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* Add Foxglove to flight_log_analysis * shrink image * Minor subedit * Change scrub to seek in Foxglove description --------- Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
195 lines
9.0 KiB
Markdown
195 lines
9.0 KiB
Markdown
# Flight Log Analysis
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This topic provide an overview of the tools and methods that can be used to analyze PX4 flight logs (more detailed topics are linked below in some cases).
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::: info INFO
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[Flight Reporting](../getting_started/flight_reporting.md) explains how to download a log and report/discuss issues about a flight with the development team.
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:::
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## Structured Analysis
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Before analyzing a flight log it is important to establish its context:
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- If the analysis is done after a malfunction, did the log capture the crash or did it stop mid-air?
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- Did all controllers track their references?
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The easiest way to establish this is to compare attitude roll and pitch rates to their set points.
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- Does the sensor data look valid? Was there very strong vibration (a reasonable threshold for strong vibration is anything with a peak-to-peak of more than 2-3 m/s/s).
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- If the root cause is not specific to the vehicle make sure to report it with a link to the log file (and video if one exists) on the [PX4 issue tracker](https://github.com/PX4/PX4-Autopilot/issues/new).
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## Ruling Out Power Failures
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If a log file ends mid-air, two main causes are possible: a power failure _or_ a hard fault of the operating system.
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On autopilots based on the [STM32 series](https://www.st.com/en/microcontrollers-microprocessors/stm32-32-bit-arm-cortex-mcus.html), hard faults are logged to the SD card.
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These are located on the top level of the SD card and named _fault_date.log_, e.g. **fault_2017_04_03_00_26_05.log**.
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You should check for the presence of this file if a flight log ends abruptly.
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## Analysis Tools
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### Flight Review (Online Tool)
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[Flight Review](https://logs.px4.io/) is the successor of _Log Muncher_.
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It is used in combination with the new [ULog](../dev_log/ulog_file_format.md) logging format.
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Key features:
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- Web based, great for end-users.
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- Users can upload logs through the web interface, and then share report with others (bulk upload is supported using the [upload_log.py](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/upload_log.py) script)
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- Interactive plots.
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See [Log Analysis using Flight Review](../log/flight_review.md) for an introduction.
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### Foxglove
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[Foxglove](https://foxglove.dev/) is a purpose-built robotics observation platform that works natively with ULog.
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It allows you to replay your flights and seek through the timeline to find data of interest.
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Key features:
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- Native support for ULog files — open files by dragging and dropping or using the file dialog.
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- Multiple visualization panels, including Raw Messages, Plot, 3D, and Map panels.
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- [PX4 Converter extension](https://github.com/foxglove/px4_converter) that translates selected uORB messages and creates Foxglove schemas for enhanced visualizations.
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- Save and share custom layouts with panels and their settings.
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- Cross-platform desktop application (Windows, macOS, Linux).
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See [Foxglove PX4 Docs](https://docs.foxglove.dev/docs/getting-started/frameworks/px4) for more detailed information and instructions.
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### PlotJuggler
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[PlotJuggler](https://github.com/facontidavide/PlotJuggler) is a desktop application that allows users to easily visualize and analyze data expressed in the form of time series.
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This is one of the best ULog analysis tools as it exposes all information in the log ([Flight Review](#flight-review-online-tool), by comparison, only shows a small subset of the data).
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It supports ULog files (.ulg) since version 2.1.4.
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Key features:
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- Intuitive drag & drop interface.
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- Arrange your data in multiple plots, tabs or windows.
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- All uORB topics are shown and can be graphed.
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- Once you arranged your data, save it into a "Layout" file and reload it multiple times.
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- Process your data inside _PlotJuggler_ itself, using custom "data transformations".
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Source code and downloads are available on [Github](https://github.com/facontidavide/PlotJuggler).
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See [Log Analysis using Plot Juggler](../log/plotjuggler_log_analysis.md) for an introduction.
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### pyulog
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[pyulog](https://github.com/PX4/pyulog) is a python package to parse ULog files, along with a set of command-line scripts to extract/display ULog information and convert them to other file formats.
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Key features:
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- Python library for parsing ULog files. Base library used by a number of other ULog analysis and visualisation tools.
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- Scripts to extract/display ULog information:
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- _ulog_info_: display information from an ULog file.
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- _ulog_messages_: display logged messages from an ULog file.
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- _ulog_params_: extract parameters from an ULog file.
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- Scripts to convert ULog files to other formats:
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- _ulog2csv_: convert ULog to (several) CSV files.
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- _ulog2kml_: convert ULog to (several) KML files.
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All scripts are installed as system-wide applications (i.e. they be called on the command line - provided Python is installed), and support the `-h` flag for getting usage instructions. For example:
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```sh
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$ ulog_info -h
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usage: ulog_info [-h] [-v] file.ulg
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Display information from an ULog file
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positional arguments:
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file.ulg ULog input file
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optional arguments:
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-h, --help show this help message and exit
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-v, --verbose Verbose output
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```
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Below we see the kind of information exported from a sample file using _ulog_info_.
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```sh
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$ ulog_info sample.ulg
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Logging start time: 0:01:52, duration: 0:01:08
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Dropouts: count: 4, total duration: 0.1 s, max: 62 ms, mean: 29 ms
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Info Messages:
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sys_name: PX4
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time_ref_utc: 0
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ver_hw: AUAV_X21
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ver_sw: fd483321a5cf50ead91164356d15aa474643aa73
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Name (multi id, message size in bytes) number of data points, total bytes
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actuator_controls_0 (0, 48) 3269 156912
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actuator_outputs (0, 76) 1311 99636
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commander_state (0, 9) 678 6102
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control_state (0, 122) 3268 398696
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cpuload (0, 16) 69 1104
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ekf2_innovations (0, 140) 3271 457940
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estimator_status (0, 309) 1311 405099
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sensor_combined (0, 72) 17070 1229040
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sensor_preflight (0, 16) 17072 273152
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telemetry_status (0, 36) 70 2520
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vehicle_attitude (0, 36) 6461 232596
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vehicle_attitude_setpoint (0, 55) 3272 179960
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vehicle_local_position (0, 123) 678 83394
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vehicle_rates_setpoint (0, 24) 6448 154752
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vehicle_status (0, 45) 294 13230
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```
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### FlightPlot
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[FlightPlot](https://github.com/PX4/FlightPlot) is a desktop based tool for log analysis. It can be downloaded from [FlightPlot Downloads](https://github.com/PX4/FlightPlot/releases) (Linux, MacOS, Windows).
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Key features:
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- Java based, cross-platform.
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- Intuitive GUI, no programming knowledge required.
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- Supports both new and old PX4 log formats (.ulg, .px4log, .bin)
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- Allows saving plots as images.
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### PX4Tools
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[PX4Tools](https://github.com/dronecrew/px4tools) is a log analysis toolbox for the PX4 autopilot written in Python.
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The recommended installation procedure is to use [anaconda3](https://conda.io/docs/index.html). See [px4tools github page](https://github.com/dronecrew/px4tools) for details.
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Key features:
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- Easy to share, users can view notebooks on Github (e.g. [15-09-30 Kabir Log.ipynb](https://github.com/jgoppert/lpe-analysis/blob/master/15-09-30%20Kabir%20Log.ipynb))
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- Python based, cross platform, works with anaconda 2 and anaconda3
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- iPython/ jupyter notebooks can be used to share analysis easily
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- Advanced plotting capabilities to allow detailed analysis
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### MAVGCL
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[MAVGCL](https://github.com/ecmnet/MAVGCL) is an in-flight log analyzer for PX4.
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It can also be used in offline mode with downloaded uLog files.
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Key features:
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- Realtime data acquisition (50ms sampling, 100ms rolling display) based on MAVLink messages or ULOG data over MAVLink
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- Timechart annotated by messages (MAVLink and ULog) and parameter changes (MAVLink only)
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- XY Analysis for selected key-figures
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- 3D View (vehicle and observer perspective)
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- MAVLink inspector (reporting raw MAVLink messages)
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- Offline-mode: Import of key-figures from PX4Log/ULog (file or last log from device via WiFi)
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- Java based. Known to work on macOS and Ubuntu.
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- And many more ...
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### Data Comets
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[Data Comets](https://github.com/dsaffo/DataComets) is a interactive PX4 flight log analysis tool that allows you to encode flight data onto the flight path, filter and brush the data by time - and much more!
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You can use the online version of the tool for small log files (< 32Mb), or run it locally in order to analyze longer flights.
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