px4tools

Anaconda

Linux: OSX: Windows: Version: Downloads:

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.

Usage

px4log format

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

ulog format

No preprocessing required, see ulog example.

Examples:

Install

Dependencies

See setup.py install_requires

For pandas, to fix time series plotting memory issue with time delta index you need this branch:

. conda_env (See instructions below for setting up conda_env script)
git clone git@github.com:jgoppert/pandas.git
cd pandas
git checkout tdi_plot_fix
python setup.py install

Using Anaconda (Recommended)

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
```

Install px4tools via conda

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

Upgrading px4tools using pip in conda

The conda-forge px4tools package usually lags behind master. If you need the latest code, use pip within your conda env.
```
. conda_env
pip install px4tools
```
Building px4tools form source and installing to conda environment

If you want to do development and edit some of the source, follow this example:
```
. conda_env
git clone git@github.com:dronecrew/px4tools.git
cd px4tools
python setup.py build install
```