> For the complete documentation index, see [llms.txt](https://docs.theseus.us/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.theseus.us/cyclops/system-validation/flight-test/cyclops-gcs-messages.md).

# Cyclops GCS messages

Cyclops send several informational messages to the GCS during startup and while running in-flight. It is important to know what each message means in order to understand how the system is operating.

### Startup messages

We send multiple messages over MAVLink to GCS software so that determining the status and performance of Cyclops is easy. The main messages to look for are:\
\
`SRC=1/191:CYCLOPS: TS/CLK 1:1 SYNCING`

`SRC=1/191:CYCLOPS: HOME POSITION LOADED`

`SRC=1/191:CYCLOPS: TS/CLK 1:1 SYNCED`

After these messages appear, you can run [EKF spoof](/cyclops/autopilot-integration/ardupilot/ekf-spoof.md) or your preferred bootstrapping method.

#### Initialization conditions

Cyclops will initialize and begin sending position updates shortly after takeoff. By default, the initialization conditions are:

* **Altitude**: 20m AGL
* **Velocity**: 12m/s forward flight for fixed wing, 3m/s climb for multirotor

Both of these can be configured in the [Vozilla Lab](/vozilla-gcs-software/vozilla-app/settings/vozilla-lab.md).

### In-flight messages

When Cyclops in running in the air, you will see the following messages:

`SRC=1/191:CYCLOPS: READY FOR ARMING`

`SRC=1/191:CYCLOPS: VISUAL NAVIGATION ONLINE`

`SRC=1/191:CYCLOPS: MAP MATCH CONV (x), NEXT FIX IN (x)M`

These messages will appear periodically, with map match messages appearing every 5 seconds. Over the course of the flight, you will see the following message:

`SRC=1/191:CYCLOPS: MAP MATCH APPLIED +(x)M CONV (x)`

This message indicates that a map match has been sent to the flight controller and corrected the position. By default Cyclops will apply a map match when the following two conditions are met:

1. Convergence metric is below 50
2. The distance since the previous map match is greater than 500m

{% hint style="info" %}
Occasionally, you may see `EKF LANE SWITCH`, `DCM ACTIVE`, `EKF3 ACTIVE` messages. This occurs when a map match corrects the position over a large distance. This is healthy and means that the position has been corrected.
{% endhint %}