deksprime/px4tools

PX4 flight analysis tools.

px4tools

A log analysis toolbox for the PX4 autopilot written in python.

Features

• Flight Plotting using standard python libraries.
• Automatic System Identification from log data.
• Automatic Control Design from log data.
• Cross-Platform deployment, testing, and support (Windows/OSX/Linux).
• Well integrated with Jupyter notebook and Pandas.
• Natively uses pandas CSV format so easily integrated with all log formats.

Anaconda

Linux: OSX: Windows: Version: Downloads:

Install

Dependencies

1. See requirements.txt

Using Anaconda (Recommended)

1. Install anaconda

   • Python 3 version recommended
   • Do not select add to path if you use ROS. ROS expects the standard python to be installed. You can create a script to source and add anaconda to your path. This is similar to setup.bash for ROS users.

   ~/bin/conda_env:

   #!/bin/bash
   export PATH=$HOME/anaconda3/bin:$PATH

   Now you can source the script to start using anaconda instead of the sytem python:

   . conda_env

2. Install via conda

conda config --add channels conda-forge
conda install px4tools jupyter

Using PyPi

pip install px4tools jupyter --user

Usage

First use the sdlog2_dumpy.py program to convert the px4log to csv:

wget https://github.com/PX4/Firmware/raw/master/Tools/sdlog2/sdlog2_dump.py
python sdlog2_dumpy.py your_log.px4log > your_log.csv

Now start jupyter notebook in the directoy of your_log.csv:

jupyter notebook

Examples:

1. Automatic System Identification and Control Design
2. General Flight Data Plotting