flightdata 0.2.0

Module for handling UAV flight log data

This repo is designed for the storage of and access to flight log data. Interface has been changed at version 0.2.0 and downstream packages will need updating.

TODO: Check the accel and gyro biases added to acceleration and gyro make sense

TODO: check it works for older ardupilot firmware versions

TODO: add some examples

Use:

from flightdata import Flight

flight = Flight.from_log(log_file) # read an ardupilot bin file

for reference (pulled from ardupilot github https://github.com/dronekit/ardupilot-releases/blob/master/libraries/DataFlash/DataFlash.h):

LOG_BASE_STRUCTURES:

FMT Type,Length,Name,Format,Columns

PARM TimeUS,Name,Value

GPS TimeUS,Status,GMS,GWk,NSats,HDop,Lat,Lng,RAlt,Alt,Spd,GCrs,VZ,U

GPS2 TimeUS,Status,GMS,GWk,NSats,HDop,Lat,Lng,RAlt,Alt,Spd,GCrs,VZ,U

GPA TimeUS,VDop,HAcc,VAcc,SAcc

GPA2 TimeUS,VDop,HAcc,VAcc,SAcc

IMU TimeUS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ,ErrG,ErrA,Temp,GyHlt,AcHlt

MSG TimeUS

RCIN TimeUS,C1,C2,C3,C4,C5,C6,C7,C8,C9,C10,C11,C12,C13,C14

RCOU TimeUS,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7,Ch8,Ch9,Ch10,Ch11,Ch12

RSSI TimeUS,RXRSSI

BARO TimeUS,Alt,Press,Temp,CRt

POWR TimeUS,Vcc,VServo,Flags

CMD TimeUS,CTot,CNum,CId,Prm1,Prm2,Prm3,Prm4,Lat,Lng,Alt

RAD TimeUS,RSSI,RemRSSI,TxBuf,Noise,RemNoise,RxErrors,Fixed

CAM TimeUS,GPSTime,GPSWeek,Lat,Lng,Alt,RelAlt,Roll,Pitch,Yaw

ARSP TimeUS,Airspeed,DiffPress,Temp,RawPress,Offset

CURR TimeUS,Throttle,Volt,Curr,Vcc,CurrTot,Volt2

ATT TimeUS,DesRoll,Roll,DesPitch,Pitch,DesYaw,Yaw,ErrRP,ErrYaw

MAG TimeUS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ,Health

MODE TimeUS,Mode,ModeNum

RFND TimeUS,Dist1,Dist2,Dist3,Dist4

IMU2 TimeUS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ,ErrG,ErrA,Temp,GyHlt, AcHlt

IMU3 TimeUS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ,ErrG,ErrA,Temp,GyHlt,AcHlt

AHR2 TimeUS,Roll,Pitch,Yaw,Alt,Lat,Lng

POS TimeUS,Lat,Lng,Alt,RelAlt

SIM TimeUS,Roll,Pitch,Yaw,Alt,Lat,Lng

EKF1 TimeUS,Roll,Pitch,Yaw,VN,VE,VD,PN,PE,PD,GX,GY,GZ

EKF2 TimeUS,Ratio,AZ1bias,AZ2bias,VWN,VWE,MN,ME,MD,MX,MY,MZ

EKF3 TimeUS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IVT

EKF4 TimeUS,SV,SP,SH,SMX,SMY,SMZ,SVT,OFN,EFE,FS,TS,SS

TERR TimeUS,Status,Lat,Lng,Spacing,TerrH,CHeight,Pending,Loaded

UBX1 TimeUS,Instance,noisePerMS,jamInd,aPower,agcCnt

UBX2 TimeUS,Instance,ofsI,magI,ofsQ,magQ

UBX3 TimeUS,Instance,hAcc,vAcc,sAcc

GRAW TimeUS,WkMS,Week,numSV,sv,cpMes,prMes,doMes,mesQI,cno,lli

GRXH TimeUS,rcvTime,week,leapS,numMeas,recStat

GRXS TimeUS,prMes,cpMes,doMes,gnss,sv,freq,lock,cno,prD,cpD,doD,trk

SBFE TimeUS,TOW,WN,Mode,Err,Lat,Long,Height,Undul,Vn,Ve,Vu,COG

ESC1 TimeUS,RPM,Volt,Curr,Temp

ESC2 TimeUS,RPM,Volt,Curr,Temp

ESC3 TimeUS,RPM,Volt,Curr,Temp

ESC4 TimeUS,RPM,Volt,Curr,Temp

ESC5 TimeUS,RPM,Volt,Curr,Temp

ESC6 TimeUS,RPM,Volt,Curr,Temp

ESC7 TimeUS,RPM,Volt,Curr,Temp

ESC8 TimeUS,RPM,Volt,Curr,Temp

EKF5 TimeUS,normInnov,FIX,FIY,AFI,HAGL,offset,RI,meaRng,errHAGL

MAG2 TimeUS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ,Health

MAG3 TimeUS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ,Health

ACC1 TimeUS,SampleUS,AccX,AccY,AccZ

ACC2 TimeUS,SampleUS,AccX,AccY,AccZ

ACC3 TimeUS,SampleUS,AccX,AccY,AccZ

GYR1 TimeUS,SampleUS,GyrX,GyrY,GyrZ

GYR2 TimeUS,SampleUS,GyrX,GyrY,GyrZ

GYR3 TimeUS,SampleUS,GyrX,GyrY,GyrZ

PIDR TimeUS,Des,P,I,D,FF,AFF

PIDP TimeUS,Des,P,I,D,FF,AFF

PIDY TimeUS,Des,P,I,D,FF,AFF

PIDA TimeUS,Des,P,I,D,FF,AFF

PIDS TimeUS,Des,P,I,D,FF,AFF

BAR2 TimeUS,Alt,Press,Temp,CRt

BAR3 TimeUS,Alt,Press,Temp,CRt

VIBE TimeUS,VibeX,VibeY,VibeZ,Clip0,Clip1,Clip2

IMT TimeUS,DelT,DelvT,DelAX,DelAY,DelAZ,DelVX,DelVY,DelVZ

IMT2 TimeUS,DelT,DelvT,DelAX,DelAY,DelAZ,DelVX,DelVY,DelVZ

IMT3 TimeUS,DelT,DelvT,DelAX,DelAY,DelAZ,DelVX,DelVY,DelVZ

ORGN TimeUS,Type,Lat,Lng,Alt

RPM TimeUS,rpm1,rpm2