conda create -n uav-analysis-env
conda activate uav-analysis-env
conda install ipython numpy pandas seaborn matplotlib
pip install pyulog
The raw log data from the deltaquad UAV comes in ehe .ulg format (https://dev.px4.io/v1.9.0_noredirect/en/log/ulog_file_format.html)
Deltaquad recommended FlightPlot https://github.com/PX4/FlightPlot/releases/download/0.3.2/flightplot.jar.zip to to convert to .kml format, but this does not work. Also displaying does not seem to work
pyFlightAnalysis (https://github.com/Marxlp/pyFlightAnalysis) works for displaying.
at least on ubuntu,the steps in the repo are not sufficient (dependency problems)
conda create -n deltaquad-env
conda activate deltaquad-env
conda install -y ipython
pip install pyqtgraph==0.10.0
pip install pyOpenGL pyulog matplotlib numpy
pip install PyQt5
pip install simplekml
git clone https://github.com/Marxlp/pyFlightAnalysis.git
python setup.py install
then start the tool with typing
analysis
https://github.com/PX4/pyulog/blob/master/README.md pyulog is a command line tool for inspecting and converting .ulg files. Installation: follow installation of pyFlightAnalysis, then it is automatically installed.
ulog2csv ifile -o outdirconverts to (multiple) .csv files
ulog2kml ifile -o ofileconverts to kml file
below info from the README of pyulog.
All scripts are installed as system-wide applications (i.e. they be called on the command line without specifying Python or a system path), and support the -h flag for getting usage instructions.
The sections below show the usage syntax and sample output (from test/sample.ulg):
Usage:
usage: ulog_info [-h] [-v] file.ulg
Display information from an ULog file
positional arguments:
file.ulg ULog input file
optional arguments:
-h, --help show this help message and exit
-v, --verbose Verbose outputExample output:
$ ulog_info sample.ulg
Logging start time: 0:01:52, duration: 0:01:08
Dropouts: count: 4, total duration: 0.1 s, max: 62 ms, mean: 29 ms
Info Messages:
sys_name: PX4
time_ref_utc: 0
ver_hw: AUAV_X21
ver_sw: fd483321a5cf50ead91164356d15aa474643aa73
Name (multi id, message size in bytes) number of data points, total bytes
actuator_controls_0 (0, 48) 3269 156912
actuator_outputs (0, 76) 1311 99636
commander_state (0, 9) 678 6102
control_state (0, 122) 3268 398696
cpuload (0, 16) 69 1104
ekf2_innovations (0, 140) 3271 457940
estimator_status (0, 309) 1311 405099
sensor_combined (0, 72) 17070 1229040
sensor_preflight (0, 16) 17072 273152
telemetry_status (0, 36) 70 2520
vehicle_attitude (0, 36) 6461 232596
vehicle_attitude_setpoint (0, 55) 3272 179960
vehicle_local_position (0, 123) 678 83394
vehicle_rates_setpoint (0, 24) 6448 154752
vehicle_status (0, 45) 294 13230Usage:
usage: ulog_messages [-h] file.ulg
Display logged messages from an ULog file
positional arguments:
file.ulg ULog input file
optional arguments:
-h, --help show this help message and exit
Example output:
ubuntu@ubuntu:~/github/pyulog/test$ ulog_messages sample.ulg
0:02:38 ERROR: [sensors] no barometer found on /dev/baro0 (2)
0:02:42 ERROR: [sensors] no barometer found on /dev/baro0 (2)
0:02:51 ERROR: [sensors] no barometer found on /dev/baro0 (2)
0:02:56 ERROR: [sensors] no barometer found on /dev/baro0 (2)
Usage:
usage: ulog_params [-h] [-d DELIMITER] [-i] [-o] file.ulg [params.txt]
Extract parameters from an ULog file
positional arguments:
file.ulg ULog input file
params.txt Output filename (default=stdout)
optional arguments:
-h, --help show this help message and exit
-d DELIMITER, --delimiter DELIMITER
Use delimiter in CSV (default is ',')
-i, --initial Only extract initial parameters
-o, --octave Use Octave format
Example output (to console):
ubuntu@ubuntu:~/github/pyulog/test$ ulog_params sample.ulg
ATT_ACC_COMP,1
ATT_BIAS_MAX,0.0500000007451
ATT_EXT_HDG_M,0
...
VT_OPT_RECOV_EN,0
VT_TYPE,0
VT_WV_LND_EN,0
VT_WV_LTR_EN,0
VT_WV_YAWR_SCL,0.15000000596
Usage:
usage: ulog2csv [-h] [-m MESSAGES] [-d DELIMITER] [-o DIR] file.ulg
Convert ULog to CSV
positional arguments:
file.ulg ULog input file
optional arguments:
-h, --help show this help message and exit
-m MESSAGES, --messages MESSAGES
Only consider given messages. Must be a comma-
separated list of names, like
'sensor_combined,vehicle_gps_position'
-d DELIMITER, --delimiter DELIMITER
Use delimiter in CSV (default is ',')
-o DIR, --output DIR Output directory (default is same as input file)
Note The
simplekmlmodule must be installed on your computer. If not already present, you can install it with:
pip install simplekml
Usage:
usage: ulog2kml [-h] [-o OUTPUT_FILENAME] [--topic TOPIC_NAME]
[--camera-trigger CAMERA_TRIGGER]
file.ulg
Convert ULog to KML
positional arguments:
file.ulg ULog input file
optional arguments:
-h, --help show this help message and exit
-o OUTPUT_FILENAME, --output OUTPUT_FILENAME
output filename
--topic TOPIC_NAME topic name with position data
(default=vehicle_gps_position)
--camera-trigger CAMERA_TRIGGER
Camera trigger topic name (e.g. camera_capture)
Note You need a ROS environment with
px4_msgsbuilt and sourced.
Usage:
usage: ulog2rosbag [-h] [-m MESSAGES] file.ulg result.bag
Convert ULog to rosbag
positional arguments:
file.ulg ULog input file
result.ulg rosbag output file
optional arguments:
-h, --help show this help message and exit
-m MESSAGES, --messages MESSAGES
Only consider given messages. Must be a comma-
separated list of names, like
'sensor_combined,vehicle_gps_position'
more info here: https://mavicpilots.com/threads/mavic-flight-log-retrieval-and-analysis-guide.78627/
(part of) the mavic drone data (internal sensors etc) are logged on the phone that was used as a controller. It is stored as .dat files, and can be converted and displayed with this tool: https://datfile.net/CsvView/downloads.html runs as java application on linux and mac, and as binary on windows. when the DJI pilot app is used, the data is on the phone under /Phone/DJI/com.dji.industry.pilot/MCDatFlightRecords/
there are also .txt files under /Phone/Android/data/com.dji.industry.pilot/files/DJI/com.dji.industry.pilot/FlightRecord$ , but they seem to be encrypted
the app that is probably best for is is the DJI Pilot app. It is, however, buggy. on my private phone it did not work from the playstore, and I had to install it manually from the dji website. on my KC-phone I could install it, but the map would not display at first. However, after entering manual flight mode once, the map also showed in Mission Flight mode. With this app one can plan flights ahead, but it seems relatively limited. another potential alternative would be Litchi https://flylitchi.com/
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