PX4/ArduPilot Autopilot tools

Tools for automating configuration, testing, and log analysis of PX4 and ArduPilot autopilots.

1. USE CASES

After the installation the package is accessible as a few executables.

1.1. Flight Log Player

saisei lets you play a flight log in a 3D Simulator.

Install

pip install "autopilot_tools[saisei]"

Example

saisei --gui --log ~/Documents/px4_flight_log.ulg
or
python3 -m "autopilot_tools.saisei.cli" --help

1.2. Autopilot configurator

autopilot-configurator lets you take an unknown autopilot state and make it reproducible:

• flash a specific PX4 or ArduPilot firmware,
• reset parameters and apply a parameter set in a defined order,
• run forced sensor calibration (useful for HITL).

Install

pip install autopilot_tools

Example 1 - firmware + params:

autopilot-configurator -v --firmware https://github.com/ZilantRobotics/PX4-Autopilot/releases/download/v1.15.0-0.4.3-beta1/px4_fmu-v6c_cyphal.px4 --params examples/px4_sys_autostart_13000.yaml

Example 2 - single YAML “recipe”:

cd ~/zilant/uav_hitl_sim # or your path to the simulator
autopilot-configurator -v --force configs/vehicles/px4_v1_15_0_cyphal_quadplane_vtol.yaml

Example 3 – use as a library:

from autopilot_tools.configurator import AutopilotConfigurator

AutopilotConfigurator.configure_with_yaml_file(
    config_path="path_to_config_file.yaml",
    need_upload_firmware=True,
    need_load_parameters=True,
)

1.3. Test scenario

test-scenario runs a full mission and collects results automatically:

• uploads a mission to the autopilot,
• runs it and waits for completion,
• downloads the flight log and uploads it to review.px4.io,
• prints mission result and a link to the log.

Install

pip install autopilot_tools

Example:

test-scenario examples/plan_without_fence.plan --output flight.ulg

This runs the mission from examples/ and saves the log to flight.ulg.

2. CONTRIBUTING

A developer should follow the CONTRIBUTING.md guide.

It is recommended installing the package from sources in Development Mode (a.k.a. “Editable Installs”). Clone the repository, install the package in development mode and use it in virtual environment:

git clone https://github.com/PonomarevDA/autopilot_tools.git
python3 -m venv venv
./venv/bin/activate
pip install -e .

3. LICENSE

The package inherits ArduPilot/pymavlink license and is distributed under GPLv3 license.