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FRAMES.md

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In the context of BBL (BlackBox Log) files, a frame is a data record that contains sensor readings and flight controller state at a specific point in time.

What is a Frame?

A frame is essentially a timestamped snapshot of the flight controller's data at one moment during flight. Each frame contains multiple data fields like:

  • Gyroscope readings (gyroADC[0], gyroADC[1], gyroADC[2])
  • Accelerometer readings (accSmooth[0], accSmooth[1], accSmooth[2])
  • Motor outputs (motor[0], motor[1], motor[2], motor[3])
  • RC commands (rcCommand[0], rcCommand[1], rcCommand[2], rcCommand[3])
  • PID values, flight modes, battery voltage, etc.

Frame Types in BBL:

  • I frames (Intra): Complete data snapshots with all field values
  • P frames (Predictive): Compressed frames storing only changes from previous frame
  • H frames (GPS Home): GPS home position data
  • G frames (GPS): GPS position and speed data
  • S frames (Slow): Less frequently updated data (battery, RSSI, etc.)
  • E frames (Event): Special events like mode changes, failsafes

Data Structure:

Frame 1: [timestamp] [gyroX] [gyroY] [gyroZ] [motor1] [motor2] [motor3] [motor4] [rcThrottle] ...
Frame 2: [timestamp] [gyroX] [gyroY] [gyroZ] [motor1] [motor2] [motor3] [motor4] [rcThrottle] ...
Frame 3: [timestamp] [gyroX] [gyroY] [gyroZ] [motor1] [motor2] [motor3] [motor4] [rcThrottle] ...

So when our parser reports "82,845 P frames", it means there are 82,845 individual data records captured during that flight, each containing a complete set of sensor readings and flight controller states at different moments in time.

Think of it like: Each frame = one row in a flight data spreadsheet, recorded hundreds or thousands of times per second during flight.