yamcs-cfs

A YAMCS plugin for ailriner.

Table of Contents

1. Dependencies
2. To Build
3. To Run
4. Add It to your YAMCS Install
5. XTCE Patterns and Conventions
6. Build Documentation

Dependencies

• Java 11
• Maven
• YAMCS>=5.4.3
• Ubuntu 16/18/20

To Build

mvn install -DskipTests

To package it:

mvn package -DskipTests
mvn dependency:copy-dependencies

The package command will output a jar file at yamcs-cfs/target. Note the dependency:copy-dependencies command; this will copy all of the jars to the yamcs-cfs/target/dependency directory. Very useful for integrating third-party dependencies.

To Run

For now this yamcs setup is pre-configured for airliner's tutorial/cfs, however do note that this can be re-configured by replacing the src/main/yamcs/mdb/cfs.xml xtce file with another one that is specific to the build of the flight software which can be something else other than airliner. For more details on generating xtce files the easy way look at auto-yamcs.

To run yamcs with the current configuration:

mvn yamcs:run

If all went well, the output of the terminal should be very similar to the following:

The yamcs web interface should be accessible at the address at the bottom of the output.

NOTE: The mvn command is invoking maven

Add it to YAMCS

Assuming YAMCS is installed at /opt/yamcs:

wget https://github.com/WindhoverLabs/yamcs-cfs/releases/download/1.5.0/yamcs-cfs-1.5.0.jar
cp yamcs-cfs-1.5.0.jar /opt/yamcs/lib/ext

XTCE Patterns and Conventions

While we strive for 100% XTCE compliance, we lean towards YAMCS's version of XTCE, which is almost fully XTCE compliant. Below are the specifications of the patterns, naming conventions and overall structure we follow to generate our XTCE files .

Namespaces

As the XTCE standard mandates, our namespaces are enclosed with the <xtce:SpaceSystem> tag. More specfically, we have a BaseType namespace. This namespace has all of the necessary base types that a SpaceSystem may use. Please note that we use the terms Namespace and SpaceSystem interchangeably. A base type is something that is not usually user-defined, but is rather machine-defined. Below is a table with examples of base types that may be part of our BaseType namespace.

Name	Description	Size in bits	Encoding	Endianness
uint1_LE	An unsigned integer.	1	unsigned	Little Endian
uint16_BE	An unsigned integer.	16	unsigned	Big endian
char160_LE	A string with 160 bits, or 20 characters.	160	UTF-8	Little Endian

Our naming conventions for base types will always be [type][number_of_bits][under_score][Endianness] just lke you see in the table above.

Please note that these base types are nearly identical to what you'd find in a programming language like C. That is because that is what they are meant to represent. Our goal is to auto-generate our XTCE files by extracting data(structs, variables, etc) from binary and executable files. Our reasons for this approach are simple; writing XTCE files by hand is error-prone and time consuming. At the moment the tool chain that will allow us to do this is almost done. One of those tools is juicer, which extracts DWARF data from ELF files, such as executable binary files.

ParameterTypes

Our paramter types are always defined under <TelemetryMetaData>. The naming of our parameter types follows the convention shown in the table above.

ArgumentTypes

Our argument types, as per XTCE design and standard, are always defined under <CommandMetaData>. The naming of our arguments types follows the convention shown in the table above.

User-defined Types

EnumeratedParameterType, AggregateParamterType, AggregateArgumentType and EnumeratedArgumentType types are what we consider user-defined types. This means that these types are not part of the BaseType namespace. EnumeratedParameterType and AggregateParamterType types are always defined on <TelemetryMetaData>. AggregateArgumentType and EnumeratedArgumentType are always defined on <CommandMetaData>.

Arrays

Standalone arrays

We define Standalone arrays as arrays whose size can be known at compile-time. An example of standalone arrays is int points[128];. Dynamic arrays(such as a runtime-allocated array by a malloc/new call) are not meant to be extracted by tools like Juicer. Therefore, do not expect our auto-generated XTCE files to have anything useful on dynamic arrays. Statically allocated standalone arrays can take the form of a ArrayParamterType, which as stated before will always appear as part of <TelemetryMetaData>. They can also be of the form ArrayArgumentType, which will always appear as part of <CommandMetaData>. Our naming conventions for user-defined types wil always be [name][under_score]["t"]. The token "t" is an invariant; ALL user-defined types will have the character "t" appended at the end.

Arrays Inside Structures(*AggregateType)

As of the YAMCS version we use at the moment(5.1.3), arrays inside AggregateParamterType or AggregateArgumentType are not supported. Because of this, we have to come up with our own paradigm of defining arrays inside a structure. Here is an example of how we define an array inside a structure:

	<AggregateParameterType name="Payload_t">
				<MemberList>
					<Member name="CommandCounter" typeRef="cfs-ccsds/BaseType/uint8_LE"></Member>
					<Member typeRef="CFE_EVS_AppTlmData_t" name="AppData[0]"></Member>
					<Member typeRef="CFE_EVS_AppTlmData_t" name="AppData[1]"></Member>
					<Member typeRef="CFE_EVS_AppTlmData_t" name="AppData[2]"></Member>
					<Member typeRef="CFE_EVS_AppTlmData_t" name="AppData[3]"></Member>
					<Member typeRef="CFE_EVS_AppTlmData_t" name="AppData[4]"></Member>
					<Member typeRef="CFE_EVS_AppTlmData_t" name="AppData[5]"></Member>
				</MemberList>
			</AggregateParameterType>

Here we have a structure called Payload_t(notice the naming convention explained above). It has a field called CommandCounter and an array that has 6 elements of type CFE_EVS_AppTlmData_t. We tried our best to make the naming convention for arrays intuitive. As you can see it looks like a regular array access in code!

Base types(Intrinsic types)

The types shown above such as uint16_LE are what is known as a base type. These are the types that represent things like int, float, char, etc in code. As mentioned above these will always be part of the BaseType namespace. Below is a table with all of our base types. Please note that this table is subject as we have not fully standarized our xtce format yet. The endianness cells marked with a "*" at the end are exclusively describing just bit ordering and NOT byte-ordering. As you see on the table this just applies to the types that are 8 bits or less as byte-ordering is irrelevant for these. We consider bit ordering for all of our types for the rare case where there is an architecture that takes into count bit ordering.

Name	Description	Size in bits	Encoding	Endianness
uint1_BE	An unsigned integer.	1	unsigned	Big Endian*
uint1_LE	An unsigned integer.	1	unsigned	Big Endian*
uint2_BE	An unsigned integer.	2	unsigned	Big Endian*
uint2_LE	An unsigned integer.	2	unsigned	Little Endian*
int2_BE	A signed integer.	2	signed	Big Endian*
int2_LE	A signed integer.	2	signed	Little Endian*
uint3_BE	An unsigned integer.	3	unsigned	Big Endian*
uint3_LE	An unsigned integer.	3	unsigned	Little Endian*
int3_BE	A signed integer.	3	signed	Big Endian*
int3_LE	A signed integer.	3	signed	Little Endian*
uint4_BE	An unsigned integer.	4	unsigned	Big Endian*
uint4_LE	An unsigned integer.	4	unsigned	Little Endian*
int4_BE	A signed integer.	4	signed	Big Endian*
int4_LE	A signed integer.	4	signed	Little Endian*
uint5_BE	An unsigned integer.	5	unsigned	Big Endian*
uint5_LE	An unsigned integer.	5	unsigned	Little Endian*
int5_BE	A signed integer.	5	signed	Big Endian*
int5_LE	A signed integer.	5	signed	Little Endian*
uint6_BE	An unsigned integer.	6	unsigned	Big Endian*
uint6_LE	An unsigned integer.	6	unsigned	Little Endian*
int6_BE	A signed integer.	6	signed	Big Endian*
int6_LE	A signed integer.	6	signed	Little Endian*
uint7_BE	An unsigned integer.	7	unsigned	Big Endian*
uint7_LE	An unsigned integer.	7	unsigned	Little Endian*
int7_BE	A signed integer.	7	signed	Big Endian*
int7_LE	A signed integer.	7	signed	Little Endian*
uint8_BE	An unsigned integer.	8	unsigned	Big Endian*
uint8_LE	An unsigned integer.	8	unsigned	Little Endian*
int8_BE	A signed integer.	8	signed	Big Endian*
int8_LE	A signed integer.	8	signed	Little Endian*
uint9_BE	An unsigned integer.	9	unsigned	Big Endian
uint9_LE	An unsigned integer.	9	unsigned	Little Endian
int9_BE	A signed integer.	9	signed	Big Endian
int9_LE	A signed integer.	9	signed	Little Endian
uint10_BE	An unsigned integer.	10	unsigned	Big Endian
uint10_LE	An unsigned integer.	10	unsigned	Little Endian
int10_BE	A signed integer.	10	signed	Big Endian
int10_LE	A signed integer.	10	signed	Little Endian
uint11_BE	An unsigned integer.	11	unsigned	Big Endian
uint11_LE	An unsigned integer.	11	unsigned	Little Endian
int11_BE	A signed integer.	11	signed	Big Endian
int11_LE	A signed integer.	11	signed	Little Endian
uint12_BE	An unsigned integer.	12	unsigned	Big Endian
uint12_LE	An unsigned integer.	12	unsigned	Little Endian
int12_BE	A signed integer.	12	signed	Big Endian
int12_LE	A signed integer.	12	signed	Little Endian
uin13_BE	An unsigned integer.	13	unsigned	Big Endian
uint13_LE	An unsigned integer.	13	unsigned	Little Endian
int13_BE	A signed integer.	13	signed	Big Endian
int13_LE	A signed integer.	13	signed	Little Endian
uint14_BE	An unsigned integer.	14	unsigned	Big Endian
uint14_LE	An unsigned integer.	14	unsigned	Little Endian
int14_BE	A signed integer.	14	signed	Big Endian
int14_LE	A signed integer.	14	signed	Little Endian
uint15_BE	An unsigned integer.	15	unsigned	Big Endian
uint15_LE	An unsigned integer.	15	unsigned	Little Endian
int15_BE	A signed integer.	15	signed	Big Endian
int15_LE	A signed integer.	15	signed	Little Endian
uint16_BE	An unsigned integer.	16	unsigned	Big Endian
uint16_LE	An unsigned integer.	16	unsigned	Little Endian
int16_BE	A signed integer.	16	signed	Big Endian
int16_LE	A signed integer.	16	signed	Little Endian
uint17_BE	An unsigned integer.	17	unsigned	Big Endian
uint17_LE	An unsigned integer.	17	unsigned	Little Endian
int17_BE	A signed integer.	17	signed	Big Endian
int17_LE	A signed integer.	17	signed	Little Endian
uint18_BE	An unsigned integer.	18	unsigned	Big Endian
uint18_LE	An unsigned integer.	18	unsigned	Little Endian
int18_BE	A signed integer.	18	signed	Big Endian
int18_LE	A signed integer.	18	signed	Little Endian
uint19_BE	An unsigned integer.	19	unsigned	Big Endian
uint19_LE	An unsigned integer.	19	unsigned	Little Endian
int19_BE	A signed integer.	19	signed	Big Endian
int19_LE	A signed integer.	19	signed	Little Endian
uint20_BE	An unsigned integer.	20	unsigned	Big Endian
uint20_LE	An unsigned integer.	20	unsigned	Little Endian
int20_BE	A signed integer.	20	signed	Big Endian
int20_LE	A signed integer.	20	signed	Little Endian
uint21_BE	An unsigned integer.	21	unsigned	Big Endian
uint21_LE	An unsigned integer.	21	unsigned	Little Endian
int21_BE	A signed integer.	21	signed	Big Endian
int21_LE	A signed integer.	21	signed	Little Endian
uint22_BE	An unsigned integer.	22	unsigned	Big Endian
uint22_LE	An unsigned integer.	22	unsigned	Little Endian
int22_BE	A signed integer.	22	signed	Big Endian
int22_LE	A signed integer.	22	signed	Little Endian
uint23_BE	An unsigned integer.	23	unsigned	Big Endian
uint23_LE	An unsigned integer.	23	unsigned	Little Endian
int23_BE	A signed integer.	23	signed	Big Endian
int23_LE	A signed integer.	23	signed	Little Endian
uint24_BE	An unsigned integer.	24	unsigned	Big Endian
uint24_LE	An unsigned integer.	24	unsigned	Little Endian
int24_BE	A signed integer.	24	signed	Big Endian
int24_LE	A signed integer.	24	signed	Little Endian
uint25_BE	An unsigned integer.	25	unsigned	Big Endian
uint25_LE	An unsigned integer.	25	unsigned	Little Endian
int25_BE	A signed integer.	25	signed	Big Endian
int25_LE	A signed integer.	25	signed	Little Endian
uint26_BE	An unsigned integer.	26	unsigned	Big Endian
uint26_LE	An unsigned integer.	26	unsigned	Little Endian
int26_BE	A signed integer.	26	signed	Big Endian
int26_LE	A signed integer.	26	signed	Little Endian
uint27_BE	An unsigned integer.	27	unsigned	Big Endian
uint27_LE	An unsigned integer.	27	unsigned	Little Endian
int27_BE	A signed integer.	27	signed	Big Endian
int27_LE	A signed integer.	27	signed	Little Endian
uint28_BE	An unsigned integer.	28	unsigned	Big Endian
uint28_LE	An unsigned integer.	28	unsigned	Little Endian
int28_BE	A signed integer.	28	signed	Big Endian
int28_LE	A signed integer.	28	signed	Little Endian
uint29_BE	An unsigned integer.	29	unsigned	Big Endian
uint29_LE	An unsigned integer.	29	unsigned	Little Endian
int29_BE	A signed integer.	29	signed	Big Endian
int29_LE	A signed integer.	29	signed	Little Endian
uint30_BE	An unsigned integer.	30	unsigned	Big Endian
uint30_LE	An unsigned integer.	30	unsigned	Little Endian
int30_BE	A signed integer.	30	signed	Big Endian
int30_LE	A signed integer.	30	signed	Little Endian
uint31_BE	An unsigned integer.	31	unsigned	Big Endian
uint31_LE	An unsigned integer.	31	unsigned	Little Endian
int31_BE	A signed integer.	31	signed	Big Endian
int31_LE	A signed integer.	31	signed	Little Endian
uint32_BE	An unsigned integer.	32	unsigned	Big Endian
uint32_LE	An unsigned integer.	32	unsigned	Little Endian
int32_BE	A signed integer.	32	signed	Big Endian
int32_LE	A signed integer.	32	signed	Little Endian
uint33_BE	An unsigned integer.	33	unsigned	Big Endian
uint33_LE	An unsigned integer.	33	unsigned	Little Endian
int33_BE	A signed integer.	33	signed	Big Endian
int33_LE	A signed integer.	33	signed	Little Endian
uint34_BE	An unsigned integer.	34	unsigned	Big Endian
uint34_LE	An unsigned integer.	34	unsigned	Little Endian
int34_BE	A signed integer.	34	signed	Big Endian
int34_LE	A signed integer.	34	signed	Little Endian
uint34_BE	An unsigned integer.	34	unsigned	Big Endian
uint34_LE	An unsigned integer.	34	unsigned	Little Endian
int35_BE	A signed integer.	35	signed	Big Endian
int35_LE	A signed integer.	35	uint_BE	An unsigned integer.
uint35_LE	An unsigned integer.	35	unsigned	Little Endian
int35_BE	A signed integer.	35	signed	Big Endian
uint36_BE	An unsigned integer.	36	unsigned	Big Endian
uint36_LE	An unsigned integer.	36	unsigned	Little Endian
int36_BE	A signed integer.	36	signed	Big Endian
int36_LE	A signed integer.	36	signed	Little Endian
uint37_BE	An unsigned integer.	37	unsigned	Big Endian
uint37_LE	An unsigned integer.	37	unsigned	Little Endian
int37_BE	A signed integer.	37	signed	Big Endian
int37_LE	A signed integer.	37	signed	Little Endian
uint38_BE	An unsigned integer.	38	unsigned	Big Endian
uint38_LE	An unsigned integer.	38	unsigned	Little Endian
int38_BE	A signed integer.	38	signed	Big Endian
int38_LE	A signed integer.	38	signed	Little Endian
uint39_BE	An unsigned integer.	39	unsigned	Big Endian
uint39_LE	An unsigned integer.	39	unsigned	Little Endian
int39_BE	A signed integer.	39	signed	Big Endian
int39_LE	A signed integer.	39	signed	Little Endian
uint40_BE	An unsigned integer.	40	unsigned	Big Endian
uint40_LE	An unsigned integer.	40	unsigned	Little Endian
int40_BE	A signed integer.	40	signed	Big Endian
int40_LE	A signed integer.	40	signed	Little Endian
uint41_BE	An unsigned integer.	41	unsigned	Big Endian
uint41_LE	An unsigned integer.	41	unsigned	Little Endian
int41_BE	A signed integer.	41	signed	Big Endian
int41_LE	A signed integer.	41	signed	Little Endian
uint42_BE	An unsigned integer.	42	unsigned	Big Endian
uint42_LE	An unsigned integer.	42	unsigned	Little Endian
int42_BE	A signed integer.	42	signed	Big Endian
int42_LE	A signed integer.	42	signed	Little Endian
uint43_BE	An unsigned integer.	43	unsigned	Big Endian
uint43_LE	An unsigned integer.	43	unsigned	Little Endian
int43_BE	A signed integer.	43	signed	Big Endian
int43_LE	A signed integer.	43	signed	Little Endian
uint44_BE	An unsigned integer.	44	unsigned	Big Endian
uint44_LE	An unsigned integer.	44	unsigned	Little Endian
int44_BE	A signed integer.	44	signed	Big Endian
int44_LE	A signed integer.	44	signed	Little Endian
uint45_BE	An unsigned integer.	45	unsigned	Big Endian
uint45_LE	An unsigned integer.	45	unsigned	Little Endian
int45_BE	A signed integer.	45	signed	Big Endian
int45_LE	A signed integer.	45	signed	Little Endian
uint46_BE	An unsigned integer.	46	unsigned	Big Endian
uint46_LE	An unsigned integer.	46	unsigned	Little Endian
int46_BE	A signed integer.	46	signed	Big Endian
int46_LE	A signed integer.	46	signed	Little Endian
uint47_BE	An unsigned integer.	47	unsigned	Big Endian
uint47_LE	An unsigned integer.	47	unsigned	Little Endian
int47_BE	A signed integer.	47	signed	Big Endian
int47_LE	A signed integer.	47	signed	Little Endian
uint48_BE	An unsigned integer.	48	unsigned	Big Endian
uint48_LE	An unsigned integer.	48	unsigned	Little Endian
int48_BE	A signed integer.	48	signed	Big Endian
int48_LE	A signed integer.	48	signed	Little Endian
uint49_BE	An unsigned integer.	49	unsigned	Big Endian
uint49_LE	An unsigned integer.	49	unsigned	Little Endian
int49_BE	A signed integer.	49	signed	Big Endian
int49_LE	A signed integer.	49	signed	Little Endian
uint50_BE	An unsigned integer.	50	unsigned	Big Endian
uint50_LE	An unsigned integer.	50	unsigned	Little Endian
int50_BE	A signed integer.	50	signed	Big Endian
int50_LE	A signed integer.	50	signed	Little Endian
uint51_BE	An unsigned integer.	51	unsigned	Big Endian
uint51_LE	An unsigned integer.	51	unsigned	Little Endian
int51_BE	A signed integer.	51	signed	Big Endian
int51_LE	A signed integer.	51	signed	Little Endian
uint52_BE	An unsigned integer.	52	unsigned	Big Endian
uint52_LE	An unsigned integer.	52	unsigned	Little Endian
int52_BE	A signed integer.	52	signed	Big Endian
int52_LE	A signed integer.	52	signed	Little Endian
uint53_BE	An unsigned integer.	53	unsigned	Big Endian
uint53_LE	An unsigned integer.	53	unsigned	Little Endian
int53_BE	A signed integer.	53	signed	Big Endian
int53_LE	A signed integer.	53	signed	Little Endian
uint54_BE	An unsigned integer.	54	unsigned	Big Endian
uint54_LE	An unsigned integer.	54	unsigned	Little Endian
int54_BE	A signed integer.	54	signed	Big Endian
int54_LE	A signed integer.	54	signed	Little Endian
uint55_BE	An unsigned integer.	55	unsigned	Big Endian
uint55_LE	An unsigned integer.	55	unsigned	Little Endian
int55_BE	A signed integer.	55	signed	Big Endian
int55_LE	A signed integer.	55	signed	Little Endian
uint56_BE	An unsigned integer.	56	unsigned	Big Endian
uint56_LE	An unsigned integer.	56	unsigned	Little Endian
int56_BE	A signed integer.	56	signed	Big Endian
int56_LE	A signed integer.	56	signed	Little Endian
uint57_BE	An unsigned integer.	57	unsigned	Big Endian
uint57_LE	An unsigned integer.	57	unsigned	Little Endian
int57_BE	A signed integer.	57	signed	Big Endian
int57_LE	A signed integer.	57	signed	Little Endian
uint58_BE	An unsigned integer.	58	unsigned	Big Endian
uint58_LE	An unsigned integer.	58	unsigned	Little Endian
int58_BE	A signed integer.	58	signed	Big Endian
int58_LE	A signed integer.	58	signed	Little Endian
uint59_BE	An unsigned integer.	59	unsigned	Big Endian
uint59_LE	An unsigned integer.	59	unsigned	Little Endian
int59_BE	A signed integer.	59	signed	Big Endian
int59_LE	A signed integer.	59	signed	Little Endian
uint60_BE	An unsigned integer.	60	unsigned	Big Endian
uint60_LE	An unsigned integer.	60	unsigned	Little Endian
int60_BE	A signed integer.	60	signed	Big Endian
int60_LE	A signed integer.	60	signed	Little Endian
uint61_BE	An unsigned integer.	61	unsigned	Big Endian
uint61_LE	An unsigned integer.	61	unsigned	Little Endian
int61_BE	A signed integer.	61	signed	Big Endian
int61_LE	A signed integer.	61	signed	Little Endian
uint62_BE	An unsigned integer.	62	unsigned	Big Endian
uint62_LE	An unsigned integer.	62	unsigned	Little Endian
int62_BE	A signed integer.	62	signed	Big Endian
int62_LE	A signed integer.	62	signed	Little Endian
uint63_BE	An unsigned integer.	63	unsigned	Big Endian
uint63_LE	An unsigned integer.	63	unsigned	Little Endian
int63_BE	A signed integer.	63	signed	Big Endian
int63_LE	A signed integer.	63	signed	Little Endian
uint64_BE	An unsigned integer.	64	unsigned	Big Endian
uint64_LE	An unsigned integer.	64	unsigned	Little Endian
int64_BE	A signed integer.	64	signed	Big Endian
int64_LE	A signed integer.	64	signed	Little Endian
float32_LE	A signed floating point number.	32	signed	Little Endian
float32_BE	A signed floating point number.	32	signed	Big Endian
boolean8_LE	A boolean. "1" means TRUE; "0" FALSE.	8	N/A	Little Endian

YAMCS-XTCE Quirks

Our xtce flavor adheres to yamcs. In the future, we'll try our best to design our toolchain in such a way we can be 100% compliant with xtce, but at the moment we adhere to yamcs-flavored xtce only. As a result of this, we will need to deal with any quirks this yamcs-flavored xtce standard may have. Below are a list of quirks we've discovered so far:

• It seems that yamcs has issues processing any Paramter entries that have a '#' in the name.

Build Documentation

cd docs/
pip3 install -r requirements.txt
make html

Toggle UDP Sockets

import requests
r = requests.post('http://127.0.0.1:8090/api/fsw/udp/:start',
                  json={"instance": "fsw",
                        "linkName": "tm_ground_node_udp_out"})

import requests
r = requests.post('http://127.0.0.1:8090/api/fsw/udp/:stop',
                  json={"instance": "fsw",
                        "linkName": "tm_ground_node_udp_out"})

Export CSVs

  - class: com.windhoverlabs.yamcs.archive.CSVExporter
    name: "csv_exporter"
    args:
      bucket: "cfdpDownCH1"
      start: "2023-09-23T23:00:00.000Z"
      stop: "2023-09-24T00:10:00.000Z"
      params:
        TO_HK_TLM_MID:
          - /cfs/ppd/apps/to/TO_HK_TLM_MID.CmdCnt
          - /cfs/ppd/apps/to/TO_HK_TLM_MID.CmdErrCnt
          - /cfs/ppd/apps/to/TO_HK_TLM_MID.SentBytes
          - /cfs/ppd/apps/to/TO_HK_TLM_MID.ChannelMaxMem
          - /cfs/ppd/apps/to/TO_HK_TLM_MID.ChannelInfo[0].MemInUse
          - /cfs/ppd/apps/to/TO_HK_TLM_MID.ChannelInfo[0].PeakMemInUse
          - /cfs/ppd/apps/to/TO_HK_TLM_MID.ChannelInfo[0].TotalQueued
          - /cfs/ppd/apps/to/TO_HK_TLM_MID.ChannelInfo[0].MessagesSent
          - /cfs/ppd/apps/to/TO_HK_TLM_MID.ChannelInfo[0].SentBytes
          - /cfs/ppd/apps/to/TO_HK_TLM_MID.ChannelInfo[0].CurrentlyQueuedCnt
        PX4_VEHICLE_ATTITUDE_SETPOINT_MID:
          - /cfs/cpd/apps/px4lib/PX4_VEHICLE_ATTITUDE_SETPOINT_MID.RollBody
          - /cfs/cpd/apps/px4lib/PX4_VEHICLE_ATTITUDE_SETPOINT_MID.PitchBody
        ASPD4525_HK_TLM_MID:
          - /cfs/cpd/apps/aspd4525/ASPD4525_HK_TLM_MID.fIndicatedAirSpeed
          - /cfs/cpd/apps/aspd4525/ASPD4525_HK_TLM_MID.fTrueAirSpeed  
          - /cfs/cpd/apps/aspd4525/ASPD4525_HK_TLM_MID.fTrueAirSpeedUnfiltered
          - /cfs/cpd/apps/aspd4525/ASPD4525_HK_TLM_MID.uTemperatureCount
          - /cfs/cpd/apps/aspd4525/ASPD4525_HK_TLM_MID.uStatus
          - /cfs/cpd/apps/aspd4525/ASPD4525_HK_TLM_MID.fTemperature
          - /cfs/cpd/apps/aspd4525/ASPD4525_HK_TLM_MID.fPressureMinimum_PSI
          - /cfs/cpd/apps/aspd4525/ASPD4525_HK_TLM_MID.fPressureMaximum_PSI
          - /cfs/cpd/apps/aspd4525/ASPD4525_HK_TLM_MID.fTemperatureMinimum_Celcius
          - /cfs/cpd/apps/aspd4525/ASPD4525_HK_TLM_MID.fTemperatureMaximum_Celcius

NOTE: This documentation is subject to change as our tools evolve.
Documented on July 5th, 2021