Display of Telemetry Measurements

@calmissile wrote:

Configuration:
APM 2.8 with firmware V3.2.1
Quad X
Mission Planner V1.3.63

I was initially trying to troubleshoot a problem with the HUD roll axis not showing level when Quad is level. This led to trying to investigate the various telemetry measurements to discover the cause of the issue. I won’t go into the details of all the research and things I tried to figure it out, but will limit the post to the Mission Planner issues.

1. Unable to find what we call a “Measurement List” in the Aerospace Telemetry Industry jargon. It normally shows each measurement and includes a lot of technical data including where the measurement is taken in the system, the scaling, update rate, etc. There is a lot of data on the “parameters” that are stored in the flight controller, but very little on the telemetry measurements.
2. The screen that shows selection of measurements to be graphed is not organized and the abbreviations are not very intuitive. I have seen screen shots on various forums that show a similar screen shot that has the measurements organized into logical categories. Was this a previous version or is there some method to display this selection screen in an organized/grouped fashion?
3. This site has a post that shows some of the screens that I would think would be more useful to me, but have no idea how to display them. Any clues?
   https://www.instructables.com/id/Step-by-step-Guidance-to-Build-a-Drone-From-Scratc/
   Look at Step 75 10.5.2
   Look at Step 103 15.2
   Look at Setp 104 15.3

After a great deal of searching on the HUD display not level issue, I found many posts where others had the same problem but the only resolution offered was some kind workaround that did not explain in any detail as to how is was doing it, what other affects it might have on something else,etc. I believe the last lines of the post was one of the programmers indicating that they knew the cause of the problem and that it will be fixed in the next release. I think V3.2.1 was that version that needed to be fixed and it is the last version I can load onto my APM 2.X.
4. I am unable to load a previous firmware version with Mission Planner. I have tried various schemes I found on the net but unsuccessful. My first attempt to troubleshoot the HUD Issue was load an earlier version and see if the problem still exists. When unable to do so, it led me into the effort to try to understand and view the various nuts and bolts going on in the controller with the Accelerometer / Gyro signals as well as the processing of the raw data. Unfortunately without a measurement list, I am bogging down in this attempt.

I notice that on the Invensense MPU-6000/MPU-6050 Product Spec, it has a nice block diagram of the sensors and signal flow. Unfortunately, I have been unable to find a flow diagram for the APM that shows the signal processing of the hardware/software after it leaves the MPU sensor. It would be a great tool for us to self-diagnose issues we find. If it exists, I would appreciate a link to find it.

Thanks in advance for any assistance.

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