From 4c43c2e293f846eb3cca619640b7efb28a7d1f29 Mon Sep 17 00:00:00 2001
From: Henry Wurzburg <hwurzburg@yahoo.com>
Date: Fri, 2 Dec 2022 15:09:40 -0600
Subject: [PATCH] Update and organize provided graphs

---
 MAVProxy/tools/graphs/ekf3Graphs.xml |  90 +++----
 MAVProxy/tools/graphs/mavgraphs.xml  | 111 ++++-----
 MAVProxy/tools/graphs/mavgraphs2.xml | 338 ++++++++++++++++++++++++---
 3 files changed, 406 insertions(+), 133 deletions(-)

diff --git a/MAVProxy/tools/graphs/ekf3Graphs.xml b/MAVProxy/tools/graphs/ekf3Graphs.xml
index 7f4d0492c0..235f0d9548 100644
--- a/MAVProxy/tools/graphs/ekf3Graphs.xml
+++ b/MAVProxy/tools/graphs/ekf3Graphs.xml
@@ -1,20 +1,20 @@
 <graphs>
 
-  <graph name='EKF3/Gyro Bias'>
+  <graph name='EKF3/State Values/Gyro Bias'>
     <description>EKF3 Gyro Bias</description>
     <expression>XKF1[0].GX XKF1[0].GY XKF1[0].GZ XKF1[1].GX XKF1[1].GY XKF1[1].GZ XKF1[2].GX XKF1[2].GY XKF1[2].GZ</expression>
     <expression>XKF1[0].GX XKF1[0].GY XKF1[0].GZ XKF1[1].GX XKF1[1].GY XKF1[1].GZ</expression>
     <expression>XKF1.GX XKF1.GY XKF1.GZ</expression>
   </graph>
 
-  <graph name='EKF3/Origin Height'>
+  <graph name='EKF3/State Values/Origin Height'>
     <description>EKF3 Origin Height</description>
     <expression>XKF1[0].OH XKF1[1].OH XKF1[2].OH</expression>
     <expression>XKF1[0].OH XKF1[1].OH</expression>
     <expression>XKF1.OH</expression>
   </graph>
 
-  <graph name='EKF3/Pos D'>
+  <graph name='EKF3/State Values/Pos D'>
     <description>EKF3 Position Down</description>
     <expression>XKF1[0].PD XKF1[1].PD XKF1[2].PD</expression>
     <expression>XKF1[0].PD XKF1[1].PD</expression>
@@ -22,229 +22,229 @@
   </graph>
 
 
-  <graph name='EKF3/Pos NE'>
+  <graph name='EKF3/State Values/Pos NE'>
     <description>EKF3 Position North/East</description>
     <expression>XKF1[0].PN XKF1[1].PN XKF1[2].PN XKF1[0].PE XKF1[1].PE XKF1[2].PE</expression>
     <expression>XKF1[0].PN XKF1[1].PN XKF1[0].PE XKF1[1].PE</expression>
     <expression>XKF1.PN XKF1.PE</expression>
   </graph>
 
-  <graph name='EKF3/Pos D'>
+  <graph name='EKF3/State Values/Pos D'>
     <description>EKF3 Position Down</description>
     <expression>XKF1[0].PD XKF1[1].PD XKF1[2].PD</expression>
     <expression>XKF1[0].PD XKF1[1].PD</expression>
     <expression>XKF1.PD</expression>
   </graph>
 
-  <graph name='EKF3/Position Innovation NE'>
+  <graph name='EKF3/Innovations/Position Innovation NE'>
     <description>EKF3 Position Innovation North/East</description>
     <expression>XKF3[0].IPN XKF3[1].IPN XKF3[2].IPN XKF3[0].IPE XKF3[1].IPE XKF3[2].IPE</expression>
     <expression>XKF3[0].IPN XKF3[1].IPN XKF3[0].IPE XKF3[1].IPE</expression>
     <expression>XKF3.IPN XKF3.IPE</expression>
   </graph>
 
-  <graph name='EKF3/Position Innovation Down'>
+  <graph name='EKF3/Innovations/Position Innovation Down'>
     <description>EKF3 Position Down</description>
     <expression>XKF3[0].IPD XKF3[1].IPD XKF3[2].IPD</expression>
     <expression>XKF3[0].IPD XKF3[1].IPD</expression>
     <expression>XKF3.IPD</expression>
   </graph>
 
-  <graph name='EKF3/Velocity Innovation NE'>
+  <graph name='EKF3/Innovations/Velocity Innovation NE'>
     <description>EKF3 Velocity Innovation North/East</description>
     <expression>XKF3[0].IVN XKF3[1].IVN XKF3[2].IVN XKF3[0].IVE XKF3[1].IVE XKF3[2].IVE</expression>
     <expression>XKF3[0].IVN XKF3[1].IVN XKF3[0].IVE XKF3[1].IVE</expression>
     <expression>XKF3.IVN XKF3.IVE</expression>
   </graph>
 
-  <graph name='EKF3/Velocity Innovation Down'>
+  <graph name='EKF3/Innovations/Velocity Innovation Down'>
     <description>EKF3 Velocity Down</description>
     <expression>XKF3[0].IVD XKF3[1].IVD XKF3[2].IVD</expression>
     <expression>XKF3[0].IVD XKF3[1].IVD</expression>
     <expression>XKF3.IVD</expression>
   </graph>
 
-  <graph name='EKF3/Mag Innovations Lane1'>
+  <graph name='EKF3/Innovations/Mag Innovations Lane1'>
     <description>EKF3 Mag Innovations Lane1</description>
     <expression>XKF3[0].IMX XKF3[0].IMY XKF3[0].IMZ XKF3[0].IYAW:2</expression>
   </graph>
 
-  <graph name='EKF3/Mag Innovations Lane2'>
+  <graph name='EKF3/Innovations/Mag Innovations Lane2'>
     <description>EKF3 Mag Innovations Lane2</description>
     <expression>XKF3[1].IMX XKF3[1].IMY XKF3[1].IMZ XKF3[1].IYAW:2</expression>
   </graph>
 
-  <graph name='EKF3/Mag Innovations Lane3'>
+  <graph name='EKF3/Innovations/Mag Innovations Lane3'>
     <description>EKF3 Mag Innovations Lane3</description>
     <expression>XKF3[2].IMX XKF3[2].IMY XKF3[2].IMZ XKF3[2].IYAW:2</expression>
   </graph>
   
-  <graph name='EKF3/Euler Roll'>
+  <graph name='EKF3/State Values/Euler Roll'>
     <description>EKF3 Euler Roll</description>
     <expression>ATT.Roll XKF1[0].Roll XKF1[1].Roll XKF1[2].Roll</expression>
     <expression>ATT.Roll XKF1[0].Roll XKF1[1].Roll</expression>
     <expression>ATT.Roll XKF1.Roll</expression>
   </graph>
 
-  <graph name='EKF3/Euler Pitch'>
+  <graph name='EKF3/State Values/Euler Pitch'>
     <description>EKF3 Euler Pitch</description>
     <expression>ATT.Pitch XKF1[0].Pitch XKF1[1].Pitch XKF1[2].Pitch</expression>
     <expression>ATT.Pitch XKF1[0].Pitch XKF1[1].Pitch</expression>
     <expression>ATT.Pitch XKF1.Pitch</expression>
   </graph>
 
-  <graph name='EKF3/Euler Yaw'>
+  <graph name='EKF3/State Values/Euler Yaw'>
     <description>EKF3 Euler Yaw</description>
     <expression>ATT.Yaw XKF1[0].Yaw XKF1[1].Yaw XKF1[2].Yaw</expression>
     <expression>ATT.Yaw XKF1[0].Yaw XKF1[1].Yaw</expression>
     <expression>ATT.Yaw XKF1.Yaw</expression>
   </graph>
   
-  <graph name='EKF3/Velocity N'>
+  <graph name='EKF3/State Values/Velocity N'>
     <description>EKF3 Velocity North</description>
     <expression>XKF1[0].VN XKF1[1].VN XKF1[2].VN</expression>
     <expression>XKF1[0].VN XKF1[1].VN</expression>
     <expression>XKF1.VN</expression>
   </graph>
 
-  <graph name='EKF3/Velocity E'>
+  <graph name='EKF3/State Values/Velocity E'>
     <description>EKF3 Velocity East</description>
     <expression>XKF1[0].VE XKF1[1].VE XKF1[2].VE</expression>
     <expression>XKF1[0].VE XKF1[1].VE</expression>
     <expression>XKF1.VE</expression>
   </graph>
 
-  <graph name='EKF3/Velocity D'>
+  <graph name='EKF3/State Values/Velocity D'>
     <description>EKF3 Velocity Down</description>
     <expression>XKF1[0].VD XKF1[1].VD XKF1[2].VD</expression>
     <expression>XKF1[0].VD XKF1[1].VD</expression>
     <expression>XKF1.VD</expression>
   </graph>
 
-  <graph name='EKF3/Velocity dDP'>
+  <graph name='EKF3/State Values/Velocity dDP'>
     <description>EKF3 Velocity Down (DP derivative)</description>
     <expression>XKF1[0].dPD XKF1[1].dPD XKF1[2].dPD</expression>
     <expression>XKF1[0].dPD XKF1[1].dPD</expression>
     <expression>XKF1.dPD</expression>
   </graph>
 
-  <graph name='EKF3/Accel Bias Lane1'>
+  <graph name='EKF3/State Values/Accel Bias Lane1'>
     <description>EKF3 Accel Bias Lane1</description>
     <expression>XKF2[0].AX XKF2[0].AY XKF2[0].AZ</expression>
     <expression>XKF2.AX XKF2.AY XKF2.AZ</expression>
   </graph>
 
-  <graph name='EKF3/Accel Bias Lane2'>
+  <graph name='EKF3/State Values/Accel Bias Lane2'>
     <description>EKF3 Accel Bias Lane2</description>
     <expression>XKF2[1].AX XKF2[1].AY XKF2[1].AZ</expression>
   </graph>
 
-  <graph name='EKF3/Accel Bias Lane3'>
+  <graph name='EKF3/State Values/Accel Bias Lane3'>
     <description>EKF3 Accel Bias Lane3</description>
     <expression>XKF2[2].AX XKF2[2].AY XKF2[2].AZ</expression>
   </graph>
   
-  <graph name='EKF3/Gyro Scale Factor'>
+  <graph name='EKF3/State Values/Gyro Scale Factor'>
     <description>EKF3 Gyro Scale Factor</description>
     <expression>XKF2[0].GSX XKF2[0].GSY XKF2[0].GSZ XKF2[1].GSX XKF2[1].GSY XKF2[1].GSZ XKF2[2].GSX XKF2[2].GSY XKF2[2].GSZ</expression>
     <expression>XKF2[0].GSX XKF2[0].GSY XKF2[0].GSZ XKF2[1].GSX XKF2[1].GSY XKF2[1].GSZ</expression>
     <expression>XKF2.GSX XKF2.GSY XKF2.GSZ</expression>
   </graph>
 
-  <graph name='EKF3/Mag Earth Field'>
+  <graph name='EKF3/State Values/Mag Earth Field'>
     <description>EKF3 Mag Earth Field</description>
     <expression>XKF2[0].MN XKF2[0].ME XKF2[0].MD XKF2[1].MN XKF2[1].ME XKF2[1].MD XKF2[2].MN XKF2[2].ME XKF2[2].MD</expression>
     <expression>XKF2[0].MN XKF2[0].ME XKF2[0].MD XKF2[1].MN XKF2[1].ME XKF2[1].MD</expression>
     <expression>XKF2.MN XKF2.ME XKF2.MD</expression>
   </graph>
 
-  <graph name='EKF3/Mag Body Field'>
+  <graph name='EKF3/State Values/Mag Body Field'>
     <description>EKF3 Mag Body Field</description>
     <expression>XKF2[0].MX XKF2[0].MY XKF2[0].MZ XKF2[1].MX XKF2[1].MY XKF2[1].MZ XKF2[2].MX XKF2[2].MY XKF2[2].MZ</expression>
     <expression>XKF2[0].MX XKF2[0].MY XKF2[0].MZ XKF2[1].MX XKF2[1].MY XKF2[1].MZ</expression>
     <expression>XKF2.MX XKF2.MY XKF2.MZ</expression>
   </graph>
 
-  <graph name='EKF3/Wind NE'>
+  <graph name='EKF3/State Values/Wind NE'>
     <description>EKF3 Wind NE</description>
     <expression>XKF2[0].VWN XKF2[0].VWE XKF2[1].VWN XKF2[1].VWE XKF2[2].VWN XKF2[2].VWE</expression>
     <expression>XKF2[0].VWN XKF2[0].VWE XKF2[1].VWN XKF2[1].VWE</expression>
     <expression>XKF2.VWN XKF2.VWE</expression>
   </graph>
 
-  <graph name='EKF3/Mag Innovations Lane1'>
+  <graph name='EKF3/Innovations/Mag Innovations Lane1'>
     <description>EKF3 Mag Innovations Lane1</description>
     <expression>XKF3[0].IMX XKF2[0].IMY XKF2[0].IMZ XKF3[0].IYAW:2</expression>
     <expression>XKF3.IMX XKF2.IMY XKF2.IMZ XKF3.IYAW:2</expression>
   </graph>
 
-  <graph name='EKF3/Mag Innovations Lane2'>
+  <graph name='EKF3/Innovations/Mag Innovations Lane2'>
     <description>EKF3 Mag Innovations Lane2</description>
     <expression>XKF3[1].IMX XKF2[1].IMY XKF2[1].IMZ XKF3[1].IYAW:2</expression>
   </graph>
 
-  <graph name='EKF3/Mag Innovations Lane3'>
+  <graph name='EKF3/Innovations/Mag Innovations Lane3'>
     <description>EKF3 Mag Innovations Lane3</description>
     <expression>XKF3[2].IMX XKF2[2].IMY XKF2[2].IMZ XKF3[2].IYAW:2</expression>
   </graph>
   
-  <graph name='EKF3/Pos Innovations Lane1'>
+  <graph name='EKF3/Innovations/Pos Innovations Lane1'>
     <description>EKF3 Pos Innovations Lane1</description>
     <expression>XKF3[0].IPN XKF2[0].IPE XKF2[0].IPD</expression>
     <expression>XKF3.IPN XKF2.IPE XKF2.IPD</expression>
   </graph>
 
-  <graph name='EKF3/Pos Innovations Lane2'>
+  <graph name='EKF3/Innovations/Pos Innovations Lane2'>
     <description>EKF3 Pos Innovations Lane2</description>
     <expression>XKF3[1].IPN XKF2[1].IPE XKF2[1].IPD</expression>
   </graph>
 
-  <graph name='EKF3/Pos Innovations Lane3'>
+  <graph name='EKF3/Innovations/Pos Innovations Lane3'>
     <description>EKF3 Pos Innovations Lane3</description>
     <expression>XKF3[2].IPN XKF2[2].IPE XKF2[2].IPD</expression>
   </graph>
 
-  <graph name='EKF3/Velocity Innovations Lane1'>
+  <graph name='EKF3/Innovations/Velocity Innovations Lane1'>
     <description>EKF3 Velocity Innovations Lane1</description>
     <expression>XKF3[0].IVN XKF2[0].IVE XKF2[0].IVD</expression>
     <expression>XKF3.IVN XKF2.IVE XKF2.IVD</expression>
   </graph>
 
-  <graph name='EKF3/Velocity Innovations Lane2'>
+  <graph name='EKF3/Innovations/Velocity Innovations Lane2'>
     <description>EKF3 Velocity Innovations Lane2</description>
     <expression>XKF3[1].IVN XKF2[1].IVE XKF2[1].IVD</expression>
   </graph>
 
-  <graph name='EKF3/Velocity Innovations Lane3'>
+  <graph name='EKF3/Innovations/Velocity Innovations Lane3'>
     <description>EKF3 Velocity Innovations Lane3</description>
     <expression>XKF3[2].IVN XKF2[2].IVE XKF2[2].IVD</expression>
   </graph>
   
 
-  <graph name='EKF3/Normalised Innovations EK3 Lane1'>
+  <graph name='EKF3/Innovations/Normalised Innovations EK3 Lane1'>
     <description>EKF3 Normalized Innovations Lane1</description>
     <expression>XKF4[0].SV XKF4[0].SP XKF4[0].SH XKF4[0].SM XKF4[0].SVT</expression>
     <expression>XKF4.SV XKF4.SP XKF4.SH XKF4.SM XKF4.SVT</expression>
   </graph>
 
-  <graph name='EKF3/Normalised Innovations EK3 Lane2'>
+  <graph name='EKF3/Innovations/Normalised Innovations EK3 Lane2'>
     <description>EKF3 Normalized Innovations Lane2</description>
     <expression>XKF4[1].SV XKF4[1].SP XKF4[1].SH XKF4[1].SM XKF4[1].SVT</expression>
     <expression>XKF9.SV XKF9.SP XKF9.SH XKF9.SM XKF9.SVT</expression>
   </graph>
 
-  <graph name='EKF3/Normalised Innovations EK3 Lane3'>
+  <graph name='EKF3/Innovations/Normalised Innovations EK3 Lane3'>
     <description>EKF3 Normalized Innovations Lane3</description>
     <expression>XKF4[2].SV XKF4[2].SP XKF4[2].SH XKF4[2].SM XKF4[2].SVT</expression>
   </graph>
   
-  <graph name='EKF3/Wind Speed and Direction'>
+  <graph name='EKF3/State Values/Wind Speed and Direction'>
     <description>EKF3 Wind Velocity NE</description>
     <expression>sqrt(XKF2[0].VWN**2+XKF2[0].VWE**2) wrap_360(degrees(atan2(-XKF2[0].VWE,-XKF2[0].VWN))):2 sqrt(XKF2[1].VWN**2+XKF2[1].VWE**2) wrap_360(degrees(atan2(-XKF2[1].VWE,-XKF2[1].VWN))):2</expression>
     <expression>sqrt(XKF2.VWN**2+XKF2.VWE**2) wrap_360(degrees(atan2(-XKF2.VWE,-XKF2.VWN))):2 sqrt(XKF7.VWN**2+XKF7.VWE**2) wrap_360(degrees(atan2(-XKF7.VWE,-XKF7.VWN))):2</expression>
   </graph>
 
-  <graph name='EKF3/Solution Status'>
+  <graph name='EKF3/State Values/Solution Status'>
     <description>EKF3 Solution Status</description>
     <expression>XKF4[0].SS XKF4[1].SS XKF4[2].SS</expression>
     <expression>XKF4[0].SS XKF4[1].SS</expression>
@@ -252,7 +252,7 @@
     <expression>XKF4.SS</expression>
   </graph>
 
-  <graph name='EKF3/GPS Check Status'>
+  <graph name='EKF3/State Values/GPS Check Status'>
     <description>EKF3 GPS Check Status</description>
     <expression>XKF4[0].GPS XKF4[1].GPS XKF4[2].GPS</expression>
     <expression>XKF4[0].GPS XKF4[1].GPS</expression>
@@ -260,13 +260,13 @@
     <expression>XKF4.GPS</expression>
   </graph>
 
-  <graph name='EKF3/Optical Flow Innovations'>
+  <graph name='EKF3/Innovations/Optical Flow Innovations'>
     <description>EKF3 Optical Flow Innovations</description>
     <expression>XKF5[0].FIX XKF5[0].FIY XKF5[0].AFI</expression>
     <expression>XKF5.FIX XKF5.FIY XKF5.AFI</expression>
   </graph>
 
-  <graph name='EKF3/Rangefinder Innovations'>
+  <graph name='EKF3/Innovations/Rangefinder Innovations'>
     <description>EKF3 Rangefinder Innovations</description>
     <expression>XKF5[0].RI XKF5[1].RI XKF5[2].RI</expression>
     <expression>XKF5[0].RI XKF5[1].RI</expression>
@@ -286,14 +286,14 @@
     <expression>XKF4.PI</expression>
   </graph>
 
-  <graph name='EKF3/Error Scores'>
+  <graph name='EKF3/Innovations/Error Scores'>
     <description>EKF3 Error Scores</description>
     <expression>XKF3[0].ErSc XKF3[1].ErSc XKF3[2].ErSc XKF4.PI:2</expression>
     <expression>XKF3[0].ErSc XKF3[1].ErSc XKF4.PI:2</expression>
     <expression>XKF3.ErSc XKF4.PI:2</expression>
   </graph>
 
-  <graph name='EKF3/Relative Errors'>
+  <graph name='EKF3/Innovations/Relative Errors'>
     <description>EKF3 Relative Errors</description>
     <expression>XKF3[0].RErr XKF3[1].RErr XKF3[2].RErr XKF4.PI:2</expression>
     <expression>XKF3[0].RErr XKF3[1].RErr XKF4.PI:2</expression>
diff --git a/MAVProxy/tools/graphs/mavgraphs.xml b/MAVProxy/tools/graphs/mavgraphs.xml
index 578ffa3282..4927c419a5 100644
--- a/MAVProxy/tools/graphs/mavgraphs.xml
+++ b/MAVProxy/tools/graphs/mavgraphs.xml
@@ -87,28 +87,28 @@
     <expression>IMU.AccX IMU.AccY IMU.AccZ IMU2.AccX IMU2.AccY IMU2.AccZ</expression>
   </graph>
 
-  <graph name='Sensors/Gyroscope/Gyros'>
+  <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/Gyros(2)'>
+  <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/Gyros(3)'>
+  <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/Gyro Comparison'>
+  <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)
@@ -252,6 +252,16 @@
       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>
@@ -266,6 +276,13 @@
     </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>
@@ -288,20 +305,6 @@
   <expression>BARO.Alt RFND.Dist[0]</expression>
  </graph>
 
- <graph name='Plane/PID Tuning/Pitch Controller'>
-  <description>This shows how well the pitch controller is tracking the desired pitch rate.
-For a well tuned aircraft PIDP.Des should match the smoothed IMU.GyrY value. 
-If PIDP.I has a constant positive value then it means the aircraft is a bit tail heavy, and the integrator is learning the elevator offset needed to keep the aircraft level. If PIDP.I has a constant negative value then the aircraft is a bit nose heavy.
-You should also check PIDP.D and look for signs of oscillation, in which case PTCH2SRV_D is too high.</description>
-  <expression>PIDP.Des PIDP.P PIDP.I PIDP.D lowpass(degrees(IMU.GyrY),"gy",0.9)</expression>
- </graph>
-
- <graph name='Plane/PID Tuning/Roll Controller'>
-  <description>This shows how well the roll controller is tracking the desired roll rate.
-For a well tuned aircraft PIDR.Des should match the smoothed IMU.GyrX value. 
-If PIDR.I has a constant positive value then it means the aircraft is trimmed to roll to the left side, and the integrator is learning the aileron offset needed to keep the aircraft level. If PIDR.I has a constant negative value then the aircraft is trimmed a bit to the right.</description>
-  <expression>PIDR.Des PIDR.P PIDR.I PIDR.D lowpass(degrees(IMU.GyrX),"gx",0.9)</expression>
- </graph>
 
  <graph name='Sensors/Compass/Compare Predicted'>
   <description></description>
@@ -324,55 +327,55 @@ If PIDR.I has a constant positive value then it means the aircraft is trimmed to
   <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'>
+ <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'>
+ <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'>
+ <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'>
+ <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'>
+ <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'>
+ <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'>
+ <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'>
+ <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'>
+ <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>
@@ -402,22 +405,22 @@ If PIDR.I has a constant positive value then it means the aircraft is trimmed to
   <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/PIDP'>
+ <graph name='Copter/PID Tuning/PIDP'>
   <description></description>
   <expression>PIDP.P PIDP.I PIDP.D</expression>
  </graph>
 
- <graph name='Copter/PID/PIDR'>
+ <graph name='Copter/PID Tuning/PIDR'>
   <description></description>
   <expression>PIDR.P PIDR.I PIDR.D</expression>
  </graph>
 
- <graph name='Copter/PID/PIDY'>
+ <graph name='Copter/PID Tuning/PIDY'>
   <description></description>
   <expression>PIDY.P PIDY.I PIDY.D</expression>
  </graph>
 
- <graph name='Copter/PID/PIDA'>
+ <graph name='Copter/PID Tuning/PIDA'>
   <description></description>
   <expression>PIDA.P PIDA.I PIDA.D</expression>
  </graph>
@@ -475,27 +478,27 @@ If PIDR.I has a constant positive value then it means the aircraft is trimmed to
   <expression>distance_two(GPS,GPS2){GPS2.GMS==GPS.GMS} GPS2.Alt-GPS.Alt{GPS2.GMS==GPS.GMS}</expression>
  </graph>
 
- <graph name='EKF3/GSF Yaws Lane1'>
+ <graph name='EKF3/GSF/GSF Yaws Lane1'>
   <description></description>
   <expression>degrees(XKY0[0].Y0) degrees(XKY0[0].Y1) degrees(XKY0[0].Y2) degrees(XKY0[0].Y3) degrees(XKY0[0].Y4) degrees(XKY0[0].YC)</expression>
  </graph>
 
- <graph name='EKF3/GSF Yaws Lane2'>
+ <graph name='EKF3/GSF/GSF Yaws Lane2'>
   <description></description>
   <expression>degrees(XKY0[1].Y0) degrees(XKY0[1].Y1) degrees(XKY0[1].Y2) degrees(XKY0[1].Y3) degrees(XKY0[1].Y4) degrees(XKY0[1].YC)</expression>
  </graph>
 
- <graph name='EKF3/GSF VelInnov Lane1'>
+ <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 Weights Lane1'>
+ <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 Weights Lane2'>
+ <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>
@@ -600,60 +603,44 @@ If PIDR.I has a constant positive value then it means the aircraft is trimmed to
  </graph>
 
 
- <graph name='EKF3/Normalised Innovations EKF3 Lane100'>
+ <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/Normalised Innovations EKF3 Lane101'>
+ <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/Roll Dmod'>
+ <graph name='Plane/PID Tuning/Roll/Roll Dmod'>
   <description></description>
   <expression>PIDR.Dmod PIDR.SRate:2</expression>
  </graph>
 
- <graph name='Plane/Pitch Dmod'>
+ <graph name='Plane/PID Tuning/Pitch/Pitch Dmod'>
   <description></description>
   <expression>PIDP.Dmod PIDP.SRate:2</expression>
  </graph>
 
- <graph name='Plane/autotune/Roll FF'>
-  <description></description>
-  <expression>ATRP[0].FF ATRP[0].FF0</expression>
- </graph>
-
- <graph name='Plane/autotune/Pitch FF'>
+ <graph name='Plane/PID Tuning/Yaw/Yaw Dmod'>
   <description></description>
-  <expression>ATRP[1].FF ATRP[1].FF0</expression>
+  <expression>PIDY.Dmod PIDY.SRate:2</expression>
  </graph>
 
- <graph name='Plane/autotune/Roll PD'>
-  <description></description>
-  <expression>ATRP[0].P ATRP[0].D:2</expression>
- </graph>
-
- <graph name='Plane/autotune/Pitch PD'>
-  <description></description>
-  <expression>ATRP[1].P ATRP[1].D: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/PitchRates'>
+ <graph name='Plane/PID Tuning/Pitch/PitchRates'>
   <description></description>
   <expression>PIDP.Tar PIDP.Act</expression>
  </graph>
 
 
- <graph name='Plane/RollRates'>
+ <graph name='Plane/PID Tuning/Roll/RollRates'>
   <description></description>
   <expression>PIDR.Act PIDR.Tar</expression>
  </graph>
@@ -700,13 +687,13 @@ If PIDR.I has a constant positive value then it means the aircraft is trimmed to
   <expression>lowpass(IMU[0].AccZ,0,0.9) IMU[0].T:2</expression>
  </graph>
 
- <graph name='Plane/FF/Roll'>
+ <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/FF/Pitch'>
+ <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>
diff --git a/MAVProxy/tools/graphs/mavgraphs2.xml b/MAVProxy/tools/graphs/mavgraphs2.xml
index d2819992b7..4c274ea341 100644
--- a/MAVProxy/tools/graphs/mavgraphs2.xml
+++ b/MAVProxy/tools/graphs/mavgraphs2.xml
@@ -84,7 +84,7 @@
   <expression>RCOU.C5 RCOU.C6 RCOU.C7 RCOU.C8 RCOU.C9 RCOU.C10 RCOU.C11 RCOU.C12</expression>
  </graph>
 
- <graph name='Servos/OctaQuad'>
+ <graph name='Servos/OctaQuad/OctaQuad'>
   <description></description>
   <expression>RCOU.Ch5 RCOU.Ch6 RCOU.Ch7 RCOU.Ch8 RCOU.Ch9 RCOU.Ch10 RCOU.Ch11 RCOU.Ch12</expression>
   <expression>RCOU.C5 RCOU.C6 RCOU.C7 RCOU.C8 RCOU.C9 RCOU.C10 RCOU.C11 RCOU.C12</expression>
@@ -157,13 +157,13 @@
   <expression>STER.Achieved STER.Demanded</expression>
  </graph>
 
- <graph name='Servos/OctaQuad-CCW'>
+ <graph name='Servos/OctaQuad/OctaQuad-CCW'>
   <description></description>
   <expression>RCOU.Ch5 RCOU.Ch7 RCOU.Ch9 RCOU.Ch11</expression>
   <expression>RCOU.C5 RCOU.C7 RCOU.C9 RCOU.C11</expression>
  </graph>
 
- <graph name='Servos/OctaQuad-CW'>
+ <graph name='Servos/OctaQuad/OctaQuad-CW'>
   <description></description>
   <expression>RCOU.Ch6 RCOU.Ch8 RCOU.Ch10 RCOU.Ch12</expression>
   <expression>RCOU.C6 RCOU.C8 RCOU.C10 RCOU.C12</expression>
@@ -192,17 +192,17 @@
   <expression>degrees(IMU3.GyrX) degrees(IMU3.GyrY) degrees(IMU3.GyrZ)</expression>
  </graph>
  
- <graph name='Servos/OctaQuad-FRONT'>
+ <graph name='Servos/OctaQuad/OctaQuad-FRONT'>
   <description></description>
   <expression>RCOU.C5 RCOU.C6 RCOU.C9 RCOU.C10</expression>
  </graph>
 
- <graph name='Servos/OctaQuad-REAR'>
+ <graph name='Servos/OctaQuad/OctaQuad-REAR'>
   <description></description>
   <expression>RCOU.C7 RCOU.C8 RCOU.C11 RCOU.C12</expression>
  </graph>
 
- <graph name='Servos/OctaQuad-Front-Rear'>
+ <graph name='Servos/OctaQuad/OctaQuad-Front-Rear'>
   <description></description>
   <expression>RCOU.C5+RCOU.C6+RCOU.C9+RCOU.C10 RCOU.C7+RCOU.C8+RCOU.C11+RCOU.C12</expression>
  </graph>
@@ -222,27 +222,22 @@
   <expression>lowpass(max((GPS.Spd/(OF.flowY-OF.bodyY)),0)*cos(radians(ATT.Roll))*cos(radians(ATT.Pitch)),"flowheight",0.95) TERR.CHeight</expression>
  </graph>
 
- <graph name='Servos/TiltTri'>
-  <description></description>
-  <expression>RCOU.C5 RCOU.C6 RCOU.C8 RCOU.C11 RCOU.C12</expression>
- </graph>
-
  <graph name='Flow/FlowHeight'>
   <description></description>
   <expression>max(min(cos(radians(ATT.Roll))*cos(radians(ATT.Pitch))*GPS.Spd/lowpass(ROF.Fx-ROF.By,"r",0.95),100),0) BARO.Alt</expression>
  </graph>
 
- <graph name='Servos/OctaQuad CCW-CW'>
+ <graph name='Servos/OctaQuad/OctaQuad CCW-CW'>
   <description></description>
   <expression>(RCOU.C5+RCOU.C7+RCOU.C9+RCOU.C11)/4 (RCOU.C6+RCOU.C8+RCOU.C10+RCOU.C12)/4</expression>
  </graph>
 
- <graph name='Servos/OctaQuad-CCW-CW'>
+ <graph name='Servos/OctaQuad/OctaQuad-CCW-CW'>
   <description></description>
   <expression>0.25*(SERVO_OUTPUT_RAW.servo5_raw+SERVO_OUTPUT_RAW.servo7_raw+SERVO_OUTPUT_RAW.servo9_raw+SERVO_OUTPUT_RAW.servo11_raw) 0.25*(SERVO_OUTPUT_RAW.servo6_raw+SERVO_OUTPUT_RAW.servo8_raw+SERVO_OUTPUT_RAW.servo10_raw+SERVO_OUTPUT_RAW.servo12_raw)</expression>
  </graph>
 
- <graph name='Servos/OctaQuad-Front-Back'>
+ <graph name='Servos/OctaQuad/OctaQuad-Front-Back'>
   <description></description>
   <expression>0.25*(SERVO_OUTPUT_RAW.servo5_raw+SERVO_OUTPUT_RAW.servo6_raw+SERVO_OUTPUT_RAW.servo9_raw+SERVO_OUTPUT_RAW.servo10_raw) 0.25*(SERVO_OUTPUT_RAW.servo7_raw+SERVO_OUTPUT_RAW.servo8_raw+SERVO_OUTPUT_RAW.servo11_raw+SERVO_OUTPUT_RAW.servo12_raw)</expression>
  </graph>
@@ -289,7 +284,7 @@
   <expression>TECS.sp TECS.spdem</expression>
  </graph>
 
- <graph name='Sensors/GPS Time Jitter'>
+ <graph name='Sensors/GPS/GPS Time Jitter'>
   <description></description>
   <expression>diff(GPS.TimeUS,"t")*1.0e-6 diff(GPS.GMS,"gt")*1.0e-3</expression>
  </graph>
@@ -354,44 +349,335 @@
   <expression>gps_vel_body(GPS,ATT).x (OF.flowY-OF.bodyY)*RFND[0].Dist gps_vel_body(GPS,ATT).y (OF.flowX-OF.bodyX)*RFND[0].Dist*-1</expression>
  </graph>
 
- <graph name='EKF/EKF3 Accel Offsets'>
+ <graph name='Quadplane/PID Tuning/Pitch/PIQP'>
   <description></description>
-  <expression>XKF2.AX XKF2.AY XKF2.AZ</expression>
+  <expression>PIQP.FF PIQP.P PIQP.I PIQP.D</expression>
  </graph>
-
- <graph name='Quadplane/PID Tuning/PIQP'>
+ 
+ <graph name='Quadplane/PID Tuning/Roll/Roll Dmod'>
   <description></description>
-  <expression>PIQP.FF PIQP.P PIQP.I PIQP.D</expression>
+  <expression>PIQR.Dmod PIQR.SRate:2</expression>
+ </graph>
+ 
+ <graph name='Quadplane/PID Tuning/Pitch/Pitch Dmod'>
+  <description></description>
+  <expression>PIQP.Dmod PIQP.SRate:2</expression>
  </graph>
 
- <graph name='Quadplane/PID Tuning/PIQR'>
+ <graph name='Quadplane/PID Tuning/Roll/PIQR'>
   <description></description>
   <expression>PIQR.FF PIQR.P PIQR.I PIQR.D</expression>
  </graph>
 
- <graph name='Quadplane/PID Tuning/PIQY'>
+ <graph name='Quadplane/PID Tuning/Yaw/PIQY'>
   <description></description>
   <expression>PIQY.FF PIQY.P PIQY.I PIQY.D</expression>
  </graph>
+ 
+  <graph name='Quadplane/PID Tuning/Yaw/Yaw Dmod'>
+  <description></description>
+  <expression>PIQY.Dmod PIQY.SRate:2</expression>
+ </graph>
 
- <graph name='Quadplane/PID Tuning/PIQA'>
+ <graph name='Quadplane/PID Tuning/Altitude/PIQA'>
   <description></description>
   <expression>PIQA.P PIQA.I PIQA.D</expression>
  </graph>
 
- <graph name='Plane/PID Tuning/PIDR'>
+ <graph name='Plane/PID Tuning/Roll/PIDR'>
   <description></description>
   <expression>PIDR.FF PIDR.P PIDR.I PIDR.D</expression>
  </graph>
+ 
+ <graph name='Quadplane/PID Tuning/Roll/RollRates'>
+  <description></description>
+  <expression>PIQR.Tar PIQR.Act</expression>
+  </graph>
+  
+  <graph name='Quadplane/PID Tuning/Yaw/YawRates'>
+  <description></description>
+  <expression>PIQY.Tar PIQY.Act</expression>
+ </graph>
 
- <graph name='Plane/PID Tuning/PIDP'>
+ <graph name='Plane/PID Tuning/Pitch/PIDP'>
   <description></description>
   <expression>PIDP.FF PIDP.P PIDP.I PIDP.D</expression>
  </graph>
+ 
+  <graph name='Quadplane/PID Tuning/Pitch/FF Calculation'>
+  <description></description>
+  <expression>PIQP.Act PIQP.Tar PIQP.FF+PIQP.P+PIQP.D:2 PIQP.Act*0.2:2</expression>
+ </graph>
+ 
+   <graph name='Quadplane/PID Tuning/Pitch/PitchRates'>
+  <description></description>
+  <expression>PIQP.Tar PIQP.Act</expression>
+ </graph>
 
- <graph name='Plane/PID Tuning/PIDS'>
+ <graph name='Plane/PID Tuning/Steering/PIDS'>
   <description></description>
   <expression>PIDS.P PIDS.I PIDS.D</expression>
  </graph>
 
+ <graph name='Battery'>
+  <description></description>
+  <expression>BAT[0].Curr BAT[0].Volt BAT[0].VoltR BAT[0].CurrTot:2</expression>
+ </graph>
+
+ <graph name='Plane/Autotune/Roll'>
+  <description></description>
+  <expression>ATRP[0].P ATRP[0].FF  PIDR.Dmod ATRP[0].D:2</expression>
+ </graph>
+
+ <graph name='Plane/Autotune/Pitch'>
+  <description></description>
+  <expression>ATRP[1].P ATRP[1].FF PIDP.Dmod ATRP[1].D:2</expression>
+ </graph>
+
+ <graph name='Plane/Autotune/Yaw'>
+  <description></description>
+  <expression>ATRP[2].P ATRP[2].FF PIDY.Dmod ATRP[2].D:2</expression>
+ </graph>
+
+ <graph name='Plane/PID Tuning/Yaw/PIDY'>
+  <description></description>
+  <expression>PIDY.FF PIDY.P PIDY.I PIDY.D</expression>
+ </graph>
+  
+ <graph name='Plane/PID Tuning/Yaw/YawRates'>
+  <description></description>
+  <expression>PIDY.Tar PIDY.Act</expression>
+ </graph>
+
+ <graph name='Plane/PID Tuning/Yaw/FF Calculation'>
+  <description></description>
+  <expression>0.3*PIDY.Act*AETR.SS AETR.Rudd*0.01</expression>
+ </graph>
+ 
+  <graph name='Aerobatics/Position Error'>
+  <description></description>
+  <expression>AERT.Perr MSG.Message</expression>
+ </graph>
+
+<graph name='Plane/PID Tuning/FWSlewRates'>
+  <description></description>
+  <expression>PIDR.SRate PIDP.SRate PIDY.SRate</expression>
+ </graph>
+ 
+ <graph name='Sensors/Gyroscope/Gyro Sample Rates'>
+  <description></description>
+  <expression>IMU[0].GHz IMU[1].GHz IMU[2].GHz</expression>
+  <expression>IMU[0].GHz IMU[1].GHz</expression>
+  <expression>IMU[0].GHz</expression>
+ </graph>
+
+ <graph name='Sensors/Gyroscope/GyroHealth'>
+  <description></description>
+  <expression>IMU[0].GH IMU[1].GH IMU[2].GH</expression>
+  <expression>IMU[0].GH IMU[1].GH</expression>
+  <expression>IMU[0].GH</expression>
+ </graph>
+
+ <graph name='Sensors/Accelerometer/AccelHealth'>
+  <description></description>
+  <expression>IMU[0].AH IMU[1].AH IMU[2].AH</expression>
+  <expression>IMU[0].AH IMU[1].AH</expression>
+  <expression>IMU[0].AH</expression>
+ </graph>
+
+ <graph name='Sensors/Accelerometer/Accel Sample Rate'>
+  <description></description>
+  <expression>IMU[0].AHz IMU[1].AHz IMU[2].AHz</expression>
+  <expression>IMU[0].AHz IMU[1].AHz</expression>
+  <expression>IMU[0].AHz</expression>
+ </graph>
+
+ <graph name='Sensors/Gyroscope/Comparison/GyroX compare'>
+  <description></description>
+  <expression>degrees(IMU[0].GyrX) degrees(IMU[1].GyrX) degrees(IMU[2].GyrX)</expression>
+  <expression>degrees(IMU[0].GyrX) degrees(IMU[1].GyrX)</expression>
+ </graph>
+
+ <graph name='Sensors/Gyroscope/Comparison/GyroY compare'>
+  <description></description>
+  <expression>degrees(IMU[0].GyrY) degrees(IMU[1].GyrY) degrees(IMU[2].GyrY)</expression>
+  <expression>degrees(IMU[0].GyrY) degrees(IMU[1].GyrY)</expression>
+ </graph>
+
+ <graph name='Sensors/Gyroscope/Comparison/GyroZ compare'>
+  <description></description>
+  <expression>degrees(IMU[0].GyrZ) degrees(IMU[1].GyrZ) degrees(IMU[2].GyrZ)</expression>
+  <expression>degrees(IMU[0].GyrZ) degrees(IMU[1].GyrZ)</expression>
+ </graph>
+
+ <graph name='Sensors/Accelerometer/Comparison/AccX compare'>
+  <description></description>
+  <expression>IMU[0].AccX IMU[1].AccX IMU[2].AccX</expression>
+  <expression>IMU[0].AccX IMU[1].AccX</expression>
+ </graph>
+
+ <graph name='Sensors/Accelerometer/Comparison/AccY compare'>
+  <description></description>
+  <expression>IMU[0].AccY IMU[1].AccY IMU[2].AccY</expression>
+  <expression>IMU[0].AccY IMU[1].AccY</expression>
+ </graph>
+
+ <graph name='Sensors/Accelerometer/Comparison/AccZ compare'>
+  <description></description>
+  <expression>IMU[0].AccZ IMU[1].AccZ IMU[2].AccZ</expression>
+  <expression>IMU[0].AccZ IMU[1].AccZ</expression>
+ </graph>
+  
+ <graph name='Notch/FFT/PeakX'>
+  <description></description>
+  <expression>FTN2[0].PkX FTN2[1].PkX FTN2[2].PkX</expression>
+ </graph>
+
+ <graph name='Notch/Freq1-4'>
+  <description></description>
+  <expression>FTN[1].NF1 FTN[1].NF2 FTN[1].NF3 FTN[1].NF4</expression>
+ </graph>
+
+ <graph name='Copter/SlewRates'>
+  <description></description>
+  <expression>PIDR.SRate PIDP.SRate PIDY.SRate</expression>
+ </graph>
+
+ <graph name='Sensors/GPS/Sample Time Delta'>
+  <description></description>
+  <expression>GPA[0].Delta GPA[1].Delta</expression>
+    <expression>GPA.Delta </expression>
+ </graph>
+
+ <graph name='EKF3/Vel NE vs GPS Spd'>
+  <description></description>
+  <expression>sqrt(XKF1[0].VN**2+XKF1[0].VE**2) GPS.Spd</expression>
+ </graph>
+
+ <graph name='Quadplane/AngPScale'>
+  <description></description>
+  <expression>ATSC.AngPScX ATSC.AngPScY ATSC.AngPScZ</expression>
+ </graph>
+
+ <graph name='Quadplane/VTOL Slew Rates'>
+  <description></description>
+  <expression>PIQR.SRate PIQP.SRate PIQY.SRate</expression>
+ </graph>
+ 
+  <graph name='Copter/NTUN Desired vs Achieved'>
+  <description></description>
+  <expression>NTUN.DVelX NTUN.DVelY NTUN.VelX NTUN.VelY</expression>
+ </graph>
+
+
+ <graph name='Quadplane/Desired Alt'>
+  <description></description>
+  <expression>QTUN.DAlt QTUN.Alt</expression>
+ </graph>
+
+ <graph name='Power/5 ESC Current'>
+  <description></description>
+  <expression>ESC1.Curr+ESC2.Curr+ESC3.Curr+ESC4.Curr+ESC5.Curr</expression>
+ </graph>
+
+ <graph name='Sensors/Accelerometer/IMU1-2-diff'>
+  <description></description>
+  <expression>sqrt((IMU[0].AccX-IMU[1].AccX)**2+(IMU[0].AccY-IMU[1].AccY)**2+(IMU[0].AccZ-IMU[1].AccZ)**2)</expression>
+ </graph>
+
+ <graph name='Plane/AETR'>
+  <description></description>
+  <expression>AETR.Ail AETR.Elev AETR.Rudd AETR.Thr:2</expression>
+ </graph>
+
+ <graph name='Copter/Autotune/ATUN'>
+  <description></description>
+  <expression>ATDE.Rate ATUN.Targ ATUN.Min ATUN.Max</expression>
+ </graph>
+ 
+ <graph name='TECS/Speed(mph)'>
+  <description></description>
+  <expression> 2.24*(TECS.sp) 2.24*(TECS.spdem)</expression>
+ </graph>
+
+ <graph name='Sensors/Airspeed vs GroundSpeed mph'>
+  <description></description>
+  <expression>2.24*(GPS.Spd) 2.24*(ARSP.Airspeed)</expression>
+ </graph>
+
+ <graph name='Sensors/GPS/Baro Alt Compare'>
+  <description></description>
+  <expression>GPS_RAW_INT.alt*0.001 BARO.Alt</expression>
+ </graph>
+
+ <graph name='PSC/Accel Target'>
+  <description></description>
+  <expression>PSC.TAX PSC.AX PSC.TAY PSC.AY</expression>
+ </graph>
+
+ <graph name='PSC/Targ Position'>
+  <description></description>
+  <expression>PSC.PX PSC.TPX PSC.PY PSC.TPY</expression>
+ </graph>
+
+ <graph name='PSC/Targ Velocity'>
+  <description></description>
+  <expression>PSC.VX PSC.TVX PSC.VY PSC.TVY</expression>
+ </graph>
+
+ <graph name='Sensors/Compass/WMM Err1'>
+  <description></description>
+  <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/WMM Err2'>
+  <description></description>
+  <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='Copter/Tuning Ch6'>
+  <description></description>
+  <expression>PTUN.TunVal PTUN.Param:2</expression>
+ </graph>
+
+ <graph name='EKF3/State Variances/EK3 Variances 1-11'>
+  <description></description>
+  <expression>XKV1.V01 XKV1.V02 XKV1.V03 XKV1.V04 XKV1.V05 XKV1.V06 XKV1.V07 XKV1.V08 XKV1.V09 XKV1.V10 XKV1.V11</expression>
+ </graph>
+
+ <graph name='EKF3/State Variances/EK3 Variances 12-23'>
+  <description></description>
+  <expression>XKV2.V12 XKV2.V13 XKV2.V14 XKV2.V15 XKV2.V16 XKV2.V17 XKV2.V18 XKV2.V19 XKV2.V20 XKV2.V21 XKV2.V22 XKV2.V23</expression>
+ </graph>
+
+ <graph name='TECS/Height (feet)'>
+  <description></description>
+  <expression>3.28*(TECS.h) 3.28*(TECS.hdem) 3.28*(BARO.Alt) 3.28*(GPS.Alt):2</expression>
+ </graph>
+
+ <graph name='Quadplane/PID Tuning/Yaw/FF Calculation'>
+  <description></description>
+  <expression>PIQY.Act PIQY.Tar PIQY.FF+PIQY.P+PIQY.D:2 PIQY.Act*0.15:2</expression>
+ </graph>
+
+ <graph name='Sensors/GPS/Alt VZ Consistency'>
+  <description></description>
+  <expression>delta(GPS.Alt,0,GPS.TimeUS) GPS.VZ*-1</expression>
+ </graph>
+
+ <graph name='EKF3/State Values/Velocity NE'>
+  <description></description>
+  <expression>XKF1[0].VN XKF1[0].VE</expression>
+ </graph>
+
+ <graph name='EKF3/State Values/GPS Gnd Crs Compare'>
+  <description></description>
+  <expression>GPS.GCrs wrap_360(degrees(atan2(XKF1[0].VE,XKF1[0].VN)))</expression>
+ </graph>
+ 
+  <graph name='Plane/Cruise Analysis'>
+  <description></description>
+  <expression>ATT.DesPitch:2 BAT.Curr CTUN.ThO CTUN.As BARO.Alt</expression>
+ </graph>
+ 
 </graphs>