mavgraphs.xml

<graphs>
  <graph name="Speed/Ground vs Air Speed">
    <expression>VFR_HUD.groundspeed VFR_HUD.airspeed</expression>
    <expression>GPS[0].Spd GPS[1].Spd CTUN.As ARSP.Airspeed</expression>
    <expression>GPS.Spd CTUN.As ARSP.Airspeed</expression>
    <expression>GPS.Spd ARSP.Airspeed</expression>
    <description>
      This shows the ground speed of the vehicle versus its air speed
    </description>
  </graph>

  <graph name="Speed/Ground vs Corrected AirSpeed">
    <expression>GPS[0].Spd GPS[1].Spd CTUN.As*CTUN.E2T</expression>
    <expression>GPS.Spd CTUN.As*CTUN.E2T</expression>
    <description>Airspeed correction</description>
  </graph>
  
  <graph name="Speed/Ground Speed">
    <expression>VFR_HUD.groundspeed</expression>
    <expression>GPS.Spd</expression>
    <description>
      This shows the ground speed of the vehicle
    </description>
  </graph>
  
  <graph name='Attitude/Roll and Pitch'>
    <description>Roll and Pitch</description>
    <expression>degrees(ATTITUDE.roll) degrees(ATTITUDE.pitch)</expression>
    <expression>ATT.Roll ATT.Pitch</expression>
  </graph>

  <graph name='Attitude/RP Comparison'>
    <description>Roll and pitch comparison between primary and secondary attitude estimator</description>
    <expression>degrees(ATTITUDE.roll) degrees(ATTITUDE.pitch) degrees(AHRS2.roll) degrees(AHRS2.pitch)</expression>
    <expression>ATT.Roll ATT.Pitch AHR2.Roll AHR2.Pitch</expression>
  </graph>
  
  <graph name='Attitude/Attitude Control'>
  <description>Desired versus achieved roll and pitch. This shows you how well the attitude controller are for your aircraft. In a well tuned aircraft the desired and achieved roll and pitch should match to within a couple of degrees for any portion of the flight where stabilisation is enabled.</description>
    <expression>NAV_CONTROLLER_OUTPUT.nav_roll NAV_CONTROLLER_OUTPUT.nav_pitch degrees(ATTITUDE.roll) degrees(ATTITUDE.pitch)</expression>
    <expression>ATT.DesRoll ATT.Roll ATT.DesPitch ATT.Pitch</expression>
    <expression>CTUN.NavRoll CTUN.Roll CTUN.NavPitch CTUN.Pitch</expression>
  </graph>

  <graph name='Attitude/Circular Angle'>
  <description>Total circular angle, as limited by ANGLE_MAX in Copter.</description>
    <expression>sqrt(ATT.Roll*ATT.Roll+ATT.Pitch*ATT.Pitch)</expression>
    <expression>sqrt(CTUN.Roll*CTUN.Roll+CTUN.Pitch*CTUN.Pitch)</expression>
    <expression>degrees(sqrt(ATTITUDE.roll*ATTITUDE.roll+ATTITUDE.pitch*ATTITUDE.Pitch))</expression>
  </graph>

  <graph name='Attitude/Circular Angle Error'>
  <description>Difference between total circular angle, as limited by ANGLE_MAX in Copter, and desired circular angle.</description>
    <expression>sqrt(((ATT.Roll-ATT.DesRoll)**2)+((ATT.Pitch-ATT.DesPitch)**2))</expression>
  </graph>

  <graph name='Sensors/Accelerometer/Accelerometers'>
    <description>Accelerometer Output</description>
    <expression>RAW_IMU.xacc*9.81*0.001 RAW_IMU.yacc*9.81*0.001 RAW_IMU.zacc*9.81*0.001 gravity(RAW_IMU)</expression>
    <expression>IMU[0].AccX IMU[0].AccY IMU[0].AccZ sqrt(IMU[0].AccX**2+IMU[0].AccY**2+IMU[0].AccZ**2)</expression>
    <expression>IMU.AccX IMU.AccY IMU.AccZ sqrt(IMU.AccX**2+IMU.AccY**2+IMU.AccZ**2)</expression>
  </graph>

  <graph name='Sensors/Accelerometer/Accelerometer(2)'>
    <description>Accelerometer Two Output</description>
    <expression>SCALED_IMU2.xacc*9.81*0.001 SCALED_IMU2.yacc*9.81*0.001 SCALED_IMU2.zacc*9.81*0.001</expression>
    <expression>IMU[1].AccX IMU[1].AccY IMU[1].AccZ sqrt(IMU[1].AccX**2+IMU[1].AccY**2+IMU[1].AccZ**2)</expression>
    <expression>IMU2.AccX IMU2.AccY IMU2.AccZ sqrt(IMU2.AccX**2+IMU2.AccY**2+IMU2.AccZ**2)</expression>
  </graph>

  <graph name='Sensors/Accelerometer/Accelerometer(3)'>
    <description>Accelerometer Three Output</description>
    <expression>SCALED_IMU3.xacc*9.81*0.001 SCALED_IMU3.yacc*9.81*0.001 SCALED_IMU3.zacc*9.81*0.001</expression>
    <expression>IMU[2].AccX IMU[2].AccY IMU[2].AccZ sqrt(IMU[2].AccX**2+IMU[2].AccY**2+IMU[2].AccZ**2)</expression>
    <expression>IMU3.AccX IMU3.AccY IMU3.AccZ sqrt(IMU3.AccX**2+IMU3.AccY**2+IMU3.AccZ**2)</expression>
  </graph>
  
  <graph name='Sensors/Accelerometer/Accelerometer Comparison'>
    <description>Accelerometer Comparison</description>
    <expression>
      RAW_IMU.xacc*9.81*0.001 RAW_IMU.yacc*9.81*0.001 RAW_IMU.zacc*9.81*0.001
      SCALED_IMU2.xacc*9.81*0.001 SCALED_IMU2.yacc*9.81*0.001 SCALED_IMU2.zacc*9.81*0.001
      SCALED_IMU3.xacc*9.81*0.001 SCALED_IMU3.yacc*9.81*0.001 SCALED_IMU3.zacc*9.81*0.001
    </expression>
    <expression>
      RAW_IMU.xacc*9.81*0.001 RAW_IMU.yacc*9.81*0.001 RAW_IMU.zacc*9.81*0.001
      SCALED_IMU2.xacc*9.81*0.001 SCALED_IMU2.yacc*9.81*0.001 SCALED_IMU2.zacc*9.81*0.001
    </expression>
    <expression>IMU[0].AccX IMU[0].AccY IMU[0].AccZ IMU[1].AccX IMU[1].AccY IMU[1].AccZ IMU[2].AccX IMU[2].AccY IMU[2].AccZ</expression>
    <expression>IMU[0].AccX IMU[0].AccY IMU[0].AccZ IMU[1].AccX IMU[1].AccY IMU[1].AccZ</expression>
    <expression>IMU.AccX IMU.AccY IMU.AccZ IMU2.AccX IMU2.AccY IMU2.AccZ IMU3.AccX IMU3.AccY IMU3.AccZ</expression>
    <expression>IMU.AccX IMU.AccY IMU.AccZ IMU2.AccX IMU2.AccY IMU2.AccZ</expression>
  </graph>

  <graph name='Sensors/Gyroscope/Gyro 1 XYZ'>
    <description>Gyroscope Output</description>
    <expression>degrees(RAW_IMU.xgyro*0.001) degrees(RAW_IMU.ygyro*0.001) degrees(RAW_IMU.zgyro*0.001)</expression>
    <expression>IMU[0].GyrX IMU[0].GyrY IMU[0].GyrZ</expression>
    <expression>IMU.GyrX IMU.GyrY IMU.GyrZ</expression>
  </graph>

  <graph name='Sensors/Gyroscope/Gyro 2 XYZ'>
    <description>Gyroscope Two Output</description>
    <expression>degrees(SCALED_IMU2.xgyro*0.001) degrees(SCALED_IMU2.ygyro*0.001) degrees(SCALED_IMU2.zgyro*0.001)</expression>
    <expression>IMU[1].GyrX IMU[1].GyrY IMU[1].GyrZ</expression>
    <expression>IMU2.GyrX IMU2.GyrY IMU2.GyrZ</expression>
  </graph>

  <graph name='Sensors/Gyroscope/Gyro 3 XYZ'>
    <description>Gyroscope Three Output</description>
    <expression>degrees(SCALED_IMU3.xgyro*0.001) degrees(SCALED_IMU3.ygyro*0.001) degrees(SCALED_IMU3.zgyro*0.001)</expression>
    <expression>IMU[2].GyrX IMU[2].GyrY IMU[2].GyrZ</expression>
    <expression>IMU3.GyrX IMU3.GyrY IMU3.GyrZ</expression>
  </graph>

  <graph name='Sensors/Gyroscope/Comparison/XYZ'>
    <description>Gyroscope Comparison</description>
    <expression>
      degrees(RAW_IMU.xgyro*0.001) degrees(RAW_IMU.ygyro*0.001) degrees(RAW_IMU.zgyro*0.001)
      degrees(SCALED_IMU2.xgyro*0.001) degrees(SCALED_IMU2.ygyro*0.001) degrees(SCALED_IMU2.zgyro*0.001)
      degrees(SCALED_IMU3.xgyro*0.001) degrees(SCALED_IMU3.ygyro*0.001) degrees(SCALED_IMU3.zgyro*0.001)
    </expression>
    <expression>
      degrees(RAW_IMU.xgyro*0.001) degrees(RAW_IMU.ygyro*0.001) degrees(RAW_IMU.zgyro*0.001)
      degrees(SCALED_IMU2.xgyro*0.001) degrees(SCALED_IMU2.ygyro*0.001) degrees(SCALED_IMU2.zgyro*0.001)
    </expression>
    <expression>
      IMU[0].GyrX IMU[0].GyrY IMU[0].GyrZ
      IMU[1].GyrX IMU[1].GyrY IMU[1].GyrZ
      IMU[2].GyrX IMU[2].GyrY IMU[2].GyrZ
    </expression>
    <expression>
      IMU[0].GyrX IMU[0].GyrY IMU[0].GyrZ
      IMU[1].GyrX IMU[1].GyrY IMU[1].GyrZ
    </expression>
    <expression>
      IMU.GyrX IMU.GyrY IMU.GyrZ
      IMU2.GyrX IMU2.GyrY IMU2.GyrZ
      IMU3.GyrX IMU3.GyrY IMU3.GyrZ
    </expression>
    <expression>
      IMU.GyrX IMU.GyrY IMU.GyrZ
      IMU2.GyrX IMU2.GyrY IMU2.GyrZ
    </expression>
  </graph>

  <graph name='Sensors/Barometer/Barometer'>
    <description>Barometer</description>
    <expression>altitude(SCALED_PRESSURE) SCALED_PRESSURE.temperature*0.01:2</expression>
    <expression>BARO[0].Alt BARO[0].Temp:2</expression>
    <expression>BARO.Alt BARO.Temp:2</expression>
  </graph>

  <graph name='Sensors/Barometer/Barometer(2)'>
    <description>Barometric Altitude</description>
    <expression>altitude(SCALED_PRESSURE2) SCALED_PRESSURE2.temperature*0.01:2</expression>
    <expression>BARO[1].Alt BARO[1].Temp:2</expression>
    <expression>BAR2.Alt BAR2.Temp:2</expression>
  </graph>

  <graph name='Sensors/Barometer/Barometer(3)'>
    <description>Barometric Altitude</description>
    <expression>altitude(SCALED_PRESSURE3) SCALED_PRESSURE3.temperature*0.01:2</expression>
    <expression>BARO[2].Alt BARO[2].Temp:2</expression>
    <expression>BAR3.Alt BAR3.Temp:2</expression>
  </graph>

  <graph name='Sensors/Barometer/Barometer Comparison'>
    <description>Barometer Comparison</description>
    <expression>
      altitude(SCALED_PRESSURE) SCALED_PRESSURE.temperature*0.01:2
      altitude(SCALED_PRESSURE2) SCALED_PRESSURE2.temperature*0.01:2
      altitude(SCALED_PRESSURE3) SCALED_PRESSURE3.temperature*0.01:2
    </expression>
    <expression>
      altitude(SCALED_PRESSURE) SCALED_PRESSURE.temperature*0.01:2
      altitude(SCALED_PRESSURE2) SCALED_PRESSURE2.temperature*0.01:2
    </expression>
    <expression>
      BARO[0].Alt BARO[0].Temp:2
      BARO[1].Alt BARO[1].Temp:2
      BARO[2].Alt BARO[2].Temp:2
    </expression>
    <expression>
      BARO[0].Alt BARO[0].Temp:2
      BARO[1].Alt BARO[1].Temp:2
    </expression>
    <expression>
      BARO.Alt BARO.Temp:2
      BAR2.Alt BAR2.Temp:2
      BAR3.Alt BAR3.Temp:2
    </expression>
    <expression>
      BARO.Alt BARO.Temp:2
      BAR2.Alt BAR2.Temp:2
    </expression>
  </graph>

  <graph name='Sensors/Barometer/Barometric Pressure'>
    <description>Barometric Pressure</description>
    <expression>SCALED_PRESSURE.press_abs</expression>
    <expression>BARO.Press</expression>
  </graph>

  <graph name='Sensors/Compass/Compass'>
    <description>Primary Compass</description>
    <expression>RAW_IMU.xmag RAW_IMU.ymag RAW_IMU.zmag mag_field(RAW_IMU)</expression>
    <expression>MAG[0].MagX MAG[0].MagY MAG[0].MagZ sqrt(MAG[0].MagX**2+MAG[0].MagY**2+MAG[0].MagZ**2)</expression>
    <expression>MAG.MagX MAG.MagY MAG.MagZ sqrt(MAG.MagX**2+MAG.MagY**2+MAG.MagZ**2)</expression>
  </graph>

  <graph name='Sensors/Compass/Compass(2)'>
    <description>Second Compass</description>
    <expression>SCALED_IMU2.xmag SCALED_IMU2.ymag SCALED_IMU2.zmag mag_field(SCALED_IMU2)</expression>
    <expression>MAG[1].MagX MAG[1].MagY MAG[1].MagZ sqrt(MAG[1].MagX**2+MAG[1].MagY**2+MAG[1].MagZ**2)</expression>
    <expression>MAG2.MagX MAG2.MagY MAG2.MagZ sqrt(MAG2.MagX**2+MAG2.MagY**2+MAG2.MagZ**2)</expression>
  </graph>

  <graph name='Sensors/Compass/Compass(3)'>
    <description>Third Compass</description>
    <expression>SCALED_IMU3.xmag SCALED_IMU3.ymag SCALED_IMU3.zmag mag_field(SCALED_IMU3)</expression>
    <expression>MAG[2].MagX MAG[2].MagY MAG[2].MagZ sqrt(MAG[2].MagX**2+MAG[2].MagY**2+MAG[2].MagZ**2)</expression>
    <expression>MAG3.MagX MAG3.MagY MAG3.MagZ sqrt(MAG3.MagX**2+MAG3.MagY**2+MAG3.MagZ**2)</expression>
  </graph>

  <graph name='Sensors/Compass/Compass vs Yaw'>
    <description>Primary Compass vs Yaw</description>
    <expression>mag_heading(RAW_IMU,ATTITUDE) degrees(ATTITUDE.yaw)</expression>
    <expression>mag_heading_df(MAG,ATT) ATT.Yaw</expression>
  </graph>

  <graph name='Servos/Servos 1-4'>
    <description>First 4 servo outputs</description>
    <expression>
      SERVO_OUTPUT_RAW.servo1_raw SERVO_OUTPUT_RAW.servo2_raw SERVO_OUTPUT_RAW.servo3_raw SERVO_OUTPUT_RAW.servo4_raw
    </expression>
    <expression>
      RCOU.Ch1 RCOU.Ch2 RCOU.Ch3 RCOU.Ch4
    </expression>
    <expression>
      RCOU.C1 RCOU.C2 RCOU.C3 RCOU.C4
    </expression>
  </graph>

  <graph name='Servos/Servos 1-8'>
    <description>First 8 servo outputs</description>
    <expression>
      SERVO_OUTPUT_RAW.servo1_raw SERVO_OUTPUT_RAW.servo2_raw SERVO_OUTPUT_RAW.servo3_raw SERVO_OUTPUT_RAW.servo4_raw
      SERVO_OUTPUT_RAW.servo5_raw SERVO_OUTPUT_RAW.servo6_raw SERVO_OUTPUT_RAW.servo7_raw SERVO_OUTPUT_RAW.servo8_raw
    </expression>
    <expression>
      RCOU.Ch1 RCOU.Ch2 RCOU.Ch3 RCOU.Ch4
      RCOU.Ch5 RCOU.Ch6 RCOU.Ch7 RCOU.Ch8
    </expression>
    <expression>
      RCOU.C1 RCOU.C2 RCOU.C3 RCOU.C4
      RCOU.C5 RCOU.C6 RCOU.C7 RCOU.C8
    </expression>
  </graph>
  
 <graph name='Servos/Servos 5-8'>
  <description></description>
  <expression>RCOU.C5 RCOU.C6 RCOU.C7 RCOU.C8</expression>
 </graph>
 
  <graph name='Servos/Servos 9-12'>
  <description></description>
  <expression>RCOU.C9 RCOU.C10 RCOU.C11 RCOU.C12</expression>
 </graph>

  <graph name='RC/RC Input 1-4'>
    <description>First 4 RC inputs</description>
    <expression>
      RC_CHANNELS.chan1_raw RC_CHANNELS.chan2_raw RC_CHANNELS.chan3_raw RC_CHANNELS.chan4_raw
    </expression>
    <expression>
      RC_CHANNELS_RAW.chan1_raw RC_CHANNELS_RAW.chan2_raw RC_CHANNELS_RAW.chan3_raw RC_CHANNELS_RAW.chan4_raw
    </expression>
    <expression>
      RCIN.C1 RCIN.C2 RCIN.C3 RCIN.C4
    </expression>
  </graph>

   <graph name='RC/RC Input 5-12'>
    <description>RC inputs 5-12</description>
    <expression>
      RCIN.C5 RCIN.C6 RCIN.C7 RCIN.C8 RCIN.C9 RCIN.C10 RCIN.C11 RCIN.C12
    </expression>
  </graph>

  <graph name='RC/RC Input 1-8'>
    <description>First 8 RC inputs</description>
    <expression>
      RC_CHANNELS.chan1_raw RC_CHANNELS.chan2_raw RC_CHANNELS.chan3_raw RC_CHANNELS.chan4_raw
      RC_CHANNELS.chan5_raw RC_CHANNELS.chan6_raw RC_CHANNELS.chan7_raw RC_CHANNELS.chan8_raw
    </expression>
    <expression>
      RC_CHANNELS_RAW.chan1_raw RC_CHANNELS_RAW.chan2_raw RC_CHANNELS_RAW.chan3_raw RC_CHANNELS_RAW.chan4_raw
      RC_CHANNELS_RAW.chan5_raw RC_CHANNELS_RAW.chan6_raw RC_CHANNELS_RAW.chan7_raw RC_CHANNELS_RAW.chan8_raw
    </expression>
    <expression>
      RCIN.C1 RCIN.C2 RCIN.C3 RCIN.C4
      RCIN.C5 RCIN.C6 RCIN.C7 RCIN.C8
    </expression>
  </graph>

 <graph name='Sensors/Lidar/Rangefinder vs Baro'>
  <description>Rangefinders vs Barometric Altitude</description>
  <expression>BARO.Alt RFND.Dist1 RFND.Dist2</expression>
  <expression>BARO.Alt RFND.Dist[0]</expression>
 </graph>


 <graph name='Sensors/Compass/Compare Predicted'>
  <description></description>
  <expression>MAG[0].MagX expected_mag(GPS,ATT).x MAG[0].MagY expected_mag(GPS,ATT).y MAG[0].MagZ expected_mag(GPS,ATT).z</expression>
  <expression>MAG.MagX expected_mag(GPS,ATT).x MAG.MagY expected_mag(GPS,ATT).y MAG.MagZ expected_mag(GPS,ATT).z</expression>
  <expression>RAW_IMU.xmag expected_mag(GPS_RAW_INT,ATTITUDE).x RAW_IMU.ymag expected_mag(GPS_RAW_INT,ATTITUDE).y RAW_IMU.zmag expected_mag(GPS_RAW_INT,ATTITUDE).z</expression>
 </graph>

 <graph name='Sensors/Compass/Compare Predicted2'>
  <description></description>
  <expression>MAG[1].MagX expected_mag(GPS,ATT).x MAG[1].MagY expected_mag(GPS,ATT).y MAG[1].MagZ expected_mag(GPS,ATT).z</expression>
  <expression>MAG2.MagX expected_mag(GPS,ATT).x MAG2.MagY expected_mag(GPS,ATT).y MAG2.MagZ expected_mag(GPS,ATT).z</expression>
  <expression>SCALED_IMU2.xmag expected_mag(GPS_RAW_INT,ATTITUDE).x SCALED_IMU2.ymag expected_mag(GPS_RAW_INT,ATTITUDE).y SCALED_IMU2.zmag expected_mag(GPS_RAW_INT,ATTITUDE).z</expression>
 </graph>

 <graph name='Sensors/Compass/Compare Predicted3'>
  <description></description>
  <expression>MAG[2].MagX expected_mag(GPS,ATT).x MAG[2].MagY expected_mag(GPS,ATT).y MAG[2].MagZ expected_mag(GPS,ATT).z</expression>
  <expression>MAG3.MagX expected_mag(GPS,ATT).x MAG3.MagY expected_mag(GPS,ATT).y MAG3.MagZ expected_mag(GPS,ATT).z</expression>
  <expression>SCALED_IMU3.xmag expected_mag(GPS_RAW_INT,ATTITUDE).x SCALED_IMU3.ymag expected_mag(GPS_RAW_INT,ATTITUDE).y SCALED_IMU3.zmag expected_mag(GPS_RAW_INT,ATTITUDE).z</expression>
 </graph>

 <graph name='Sensors/Compass/Compare Predicted Yaw (ATT based)'>
  <description></description>
  <expression>MAG[0].MagX expected_mag_yaw(GPS,ATT,MAG[0]).x MAG[0].MagY expected_mag_yaw(GPS,ATT,MAG[0]).y MAG[0].MagZ expected_mag_yaw(GPS,ATT,MAG[0]).z</expression>
  <expression>MAG.MagX expected_mag_yaw(GPS,ATT,MAG).x MAG.MagY expected_mag_yaw(GPS,ATT,MAG).y MAG.MagZ expected_mag_yaw(GPS,ATT,MAG).z</expression>
 </graph>

 <graph name='Sensors/Compass/Compare Predicted2 Yaw( ATT based)'>
  <description></description>
  <expression>MAG[1].MagX expected_mag_yaw(GPS,ATT,MAG[1]).x MAG[1].MagY expected_mag_yaw(GPS,ATT,MAG[1]).y MAG[1].MagZ expected_mag_yaw(GPS,ATT,MAG[1]).z</expression>
  <expression>MAG2.MagX expected_mag_yaw(GPS,ATT,MAG2).x MAG2.MagY expected_mag_yaw(GPS,ATT,MAG2).y MAG2.MagZ expected_mag_yaw(GPS,ATT,MAG2).z</expression>
 </graph>

 <graph name='Sensors/Compass/Compare Predicted3 Yaw (ATT based)'>
  <description></description>
  <expression>MAG[2].MagX expected_mag_yaw(GPS,ATT,MAG[2]).x MAG[2].MagY expected_mag_yaw(GPS,ATT,MAG[2]).y MAG[2].MagZ expected_mag_yaw(GPS,ATT,MAG[2]).z</expression>
  <expression>MAG3.MagX expected_mag_yaw(GPS,ATT,MAG3).x MAG3.MagY expected_mag_yaw(GPS,ATT,MAG3).y MAG3.MagZ expected_mag_yaw(GPS,ATT,MAG3).z</expression>
 </graph>

 <graph name='Sensors/Compass/Compare Predicted Yaw NKF1 based'>
  <description></description>
  <expression>MAG[0].MagX expected_mag_yaw(GPS,NKF1,MAG[0]).x MAG[0].MagY expected_mag_yaw(GPS,NKF1,MAG[0]).y MAG[0].MagZ expected_mag_yaw(GPS,NKF1,MAG[0]).z</expression>
  <expression>MAG.MagX expected_mag_yaw(GPS,NKF1,MAG).x MAG.MagY expected_mag_yaw(GPS,NKF1,MAG).y MAG.MagZ expected_mag_yaw(GPS,NKF1,MAG).z</expression>
 </graph>

 <graph name='Sensors/Compass/Compare Predicted2 Yaw NKF1 based'>
  <description></description>
  <expression>MAG[1].MagX expected_mag_yaw(GPS,NKF1,MAG[1]).x MAG[1].MagY expected_mag_yaw(GPS,NKF1,MAG[1]).y MAG[1].MagZ expected_mag_yaw(GPS,NKF1,MAG[1]).z</expression>
  <expression>MAG2.MagX expected_mag_yaw(GPS,NKF1,MAG2).x MAG2.MagY expected_mag_yaw(GPS,NKF1,MAG2).y MAG2.MagZ expected_mag_yaw(GPS,NKF1,MAG2).z</expression>
 </graph>

 <graph name='Sensors/Compass/Compare Predicted3 Yaw NKF1 based'>
  <description></description>
  <expression>MAG[2].MagX expected_mag_yaw(GPS,NKF1,MAG[2]).x MAG[2].MagY expected_mag_yaw(GPS,NKF1,MAG[2]).y MAG[2].MagZ expected_mag_yaw(GPS,NKF1,MAG[2]).z</expression>
  <expression>MAG3.MagX expected_mag_yaw(GPS,NKF1,MAG3).x MAG3.MagY expected_mag_yaw(GPS,NKF1,MAG3).y MAG3.MagZ expected_mag_yaw(GPS,NKF1,MAG3).z</expression>
 </graph>

 <graph name='Sensors/Compass/Compare Predicted Yaw XKF1 based'>
  <description></description>
  <expression>MAG[0].MagX expected_mag_yaw(GPS,XKF1,MAG[0]).x MAG[0].MagY expected_mag_yaw(GPS,XKF1,MAG[0]).y MAG[0].MagZ expected_mag_yaw(GPS,XKF1,MAG[0]).z</expression>
  <expression>MAG.MagX expected_mag_yaw(GPS,XKF1,MAG).x MAG.MagY expected_mag_yaw(GPS,XKF1,MAG).y MAG.MagZ expected_mag_yaw(GPS,XKF1,MAG).z</expression>
 </graph>

 <graph name='Sensors/Compass/Compare Predicted2 Yaw XKF1 based'>
  <description></description>
  <expression>MAG[1].MagX expected_mag_yaw(GPS,XKF1,MAG[1]).x MAG[1].MagY expected_mag_yaw(GPS,XKF1,MAG[1]).y MAG[1].MagZ expected_mag_yaw(GPS,XKF1,MAG[1]).z</expression>
  <expression>MAG2.MagX expected_mag_yaw(GPS,XKF1,MAG2).x MAG2.MagY expected_mag_yaw(GPS,XKF1,MAG2).y MAG2.MagZ expected_mag_yaw(GPS,XKF1,MAG2).z</expression>
 </graph>

 <graph name='Sensors/Compass/Compare Predicted3 Yaw XKF1 based'>
  <description></description>
  <expression>MAG[2].MagX expected_mag_yaw(GPS,XKF1,MAG[2]).x MAG[2].MagY expected_mag_yaw(GPS,XKF1,MAG[2]).y MAG[2].MagZ expected_mag_yaw(GPS,XKF1,MAG[2]).z</expression>
  <expression>MAG3.MagX expected_mag_yaw(GPS,XKF1,MAG3).x MAG3.MagY expected_mag_yaw(GPS,XKF1,MAG3).y MAG3.MagZ expected_mag_yaw(GPS,XKF1,MAG3).z</expression>
 </graph>
 
 <graph name='Sensors/Compass/EarthField Error EK2 Lane1'>
  <description></description>
  <expression>earth_field_error(GPS,NKF2[0]).x earth_field_error(GPS,NKF2[0]).y earth_field_error(GPS,NKF2[0]).z</expression>
  <expression>earth_field_error(GPS,NKF2).x earth_field_error(GPS,NKF2).y earth_field_error(GPS,NKF2).z</expression>
 </graph>

 <graph name='Sensors/Compass/EarthField Error EK2 Lane2'>
  <description></description>
  <expression>earth_field_error(GPS,NKF2[1]).x earth_field_error(GPS,NKF2[1]).y earth_field_error(GPS,NKF2[1]).z</expression>
  <expression>earth_field_error(GPS,NKF7).x earth_field_error(GPS,NKF7).y earth_field_error(GPS,NKF7).z</expression>
 </graph>

 <graph name='Sensors/Compass/EarthField Error EK3 Lane1'>
  <description></description>
  <expression>earth_field_error(GPS,XKF2[0]).x earth_field_error(GPS,XKF2[0]).y earth_field_error(GPS,XKF2[0]).z</expression>
  <expression>earth_field_error(GPS,XKF2).x earth_field_error(GPS,XKF2).y earth_field_error(GPS,XKF2).z</expression>
 </graph>

 <graph name='Sensors/Compass/EarthField Error EK3 Lane2'>
  <description></description>
  <expression>earth_field_error(GPS,XKF2[1]).x earth_field_error(GPS,XKF2[1]).y earth_field_error(GPS,XKF2[1]).z</expression>
  <expression>earth_field_error(GPS,XKF7).x earth_field_error(GPS,XKF7).y earth_field_error(GPS,XKF7).z</expression>
 </graph>
 
 <graph name='Copter/PID Tuning/PIDP'>
  <description></description>
  <expression>PIDP.P PIDP.I PIDP.D</expression>
 </graph>

 <graph name='Copter/PID Tuning/PIDR'>
  <description></description>
  <expression>PIDR.P PIDR.I PIDR.D</expression>
 </graph>

 <graph name='Copter/PID Tuning/PIDY'>
  <description></description>
  <expression>PIDY.P PIDY.I PIDY.D</expression>
 </graph>

 <graph name='Copter/PID Tuning/PIDA'>
  <description></description>
  <expression>PIDA.P PIDA.I PIDA.D</expression>
 </graph>

  <graph name='SITL/SIM RollRate vs GyrX'>
  <description></description>
  <expression>IMU[0].GyrX sim_body_rates(SIM).x</expression>
  <expression>IMU.GyrX sim_body_rates(SIM).x</expression>
 </graph>

 <graph name='SITL/SIM PitchRate vs GyrY'>
  <description></description>
  <expression>IMU[0].GyrY sim_body_rates(SIM).y</expression>
  <expression>IMU.GyrY sim_body_rates(SIM).y</expression>
 </graph>

 <graph name='SITL/SIM YawRate vs GyrZ'>
  <description></description>
  <expression>IMU[0].GyrZ sim_body_rates(SIM).z</expression>
  <expression>IMU.GyrZ sim_body_rates(SIM).z</expression>
 </graph>

 <graph name='Sensors/GPS/GPS Accuracy'>
  <description></description>
  <expression>GPA[0].HAcc GPA[0].SAcc GPA[0].VAcc GPS[0].NSats:2</expression>
  <expression>GPA.HAcc GPA.SAcc GPA.VAcc GPS.NSats:2</expression>
 </graph>

 <graph name='Sensors/GPS/GPS2 Accuracy'>
  <description></description>
  <expression>GPA[1].HAcc GPA[1].SAcc GPA[1].VAcc GPS[1].NSats:2</expression>
  <expression>GPA2.HAcc GPA2.SAcc GPA2.VAcc GPS2.NSats:2</expression>
 </graph>

 <graph name='Sensors/GPS/GPS Vel NE'>
  <description></description>
  <expression>GPS[0].Spd*sin(radians(GPS[0].GCrs)) GPS[0].Spd*cos(radians(GPS[0].GCrs))</expression>
  <expression>GPS.Spd*sin(radians(GPS.GCrs)) GPS.Spd*cos(radians(GPS.GCrs))</expression>
 </graph>

 <graph name='Sensors/GPS/GPS2 Vel NE'>
  <description></description>
  <expression>GPS[1].Spd*sin(radians(GPS[1].GCrs)) GPS[1].Spd*cos(radians(GPS[1].GCrs))</expression>
  <expression>GPS2.Spd*sin(radians(GPS2.GCrs)) GPS2.Spd*cos(radians(GPS2.GCrs))</expression>
 </graph>

 <graph name='Sensors/GPS/Dual GPS Vel NE'>
  <description></description>
  <expression>GPS[0].Spd*sin(radians(GPS[0].GCrs)) GPS[0].Spd*cos(radians(GPS[0].GCrs)) GPS[1].Spd*sin(radians(GPS[1].GCrs)) GPS[1].Spd*cos(radians(GPS[1].GCrs))</expression>
  <expression>GPS.Spd*sin(radians(GPS.GCrs)) GPS.Spd*cos(radians(GPS.GCrs)) GPS2.Spd*sin(radians(GPS2.GCrs)) GPS2.Spd*cos(radians(GPS2.GCrs))</expression>
 </graph>
 
 <graph name='Sensors/GPS/RTKPosAltDiff'>
  <description></description>
  <expression>distance_two(GPS,GPS2){GPS2.GMS==GPS.GMS} GPS2.Alt-GPS.Alt{GPS2.GMS==GPS.GMS}</expression>
 </graph>

 <graph name='EKF3/GSF/GSF Yaws Lane1'>
  <description></description>
  <expression>XKY0[0].Y0 XKY0[0].Y1 XKY0[0].Y2 XKY0[0].Y3 XKY0[0].Y4 XKY0[0].YC</expression>
 </graph>

 <graph name='EKF3/GSF/GSF Yaws Lane2'>
  <description></description>
  <expression>XKY0[1].Y0 XKY0[1].Y1 XKY0[1].Y2 XKY0[1].Y3 XKY0[1].Y4 XKY0[1].YC</expression>
 </graph>

 <graph name='EKF3/GSF/GSF VelInnov Lane1'>
  <description></description>
  <expression>sqrt(XKY1[0].IVN0**2+XKY1[0].IVE0**2) sqrt(XKY1[0].IVN1**2+XKY1[0].IVE1**2) sqrt(XKY1[0].IVN2**2+XKY1[0].IVE2**2) sqrt(XKY1[0].IVN3**2+XKY1[0].IVE3**2) sqrt(XKY1[0].IVN4**2+XKY1[0].IVE4**2) ATT.Yaw:2</expression>
 </graph>

 <graph name='EKF3/GSF/GSF Weights Lane1'>
  <description></description>
  <expression>XKY0[0].W0 XKY0[0].W1 XKY0[0].W2 XKY0[0].W3 XKY0[0].W4</expression>
 </graph>

 <graph name='EKF3/GSF/GSF Weights Lane2'>
  <description></description>
  <expression>XKY0[1].W0 XKY0[1].W1 XKY0[1].W2 XKY0[1].W3 XKY0[1].W4</expression>
 </graph>

 <graph name='Replay/EK3 VelNE'>
  <description></description>
  <expression>XKF1[0].VN-XKF1[100].VN{XKF1.C==100} XKF1[0].VE-XKF1[100].VE{XKF1.C==100}</expression>
 </graph>

 <graph name='Replay/RollPitchDiff'>
  <description></description>
  <expression>XKF1[0].Pitch-XKF1[100].Pitch{XKF1.C==100} XKF1[0].Roll-XKF1[100].Roll{XKF1.C==100}</expression>
 </graph>

 <graph name='Replay/EK2 RollPitchDiff'>
  <description></description>
  <expression>NKF1[0].Pitch-NKF1[100].Pitch{NKF1.C==100} NKF1[0].Roll-NKF1[100].Roll{NKF1.C==100} NKF1[0].Yaw-NKF1[100].Yaw{NKF1.C==100}</expression>
 </graph>

 <graph name='Replay/EK3 DiffPNPE'>
  <description></description>
  <expression>XKF1[0].PN-XKF1[100].PN{XKF1.C==100} XKF1[0].PE-XKF1[100].PE{XKF1.C==100}</expression>
 </graph>

 <graph name='Replay/EK2 DiffPNPE'>
  <description></description>
  <expression>NKF1[0].PN-NKF1[100].PN{NKF1.C==100} NKF1[0].PE-NKF1[100].PE{NKF1.C==100}</expression>
 </graph>

 <graph name='Replay/EK2 DiffPD'>
  <description></description>
  <expression>NKF1[0].PD-NKF1[100].PD{NKF1.C==100}</expression>
 </graph>

 <graph name='Replay/EK3 DiffPD'>
  <description></description>
  <expression>XKF1[0].PD-XKF1[100].PD{XKF1.C==100}</expression>
 </graph>

 <graph name='Aliasing/AccX'>
  <description></description>
  <expression>lowpass(IMU[0].AccX,0,0.9) lowpass(IMU[1].AccX,1,0.9) lowpass(IMU[2].AccX,2,0.9)</expression>
  <expression>lowpass(IMU[0].AccX,0,0.9) lowpass(IMU[1].AccX,1,0.9)</expression>
  <expression>lowpass(IMU.AccX,0,0.9) lowpass(IMU2.AccX,1,0.9) lowpass(IMU3.AccX,2,0.9)</expression>
  <expression>lowpass(IMU.AccX,0,0.9) lowpass(IMU2.AccX,1,0.9)</expression>
 </graph>

 <graph name='Aliasing/AccY'>
  <description></description>
  <expression>lowpass(IMU[0].AccY,0,0.9) lowpass(IMU[1].AccY,1,0.9) lowpass(IMU[2].AccY,2,0.9)</expression>
  <expression>lowpass(IMU[0].AccY,0,0.9) lowpass(IMU[1].AccY,1,0.9)</expression>
  <expression>lowpass(IMU.AccY,0,0.9) lowpass(IMU2.AccY,1,0.9) lowpass(IMU3.AccY,2,0.9)</expression>
  <expression>lowpass(IMU.AccY,0,0.9) lowpass(IMU2.AccY,1,0.9)</expression>
 </graph>

 <graph name='Aliasing/AccZ'>
  <description></description>
  <expression>lowpass(IMU[0].AccZ,0,0.9) lowpass(IMU[1].AccZ,1,0.9) lowpass(IMU[2].AccZ,2,0.9)</expression>
  <expression>lowpass(IMU[0].AccZ,0,0.9) lowpass(IMU[1].AccZ,1,0.9)</expression>
  <expression>lowpass(IMU.AccZ,0,0.9) lowpass(IMU2.AccZ,1,0.9) lowpass(IMU3.AccZ,2,0.9)</expression>
  <expression>lowpass(IMU.AccZ,0,0.9) lowpass(IMU2.AccZ,1,0.9)</expression>
 </graph>

 <graph name='PSC/PSC Vel'>
  <description></description>
  <expression>sqrt(PSCN.DVN**2+PSCE.DVE**2) sqrt(PSCN.VN**2+PSCE.VE**2)</expression>
 </graph>

 <graph name='PSC/PSC Vel NE'>
  <description></description>
  <expression>PSCN.VN PSCN.DVN PSCN.TVN PSCE.VE PSCE.DVE PSCE.TVE</expression>
 </graph>

 <graph name='PSC/PSC Pos NE'>
  <description></description>
  <expression>PSCN.TPN PSCN.PN PSCE.TPE PSCE.PE</expression>
 </graph>

 <graph name='PSC/PSC Accel'>
  <description></description>
  <expression>sqrt(PSCN.DAN**2+PSCE.DAE**2) sqrt(PSCN.TAN**2+PSCE.TAE**2) sqrt(PSCN.AN**2+PSCE.AE**2)</expression>
 </graph>

 <graph name='PSC/PSC Vel2'>
  <description></description>
  <expression>sqrt(PSCN.DVN**2+PSCE.DVE**2) sqrt(PSCN.VN**2+PSCE.VE**2) QPOS.TSpd</expression>
 </graph>

 <graph name='PSC/AccelZ'>
  <description></description>
  <expression>PSCZ.AZ PSCZ.DAZ PSCZ.TAZ</expression>
 </graph>

 <graph name='PSC/VelZ'>
  <description></description>
  <expression>PSCZ.VZ PSCZ.TVZ</expression>
 </graph>

 <graph name='PSC/PosZ'>
  <description></description>
  <expression>PSCZ.PZ PSCZ.TPZ</expression>
 </graph>


 <graph name='EKF3/Innovations/Normalised Innovations EKF3 Lane100'>
  <description></description>
  <expression>XKF4[100].SV XKF4[100].SP XKF4[100].SH XKF4[100].SM XKF4[100].SVT</expression>
 </graph>

 <graph name='EKF3/Innovations/Normalised Innovations EKF3 Lane101'>
  <description></description>
  <expression>XKF4[101].SV XKF4[101].SP XKF4[101].SH XKF4[101].SM XKF4[101].SVT</expression>
 </graph>

 <graph name='Plane/PID Tuning/Roll/Roll Dmod'>
  <description></description>
  <expression>PIDR.Dmod PIDR.SRate:2</expression>
 </graph>

 <graph name='Plane/PID Tuning/Pitch/Pitch Dmod'>
  <description></description>
  <expression>PIDP.Dmod PIDP.SRate:2</expression>
 </graph>

 <graph name='Plane/PID Tuning/Yaw/Yaw Dmod'>
  <description></description>
  <expression>PIDY.Dmod PIDY.SRate:2</expression>
 </graph>

 <graph name='Servos/Servos 1-6'>
  <description></description>
  <expression>RCOU.C1 RCOU.C2 RCOU.C3 RCOU.C4 RCOU.C5 RCOU.C6</expression>
 </graph>


 <graph name='Plane/PID Tuning/Pitch/PitchRates'>
  <description></description>
  <expression>PIDP.Tar PIDP.Act</expression>
 </graph>


 <graph name='Plane/PID Tuning/Roll/RollRates'>
  <description></description>
  <expression>PIDR.Act PIDR.Tar</expression>
 </graph>

 <graph name='Sensors/Gyroscope/GyroX lowpass Temp'>
  <description></description>
  <expression>lowpass(degrees(IMU[0].GyrX),0,0.9) lowpass(degrees(IMU[1].GyrX),1,0.9) lowpass(degrees(IMU[2].GyrX),2,0.9) IMU[0].T:2 IMU[1].T:2 IMU[3].T:2</expression>
  <expression>lowpass(degrees(IMU[0].GyrX),0,0.9) lowpass(degrees(IMU[1].GyrX),1,0.9) IMU[0].T:2 IMU[1].T:2</expression>
  <expression>lowpass(degrees(IMU[0].GyrX),0,0.9) IMU[0].T:2</expression>
 </graph>

 <graph name='Sensors/Gyroscope/GyroY lowpass Temp'>
  <description></description>
  <expression>lowpass(degrees(IMU[0].GyrY),0,0.9) lowpass(degrees(IMU[1].GyrY),1,0.9) lowpass(degrees(IMU[2].GyrY),2,0.9) IMU[0].T:2 IMU[1].T:2 IMU[3].T:2</expression>
  <expression>lowpass(degrees(IMU[0].GyrY),0,0.9) lowpass(degrees(IMU[1].GyrY),1,0.9) IMU[0].T:2 IMU[1].T:2</expression>
  <expression>lowpass(degrees(IMU[0].GyrY),0,0.9) IMU[0].T:2</expression>
 </graph>

 <graph name='Sensors/Gyroscope/GyroZ lowpass Temp'>
  <description></description>
  <expression>lowpass(degrees(IMU[0].GyrZ),0,0.9) lowpass(degrees(IMU[1].GyrZ),1,0.9) lowpass(degrees(IMU[2].GyrZ),2,0.9) IMU[0].T:2 IMU[1].T:2 IMU[3].T:2</expression>
  <expression>lowpass(degrees(IMU[0].GyrZ),0,0.9) lowpass(degrees(IMU[1].GyrZ),1,0.9) IMU[0].T:2 IMU[1].T:2</expression>
  <expression>lowpass(degrees(IMU[0].GyrZ),0,0.9) IMU[0].T:2</expression>
 </graph>

 <graph name='Sensors/Accelerometer/AccelX lowpass Temp'>
  <description></description>
  <expression>lowpass(IMU[0].AccX,0,0.9) lowpass(IMU[1].AccX),1,0.9) lowpass(IMU[2].AccX),2,0.9) IMU[0].T:2 IMU[1].T:2 IMU[3].T:2</expression>
  <expression>lowpass(IMU[0].AccX,0,0.9) lowpass(IMU[1].AccX),1,0.9) IMU[0].T:2 IMU[1].T:2</expression>
  <expression>lowpass(IMU[0].AccX,0,0.9) IMU[0].T:2</expression>
 </graph>

 <graph name='Sensors/Accelerometer/AccelY lowpass Temp'>
  <description></description>
  <expression>lowpass(IMU[0].AccY,0,0.9) lowpass(IMU[1].AccY),1,0.9) lowpass(IMU[2].AccY),2,0.9) IMU[0].T:2 IMU[1].T:2 IMU[3].T:2</expression>
  <expression>lowpass(IMU[0].AccY,0,0.9) lowpass(IMU[1].AccY),1,0.9) IMU[0].T:2 IMU[1].T:2</expression>
  <expression>lowpass(IMU[0].AccY,0,0.9) IMU[0].T:2</expression>
 </graph>

 <graph name='Sensors/Accelerometer/AccelZ lowpass Temp'>
  <description></description>
  <expression>lowpass(IMU[0].AccZ,0,0.9) lowpass(IMU[1].AccZ),1,0.9) lowpass(IMU[2].AccZ),2,0.9) IMU[0].T:2 IMU[1].T:2 IMU[3].T:2</expression>
  <expression>lowpass(IMU[0].AccZ,0,0.9) lowpass(IMU[1].AccZ),1,0.9) IMU[0].T:2 IMU[1].T:2</expression>
  <expression>lowpass(IMU[0].AccZ,0,0.9) IMU[0].T:2</expression>
 </graph>

 <graph name='Plane/PID Tuning/Roll/FF Calc'>
  <description></description>
  <expression>0.3*PIDR.Act*AETR.SSx AETR.Ail*0.01</expression>
  <expression>0.3*PIDR.Act*AETR.SS AETR.Ail*0.01</expression>
 </graph>

 <graph name='Plane/PID Tuning/Pitch/FF Calc'>
  <description></description>
  <expression>0.3*PIDP.Act*AETR.SSy AETR.Elev*0.01</expression>
  <expression>0.3*PIDP.Act*AETR.SS AETR.Elev*0.01</expression>
 </graph>

 <graph name='Plane/FF/Yaw'>
  <description></description>
  <expression>0.3*PIDY.Act*AETR.SSz AETR.Rudd*0.01</expression>
  <expression>0.3*PIDY.Act*AETR.SS AETR.Rudd*0.01</expression>
 </graph>
 
 <graph name='Sensors/Gyroscope/GyroX Lowpass'>
  <description></description>
  <expression>lowpass(degrees(IMU[0].GyrX),0,0.9) lowpass(degrees(IMU[1].GyrX),1,0.9) lowpass(degrees(IMU[2].GyrX),2,0.9)</expression>
  <expression>lowpass(degrees(IMU[0].GyrX),0,0.9) lowpass(degrees(IMU[1].GyrX),1,0.9)</expression>
  <expression>lowpass(degrees(IMU[0].GyrX),0,0.9)</expression>
  <expression>lowpass(degrees(IMU.GyrX),0,0.9)</expression>
 </graph>

 <graph name='Sensors/Gyroscope/GyroY Lowpass'>
  <description></description>
  <expression>lowpass(degrees(IMU[0].GyrY),0,0.9) lowpass(degrees(IMU[1].GyrY),1,0.9) lowpass(degrees(IMU[2].GyrY),2,0.9)</expression>
  <expression>lowpass(degrees(IMU[0].GyrY),0,0.9) lowpass(degrees(IMU[1].GyrY),1,0.9)</expression>
  <expression>lowpass(degrees(IMU[0].GyrY),0,0.9)</expression>
  <expression>lowpass(degrees(IMU.GyrY),0,0.9)</expression>
 </graph>

 <graph name='Sensors/Gyroscope/GyroZ Lowpass'>
  <description></description>
  <expression>lowpass(degrees(IMU[0].GyrZ),0,0.9) lowpass(degrees(IMU[1].GyrZ),1,0.9) lowpass(degrees(IMU[2].GyrZ),2,0.9)</expression>
  <expression>lowpass(degrees(IMU[0].GyrZ),0,0.9) lowpass(degrees(IMU[1].GyrZ),1,0.9)</expression>
  <expression>lowpass(degrees(IMU[0].GyrZ),0,0.9)</expression>
  <expression>lowpass(degrees(IMU.GyrZ),0,0.9)</expression>
 </graph>

 <graph name='Copter/RateAttRoll'>
  <description></description>
  <expression>RATE.R RATE.RDes ATT.Roll:2 ATT.DesRoll:2</expression>
 </graph>

 <graph name='Copter/RateAttPitch'>
  <description></description>
  <expression>RATE.P RATE.PDes ATT.Pitch:2 ATT.DesPitch:2</expression>
 </graph>

 <graph name='Copter/RateAttYaw'>
  <description></description>
  <expression>RATE.Y RATE.YDes ATT.Yaw:2 ATT.DesYaw:2</expression>
 </graph>

 
</graphs>