identifier Name
+0 8 imu_sensors AK8963
+1 8 imu_sensors LPS25H
+2 8 imu_sensors BMP388
+3 8 imu_tests MPU6500
+4 8 imu_tests AK8963
+5 8 imu_tests LPS25H
+6 8 cpu flash
+7 8 cpu id0
+8 8 cpu id1
+9 8 cpu id2
+10 8 system selftestPassed
+11 8 system forceArm
+12 8 system taskDump
+13 8 system highlight
+14 8 crtpsrv echoDelay
+15 8 sound effect
+16 8 sound neffect
+17 8 sound freq
+18 8 memTst resetW
+19 8 sys e_stop
+20 8 commander enHighLevel
+21 8 flightmode althold
+22 8 flightmode poshold
+23 8 flightmode posSet
+24 8 flightmode yawMode
+25 8 flightmode stabModeRoll
+26 8 flightmode stabModePitch
+27 8 flightmode stabModeYaw
+28 8 cmdrCPPM rateRoll
+29 8 cmdrCPPM ratePitch
+30 8 cmdrCPPM angPitch
+31 8 cmdrCPPM angRoll
+32 8 cmdrCPPM rateYaw
+33 8 locSrv enRangeStreamFP32
+34 8 locSrv enLhAngleStream
+35 8 locSrv extPosStdDev
+36 8 locSrv extQuatStdDev
+37 8 pid_attitude roll_kp
+38 8 pid_attitude roll_ki
+39 8 pid_attitude roll_kd
+40 8 pid_attitude pitch_kp
+41 8 pid_attitude pitch_ki
+42 8 pid_attitude pitch_kd
+43 8 pid_attitude yaw_kp
+44 8 pid_attitude yaw_ki
+45 8 pid_attitude yaw_kd
+46 8 pid_rate roll_kp
+47 8 pid_rate roll_ki
+48 8 pid_rate roll_kd
+49 8 pid_rate pitch_kp
+50 8 pid_rate pitch_ki
+51 8 pid_rate pitch_kd
+52 8 pid_rate yaw_kp
+53 8 pid_rate yaw_ki
+54 8 pid_rate yaw_kd
+55 8 sensfusion6 kp
+56 8 sensfusion6 ki
+57 8 sensfusion6 baseZacc
+58 8 stabilizer estimator
+59 8 stabilizer controller
+60 8 stabilizer stop
+61 8 posEstAlt estAlphaAsl
+62 8 posEstAlt estAlphaZr
+63 8 posEstAlt velFactor
+64 8 posEstAlt velZAlpha
+65 8 posEstAlt vAccDeadband
+66 8 posCtlPid xKp
+67 8 posCtlPid xKi
+68 8 posCtlPid xKd
+69 8 posCtlPid yKp
+70 8 posCtlPid yKi
+71 8 posCtlPid yKd
+72 8 posCtlPid zKp
+73 8 posCtlPid zKi
+74 8 posCtlPid zKd
+75 8 posCtlPid thrustBase
+76 8 posCtlPid thrustMin
+77 8 posCtlPid rpLimit
+78 8 posCtlPid xyVelMax
+79 8 posCtlPid zVelMax
+80 8 velCtlPid vxKp
+81 8 velCtlPid vxKi
+82 8 velCtlPid vxKd
+83 8 velCtlPid vyKp
+84 8 velCtlPid vyKi
+85 8 velCtlPid vyKd
+86 8 velCtlPid vzKp
+87 8 velCtlPid vzKi
+88 8 velCtlPid vzKd
+89 8 posCtrlIndi K_xi_x
+90 8 posCtrlIndi K_xi_y
+91 8 posCtrlIndi K_xi_z
+92 8 posCtrlIndi K_dxi_x
+93 8 posCtrlIndi K_dxi_y
+94 8 posCtrlIndi K_dxi_z
+95 8 posCtrlIndi pq_clamping
+96 8 controller tiltComp
+97 8 ctrlMel kp_xy
+98 8 ctrlMel kd_xy
+99 8 ctrlMel ki_xy
+100 8 ctrlMel i_range_xy
+101 8 ctrlMel kp_z
+102 8 ctrlMel kd_z
+103 8 ctrlMel ki_z
+104 8 ctrlMel i_range_z
+105 8 ctrlMel mass
+106 8 ctrlMel massThrust
+107 8 ctrlMel kR_xy
+108 8 ctrlMel kR_z
+109 8 ctrlMel kw_xy
+110 8 ctrlMel kw_z
+111 8 ctrlMel ki_m_xy
+112 8 ctrlMel ki_m_z
+113 8 ctrlMel kd_omega_rp
+114 8 ctrlMel i_range_m_xy
+115 8 ctrlMel i_range_m_z
+116 8 ctrlINDI thrust_threshold
+117 8 ctrlINDI bound_ctrl_input
+118 8 ctrlINDI g1_p
+119 8 ctrlINDI g1_q
+120 8 ctrlINDI g1_r
+121 8 ctrlINDI g2
+122 8 ctrlINDI ref_err_p
+123 8 ctrlINDI ref_err_q
+124 8 ctrlINDI ref_err_r
+125 8 ctrlINDI ref_rate_p
+126 8 ctrlINDI ref_rate_q
+127 8 ctrlINDI ref_rate_r
+128 8 ctrlINDI act_dyn_p
+129 8 ctrlINDI act_dyn_q
+130 8 ctrlINDI act_dyn_r
+131 8 ctrlINDI filt_cutoff
+132 8 ctrlINDI filt_cutoff_r
+133 8 ctrlINDI outerLoopActive
+134 8 s_pid_attitude roll_kp
+135 8 s_pid_attitude roll_ki
+136 8 s_pid_attitude roll_kd
+137 8 s_pid_attitude pitch_kp
+138 8 s_pid_attitude pitch_ki
+139 8 s_pid_attitude pitch_kd
+140 8 s_pid_attitude yaw_kp
+141 8 s_pid_attitude yaw_ki
+142 8 s_pid_attitude yaw_kd
+143 8 s_pid_rate roll_kp
+144 8 s_pid_rate roll_ki
+145 8 s_pid_rate roll_kd
+146 8 s_pid_rate pitch_kp
+147 8 s_pid_rate pitch_ki
+148 8 s_pid_rate pitch_kd
+149 8 s_pid_rate yaw_kp
+150 8 s_pid_rate yaw_ki
+151 8 s_pid_rate yaw_kd
+152 8 ctrlStdnt tiltComp
+153 8 ctrlStdnt TEST_PARAM
+154 8 motorPowerSet enable
+155 8 motorPowerSet m1
+156 8 motorPowerSet m2
+157 8 motorPowerSet m3
+158 8 motorPowerSet m4
+159 8 powerDist idleThrust
+160 8 colAv enable
+161 8 colAv ellipsoidX
+162 8 colAv ellipsoidY
+163 8 colAv ellipsoidZ
+164 8 colAv bboxMinX
+165 8 colAv bboxMinY
+166 8 colAv bboxMinZ
+167 8 colAv bboxMaxX
+168 8 colAv bboxMaxY
+169 8 colAv bboxMaxZ
+170 8 colAv horizon
+171 8 colAv maxSpeed
+172 8 colAv sidestepThrsh
+173 8 colAv maxPeerLocAge
+174 8 colAv vorTol
+175 8 colAv vorIters
+176 8 health startPropTest
+177 8 health startBatTest
+178 8 kalman resetEstimation
+179 8 kalman quadIsFlying
+180 8 kalman robustTdoa
+181 8 kalman robustTwr
+182 8 kalman pNAcc_xy
+183 8 kalman pNAcc_z
+184 8 kalman pNVel
+185 8 kalman pNPos
+186 8 kalman pNAtt
+187 8 kalman mNBaro
+188 8 kalman mNGyro_rollpitch
+189 8 kalman mNGyro_yaw
+190 8 kalman initialX
+191 8 kalman initialY
+192 8 kalman initialZ
+193 8 kalman initialYaw
+194 8 kalman maxPos
+195 8 kalman maxVel
+196 8 hlCommander vtoff
+197 8 hlCommander vland
+198 8 deck bcLedRing
+199 8 deck bcBuzzer
+200 8 deck bcGTGPS
+201 8 deck bcCPPM
+202 8 deck bcUSD
+203 8 deck bcZRanger
+204 8 deck bcZRanger2
+205 8 deck bcDWM1000
+206 8 deck bcFlow
+207 8 deck bcFlow2
+208 8 deck bcOA
+209 8 deck bcMultiranger
+210 8 deck bcLighthouse4
+211 8 deck bcActiveMarker
+212 8 deck bcAIDeck
+213 8 ring effect
+214 8 ring neffect
+215 8 ring solidRed
+216 8 ring solidGreen
+217 8 ring solidBlue
+218 8 ring headlightEnable
+219 8 ring emptyCharge
+220 8 ring fullCharge
+221 8 ring fadeColor
+222 8 ring fadeTime
+223 8 usd canLog
+224 8 usd logging
+225 8 loco mode
+226 8 tdoaEngine logId
+227 8 tdoaEngine logOthrId
+228 8 tdoaEngine matchAlgo
+229 8 motion disable
+230 8 motion adaptive
+231 8 motion flowStdFixed
+232 8 activeMarker front
+233 8 activeMarker back
+234 8 activeMarker left
+235 8 activeMarker right
+236 8 activeMarker mode
+237 8 activeMarker poll
+238 8 firmware revision0
+239 8 firmware revision1
+240 8 firmware modified
+241 8 lighthouse method
+242 8 lighthouse bsCalibReset
+243 8 lighthouse systemType
+244 8 lighthouse sweepStd
+245 8 lighthouse sweepStd2
diff --git a/cflib_groundstation/logs/cflie1_Param_toc_2023_11_08_21:59:31.txt b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_08_21:59:31.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d48f7eb4a34270f08daa3f702d93da9b0d09f581
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_08_21:59:31.txt
@@ -0,0 +1,247 @@
+Param ID Type Group Identifier Name
+0 8 imu_sensors AK8963
+1 8 imu_sensors LPS25H
+2 8 imu_sensors BMP388
+3 8 imu_tests MPU6500
+4 8 imu_tests AK8963
+5 8 imu_tests LPS25H
+6 8 cpu flash
+7 8 cpu id0
+8 8 cpu id1
+9 8 cpu id2
+10 8 system selftestPassed
+11 8 system forceArm
+12 8 system taskDump
+13 8 system highlight
+14 8 crtpsrv echoDelay
+15 8 sound effect
+16 8 sound neffect
+17 8 sound freq
+18 8 memTst resetW
+19 8 sys e_stop
+20 8 commander enHighLevel
+21 8 flightmode althold
+22 8 flightmode poshold
+23 8 flightmode posSet
+24 8 flightmode yawMode
+25 8 flightmode stabModeRoll
+26 8 flightmode stabModePitch
+27 8 flightmode stabModeYaw
+28 8 cmdrCPPM rateRoll
+29 8 cmdrCPPM ratePitch
+30 8 cmdrCPPM angPitch
+31 8 cmdrCPPM angRoll
+32 8 cmdrCPPM rateYaw
+33 8 locSrv enRangeStreamFP32
+34 8 locSrv enLhAngleStream
+35 8 locSrv extPosStdDev
+36 8 locSrv extQuatStdDev
+37 8 pid_attitude roll_kp
+38 8 pid_attitude roll_ki
+39 8 pid_attitude roll_kd
+40 8 pid_attitude pitch_kp
+41 8 pid_attitude pitch_ki
+42 8 pid_attitude pitch_kd
+43 8 pid_attitude yaw_kp
+44 8 pid_attitude yaw_ki
+45 8 pid_attitude yaw_kd
+46 8 pid_rate roll_kp
+47 8 pid_rate roll_ki
+48 8 pid_rate roll_kd
+49 8 pid_rate pitch_kp
+50 8 pid_rate pitch_ki
+51 8 pid_rate pitch_kd
+52 8 pid_rate yaw_kp
+53 8 pid_rate yaw_ki
+54 8 pid_rate yaw_kd
+55 8 sensfusion6 kp
+56 8 sensfusion6 ki
+57 8 sensfusion6 baseZacc
+58 8 stabilizer estimator
+59 8 stabilizer controller
+60 8 stabilizer stop
+61 8 posEstAlt estAlphaAsl
+62 8 posEstAlt estAlphaZr
+63 8 posEstAlt velFactor
+64 8 posEstAlt velZAlpha
+65 8 posEstAlt vAccDeadband
+66 8 posCtlPid xKp
+67 8 posCtlPid xKi
+68 8 posCtlPid xKd
+69 8 posCtlPid yKp
+70 8 posCtlPid yKi
+71 8 posCtlPid yKd
+72 8 posCtlPid zKp
+73 8 posCtlPid zKi
+74 8 posCtlPid zKd
+75 8 posCtlPid thrustBase
+76 8 posCtlPid thrustMin
+77 8 posCtlPid rpLimit
+78 8 posCtlPid xyVelMax
+79 8 posCtlPid zVelMax
+80 8 velCtlPid vxKp
+81 8 velCtlPid vxKi
+82 8 velCtlPid vxKd
+83 8 velCtlPid vyKp
+84 8 velCtlPid vyKi
+85 8 velCtlPid vyKd
+86 8 velCtlPid vzKp
+87 8 velCtlPid vzKi
+88 8 velCtlPid vzKd
+89 8 posCtrlIndi K_xi_x
+90 8 posCtrlIndi K_xi_y
+91 8 posCtrlIndi K_xi_z
+92 8 posCtrlIndi K_dxi_x
+93 8 posCtrlIndi K_dxi_y
+94 8 posCtrlIndi K_dxi_z
+95 8 posCtrlIndi pq_clamping
+96 8 controller tiltComp
+97 8 ctrlMel kp_xy
+98 8 ctrlMel kd_xy
+99 8 ctrlMel ki_xy
+100 8 ctrlMel i_range_xy
+101 8 ctrlMel kp_z
+102 8 ctrlMel kd_z
+103 8 ctrlMel ki_z
+104 8 ctrlMel i_range_z
+105 8 ctrlMel mass
+106 8 ctrlMel massThrust
+107 8 ctrlMel kR_xy
+108 8 ctrlMel kR_z
+109 8 ctrlMel kw_xy
+110 8 ctrlMel kw_z
+111 8 ctrlMel ki_m_xy
+112 8 ctrlMel ki_m_z
+113 8 ctrlMel kd_omega_rp
+114 8 ctrlMel i_range_m_xy
+115 8 ctrlMel i_range_m_z
+116 8 ctrlINDI thrust_threshold
+117 8 ctrlINDI bound_ctrl_input
+118 8 ctrlINDI g1_p
+119 8 ctrlINDI g1_q
+120 8 ctrlINDI g1_r
+121 8 ctrlINDI g2
+122 8 ctrlINDI ref_err_p
+123 8 ctrlINDI ref_err_q
+124 8 ctrlINDI ref_err_r
+125 8 ctrlINDI ref_rate_p
+126 8 ctrlINDI ref_rate_q
+127 8 ctrlINDI ref_rate_r
+128 8 ctrlINDI act_dyn_p
+129 8 ctrlINDI act_dyn_q
+130 8 ctrlINDI act_dyn_r
+131 8 ctrlINDI filt_cutoff
+132 8 ctrlINDI filt_cutoff_r
+133 8 ctrlINDI outerLoopActive
+134 8 s_pid_attitude roll_kp
+135 8 s_pid_attitude roll_ki
+136 8 s_pid_attitude roll_kd
+137 8 s_pid_attitude pitch_kp
+138 8 s_pid_attitude pitch_ki
+139 8 s_pid_attitude pitch_kd
+140 8 s_pid_attitude yaw_kp
+141 8 s_pid_attitude yaw_ki
+142 8 s_pid_attitude yaw_kd
+143 8 s_pid_rate roll_kp
+144 8 s_pid_rate roll_ki
+145 8 s_pid_rate roll_kd
+146 8 s_pid_rate pitch_kp
+147 8 s_pid_rate pitch_ki
+148 8 s_pid_rate pitch_kd
+149 8 s_pid_rate yaw_kp
+150 8 s_pid_rate yaw_ki
+151 8 s_pid_rate yaw_kd
+152 8 ctrlStdnt tiltComp
+153 8 ctrlStdnt TEST_PARAM
+154 8 motorPowerSet enable
+155 8 motorPowerSet m1
+156 8 motorPowerSet m2
+157 8 motorPowerSet m3
+158 8 motorPowerSet m4
+159 8 powerDist idleThrust
+160 8 colAv enable
+161 8 colAv ellipsoidX
+162 8 colAv ellipsoidY
+163 8 colAv ellipsoidZ
+164 8 colAv bboxMinX
+165 8 colAv bboxMinY
+166 8 colAv bboxMinZ
+167 8 colAv bboxMaxX
+168 8 colAv bboxMaxY
+169 8 colAv bboxMaxZ
+170 8 colAv horizon
+171 8 colAv maxSpeed
+172 8 colAv sidestepThrsh
+173 8 colAv maxPeerLocAge
+174 8 colAv vorTol
+175 8 colAv vorIters
+176 8 health startPropTest
+177 8 health startBatTest
+178 8 kalman resetEstimation
+179 8 kalman quadIsFlying
+180 8 kalman robustTdoa
+181 8 kalman robustTwr
+182 8 kalman pNAcc_xy
+183 8 kalman pNAcc_z
+184 8 kalman pNVel
+185 8 kalman pNPos
+186 8 kalman pNAtt
+187 8 kalman mNBaro
+188 8 kalman mNGyro_rollpitch
+189 8 kalman mNGyro_yaw
+190 8 kalman initialX
+191 8 kalman initialY
+192 8 kalman initialZ
+193 8 kalman initialYaw
+194 8 kalman maxPos
+195 8 kalman maxVel
+196 8 hlCommander vtoff
+197 8 hlCommander vland
+198 8 deck bcLedRing
+199 8 deck bcBuzzer
+200 8 deck bcGTGPS
+201 8 deck bcCPPM
+202 8 deck bcUSD
+203 8 deck bcZRanger
+204 8 deck bcZRanger2
+205 8 deck bcDWM1000
+206 8 deck bcFlow
+207 8 deck bcFlow2
+208 8 deck bcOA
+209 8 deck bcMultiranger
+210 8 deck bcLighthouse4
+211 8 deck bcActiveMarker
+212 8 deck bcAIDeck
+213 8 ring effect
+214 8 ring neffect
+215 8 ring solidRed
+216 8 ring solidGreen
+217 8 ring solidBlue
+218 8 ring headlightEnable
+219 8 ring emptyCharge
+220 8 ring fullCharge
+221 8 ring fadeColor
+222 8 ring fadeTime
+223 8 usd canLog
+224 8 usd logging
+225 8 loco mode
+226 8 tdoaEngine logId
+227 8 tdoaEngine logOthrId
+228 8 tdoaEngine matchAlgo
+229 8 motion disable
+230 8 motion adaptive
+231 8 motion flowStdFixed
+232 8 activeMarker front
+233 8 activeMarker back
+234 8 activeMarker left
+235 8 activeMarker right
+236 8 activeMarker mode
+237 8 activeMarker poll
+238 8 firmware revision0
+239 8 firmware revision1
+240 8 firmware modified
+241 8 lighthouse method
+242 8 lighthouse bsCalibReset
+243 8 lighthouse systemType
+244 8 lighthouse sweepStd
+245 8 lighthouse sweepStd2
diff --git a/cflib_groundstation/logs/cflie1_Param_toc_2023_11_08_22:02:09.txt b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_08_22:02:09.txt
new file mode 100644
index 0000000000000000000000000000000000000000..02074427f11f4b44cab0d4cd57e54361def5ae40
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_08_22:02:09.txt
@@ -0,0 +1,2 @@
+Param ID Type Group Identifier Name
+0 Packet Type:<B uint8_t imu_sensors AK89631 Packet Type:<B uint8_t imu_sensors LPS25H5 Packet Type:<B uint8_t imu_sensors BMP3882 Packet Type:<B uint8_t imu_tests MPU65003 Packet Type:<B uint8_t imu_tests AK89634 Packet Type:<B uint8_t imu_tests LPS25H6 Packet Type:<H uint16_t cpu flash7 Packet Type:<L uint32_t cpu id08 Packet Type:<L uint32_t cpu id19 Packet Type:<L uint32_t cpu id210 Packet Type:<b int8_t system selftestPassed11 Packet Type:<b int8_t system forceArm16 Packet Type:<B uint8_t system taskDump208 Packet Type:<B uint8_t system highlight12 Packet Type:<H uint16_t crtpsrv echoDelay13 Packet Type:<B uint8_t sound effect14 Packet Type:<L uint32_t sound neffect15 Packet Type:<H uint16_t sound freq17 Packet Type:<B uint8_t memTst resetW18 Packet Type:<b int8_t sys e_stop19 Packet Type:<B uint8_t commander enHighLevel20 Packet Type:<B uint8_t flightmode althold21 Packet Type:<B uint8_t flightmode poshold22 Packet Type:<B uint8_t flightmode posSet23 Packet Type:<B uint8_t flightmode yawMode24 Packet Type:<B uint8_t flightmode stabModeRoll25 Packet Type:<B uint8_t flightmode stabModePitch26 Packet Type:<B uint8_t flightmode stabModeYaw27 Packet Type:<f float cmdrCPPM rateRoll28 Packet Type:<f float cmdrCPPM ratePitch29 Packet Type:<f float cmdrCPPM angPitch30 Packet Type:<f float cmdrCPPM angRoll31 Packet Type:<f float cmdrCPPM rateYaw32 Packet Type:<B uint8_t locSrv enRangeStreamFP3233 Packet Type:<B uint8_t locSrv enLhAngleStream34 Packet Type:<f float locSrv extPosStdDev35 Packet Type:<f float locSrv extQuatStdDev36 Packet Type:<f float pid_attitude roll_kp37 Packet Type:<f float pid_attitude roll_ki38 Packet Type:<f float pid_attitude roll_kd39 Packet Type:<f float pid_attitude pitch_kp40 Packet Type:<f float pid_attitude pitch_ki41 Packet Type:<f float pid_attitude pitch_kd42 Packet Type:<f float pid_attitude yaw_kp43 Packet Type:<f float pid_attitude yaw_ki44 Packet Type:<f float pid_attitude yaw_kd45 Packet Type:<f float pid_rate roll_kp46 Packet Type:<f float pid_rate roll_ki47 Packet Type:<f float pid_rate roll_kd48 Packet Type:<f float pid_rate pitch_kp49 Packet Type:<f float pid_rate pitch_ki50 Packet Type:<f float pid_rate pitch_kd51 Packet Type:<f float pid_rate yaw_kp52 Packet Type:<f float pid_rate yaw_ki53 Packet Type:<f float pid_rate yaw_kd54 Packet Type:<f float sensfusion6 kp55 Packet Type:<f float sensfusion6 ki56 Packet Type:<f float sensfusion6 baseZacc57 Packet Type:<B uint8_t stabilizer estimator58 Packet Type:<B uint8_t stabilizer controller59 Packet Type:<B uint8_t stabilizer stop60 Packet Type:<f float posEstAlt estAlphaAsl61 Packet Type:<f float posEstAlt estAlphaZr62 Packet Type:<f float posEstAlt velFactor63 Packet Type:<f float posEstAlt velZAlpha64 Packet Type:<f float posEstAlt vAccDeadband65 Packet Type:<f float posCtlPid xKp66 Packet Type:<f float posCtlPid xKi67 Packet Type:<f float posCtlPid xKd68 Packet Type:<f float posCtlPid yKp69 Packet Type:<f float posCtlPid yKi70 Packet Type:<f float posCtlPid yKd71 Packet Type:<f float posCtlPid zKp72 Packet Type:<f float posCtlPid zKi73 Packet Type:<f float posCtlPid zKd74 Packet Type:<H uint16_t posCtlPid thrustBase75 Packet Type:<H uint16_t posCtlPid thrustMin76 Packet Type:<f float posCtlPid rpLimit77 Packet Type:<f float posCtlPid xyVelMax78 Packet Type:<f float posCtlPid zVelMax79 Packet Type:<f float velCtlPid vxKp80 Packet Type:<f float velCtlPid vxKi81 Packet Type:<f float velCtlPid vxKd82 Packet Type:<f float velCtlPid vyKp83 Packet Type:<f float velCtlPid vyKi84 Packet Type:<f float velCtlPid vyKd85 Packet Type:<f float velCtlPid vzKp86 Packet Type:<f float velCtlPid vzKi87 Packet Type:<f float velCtlPid vzKd88 Packet Type:<f float posCtrlIndi K_xi_x89 Packet Type:<f float posCtrlIndi K_xi_y90 Packet Type:<f float posCtrlIndi K_xi_z91 Packet Type:<f float posCtrlIndi K_dxi_x92 Packet Type:<f float posCtrlIndi K_dxi_y93 Packet Type:<f float posCtrlIndi K_dxi_z94 Packet Type:<f float posCtrlIndi pq_clamping95 Packet Type:<B uint8_t controller tiltComp96 Packet Type:<f float ctrlMel kp_xy97 Packet Type:<f float ctrlMel kd_xy98 Packet Type:<f float ctrlMel ki_xy99 Packet Type:<f float ctrlMel i_range_xy100 Packet Type:<f float ctrlMel kp_z101 Packet Type:<f float ctrlMel kd_z102 Packet Type:<f float ctrlMel ki_z103 Packet Type:<f float ctrlMel i_range_z104 Packet Type:<f float ctrlMel mass105 Packet Type:<f float ctrlMel massThrust106 Packet Type:<f float ctrlMel kR_xy107 Packet Type:<f float ctrlMel kR_z108 Packet Type:<f float ctrlMel kw_xy109 Packet Type:<f float ctrlMel kw_z110 Packet Type:<f float ctrlMel ki_m_xy111 Packet Type:<f float ctrlMel ki_m_z112 Packet Type:<f float ctrlMel kd_omega_rp113 Packet Type:<f float ctrlMel i_range_m_xy114 Packet Type:<f float ctrlMel i_range_m_z115 Packet Type:<f float ctrlINDI thrust_threshold116 Packet Type:<f float ctrlINDI bound_ctrl_input117 Packet Type:<f float ctrlINDI g1_p118 Packet Type:<f float ctrlINDI g1_q119 Packet Type:<f float ctrlINDI g1_r120 Packet Type:<f float ctrlINDI g2121 Packet Type:<f float ctrlINDI ref_err_p122 Packet Type:<f float ctrlINDI ref_err_q123 Packet Type:<f float ctrlINDI ref_err_r124 Packet Type:<f float ctrlINDI ref_rate_p125 Packet Type:<f float ctrlINDI ref_rate_q126 Packet Type:<f float ctrlINDI ref_rate_r127 Packet Type:<f float ctrlINDI act_dyn_p128 Packet Type:<f float ctrlINDI act_dyn_q129 Packet Type:<f float ctrlINDI act_dyn_r130 Packet Type:<f float ctrlINDI filt_cutoff131 Packet Type:<f float ctrlINDI filt_cutoff_r132 Packet Type:<B uint8_t ctrlINDI outerLoopActive133 Packet Type:<f float s_pid_attitude roll_kp134 Packet Type:<f float s_pid_attitude roll_ki135 Packet Type:<f float s_pid_attitude roll_kd136 Packet Type:<f float s_pid_attitude pitch_kp137 Packet Type:<f float s_pid_attitude pitch_ki138 Packet Type:<f float s_pid_attitude pitch_kd139 Packet Type:<f float s_pid_attitude yaw_kp140 Packet Type:<f float s_pid_attitude yaw_ki141 Packet Type:<f float s_pid_attitude yaw_kd142 Packet Type:<f float s_pid_rate roll_kp143 Packet Type:<f float s_pid_rate roll_ki144 Packet Type:<f float s_pid_rate roll_kd145 Packet Type:<f float s_pid_rate pitch_kp146 Packet Type:<f float s_pid_rate pitch_ki147 Packet Type:<f float s_pid_rate pitch_kd148 Packet Type:<f float s_pid_rate yaw_kp149 Packet Type:<f float s_pid_rate yaw_ki150 Packet Type:<f float s_pid_rate yaw_kd151 Packet Type:<B uint8_t ctrlStdnt tiltComp152 Packet Type:<B uint8_t ctrlStdnt TEST_PARAM153 Packet Type:<B uint8_t motorPowerSet enable154 Packet Type:<H uint16_t motorPowerSet m1155 Packet Type:<H uint16_t motorPowerSet m2156 Packet Type:<H uint16_t motorPowerSet m3157 Packet Type:<H uint16_t motorPowerSet m4158 Packet Type:<L uint32_t powerDist idleThrust159 Packet Type:<B uint8_t colAv enable160 Packet Type:<f float colAv ellipsoidX161 Packet Type:<f float colAv ellipsoidY162 Packet Type:<f float colAv ellipsoidZ163 Packet Type:<f float colAv bboxMinX164 Packet Type:<f float colAv bboxMinY165 Packet Type:<f float colAv bboxMinZ166 Packet Type:<f float colAv bboxMaxX167 Packet Type:<f float colAv bboxMaxY168 Packet Type:<f float colAv bboxMaxZ169 Packet Type:<f float colAv horizon170 Packet Type:<f float colAv maxSpeed171 Packet Type:<f float colAv sidestepThrsh172 Packet Type:<i int32_t colAv maxPeerLocAge173 Packet Type:<f float colAv vorTol174 Packet Type:<i int32_t colAv vorIters175 Packet Type:<B uint8_t health startPropTest176 Packet Type:<B uint8_t health startBatTest177 Packet Type:<B uint8_t kalman resetEstimation178 Packet Type:<B uint8_t kalman quadIsFlying179 Packet Type:<B uint8_t kalman robustTdoa180 Packet Type:<B uint8_t kalman robustTwr181 Packet Type:<f float kalman pNAcc_xy182 Packet Type:<f float kalman pNAcc_z183 Packet Type:<f float kalman pNVel184 Packet Type:<f float kalman pNPos185 Packet Type:<f float kalman pNAtt186 Packet Type:<f float kalman mNBaro187 Packet Type:<f float kalman mNGyro_rollpitch188 Packet Type:<f float kalman mNGyro_yaw189 Packet Type:<f float kalman initialX190 Packet Type:<f float kalman initialY191 Packet Type:<f float kalman initialZ192 Packet Type:<f float kalman initialYaw193 Packet Type:<f float kalman maxPos194 Packet Type:<f float kalman maxVel195 Packet Type:<f float hlCommander vtoff196 Packet Type:<f float hlCommander vland197 Packet Type:<B uint8_t deck bcLedRing209 Packet Type:<B uint8_t deck bcBuzzer210 Packet Type:<B uint8_t deck bcGTGPS211 Packet Type:<B uint8_t deck bcCPPM212 Packet Type:<B uint8_t deck bcUSD215 Packet Type:<B uint8_t deck bcZRanger216 Packet Type:<B uint8_t deck bcZRanger2217 Packet Type:<B uint8_t deck bcDWM1000222 Packet Type:<B uint8_t deck bcFlow223 Packet Type:<B uint8_t deck bcFlow2227 Packet Type:<B uint8_t deck bcOA228 Packet Type:<B uint8_t deck bcMultiranger229 Packet Type:<B uint8_t deck bcLighthouse4236 Packet Type:<B uint8_t deck bcActiveMarker237 Packet Type:<B uint8_t deck bcAIDeck198 Packet Type:<B uint8_t ring effect199 Packet Type:<L uint32_t ring neffect200 Packet Type:<B uint8_t ring solidRed201 Packet Type:<B uint8_t ring solidGreen202 Packet Type:<B uint8_t ring solidBlue203 Packet Type:<B uint8_t ring headlightEnable204 Packet Type:<f float ring emptyCharge205 Packet Type:<f float ring fullCharge206 Packet Type:<L uint32_t ring fadeColor207 Packet Type:<f float ring fadeTime213 Packet Type:<B uint8_t usd canLog214 Packet Type:<B uint8_t usd logging218 Packet Type:<B uint8_t loco mode219 Packet Type:<B uint8_t tdoaEngine logId220 Packet Type:<B uint8_t tdoaEngine logOthrId221 Packet Type:<B uint8_t tdoaEngine matchAlgo224 Packet Type:<B uint8_t motion disable225 Packet Type:<B uint8_t motion adaptive226 Packet Type:<f float motion flowStdFixed230 Packet Type:<B uint8_t activeMarker front231 Packet Type:<B uint8_t activeMarker back232 Packet Type:<B uint8_t activeMarker left233 Packet Type:<B uint8_t activeMarker right234 Packet Type:<B uint8_t activeMarker mode235 Packet Type:<B uint8_t activeMarker poll238 Packet Type:<L uint32_t firmware revision0239 Packet Type:<H uint16_t firmware revision1240 Packet Type:<B uint8_t firmware modified241 Packet Type:<B uint8_t lighthouse method242 Packet Type:<B uint8_t lighthouse bsCalibReset243 Packet Type:<B uint8_t lighthouse systemType244 Packet Type:<f float lighthouse sweepStd245 Packet Type:<f float lighthouse sweepStd2
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_Param_toc_2023_11_08_22:02:47.txt b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_08_22:02:47.txt
new file mode 100644
index 0000000000000000000000000000000000000000..06dda762f038662a3c7bba3734612cd526de0ca0
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_08_22:02:47.txt
@@ -0,0 +1,247 @@
+Param ID Type Group Identifier Name
+0 Packet Type:<B uint8_t imu_sensors AK8963
+1 Packet Type:<B uint8_t imu_sensors LPS25H
+5 Packet Type:<B uint8_t imu_sensors BMP388
+2 Packet Type:<B uint8_t imu_tests MPU6500
+3 Packet Type:<B uint8_t imu_tests AK8963
+4 Packet Type:<B uint8_t imu_tests LPS25H
+6 Packet Type:<H uint16_t cpu flash
+7 Packet Type:<L uint32_t cpu id0
+8 Packet Type:<L uint32_t cpu id1
+9 Packet Type:<L uint32_t cpu id2
+10 Packet Type:<b int8_t system selftestPassed
+11 Packet Type:<b int8_t system forceArm
+16 Packet Type:<B uint8_t system taskDump
+208 Packet Type:<B uint8_t system highlight
+12 Packet Type:<H uint16_t crtpsrv echoDelay
+13 Packet Type:<B uint8_t sound effect
+14 Packet Type:<L uint32_t sound neffect
+15 Packet Type:<H uint16_t sound freq
+17 Packet Type:<B uint8_t memTst resetW
+18 Packet Type:<b int8_t sys e_stop
+19 Packet Type:<B uint8_t commander enHighLevel
+20 Packet Type:<B uint8_t flightmode althold
+21 Packet Type:<B uint8_t flightmode poshold
+22 Packet Type:<B uint8_t flightmode posSet
+23 Packet Type:<B uint8_t flightmode yawMode
+24 Packet Type:<B uint8_t flightmode stabModeRoll
+25 Packet Type:<B uint8_t flightmode stabModePitch
+26 Packet Type:<B uint8_t flightmode stabModeYaw
+27 Packet Type:<f float cmdrCPPM rateRoll
+28 Packet Type:<f float cmdrCPPM ratePitch
+29 Packet Type:<f float cmdrCPPM angPitch
+30 Packet Type:<f float cmdrCPPM angRoll
+31 Packet Type:<f float cmdrCPPM rateYaw
+32 Packet Type:<B uint8_t locSrv enRangeStreamFP32
+33 Packet Type:<B uint8_t locSrv enLhAngleStream
+34 Packet Type:<f float locSrv extPosStdDev
+35 Packet Type:<f float locSrv extQuatStdDev
+36 Packet Type:<f float pid_attitude roll_kp
+37 Packet Type:<f float pid_attitude roll_ki
+38 Packet Type:<f float pid_attitude roll_kd
+39 Packet Type:<f float pid_attitude pitch_kp
+40 Packet Type:<f float pid_attitude pitch_ki
+41 Packet Type:<f float pid_attitude pitch_kd
+42 Packet Type:<f float pid_attitude yaw_kp
+43 Packet Type:<f float pid_attitude yaw_ki
+44 Packet Type:<f float pid_attitude yaw_kd
+45 Packet Type:<f float pid_rate roll_kp
+46 Packet Type:<f float pid_rate roll_ki
+47 Packet Type:<f float pid_rate roll_kd
+48 Packet Type:<f float pid_rate pitch_kp
+49 Packet Type:<f float pid_rate pitch_ki
+50 Packet Type:<f float pid_rate pitch_kd
+51 Packet Type:<f float pid_rate yaw_kp
+52 Packet Type:<f float pid_rate yaw_ki
+53 Packet Type:<f float pid_rate yaw_kd
+54 Packet Type:<f float sensfusion6 kp
+55 Packet Type:<f float sensfusion6 ki
+56 Packet Type:<f float sensfusion6 baseZacc
+57 Packet Type:<B uint8_t stabilizer estimator
+58 Packet Type:<B uint8_t stabilizer controller
+59 Packet Type:<B uint8_t stabilizer stop
+60 Packet Type:<f float posEstAlt estAlphaAsl
+61 Packet Type:<f float posEstAlt estAlphaZr
+62 Packet Type:<f float posEstAlt velFactor
+63 Packet Type:<f float posEstAlt velZAlpha
+64 Packet Type:<f float posEstAlt vAccDeadband
+65 Packet Type:<f float posCtlPid xKp
+66 Packet Type:<f float posCtlPid xKi
+67 Packet Type:<f float posCtlPid xKd
+68 Packet Type:<f float posCtlPid yKp
+69 Packet Type:<f float posCtlPid yKi
+70 Packet Type:<f float posCtlPid yKd
+71 Packet Type:<f float posCtlPid zKp
+72 Packet Type:<f float posCtlPid zKi
+73 Packet Type:<f float posCtlPid zKd
+74 Packet Type:<H uint16_t posCtlPid thrustBase
+75 Packet Type:<H uint16_t posCtlPid thrustMin
+76 Packet Type:<f float posCtlPid rpLimit
+77 Packet Type:<f float posCtlPid xyVelMax
+78 Packet Type:<f float posCtlPid zVelMax
+79 Packet Type:<f float velCtlPid vxKp
+80 Packet Type:<f float velCtlPid vxKi
+81 Packet Type:<f float velCtlPid vxKd
+82 Packet Type:<f float velCtlPid vyKp
+83 Packet Type:<f float velCtlPid vyKi
+84 Packet Type:<f float velCtlPid vyKd
+85 Packet Type:<f float velCtlPid vzKp
+86 Packet Type:<f float velCtlPid vzKi
+87 Packet Type:<f float velCtlPid vzKd
+88 Packet Type:<f float posCtrlIndi K_xi_x
+89 Packet Type:<f float posCtrlIndi K_xi_y
+90 Packet Type:<f float posCtrlIndi K_xi_z
+91 Packet Type:<f float posCtrlIndi K_dxi_x
+92 Packet Type:<f float posCtrlIndi K_dxi_y
+93 Packet Type:<f float posCtrlIndi K_dxi_z
+94 Packet Type:<f float posCtrlIndi pq_clamping
+95 Packet Type:<B uint8_t controller tiltComp
+96 Packet Type:<f float ctrlMel kp_xy
+97 Packet Type:<f float ctrlMel kd_xy
+98 Packet Type:<f float ctrlMel ki_xy
+99 Packet Type:<f float ctrlMel i_range_xy
+100 Packet Type:<f float ctrlMel kp_z
+101 Packet Type:<f float ctrlMel kd_z
+102 Packet Type:<f float ctrlMel ki_z
+103 Packet Type:<f float ctrlMel i_range_z
+104 Packet Type:<f float ctrlMel mass
+105 Packet Type:<f float ctrlMel massThrust
+106 Packet Type:<f float ctrlMel kR_xy
+107 Packet Type:<f float ctrlMel kR_z
+108 Packet Type:<f float ctrlMel kw_xy
+109 Packet Type:<f float ctrlMel kw_z
+110 Packet Type:<f float ctrlMel ki_m_xy
+111 Packet Type:<f float ctrlMel ki_m_z
+112 Packet Type:<f float ctrlMel kd_omega_rp
+113 Packet Type:<f float ctrlMel i_range_m_xy
+114 Packet Type:<f float ctrlMel i_range_m_z
+115 Packet Type:<f float ctrlINDI thrust_threshold
+116 Packet Type:<f float ctrlINDI bound_ctrl_input
+117 Packet Type:<f float ctrlINDI g1_p
+118 Packet Type:<f float ctrlINDI g1_q
+119 Packet Type:<f float ctrlINDI g1_r
+120 Packet Type:<f float ctrlINDI g2
+121 Packet Type:<f float ctrlINDI ref_err_p
+122 Packet Type:<f float ctrlINDI ref_err_q
+123 Packet Type:<f float ctrlINDI ref_err_r
+124 Packet Type:<f float ctrlINDI ref_rate_p
+125 Packet Type:<f float ctrlINDI ref_rate_q
+126 Packet Type:<f float ctrlINDI ref_rate_r
+127 Packet Type:<f float ctrlINDI act_dyn_p
+128 Packet Type:<f float ctrlINDI act_dyn_q
+129 Packet Type:<f float ctrlINDI act_dyn_r
+130 Packet Type:<f float ctrlINDI filt_cutoff
+131 Packet Type:<f float ctrlINDI filt_cutoff_r
+132 Packet Type:<B uint8_t ctrlINDI outerLoopActive
+133 Packet Type:<f float s_pid_attitude roll_kp
+134 Packet Type:<f float s_pid_attitude roll_ki
+135 Packet Type:<f float s_pid_attitude roll_kd
+136 Packet Type:<f float s_pid_attitude pitch_kp
+137 Packet Type:<f float s_pid_attitude pitch_ki
+138 Packet Type:<f float s_pid_attitude pitch_kd
+139 Packet Type:<f float s_pid_attitude yaw_kp
+140 Packet Type:<f float s_pid_attitude yaw_ki
+141 Packet Type:<f float s_pid_attitude yaw_kd
+142 Packet Type:<f float s_pid_rate roll_kp
+143 Packet Type:<f float s_pid_rate roll_ki
+144 Packet Type:<f float s_pid_rate roll_kd
+145 Packet Type:<f float s_pid_rate pitch_kp
+146 Packet Type:<f float s_pid_rate pitch_ki
+147 Packet Type:<f float s_pid_rate pitch_kd
+148 Packet Type:<f float s_pid_rate yaw_kp
+149 Packet Type:<f float s_pid_rate yaw_ki
+150 Packet Type:<f float s_pid_rate yaw_kd
+151 Packet Type:<B uint8_t ctrlStdnt tiltComp
+152 Packet Type:<B uint8_t ctrlStdnt TEST_PARAM
+153 Packet Type:<B uint8_t motorPowerSet enable
+154 Packet Type:<H uint16_t motorPowerSet m1
+155 Packet Type:<H uint16_t motorPowerSet m2
+156 Packet Type:<H uint16_t motorPowerSet m3
+157 Packet Type:<H uint16_t motorPowerSet m4
+158 Packet Type:<L uint32_t powerDist idleThrust
+159 Packet Type:<B uint8_t colAv enable
+160 Packet Type:<f float colAv ellipsoidX
+161 Packet Type:<f float colAv ellipsoidY
+162 Packet Type:<f float colAv ellipsoidZ
+163 Packet Type:<f float colAv bboxMinX
+164 Packet Type:<f float colAv bboxMinY
+165 Packet Type:<f float colAv bboxMinZ
+166 Packet Type:<f float colAv bboxMaxX
+167 Packet Type:<f float colAv bboxMaxY
+168 Packet Type:<f float colAv bboxMaxZ
+169 Packet Type:<f float colAv horizon
+170 Packet Type:<f float colAv maxSpeed
+171 Packet Type:<f float colAv sidestepThrsh
+172 Packet Type:<i int32_t colAv maxPeerLocAge
+173 Packet Type:<f float colAv vorTol
+174 Packet Type:<i int32_t colAv vorIters
+175 Packet Type:<B uint8_t health startPropTest
+176 Packet Type:<B uint8_t health startBatTest
+177 Packet Type:<B uint8_t kalman resetEstimation
+178 Packet Type:<B uint8_t kalman quadIsFlying
+179 Packet Type:<B uint8_t kalman robustTdoa
+180 Packet Type:<B uint8_t kalman robustTwr
+181 Packet Type:<f float kalman pNAcc_xy
+182 Packet Type:<f float kalman pNAcc_z
+183 Packet Type:<f float kalman pNVel
+184 Packet Type:<f float kalman pNPos
+185 Packet Type:<f float kalman pNAtt
+186 Packet Type:<f float kalman mNBaro
+187 Packet Type:<f float kalman mNGyro_rollpitch
+188 Packet Type:<f float kalman mNGyro_yaw
+189 Packet Type:<f float kalman initialX
+190 Packet Type:<f float kalman initialY
+191 Packet Type:<f float kalman initialZ
+192 Packet Type:<f float kalman initialYaw
+193 Packet Type:<f float kalman maxPos
+194 Packet Type:<f float kalman maxVel
+195 Packet Type:<f float hlCommander vtoff
+196 Packet Type:<f float hlCommander vland
+197 Packet Type:<B uint8_t deck bcLedRing
+209 Packet Type:<B uint8_t deck bcBuzzer
+210 Packet Type:<B uint8_t deck bcGTGPS
+211 Packet Type:<B uint8_t deck bcCPPM
+212 Packet Type:<B uint8_t deck bcUSD
+215 Packet Type:<B uint8_t deck bcZRanger
+216 Packet Type:<B uint8_t deck bcZRanger2
+217 Packet Type:<B uint8_t deck bcDWM1000
+222 Packet Type:<B uint8_t deck bcFlow
+223 Packet Type:<B uint8_t deck bcFlow2
+227 Packet Type:<B uint8_t deck bcOA
+228 Packet Type:<B uint8_t deck bcMultiranger
+229 Packet Type:<B uint8_t deck bcLighthouse4
+236 Packet Type:<B uint8_t deck bcActiveMarker
+237 Packet Type:<B uint8_t deck bcAIDeck
+198 Packet Type:<B uint8_t ring effect
+199 Packet Type:<L uint32_t ring neffect
+200 Packet Type:<B uint8_t ring solidRed
+201 Packet Type:<B uint8_t ring solidGreen
+202 Packet Type:<B uint8_t ring solidBlue
+203 Packet Type:<B uint8_t ring headlightEnable
+204 Packet Type:<f float ring emptyCharge
+205 Packet Type:<f float ring fullCharge
+206 Packet Type:<L uint32_t ring fadeColor
+207 Packet Type:<f float ring fadeTime
+213 Packet Type:<B uint8_t usd canLog
+214 Packet Type:<B uint8_t usd logging
+218 Packet Type:<B uint8_t loco mode
+219 Packet Type:<B uint8_t tdoaEngine logId
+220 Packet Type:<B uint8_t tdoaEngine logOthrId
+221 Packet Type:<B uint8_t tdoaEngine matchAlgo
+224 Packet Type:<B uint8_t motion disable
+225 Packet Type:<B uint8_t motion adaptive
+226 Packet Type:<f float motion flowStdFixed
+230 Packet Type:<B uint8_t activeMarker front
+231 Packet Type:<B uint8_t activeMarker back
+232 Packet Type:<B uint8_t activeMarker left
+233 Packet Type:<B uint8_t activeMarker right
+234 Packet Type:<B uint8_t activeMarker mode
+235 Packet Type:<B uint8_t activeMarker poll
+238 Packet Type:<L uint32_t firmware revision0
+239 Packet Type:<H uint16_t firmware revision1
+240 Packet Type:<B uint8_t firmware modified
+241 Packet Type:<B uint8_t lighthouse method
+242 Packet Type:<B uint8_t lighthouse bsCalibReset
+243 Packet Type:<B uint8_t lighthouse systemType
+244 Packet Type:<f float lighthouse sweepStd
+245 Packet Type:<f float lighthouse sweepStd2
diff --git a/cflib_groundstation/logs/cflie1_Param_toc_2023_11_08_22:21:09.txt b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_08_22:21:09.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bf1818c25d9c031e81510ce600f8a89c6290a2f9
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_08_22:21:09.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_log_toc_2023_11_05_23:26:50.txt b/cflib_groundstation/logs/cflie1_log_toc_2023_11_05_23:26:50.txt
deleted file mode 100644
index 989603c59ba308286d0cc0c4fb7202d4443ec37c..0000000000000000000000000000000000000000
--- a/cflib_groundstation/logs/cflie1_log_toc_2023_11_05_23:26:50.txt
+++ /dev/null
@@ -1,2 +0,0 @@
-Log ID Type Group Identifier Name
-0 8 gyro xRaw1 8 gyro yRaw2 8 gyro zRaw3 8 gyro xVariance4 8 gyro yVariance5 8 gyro zVariance6 8 gyro x7 8 gyro y8 8 gyro z9 8 pwm m1_pwm10 8 pwm m2_pwm11 8 pwm m3_pwm12 8 pwm m4_pwm13 8 crtp rxRate14 8 crtp txRate15 8 pm vbat16 8 pm vbatMV17 8 pm extVbat18 8 pm extVbatMV19 8 pm extCurr20 8 pm chargeCurrent21 8 pm state22 8 pm batteryLevel23 8 radio rssi24 8 radio isConnected25 8 sys armed26 8 sys canfly27 8 sys isFlying28 8 sys isTumbled29 8 extrx ch030 8 extrx ch131 8 extrx ch232 8 extrx ch333 8 extrx thrust34 8 extrx roll35 8 extrx pitch36 8 extrx yaw37 8 memTst errCntW38 8 range front39 8 range back40 8 range up41 8 range left42 8 range right43 8 range zrange44 8 ext_pos X45 8 ext_pos Y46 8 ext_pos Z47 8 locSrv x48 8 locSrv y49 8 locSrv z50 8 locSrv qx51 8 locSrv qy52 8 locSrv qz53 8 locSrv qw54 8 locSrvZ tick55 8 pid_attitude roll_outP56 8 pid_attitude roll_outI57 8 pid_attitude roll_outD58 8 pid_attitude pitch_outP59 8 pid_attitude pitch_outI60 8 pid_attitude pitch_outD61 8 pid_attitude yaw_outP62 8 pid_attitude yaw_outI63 8 pid_attitude yaw_outD64 8 pid_rate roll_outP65 8 pid_rate roll_outI66 8 pid_rate roll_outD67 8 pid_rate pitch_outP68 8 pid_rate pitch_outI69 8 pid_rate pitch_outD70 8 pid_rate yaw_outP71 8 pid_rate yaw_outI72 8 pid_rate yaw_outD73 8 sensfusion6 qw74 8 sensfusion6 qx75 8 sensfusion6 qy76 8 sensfusion6 qz77 8 sensfusion6 gravityX78 8 sensfusion6 gravityY79 8 sensfusion6 gravityZ80 8 sensfusion6 accZbase81 8 sensfusion6 isInit82 8 sensfusion6 isCalibrated83 8 acc x84 8 acc y85 8 acc z86 8 baro asl87 8 baro temp88 8 baro pressure89 8 controller ctr_yaw90 8 controller cmd_thrust91 8 controller cmd_roll92 8 controller cmd_pitch93 8 controller cmd_yaw94 8 controller r_roll95 8 controller r_pitch96 8 controller r_yaw97 8 controller accelz98 8 controller actuatorThrust99 8 controller roll100 8 controller pitch101 8 controller yaw102 8 controller rollRate103 8 controller pitchRate104 8 controller yawRate105 8 ctrltarget x106 8 ctrltarget y107 8 ctrltarget z108 8 ctrltarget vx109 8 ctrltarget vy110 8 ctrltarget vz111 8 ctrltarget ax112 8 ctrltarget ay113 8 ctrltarget az114 8 ctrltarget roll115 8 ctrltarget pitch116 8 ctrltarget yaw117 8 ctrltargetZ x118 8 ctrltargetZ y119 8 ctrltargetZ z120 8 ctrltargetZ vx121 8 ctrltargetZ vy122 8 ctrltargetZ vz123 8 ctrltargetZ ax124 8 ctrltargetZ ay125 8 ctrltargetZ az126 8 mag x127 8 mag y128 8 mag z129 8 stabilizer roll130 8 stabilizer pitch131 8 stabilizer yaw132 8 stabilizer thrust133 8 stabilizer rtStab134 8 stabilizer intToOut135 8 stateEstimate x136 8 stateEstimate y137 8 stateEstimate z138 8 stateEstimate vx139 8 stateEstimate vy140 8 stateEstimate vz141 8 stateEstimate ax142 8 stateEstimate ay143 8 stateEstimate az144 8 stateEstimate roll145 8 stateEstimate pitch146 8 stateEstimate yaw147 8 stateEstimate qx148 8 stateEstimate qy149 8 stateEstimate qz150 8 stateEstimate qw151 8 stateEstimateZ x152 8 stateEstimateZ y153 8 stateEstimateZ z154 8 stateEstimateZ vx155 8 stateEstimateZ vy156 8 stateEstimateZ vz157 8 stateEstimateZ ax158 8 stateEstimateZ ay159 8 stateEstimateZ az160 8 stateEstimateZ quat161 8 stateEstimateZ rateRoll162 8 stateEstimateZ ratePitch163 8 stateEstimateZ rateYaw164 8 posEstAlt estimatedZ165 8 posEstAlt estVZ166 8 posEstAlt velocityZ167 8 posCtl targetVX168 8 posCtl targetVY169 8 posCtl targetVZ170 8 posCtl targetX171 8 posCtl targetY172 8 posCtl targetZ173 8 posCtl Xp174 8 posCtl Xi175 8 posCtl Xd176 8 posCtl Yp177 8 posCtl Yi178 8 posCtl Yd179 8 posCtl Zp180 8 posCtl Zi181 8 posCtl Zd182 8 posCtl VXp183 8 posCtl VXi184 8 posCtl VXd185 8 posCtl VZp186 8 posCtl VZi187 8 posCtl VZd188 8 posCtrlIndi posRef_x189 8 posCtrlIndi posRef_y190 8 posCtrlIndi posRef_z191 8 posCtrlIndi velS_x192 8 posCtrlIndi velS_y193 8 posCtrlIndi velS_z194 8 posCtrlIndi velRef_x195 8 posCtrlIndi velRef_y196 8 posCtrlIndi velRef_z197 8 posCtrlIndi angS_roll198 8 posCtrlIndi angS_pitch199 8 posCtrlIndi angS_yaw200 8 posCtrlIndi angF_roll201 8 posCtrlIndi angF_pitch202 8 posCtrlIndi angF_yaw203 8 posCtrlIndi accRef_x204 8 posCtrlIndi accRef_y205 8 posCtrlIndi accRef_z206 8 posCtrlIndi accS_x207 8 posCtrlIndi accS_y208 8 posCtrlIndi accS_z209 8 posCtrlIndi accF_x210 8 posCtrlIndi accF_y211 8 posCtrlIndi accF_z212 8 posCtrlIndi accFT_x213 8 posCtrlIndi accFT_y214 8 posCtrlIndi accFT_z215 8 posCtrlIndi accErr_x216 8 posCtrlIndi accErr_y217 8 posCtrlIndi accErr_z218 8 posCtrlIndi phi_tilde219 8 posCtrlIndi theta_tilde220 8 posCtrlIndi T_tilde221 8 posCtrlIndi T_inner222 8 posCtrlIndi T_inner_f223 8 posCtrlIndi T_incremented224 8 posCtrlIndi cmd_phi225 8 posCtrlIndi cmd_theta226 8 estimator rtApnd227 8 estimator rtRej228 8 ctrlMel cmd_thrust229 8 ctrlMel cmd_roll230 8 ctrlMel cmd_pitch231 8 ctrlMel cmd_yaw232 8 ctrlMel r_roll233 8 ctrlMel r_pitch234 8 ctrlMel r_yaw235 8 ctrlMel accelz236 8 ctrlMel zdx237 8 ctrlMel zdy238 8 ctrlMel zdz239 8 ctrlMel i_err_x240 8 ctrlMel i_err_y241 8 ctrlMel i_err_z242 8 ctrlINDI cmd_thrust243 8 ctrlINDI cmd_roll244 8 ctrlINDI cmd_pitch245 8 ctrlINDI cmd_yaw246 8 ctrlINDI r_roll247 8 ctrlINDI r_pitch248 8 ctrlINDI r_yaw249 8 ctrlINDI u_act_dyn_p250 8 ctrlINDI u_act_dyn_q251 8 ctrlINDI u_act_dyn_r252 8 ctrlINDI du_p253 8 ctrlINDI du_q254 8 ctrlINDI du_r255 8 ctrlINDI ang_accel_ref_p256 8 ctrlINDI ang_accel_ref_q257 8 ctrlINDI ang_accel_ref_r258 8 ctrlINDI rate_d[0]259 8 ctrlINDI rate_d[1]260 8 ctrlINDI rate_d[2]261 8 ctrlINDI uf_p262 8 ctrlINDI uf_q263 8 ctrlINDI uf_r264 8 ctrlINDI Omega_f_p265 8 ctrlINDI Omega_f_q266 8 ctrlINDI Omega_f_r267 8 ctrlINDI n_p268 8 ctrlINDI n_q269 8 ctrlINDI n_r270 8 s_pid_attitude roll_outP271 8 s_pid_attitude roll_outI272 8 s_pid_attitude roll_outD273 8 s_pid_attitude pitch_outP274 8 s_pid_attitude pitch_outI275 8 s_pid_attitude pitch_outD276 8 s_pid_attitude yaw_outP277 8 s_pid_attitude yaw_outI278 8 s_pid_attitude yaw_outD279 8 s_pid_rate roll_outP280 8 s_pid_rate roll_outI281 8 s_pid_rate roll_outD282 8 s_pid_rate pitch_outP283 8 s_pid_rate pitch_outI284 8 s_pid_rate pitch_outD285 8 s_pid_rate yaw_outP286 8 s_pid_rate yaw_outI287 8 s_pid_rate yaw_outD288 8 ctrlStdnt cmd_thrust289 8 ctrlStdnt cmd_roll290 8 ctrlStdnt cmd_pitch291 8 ctrlStdnt cmd_yaw292 8 ctrlStdnt r_roll293 8 ctrlStdnt r_pitch294 8 ctrlStdnt r_yaw295 8 ctrlStdnt accelz296 8 ctrlStdnt thrustDesired297 8 ctrlStdnt roll298 8 ctrlStdnt pitch299 8 ctrlStdnt yaw300 8 ctrlStdnt rollRate301 8 ctrlStdnt pitchRate302 8 ctrlStdnt yawRate303 8 motor m1304 8 motor m2305 8 motor m3306 8 motor m4307 8 colAv latency308 8 health motorVarXM1309 8 health motorVarYM1310 8 health motorVarXM2311 8 health motorVarYM2312 8 health motorVarXM3313 8 health motorVarYM3314 8 health motorVarXM4315 8 health motorVarYM4316 8 health motorPass317 8 health batterySag318 8 health batteryPass319 8 health motorTestCount320 8 kalman inFlight321 8 kalman stateX322 8 kalman stateY323 8 kalman stateZ324 8 kalman statePX325 8 kalman statePY326 8 kalman statePZ327 8 kalman stateD0328 8 kalman stateD1329 8 kalman stateD2330 8 kalman varX331 8 kalman varY332 8 kalman varZ333 8 kalman varPX334 8 kalman varPY335 8 kalman varPZ336 8 kalman varD0337 8 kalman varD1338 8 kalman varD2339 8 kalman q0340 8 kalman q1341 8 kalman q2342 8 kalman q3343 8 kalman rtUpdate344 8 kalman rtPred345 8 kalman rtFinal346 8 outlierf lhWin347 8 outlierf bucket0348 8 outlierf bucket1349 8 outlierf bucket2350 8 outlierf bucket3351 8 outlierf bucket4352 8 outlierf accLev353 8 outlierf errD354 8 kalman_pred predNX355 8 kalman_pred predNY356 8 kalman_pred measNX357 8 kalman_pred measNY358 8 ring fadeTime359 8 gps lat360 8 gps lon361 8 gps hMSL362 8 gps hAcc363 8 gps nsat364 8 gps fix365 8 usd spiWrBps366 8 usd spiReBps367 8 usd fatWrBps368 8 loco mode369 8 loco spiWr370 8 loco spiRe371 8 ranging state372 8 ranging distance0373 8 ranging distance1374 8 ranging distance2375 8 ranging distance3376 8 ranging distance4377 8 ranging distance5378 8 ranging distance6379 8 ranging distance7380 8 ranging pressure0381 8 ranging pressure1382 8 ranging pressure2383 8 ranging pressure3384 8 ranging pressure4385 8 ranging pressure5386 8 ranging pressure6387 8 ranging pressure7388 8 twr rangingSuccessRate0389 8 twr rangingPerSec0390 8 twr rangingSuccessRate1391 8 twr rangingPerSec1392 8 twr rangingSuccessRate2393 8 twr rangingPerSec2394 8 twr rangingSuccessRate3395 8 twr rangingPerSec3396 8 twr rangingSuccessRate4397 8 twr rangingPerSec4398 8 twr rangingSuccessRate5399 8 twr rangingPerSec5400 8 tdoa2 d7-0401 8 tdoa2 d0-1402 8 tdoa2 d1-2403 8 tdoa2 d2-3404 8 tdoa2 d3-4405 8 tdoa2 d4-5406 8 tdoa2 d5-6407 8 tdoa2 d6-7408 8 tdoa2 cc0409 8 tdoa2 cc1410 8 tdoa2 cc2411 8 tdoa2 cc3412 8 tdoa2 cc4413 8 tdoa2 cc5414 8 tdoa2 cc6415 8 tdoa2 cc7416 8 tdoa2 dist7-0417 8 tdoa2 dist0-1418 8 tdoa2 dist1-2419 8 tdoa2 dist2-3420 8 tdoa2 dist3-4421 8 tdoa2 dist4-5422 8 tdoa2 dist5-6423 8 tdoa2 dist6-7424 8 tdoaEngine stRx425 8 tdoaEngine stEst426 8 tdoaEngine stTime427 8 tdoaEngine stFound428 8 tdoaEngine stCc429 8 tdoaEngine stHit430 8 tdoaEngine stMiss431 8 tdoaEngine cc432 8 tdoaEngine tof433 8 tdoaEngine tdoa434 8 motion motion435 8 motion deltaX436 8 motion deltaY437 8 motion shutter438 8 motion maxRaw439 8 motion minRaw440 8 motion Rawsum441 8 motion outlierCount442 8 motion squal443 8 motion std444 8 oa front445 8 oa back446 8 oa up447 8 oa left448 8 oa right449 8 activeMarker btSns450 8 activeMarker i2cOk451 8 aideck receivebyte452 8 lighthouse validAngles453 8 lighthouse rawAngle0x454 8 lighthouse rawAngle0y455 8 lighthouse rawAngle1x456 8 lighthouse rawAngle1y457 8 lighthouse angle0x458 8 lighthouse angle0y459 8 lighthouse angle1x460 8 lighthouse angle1y461 8 lighthouse angle0x_1462 8 lighthouse angle0y_1463 8 lighthouse angle1x_1464 8 lighthouse angle1y_1465 8 lighthouse angle0x_2466 8 lighthouse angle0y_2467 8 lighthouse angle1x_2468 8 lighthouse angle1y_2469 8 lighthouse angle0x_3470 8 lighthouse angle0y_3471 8 lighthouse angle1x_3472 8 lighthouse angle1y_3473 8 lighthouse rawAngle0xlh2474 8 lighthouse rawAngle0ylh2475 8 lighthouse rawAngle1xlh2476 8 lighthouse rawAngle1ylh2477 8 lighthouse angle0x_0lh2478 8 lighthouse angle0y_0lh2479 8 lighthouse angle1x_0lh2480 8 lighthouse angle1y_0lh2481 8 lighthouse serRt482 8 lighthouse frmRt483 8 lighthouse cycleRt484 8 lighthouse bs0Rt485 8 lighthouse bs1Rt486 8 lighthouse width0487 8 lighthouse width1488 8 lighthouse width2489 8 lighthouse width3490 8 lighthouse comSync491 8 lighthouse bsReceive492 8 lighthouse bsActive493 8 lighthouse bsCalUd494 8 lighthouse bsCalCon495 8 lighthouse status496 8 lighthouse posRt497 8 lighthouse estBs0Rt498 8 lighthouse estBs1Rt499 8 lighthouse x500 8 lighthouse y501 8 lighthouse z502 8 lighthouse delta503 8 lighthouse bsGeoVal504 8 lighthouse bsCalVal
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_log_toc_2023_11_05_23:27:20.txt b/cflib_groundstation/logs/cflie1_log_toc_2023_11_05_23:27:20.txt
deleted file mode 100644
index 2efafbe299f0a4621129c456835f9717109db356..0000000000000000000000000000000000000000
--- a/cflib_groundstation/logs/cflie1_log_toc_2023_11_05_23:27:20.txt
+++ /dev/null
@@ -1,506 +0,0 @@
-Log ID Type Group Identifier Name
-0 8 gyro xRaw
-1 8 gyro yRaw
-2 8 gyro zRaw
-3 8 gyro xVariance
-4 8 gyro yVariance
-5 8 gyro zVariance
-6 8 gyro x
-7 8 gyro y
-8 8 gyro z
-9 8 pwm m1_pwm
-10 8 pwm m2_pwm
-11 8 pwm m3_pwm
-12 8 pwm m4_pwm
-13 8 crtp rxRate
-14 8 crtp txRatetoc[i]
-15 8 pm vbat
-16 8 pm vbatMV
-17 8 pm extVbat
-18 8 pm extVbatMV
-19 8 pm extCurr
-20 8 pm chargeCurrent
-21 8 pm state
-22 8 pm batteryLevel
-23 8 radio rssi
-24 8 radio isConnected
-25 8 sys armed
-26 8 sys canfly
-27 8 sys isFlying
-28 8 sys isTumbled
-29 8 extrx ch0
-30 8 extrx ch1
-31 8 extrx ch2
-32 8 extrx ch3
-33 8 extrx thrust
-34 8 extrx roll
-35 8 extrx pitch
-36 8 extrx yaw
-37 8 memTst errCntW
-38 8 range front
-39 8 range back
-40 8 range up
-41 8 range left
-42 8 range right
-43 8 range zrange
-44 8 ext_pos X
-45 8 ext_pos Y
-46 8 ext_pos Z
-47 8 locSrv x
-48 8 locSrv y
-49 8 locSrv z
-50 8 locSrv qx
-51 8 locSrv qy
-52 8 locSrv qz
-53 8 locSrv qw
-54 8 locSrvZ tick
-55 8 pid_attitude roll_outP
-56 8 pid_attitude roll_outI
-57 8 pid_attitude roll_outD
-58 8 pid_attitude pitch_outP
-59 8 pid_attitude pitch_outI
-60 8 pid_attitude pitch_outD
-61 8 pid_attitude yaw_outP
-62 8 pid_attitude yaw_outI
-63 8 pid_attitude yaw_outD
-64 8 pid_rate roll_outP
-65 8 pid_rate roll_outI
-66 8 pid_rate roll_outD
-67 8 pid_rate pitch_outP
-68 8 pid_rate pitch_outI
-69 8 pid_rate pitch_outD
-70 8 pid_rate yaw_outP
-71 8 pid_rate yaw_outI
-72 8 pid_rate yaw_outD
-73 8 sensfusion6 qw
-74 8 sensfusion6 qx
-75 8 sensfusion6 qy
-76 8 sensfusion6 qz
-77 8 sensfusion6 gravityX
-78 8 sensfusion6 gravityY
-79 8 sensfusion6 gravityZ
-80 8 sensfusion6 accZbase
-81 8 sensfusion6 isInit
-82 8 sensfusion6 isCalibrated
-83 8 acc x
-84 8 acc y
-85 8 acc z
-86 8 baro asl
-87 8 baro temp
-88 8 baro pressure
-89 8 controller ctr_yaw
-90 8 controller cmd_thrust
-91 8 controller cmd_roll
-92 8 controller cmd_pitch
-93 8 controller cmd_yaw
-94 8 controller r_roll
-95 8 controller r_pitch
-96 8 controller r_yaw
-97 8 controller accelz
-98 8 controller actuatorThrust
-99 8 controller roll
-100 8 controller pitch
-101 8 controller yaw
-102 8 controller rollRate
-103 8 controller pitchRate
-104 8 controller yawRate
-105 8 ctrltarget x
-106 8 ctrltarget y
-107 8 ctrltarget z
-108 8 ctrltarget vx
-109 8 ctrltarget vy
-110 8 ctrltarget vz
-111 8 ctrltarget ax
-112 8 ctrltarget ay
-113 8 ctrltarget az
-114 8 ctrltarget roll
-115 8 ctrltarget pitch
-116 8 ctrltarget yaw
-117 8 ctrltargetZ x
-118 8 ctrltargetZ y
-119 8 ctrltargetZ z
-120 8 ctrltargetZ vx
-121 8 ctrltargetZ vy
-122 8 ctrltargetZ vz
-123 8 ctrltargetZ ax
-124 8 ctrltargetZ ay
-125 8 ctrltargetZ az
-126 8 mag x
-127 8 mag y
-128 8 mag z
-129 8 stabilizer roll
-130 8 stabilizer pitch
-131 8 stabilizer yaw
-132 8 stabilizer thrust
-133 8 stabilizer rtStab
-134 8 stabilizer intToOut
-135 8 stateEstimate x
-136 8 stateEstimate y
-137 8 stateEstimate z
-138 8 stateEstimate vx
-139 8 stateEstimate vy
-140 8 stateEstimate vz
-141 8 stateEstimate ax
-142 8 stateEstimate ay
-143 8 stateEstimate az
-144 8 stateEstimate roll
-145 8 stateEstimate pitch
-146 8 stateEstimate yaw
-147 8 stateEstimate qx
-148 8 stateEstimate qy
-149 8 stateEstimate qz
-150 8 stateEstimate qw
-151 8 stateEstimateZ x
-152 8 stateEstimateZ y
-153 8 stateEstimateZ z
-154 8 stateEstimateZ vx
-155 8 stateEstimateZ vy
-156 8 stateEstimateZ vz
-157 8 stateEstimateZ ax
-158 8 stateEstimateZ ay
-159 8 stateEstimateZ az
-160 8 stateEstimateZ quat
-161 8 stateEstimateZ rateRoll
-162 8 stateEstimateZ ratePitch
-163 8 stateEstimateZ rateYaw
-164 8 posEstAlt estimatedZ
-165 8 posEstAlt estVZ
-166 8 posEstAlt velocityZ
-167 8 posCtl targetVX
-168 8 posCtl targetVY
-169 8 posCtl targetVZ
-170 8 posCtl targetX
-171 8 posCtl targetY
-172 8 posCtl targetZ
-173 8 posCtl Xp
-174 8 posCtl Xi
-175 8 posCtl Xd
-176 8 posCtl Yp
-177 8 posCtl Yi
-178 8 posCtl Yd
-179 8 posCtl Zp
-180 8 posCtl Zi
-181 8 posCtl Zd
-182 8 posCtl VXp
-183 8 posCtl VXi
-184 8 posCtl VXd
-185 8 posCtl VZp
-186 8 posCtl VZi
-187 8 posCtl VZd
-188 8 posCtrlIndi posRef_x
-189 8 posCtrlIndi posRef_y
-190 8 posCtrlIndi posRef_z
-191 8 posCtrlIndi velS_x
-192 8 posCtrlIndi velS_y
-193 8 posCtrlIndi velS_z
-194 8 posCtrlIndi velRef_x
-195 8 posCtrlIndi velRef_y
-196 8 posCtrlIndi velRef_z
-197 8 posCtrlIndi angS_roll
-198 8 posCtrlIndi angS_pitch
-199 8 posCtrlIndi angS_yaw
-200 8 posCtrlIndi angF_roll
-201 8 posCtrlIndi angF_pitch
-202 8 posCtrlIndi angF_yaw
-203 8 posCtrlIndi accRef_x
-204 8 posCtrlIndi accRef_y
-205 8 posCtrlIndi accRef_z
-206 8 posCtrlIndi accS_x
-207 8 posCtrlIndi accS_y
-208 8 posCtrlIndi accS_z
-209 8 posCtrlIndi accF_x
-210 8 posCtrlIndi accF_y
-211 8 posCtrlIndi accF_z
-212 8 posCtrlIndi accFT_x
-213 8 posCtrlIndi accFT_y
-214 8 posCtrlIndi accFT_z
-215 8 posCtrlIndi accErr_x
-216 8 posCtrlIndi accErr_y
-217 8 posCtrlIndi accErr_z
-218 8 posCtrlIndi phi_tilde
-219 8 posCtrlIndi theta_tilde
-220 8 posCtrlIndi T_tilde
-221 8 posCtrlIndi T_inner
-222 8 posCtrlIndi T_inner_f
-223 8 posCtrlIndi T_incremented
-224 8 posCtrlIndi cmd_phi
-225 8 posCtrlIndi cmd_theta
-226 8 estimator rtApnd
-227 8 estimator rtRej
-228 8 ctrlMel cmd_thrust
-229 8 ctrlMel cmd_roll
-230 8 ctrlMel cmd_pitch
-231 8 ctrlMel cmd_yaw
-232 8 ctrlMel r_roll
-233 8 ctrlMel r_pitch
-234 8 ctrlMel r_yaw
-235 8 ctrlMel accelz
-236 8 ctrlMel zdx
-237 8 ctrlMel zdy
-238 8 ctrlMel zdz
-239 8 ctrlMel i_err_x
-240 8 ctrlMel i_err_y
-241 8 ctrlMel i_err_z
-242 8 ctrlINDI cmd_thrust
-243 8 ctrlINDI cmd_roll
-244 8 ctrlINDI cmd_pitch
-245 8 ctrlINDI cmd_yaw
-246 8 ctrlINDI r_roll
-247 8 ctrlINDI r_pitch
-248 8 ctrlINDI r_yaw
-249 8 ctrlINDI u_act_dyn_p
-250 8 ctrlINDI u_act_dyn_q
-251 8 ctrlINDI u_act_dyn_r
-252 8 ctrlINDI du_p
-253 8 ctrlINDI du_q
-254 8 ctrlINDI du_r
-255 8 ctrlINDI ang_accel_ref_p
-256 8 ctrlINDI ang_accel_ref_q
-257 8 ctrlINDI ang_accel_ref_r
-258 8 ctrlINDI rate_d[0]
-259 8 ctrlINDI rate_d[1]
-260 8 ctrlINDI rate_d[2]
-261 8 ctrlINDI uf_p
-262 8 ctrlINDI uf_q
-263 8 ctrlINDI uf_r
-264 8 ctrlINDI Omega_f_p
-265 8 ctrlINDI Omega_f_q
-266 8 ctrlINDI Omega_f_r
-267 8 ctrlINDI n_p
-268 8 ctrlINDI n_q
-269 8 ctrlINDI n_r
-270 8 s_pid_attitude roll_outP
-271 8 s_pid_attitude roll_outI
-272 8 s_pid_attitude roll_outD
-273 8 s_pid_attitude pitch_outP
-274 8 s_pid_attitude pitch_outI
-275 8 s_pid_attitude pitch_outD
-276 8 s_pid_attitude yaw_outP
-277 8 s_pid_attitude yaw_outI
-278 8 s_pid_attitude yaw_outD
-279 8 s_pid_rate roll_outP
-280 8 s_pid_rate roll_outI
-281 8 s_pid_rate roll_outD
-282 8 s_pid_rate pitch_outP
-283 8 s_pid_rate pitch_outI
-284 8 s_pid_rate pitch_outD
-285 8 s_pid_rate yaw_outP
-286 8 s_pid_rate yaw_outI
-287 8 s_pid_rate yaw_outD
-288 8 ctrlStdnt cmd_thrust
-289 8 ctrlStdnt cmd_roll
-290 8 ctrlStdnt cmd_pitch
-291 8 ctrlStdnt cmd_yaw
-292 8 ctrlStdnt r_roll
-293 8 ctrlStdnt r_pitch
-294 8 ctrlStdnt r_yaw
-295 8 ctrlStdnt accelz
-296 8 ctrlStdnt thrustDesired
-297 8 ctrlStdnt roll
-298 8 ctrlStdnt pitch
-299 8 ctrlStdnt yaw
-300 8 ctrlStdnt rollRate
-301 8 ctrlStdnt pitchRate
-302 8 ctrlStdnt yawRate
-303 8 motor m1
-304 8 motor m2
-305 8 motor m3
-306 8 motor m4
-307 8 colAv latency
-308 8 health motorVarXM1
-309 8 health motorVarYM1
-310 8 health motorVarXM2
-311 8 health motorVarYM2
-312 8 health motorVarXM3
-313 8 health motorVarYM3
-314 8 health motorVarXM4
-315 8 health motorVarYM4
-316 8 health motorPass
-317 8 health batterySag
-318 8 health batteryPass
-319 8 health motorTestCount
-320 8 kalman inFlight
-321 8 kalman stateX
-322 8 kalman stateY
-323 8 kalman stateZ
-324 8 kalman statePX
-325 8 kalman statePY
-326 8 kalman statePZ
-327 8 kalman stateD0
-328 8 kalman stateD1
-329 8 kalman stateD2
-330 8 kalman varX
-331 8 kalman varY
-332 8 kalman varZ
-333 8 kalman varPX
-334 8 kalman varPY
-335 8 kalman varPZ
-336 8 kalman varD0
-337 8 kalman varD1
-338 8 kalman varD2
-339 8 kalman q0
-340 8 kalman q1
-341 8 kalman q2
-342 8 kalman q3
-343 8 kalman rtUpdate
-344 8 kalman rtPred
-345 8 kalman rtFinal
-346 8 outlierf lhWin
-347 8 outlierf bucket0
-348 8 outlierf bucket1
-349 8 outlierf bucket2
-350 8 outlierf bucket3
-351 8 outlierf bucket4
-352 8 outlierf accLev
-353 8 outlierf errD
-354 8 kalman_pred predNX
-355 8 kalman_pred predNY
-356 8 kalman_pred measNX
-357 8 kalman_pred measNY
-358 8 ring fadeTime
-359 8 gps lat
-360 8 gps lon
-361 8 gps hMSL
-362 8 gps hAcc
-363 8 gps nsat
-364 8 gps fix
-365 8 usd spiWrBps
-366 8 usd spiReBps
-367 8 usd fatWrBps
-368 8 loco mode
-369 8 loco spiWr
-370 8 loco spiRe
-371 8 ranging state
-372 8 ranging distance0
-373 8 ranging distance1
-374 8 ranging distance2
-375 8 ranging distance3
-376 8 ranging distance4
-377 8 ranging distance5
-378 8 ranging distance6
-379 8 ranging distance7
-380 8 ranging pressure0
-381 8 ranging pressure1
-382 8 ranging pressure2
-383 8 ranging pressure3
-384 8 ranging pressure4
-385 8 ranging pressure5
-386 8 ranging pressure6
-387 8 ranging pressure7
-388 8 twr rangingSuccessRate0
-389 8 twr rangingPerSec0
-390 8 twr rangingSuccessRate1
-391 8 twr rangingPerSec1
-392 8 twr rangingSuccessRate2
-393 8 twr rangingPerSec2
-394 8 twr rangingSuccessRate3
-395 8 twr rangingPerSec3
-396 8 twr rangingSuccessRate4
-397 8 twr rangingPerSec4
-398 8 twr rangingSuccessRate5
-399 8 twr rangingPerSec5
-400 8 tdoa2 d7-0
-401 8 tdoa2 d0-1
-402 8 tdoa2 d1-2
-403 8 tdoa2 d2-3
-404 8 tdoa2 d3-4
-405 8 tdoa2 d4-5
-406 8 tdoa2 d5-6
-407 8 tdoa2 d6-7
-408 8 tdoa2 cc0
-409 8 tdoa2 cc1
-410 8 tdoa2 cc2
-411 8 tdoa2 cc3
-412 8 tdoa2 cc4
-413 8 tdoa2 cc5
-414 8 tdoa2 cc6
-415 8 tdoa2 cc7
-416 8 tdoa2 dist7-0
-417 8 tdoa2 dist0-1
-418 8 tdoa2 dist1-2
-419 8 tdoa2 dist2-3
-420 8 tdoa2 dist3-4
-421 8 tdoa2 dist4-5
-422 8 tdoa2 dist5-6
-423 8 tdoa2 dist6-7
-424 8 tdoaEngine stRx
-425 8 tdoaEngine stEst
-426 8 tdoaEngine stTime
-427 8 tdoaEngine stFound
-428 8 tdoaEngine stCc
-429 8 tdoaEngine stHit
-430 8 tdoaEngine stMiss
-431 8 tdoaEngine cc
-432 8 tdoaEngine tof
-433 8 tdoaEngine tdoa
-434 8 motion motion
-435 8 motion deltaX
-436 8 motion deltaY
-437 8 motion shutter
-438 8 motion maxRaw
-439 8 motion minRaw
-440 8 motion Rawsum
-441 8 motion outlierCount
-442 8 motion squal
-443 8 motion std
-444 8 oa front
-445 8 oa back
-446 8 oa up
-447 8 oa left
-448 8 oa right
-449 8 activeMarker btSns
-450 8 activeMarker i2cOk
-451 8 aideck receivebyte
-452 8 lighthouse validAngles
-453 8 lighthouse rawAngle0x
-454 8 lighthouse rawAngle0y
-455 8 lighthouse rawAngle1x
-456 8 lighthouse rawAngle1y
-457 8 lighthouse angle0x
-458 8 lighthouse angle0y
-459 8 lighthouse angle1x
-460 8 lighthouse angle1y
-461 8 lighthouse angle0x_1
-462 8 lighthouse angle0y_1
-463 8 lighthouse angle1x_1
-464 8 lighthouse angle1y_1
-465 8 lighthouse angle0x_2
-466 8 lighthouse angle0y_2
-467 8 lighthouse angle1x_2
-468 8 lighthouse angle1y_2
-469 8 lighthouse angle0x_3
-470 8 lighthouse angle0y_3
-471 8 lighthouse angle1x_3
-472 8 lighthouse angle1y_3
-473 8 lighthouse rawAngle0xlh2
-474 8 lighthouse rawAngle0ylh2
-475 8 lighthouse rawAngle1xlh2
-476 8 lighthouse rawAngle1ylh2
-477 8 lighthouse angle0x_0lh2
-478 8 lighthouse angle0y_0lh2
-479 8 lighthouse angle1x_0lh2
-480 8 lighthouse angle1y_0lh2
-481 8 lighthouse serRt
-482 8 lighthouse frmRt
-483 8 lighthouse cycleRt
-484 8 lighthouse bs0Rt
-485 8 lighthouse bs1Rt
-486 8 lighthouse width0
-487 8 lighthouse width1
-488 8 lighthouse width2
-489 8 lighthouse width3
-490 8 lighthouse comSync
-491 8 lighthouse bsReceive
-492 8 lighthouse bsActive
-493 8 lighthouse bsCalUd
-494 8 lighthouse bsCalCon
-495 8 lighthouse status
-496 8 lighthouse posRt
-497 8 lighthouse estBs0Rt
-498 8 lighthouse estBs1Rt
-499 8 lighthouse x
-500 8 lighthouse y
-501 8 lighthouse z
-502 8 lighthouse delta
-503 8 lighthouse bsGeoVal
-504 8 lighthouse bsCalVal