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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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e52e2b88ed
* Add primitive logging for Ekf * Add python script to extract sensor data from ULog * Add primitive sensor replay * Add iris_gps data for sensor replay * Add CI for functional change indication * Update sensor replay flow data type * update iris_gps_change indication * test: Update EKF replay test documentation Co-authored-by: Paul Riseborough <priseborough@users.noreply.github.com>
125 lines
3.3 KiB
Python
125 lines
3.3 KiB
Python
from pyulog import ULog
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import argparse
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import pandas as pd
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import csv
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import convertULogToSensorData as util
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path = "/home/kamil/Documents/QGroundControl/Logs/iris_vision.ulg"
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output_path = "/home/kamil/Documents/QGroundControl/Logs/sensor_data_iris_vision.csv"
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def get_arguments():
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"""
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parses the command line arguments
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:return:
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"""
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parser = argparse.ArgumentParser(
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description='Create a csv file with sensor data values in chronological order from a single'
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'ulog file.')
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parser.add_argument('input_file', metavar='file.ulg', help='ULog input file path')
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parser.add_argument('output_file', metavar='file.ulg', help='csv output file path')
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return parser.parse_args()
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def main() -> None:
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"""
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main entry point
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:return:
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"""
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args = get_arguments()
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table = pd.DataFrame()
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try:
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ulog = ULog(args.input_file)
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except:
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print("Could not find ulog file")
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exit(-1)
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try:
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imu = util.getImuData(ulog)
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print("IMU data detected")
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table = pd.concat([table, imu], ignore_index=True, sort=False)
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except:
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print("IMU data not detected")
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try:
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mag = util.getMagnetometerData(ulog)
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print("Mag data detected")
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table = pd.concat([table, mag], ignore_index=True, sort=False)
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except:
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print("Mag data not detected")
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try:
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baro = util.getBarometerData(ulog)
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print("Baro data detected")
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table = pd.concat([table, baro], ignore_index=True, sort=False)
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except:
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print("Baro data not detected")
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try:
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gps = util.getGpsData(ulog)
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print("GPS data detected")
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table = pd.concat([table, gps], ignore_index=True, sort=False)
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except:
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print("GPS data not detected")
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try:
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airspeed = util.getAirspeedData(ulog)
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print("Airspeed data detected")
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table = pd.concat([table, airspeed], ignore_index=True, sort=False)
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except:
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print("Airspeed data not detected")
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try:
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flow = util.getOpticalFlowData(ulog)
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print("Flow data detected")
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table = pd.concat([table, flow], ignore_index=True, sort=False)
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except:
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print("Flow data not detected")
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try:
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range = util.getRangeFinderData(ulog)
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print("Range data detected")
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table = pd.concat([table, range], ignore_index=True, sort=False)
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except:
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print("Range data not detected")
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try:
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vio = util.getVioData(ulog)
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print("VIO data detected")
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table = pd.concat([table, vio], ignore_index=True, sort=False)
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except:
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print("VIO data not detected")
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try:
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land = util.getVehicleLandingStatus(ulog)
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print("Landing data detected")
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table = pd.concat([table, land], ignore_index=True, sort=False)
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except:
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print("Landing data not detected")
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table = table.sort_values('timestamp', axis=0, ascending=True)
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table['timestamp'] = table['timestamp'] - table['timestamp'].iloc[0]
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# remove the first 0.5 seconds of data to be robust against faulty initialized data
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table = table[table.timestamp > 500000]
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table.timestamp = table.timestamp - 500000
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try:
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table.to_csv(args.output_file, index=None, header=None)
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# post processing remove empty cells from csv
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result = []
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with open(args.output_file, "r") as in_file:
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reader = csv.reader(in_file)
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result = [[item for item in row if item != ''] for row in reader]
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with open(args.output_file, "w") as out_file:
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csv_writer = csv.writer(out_file)
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csv_writer.writerows(result)
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except:
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print("Could not write to specified output file")
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if __name__ == '__main__':
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main()
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