Decode blocks until the next navdata packets becomes available, which it then parses and returns.

Acquisition thread ON : (0) thread OFF (1) thread ON.

ADC Watchdog : (1) delay in uart2 dsr (> 5ms), (0) uart2 is good.

ALTITUDE CONTROL ALGO : (0) altitude control inactive (1) altitude control active.

Angles : (0) Ok, (1) out of range.

ATCodec thread ON : (0) thread OFF (1) thread ON.

CAMERA MASK : (0) camera not ready, (1) Camera ready.

Communication Watchdog : (1) com problem, (0) Com is ok.

Communication Lost : (1) com problem, (0) Com is ok.

CONTROL ALGO : (0) euler angles control, (1) angular speed control.

Control command ACK : (0) None, (1) one received.

CTRL watchdog : (1) delay in control execution (> 5ms), (0) control is well scheduled.

Cutout system detection : (0) Not detected, (1) detected.

Emergency landing : (0) no emergency (1) emergency.

FLY MASK : (0) ardrone is landed, (1) ardrone is flying.

VBat low : (1) too low, (0) Ok.

Magnetometer calibration state : (0) Ok, no calibration needed, (1) not ok, calibration needed.

Motors status : (0) Ok, (1) Motors problem.

Navdata bootstrap : (0) options sent in all or demo mode, (1) no navdata options sent.

Navdata demo : (0) All navdata, (1) only navdata demo.

Navdata thread ON : (0) thread OFF (1) thread ON.

PIC Version number OK : (0) a bad version number, (1) version number is OK.

Software fault detected - user should land as quick as possible (1).

USER feedback : Start button state.

Timer elapsed : (1) elapsed, (0) not elapsed.

WIND MASK: (0) ok, (1) Too much wind.

Travelling mask : (0) disable, (1) enable.

Ultrasonic sensor : (0) Ok, (1) deaf.

USB key : (0) usb key not ready, (1) usb key ready.

User Emergency Landing : (1) User EL is ON, (0) User EL is OF.

VIDEO MASK : (0) video disable, (1) video enable.

Video thread ON : (0) thread OFF (1) thread ON.

VISION MASK : (0) vision disable, (1) vision enable.

Orientation values are given in milli-degree.

Speed stores the estimated linear velocity of the drone.