Exo x6a Operations Manual
revision 1
1st September 2013
ILat, ILng: inertial nav latitude and longitude from home
Mode (flight mode):
Mode: the flight mode displayed as a string (i.e. STABILIZE, LOITER, etc)
ThrCrs: throttle cruise (from 0 ~ 1000) which is the autopilot‟s best guess as to what throttle is
required to maintain a stable hover
Motors (pwm output to individual motors):
Mot1, Mot2, etc : pwm command sent from flight controller to the esc/motor
NTUN (navigation information):
WPDst: distance to the next waypoint (or loiter target) in cm. Only updated while in Loiter,
RTL, Auto flight modes.
WPBrg:bearing to the next waypoint in degrees
PErX: distance to intermediate target between copter and the next waypoint in the latitude
direction
PErY:distance to intermediate target between copter and the next waypoint in the longitude
direction
DVelX: desired velocity in cm/s in the latitude direction
DVelY: desired velocity in cm/s in the longitude direction
VelX: actual acceler gps velocity estimate in the latitude direction
VelY: actual acceler gps velocity estimate in the longitude direction
DAcX: desired acceleration in cm/s/s in the latitude direction
DAcY: desired acceleration in cm/s/s in the longitude direction
DRol: desired roll angle in centi-degrees
DPit: desired pitch angle in centi-degrees
PM (performance monitoring):
RenCnt: DCM renormalization count – a high number may indicate problems in DCM
(extremely rare)
