ECL: Clean velPos logging, deprecate ekf2_innovations msg

Tools/ecl_ekf/analysis/data_version_handler.py

@@ -0,0 +1,48 @@
+#! /usr/bin/env python3
+"""
+function collection for handling different versions of log files
+"""
+from pyulog import ULog
+
+from analysis.detectors import PreconditionError
+
+def get_output_tracking_error_message(ulog: ULog) -> str:
+    """
+    return the name of the message containing the output_tracking_error
+    :param ulog:
+    :return: str
+    """
+    for elem in  ulog.data_list:
+        if elem.name == "ekf2_innovations":
+            return "ekf2_innovations"
+        if elem.name == "estimator_innovations":
+            return "estimator_status"
+
+    raise PreconditionError("Could not detect the message containing the output tracking error")
+
+def get_innovation_message(ulog: ULog, topic: str = 'innovation') -> str:
+    """
+    return the name of the innovation message (old: ekf2_innovations; new: estimator_innovations)
+    :param ulog:
+    :return: str
+    """
+    if topic == 'innovation':
+        for elem in  ulog.data_list:
+            if elem.name == "ekf2_innovations":
+                return "ekf2_innovations"
+            if elem.name == "estimator_innovations":
+                return "estimator_innovations"
+    if topic == 'innovation_variance':
+        for elem in  ulog.data_list:
+            if elem.name == "ekf2_innovations":
+                return "ekf2_innovations"
+            if elem.name == "estimator_innovations":
+                return "estimator_innovations"
+    if topic == 'innovation_test_ratio':
+        for elem in  ulog.data_list:
+            if elem.name == "ekf2_innovations":
+                return "ekf2_innovations"
+            if elem.name == "estimator_innovations":
+                return "estimator_innovations"
+
+    raise PreconditionError("Could not detect the message")

Tools/ecl_ekf/analysis/detectors.py

@@ -179,4 +179,4 @@ class InAirDetector(object):
                                              (data['timestamp'] - self._ulog.start_timestamp) /
                                              1.0e6 < self._in_air[i].landing))[0])
 
-        return airtime
+        return airtime

Tools/ecl_ekf/analysis/metrics.py

@@ -134,8 +134,6 @@ def calculate_innov_fail_metrics(
 def calculate_imu_metrics(
         ulog: ULog, in_air_no_ground_effects: InAirDetector) -> dict:
 
-    ekf2_innovation_data = ulog.get_dataset('ekf2_innovations').data
-
     estimator_status_data = ulog.get_dataset('estimator_status').data
 
     imu_metrics = dict()
@@ -145,7 +143,7 @@ def calculate_imu_metrics(
                            ('output_tracking_error[1]', 'output_obs_vel_err_median'),
                            ('output_tracking_error[2]', 'output_obs_pos_err_median')]:
         imu_metrics[result] = calculate_stat_from_signal(
-            ekf2_innovation_data, 'ekf2_innovations', signal, in_air_no_ground_effects, np.median)
+            estimator_status_data, 'estimator_status', signal, in_air_no_ground_effects, np.median)
 
     # calculates peak and mean for IMU vibration checks
     for signal, result in [('vibe[0]', 'imu_coning'),

Tools/ecl_ekf/analysis/post_processing.py

@@ -42,6 +42,17 @@ def get_control_mode_flags(estimator_status: dict) -> dict:
     # 12 - true when local position data from external vision is being fused
     # 13 - true when yaw data from external vision measurements is being fused
     # 14 - true when height data from external vision measurements is being fused
+    # 15 - true when synthetic sideslip measurements are being fused
+    # 16 - true true when the mag field does not match the expected strength
+    # 17 - true true when the vehicle is operating as a fixed wing vehicle
+    # 18 - true when the magnetometer has been declared faulty and is no longer being used
+    # 19 - true true when airspeed measurements are being fused
+    # 20 - true true when protection from ground effect induced static pressure rise is active
+    # 21 - true when rng data wasn't ready for more than 10s and new rng values haven't changed enough
+    # 22 - true when yaw (not ground course) data from a GPS receiver is being fused
+    # 23 - true when the in-flight mag field alignment has been completed
+    # 24 - true when local earth frame velocity data from external vision measurements are being fused
+    # 25 - true when we are using a synthesized measurement for the magnetometer Z component
     control_mode['tilt_aligned'] = ((2 ** 0 & estimator_status['control_mode_flags']) > 0) * 1
     control_mode['yaw_aligned'] = ((2 ** 1 & estimator_status['control_mode_flags']) > 0) * 1
     control_mode['using_gps'] = ((2 ** 2 & estimator_status['control_mode_flags']) > 0) * 1
@@ -57,9 +68,19 @@ def get_control_mode_flags(estimator_status: dict) -> dict:
     control_mode['using_evpos'] = ((2 ** 12 & estimator_status['control_mode_flags']) > 0) * 1
     control_mode['using_evyaw'] = ((2 ** 13 & estimator_status['control_mode_flags']) > 0) * 1
     control_mode['using_evhgt'] = ((2 ** 14 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['fuse_beta'] = ((2 ** 15 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['mag_field_disturbed'] = ((2 ** 16 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['fixed_wing'] = ((2 ** 17 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['mag_fault'] = ((2 ** 18 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['fuse_aspd'] = ((2 ** 19 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['gnd_effect'] = ((2 ** 20 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['rng_stuck'] = ((2 ** 21 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['gps_yaw'] = ((2 ** 22 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['mag_aligned_in_flight'] = ((2 ** 23 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['ev_vel'] = ((2 ** 24 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['synthetic_mag_z'] = ((2 ** 25 & estimator_status['control_mode_flags']) > 0) * 1
     return control_mode
 
-
 def get_innovation_check_flags(estimator_status: dict) -> dict:
     """
     :param estimator_status: