分類ブンルイ	項目コウモク	説明セツメイ	直訳チョクヤク
ATT (attitude information):	DesRoll	The pilot’s desired roll angle in degrees (roll left is negative, right is positive)	パイロットが要求したロール角度（左はネガティブで、右はポジティブ）
姿勢シセイ情報ジョウホウ	Roll	The vehicle’s actual roll in degrees (roll left is negative, right is positive)	機体キタイの実際のロール角度カクド（左はネガティブで、右はポジティブである）
	DesPitch	The pilot’s desired pitch angle in degrees (pitch forward is negative, pitch back is positive)	パイロットが要求したピッチ角度（前ピッチはネガティブで、後ピッチはポジティブである）
	Pitch	The vehicle’s actual pitch angle in degrees (pitch forward is negative, pitch back is positive)	機体キタイの実際のピッチ角度（前ピッチはネガティブで、後ピッチはポジティブである）
	DesYaw	The pilot’s desired heading in degrees with 0 = north	北を0としたパイロットが要求ヨウキュウした角度カクド
	Yaw	The vehicle’s actual heading in degrees with 0 = north	北を0とした実際ジッサイの機体キタイの角度カクド
	ErrRP	The average size of the roll/pitch error estimate (values between 0 and 1)	ロール/ピッチ誤差推定値の平均サイズ（0と1の間の値）
	ErrYaw	The average size of the yaw error estimate (values between 0 and 1)	ヨー誤差推定の平均サイズ（0と1の間の値）
ATUN (auto tune overview):		Axis: 0 = Roll, 1 = Pitch
	TuneStep	0 = Returning towards Level (before or after a test), 1 = Testing (i.e. performing a twitch to test response), 2 = Updating gains (twitch completed and gains adjusted)
	RateMin	Minimum recorded rate during this test
	RateMax	Maximum recorded rate during this test
	RPGain	Rate P gain value being tested
	RDGain	Rate D gain value being tested
	SPGain	Stabilize P gain being tested
ATDE (auto tune step details):	Angle	Angle of the copter in centi-degrees for the axis being testedx
	Rate	Rate of rotation of the copter for the axis being tested
CAM (time and position when camera shutter was activated):	GPSTime	The GPS reported time since epoch in milliseconds
	Lat	The accelerometer + GPS latitude estimate
	Lng	The accelerometer + GPS longitude estimate
	Alt	The accelerometer + barometer estimated altitude in cm above ground
	Roll	The vehicle roll angle in centi-degrees
	Pitch	The vehicle pitch angle in centi-degrees
	Yaw	The vehicle’s heading in centi-degrees
CMD (commands received from the ground station or executed as part of a mission):	CTot	The total number of commands in the mission
	CNum	This command’s number in the mission (0 is always home, 1 is the first command, etc)
	CId	The mavlink message id
	Copt	The option parameter (used for many different purposes)
	Prm1	The command’s parameter (used for many different purposes)
	Alt	The command’s altitude in meters
	Lat	The command’s latitude position
	Lng	The command’s longitude position
COMPASS (raw compass, offset and compassmot compensation values):	MagX, MagY. MagZ	Raw magnetic field values for x, y and z axis
	OfsX, OfsY, OfsZ	Raw magnetic offsets (will only change if COMPASS_LEARN parameter is 1)
	MOfsX, MOfsY, MOfsZ	Compassmot compensation for throttle or current
CURRENT (battery voltage, current and board voltage information):	Thr	Pilot input throttle from 0 ~ 1000	パイロットが入力ニュウリョクしたスロットルの値アタイ
状況ジョウキョウ	ThrInt	Integrated throttle (i.e. sum of total throttle output for this flight)	統合されたスロットル値チ
	Volt	Battery voltage in volts * 100	バッテリ電圧（ボルト）* 100
	Curr	Current drawn from the battery in amps * 100	電流（アンペア* 100）
	Vcc	Board voltage	基板電圧
	CurrTot	Total current drawn from battery	バッテリ総電流
CTUN (throttle and altitude information):	ThrIn	The pilot’s throttle in as a number from 0 to 1000	パイロットが指定シテイしたスロットルの値アタイ
CTUN（スロットルと高度情報）：	SonAlt	The altitude above ground according to the sonar	ソナーによる地上高度
	BarAlt	The altitude above ground according to the barometer	気圧計による地上高度
	WPAlt	The desired altitude while in AltHold, Loiter, RTL or Auto flight modes	AltHold、Loiter、RTLまたは自動飛行モードでの希望の高度
	NavThr	Not used
	AngBst	Throttle increase (from 0 ~ 1000) as a result of the copter leaning over (automatically added to all pilot and autopilot throttle to reduce altitude loss while leaning)	コプターが傾いた結果、スロットルを増加（0〜1000）した値アタイ（斜めになると高度が下がるため、自動的にパイロットとオートパイロットのすべてのスロットルに追加される。）
	CRate	Accelerometer + baro climb rate estimate in cm/s	加速度計+バロクライムレート推定値（cm / s）
	ThrOut	Final throttle output sent to the motors (from 0 ~ 1000). Normally equal to ThrIn+AngBst while in stabilize mode.	モータに送られる最終的なスロットル出力（0〜1000）。スタビライズモードでは通常ThrIn + AngBstに等しくなります。
	DCRate	Pilot desired climb rate in cm/s	パイロット希望の上昇率（cm / s）
D32, DU32 (single data values which are either signed 32bit integers or unsigned 32bit integers):	id	Identification number for the variable. There are only two possible values:
		7 = bit mask of internal state. ( The meaning of individual bits can be found in the def’n of the ap structure <https://github.com/ardupilot/ardupilot/blob/master/ArduCopter/Copter.h#L251>
		9 = simple mode’s initial heading in centi-degrees
ERR (an error message):	1:Main	(never used)
	2:Radio	ECode 1: “Late Frame” which means the APM’s onboard ppm encoder did not provide an update for at least 2 seconds	ECode 1：APMのオンボードppmエンコーダが少なくとも2秒間更新を提供しなかったことを意味する「Late Frame」
	3:Compass	ECode 1: the compass failed to initialise (likely a hardware issue) ECode 2: failure while trying to read a single value from the compass (probably a hardware issue) ECode 0: above errors resolve	ECode 1：コンパスが初期化に失敗しました（おそらくハードウェアの問題） ECode 2：コンパスから単一の値を読み取ろうとしているときにエラーが発生しました（おそらくハードウェアの問題）ECode 0：上記ジョウキ問題モンダイが解決カイケツ
	4:Optical flow	Ecode 1: failed to initialise (likely a hardware issue)	Ecode 1：初期化に失敗しました（おそらくハードウェアの問題）
	5:Throttle failsafe	ECode 1: throttle dropped below FS_THR_VALUE meaning likely loss of contact between RX/TX ECode 0: above error resolve meaning RX/TX contact likely restored	ECode 1：スロットルがFS_THR_VALUEより低くなり、RX / TX間の接触が失われた可能性があることを意味します。ECode 0：上記のエラー　RX / TXの接続セツゾクが復元フクゲンした。
	6:Battery failsafe	ECode 1: battery voltage dropped below LOW_VOLT or total capacity used exceeded BATT_CAPACITY	ECode 1：バッテリ電圧がLOW_VOLTを下回ったか、使用された総容量がBATT_CAPACITYを超えました
	7: GPS failsafe	ECode 1: GPS lock lost for at least 5 seconds ECode 0: GPS lock restored	ECode 1：GPSロックが少なくとも5秒間失われた。 ECode 0：GPSロックが復元された。
	8: GCS failsafe	ECode 1: updates from ground station joystick lost for at least 5 seconds ECode 0: updates from ground station restored	ECode 1：地上局ジョイスティックからの更新が少なくとも5秒間失われた。 ECode 0：地上局からの更新が復元された。
	9: Fence	ECode 1: altitude fence breached ECode 2: circular fence breached ECode 3: both altitude and circular fences breached ECode 0: vehicle is back within the fences	ECode 1：高度フェンスが侵害された ECode 2：円形フェンスが侵害された ECode 3：高度と円形フェンスの両方が侵害された ECode 0：機体キタイがフェンス内に戻る
	10: Flight Mode	ECode 0 ~ 17: the vehicle was unable to enter the desired flight mode: 0=Stabilize, 1=Acro, 2=AltHold, 3=Auto, 4=Guided, 5=Loiter, 6=RTL, 7=Circle, 8=Position, 9=Land, 10=OF_Loiter, 11=Drift, 13=Sport, 14=Flip, 15=AutoTune, 16=PosHold, 17=Brake	0 =スタビライズ、1 =アクロ、2 = AltHold、3 =自動、4 =誘導、5 = Loiter、6 = RTL、7 = Circle、8 =ポジション、9 =着陸チャクリク、10 = OF_Loiter、11 =ドリフト、13 =スポーツ、14 =フリップ、15 =オートチューン、16 = PosHold、17 =ブレーキ
	11: GPS	ECode 2: GPS Glitch ECode 0: GPS Glitch cleared	ECode 2：GPSグリッチECode 0：GPSグリッチをクリア
	12: Crash Check	ECode 1: Crash detected	ECode 1：クラッシュが検出されました
EV: (an event number). The full list of possible events can be found in defines.h but the most common are:	10	Armed
	11	Disarmed
	15	Auto Armed (pilot has raised throttle above zero and autopilot is free to take control of throttle)
	16	TakeOff
	18	Land Complete
	25	Set Home (home location coordinates have been capture)
GPA: (Global Position Accuracy)	VDop	Vertical dilution of precision, a unitless measure of precisionhttps://en.wikipedia.org/wiki/dilution_of_precision
	HAcc	Horizontal Accuracy as reported by the GPS module, in meters
	VAcc	Vertical Accuracy as reported by the GPS module, in meters
	SAcc	Speed accuracy as reported by the GPS, in m/s/s
	VV	Flag to indicate if the GPS is reporting vertical velocity
		0 No vertical velocity data 1 GPS has vertical velocity data
	SMS	The autopilot time in milliseconds that the accuracy/GPS position data is associated with.
	Delta	The time between when the previous GPS message and the current GPS message was parsed by the autopilot, in milliseconds
GPS:	Status	0 = no GPS, 1 = GPS but no fix, 2 = GPS with 2D fix, 3 = GPS with 3D fix
	Time	The GPS reported time since epoch in milliseconds
	NSats	The number of satellites current being used
	HDop	A measure of gps precision (1.5 is good, >2.0 is not so good)https://en.wikipedia.org/wiki/dilution_of_precision
	Lat	Lattitude according to the GPS
	Lng	Longitude according to the GPS
	RelAlt	Accelerometer + Baro altitude in meters
	Alt	GPS reported altitude (not used by the flight controller)
	SPD	Horizontal ground speed in m/s
	GCrs	Ground course in degrees (0 = north)
IMU (accelerometer and gyro information):	GyrX, GyrY, GyrZ	The raw gyro rotation rates in degrees/second
	AccX, AccY, AccZ	The raw accelerometer values in m/s/s
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
NTUN (navigation information):	WPDst	Distance to the next waypoint (or loiter target) in cm. Only updated while in Loiter, RTL, Auto.
	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 accelerometer + gps velocity estimate in the latitude direction
	VelY	Actual accelerometer + 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)
	RenBlw	DCM renormalization blow-up count - how many times DCM had to completely rebuild the DCM matrix since the last PM. Normally innocuous but a number that constantly grows may be an indication that DCM is having troubles calculating the attitude (extremely rare)
	FixCnt	The number of GPS fixes received since the last PM message was received (it’s hard to imagine how this would be useful)
	NLon	Number of long running main loops (i.e. loops that take more than 5% longer than the 10ms they should)
	NLoop	The total number of loops since the last PM message was displayed. This allows you to calculate the percentage of slow running loops (which should never be higher than 15%). Note that the value will depend on the autopilot clock speed.
	MaxT	The maximum time that any loop took since the last PM message. This should be close to 10,000 but will be up to 6,000,000 during the interval where the motors are armed
	PMT	A number that increments each time a heart beat is received from the ground station
	I2CErr	The number of I2C errors since the last PM message. Any I2C errors may indicate a problem on the I2C bus which may in turn slow down the main loop and cause performance problems.