flightLogSignalMapping

Visualize UAV flight logs

Since R2020b

Description

The flightLogSignalMapping provides visualization tools to analyze flight logs. To inspect UAV logs, first load your file using a file or log reader like mavlinktlog, ardupilotreader or ulogreader. Use preconfigured signal mapping and plots from BIN, ULOG, or TLOG log files, or define your own signal mapping using mapSignal. Update or add new plots with updatePlot. Then, call show with a structure of data to display the list of configured plots defined in the AvailablePlots property.

For ease of use, specific Predefined Signals and Predefined Plots are provided. Details are listed below or can be viewed by calling info for your specific object.

Creation

Description

mapper = flightLogSignalMapping creates a flight log signal mapping object with no preset signal mapping. Before you can visualize signals, map signals using mapSignal.

mapper = flightLogSignalMapping("tlog") creates a flight log signal mapping object for the imported MAVLink TLOG message tables.

mapper = flightLogSignalMapping("ulog") creates a flight log signal mapping object for imported PX4^® ULOG files.

mapper = flightLogSignalMapping("bin") creates a flight log signal mapping object for imported ArduPilot log BIN file.

Properties

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`MappedSignals` — Names of all mapped signals
string array

Names of all mapped signals, specified as a string array.

Example: ["Accel" "Gyro" "Mag" "Barometer" "Gyro2"]

Data Types: string

`AvailablePlots` — Names of plots that are available
string array

Names of plots that are available based on the mapped signals, specified as a string array. To add plots to this list, either map signals for the Predefined Plots or call updatePlot.

Example: ["Accel" "Gyro" "Mag" "Barometer" "Gyro2"]

Data Types: string

Object Functions

`checkSignal`	Check mapped signal
`copy`	Create deep copy of flight log signal mapping object
`extract`	Extract UAV flight log signals as timetables
`info`	Signal mapping and plot information for UAV log signal mapping
`mapSignal`	Map UAV flight log signal
`show`	Display plots for inspection of UAV logs
`updatePlot`	Update UAV flight log plot functions

More About

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Predefined Signals

A set of predefined signals and plots are configured in the flightLogSignalMapping object. Depending on your log file type, you can map specific signals to the provided signal names using mapSignal. You can also call info to view the table for your log type and see whether you have already mapped a signal to that plot type.

Specify the SignalName as the input to mapSignal. Signals with the format SignalName# support mapping multiple signals of the same type. Replace # with incremental integers for each signal name when calling mapSignal.

The predefined signals have specific names and required fields when mapping the signal.

Predefined Signals

Signal Name	Description	Fields	Units
`Accel#`	Raw accelerometer reading from IMU sensor	`[ax ay az]`	m/s²
`Airspeed#`	Airspeed reading of pressure differential, indicated air speed, and temperature	`[PressDiff, AirSpeed, Temp]`	Pa, m/s, ℃
`AttitudeEuler`	Attitude of UAV in Euler (ZYX) form	`[Roll, Pitch, Yaw]`	radians
`AttitudeRate`	Angular velocity along each body axis	`[xRotRate, yRotRate, zRotRate]`	rad/s
`AttitudeTargetEuler`	Target attitude of UAV in Euler (ZYX) form	`[TargetRoll, TargetPitch, TargetYaw]`	radians
`Barometer#`	Barometer readings for absolute pressure, relative pressure, and temperature	`[PressAbs, PressAltitude, Temp]`	Pa, m, ℃
`Battery`	Voltage readings for battery and remaining battery capacity (%)	`[Volt1,Volt2, ... Volt16, RemainingCapacity`	V, %
`GPS#`	GPS readings for latitude, longitude, altitude, ground speed, course angle, and number of satellites visible	`[lat, long, alt, groundspeed, courseAngle, satellites]`	degree, degree, m, m/s, degree, n/a
`Gyro#`	Raw body angular velocity readings from IMU sensor	`[GyroX, GyroY, GyroZ]`	rad/s
`LocalNED`	Local NED coordinates estimated by the UAV	`[xNED, yNED, zNED]`	meters
`LocalNEDTarget`	Target location in local NED coordinates	`[xTarget, yTarget, zTarget]`	meters
`LocalNEDVel`	Local NED velocity estimated by the UAV	`[vx vy vz]`	m/s
`LocalNEDVelTarget`	Target velocity in local NED coordinates	`[vxTarget, vyTarget, vzTarget]`	m/s
`Mag#`	Raw magnetometer reading from IMU sensor	`[x y z]`	Gs

Predefined Plots

After mapping signals to the list of predefined signals using mapSignal, specific plots are made available when calling show. To view a list of available plots and their associated signals for your specific object, call info(mapper,"Plot"). If you want to define custom plots based on signals, use updatePlot.

Each predefined plot has a set of required signals that must be mapped.

Predefined Plots

Plot	Description	Signals
`Attitude`	Stacked plot of roll, pitch, yaw angles and body rotation rates	`AttitudeEuler, AttitudeRate, Gyro#`
`AttitudeControl`	Estimated attitude of UAV and the attitude target set point	`AttitudeEuler, AttitudeTargetEuler`
`Battery`	Battery consumption plot	`Battery`
`Compass`	Estimated yaw and magnetometer readings	`AttitudeEuler, Mag#, GPS#`
`GPS2D`	Raw Lat-Lon plot for GPS sensor readings.	`GPS#`
`Height`	Stacked plots of barometer reading, GPS altitude reading, and fused height estimate	`Barometer#, GPS#, LocalNED`
`Speed`	Stacked plot of ground velocity and air speed	`GPS#, Airspeed#`
`Trajectory`	Trajectory in local coordinates versus target set points	`LocalNED, LocalNEDTarget`
`TrajectoryTracking`	Error between desired and actual position in NED coordinates	`LocalNED, LocalNEDTarget`
`TrajectoryVelTracking`	Error between desired and actual velocity in NED coordinates	`LocalNEDVel, LocalNEDVelTarget`