mapulog

Map PX4 ULOG messages to signals

Since R2025a

Syntax

mapulog(mapper,signalName,messageName,fieldName)

mapulog(___,Name=Value)

Description

mapulog(mapper,signalName,messageName,fieldName) maps the specified field fieldName of the specified message messageName from a PX4^® ULOG file to the signalName. For a list of preconfigured signals, see Predefined Signals.

mapulog(___,Name=Value) specifies options using one or more name-value arguments in addition to the input arguments from the previous syntax.

Input Arguments

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`mapper` — Flight log signal mapping
`flightLogSignalMapping` object

Flight log signal mapping, specified as a flightLogSignalMapping object. The object must have been configured at creation to map PX4 ULOG files by using the flightLogSignalMapping("ulog") syntax.

`signalName` — Signal name
string scalar | character vector

Signal to which you want to map the message fields, specified as a string scalar or character vector. For a list of preconfigured signals, see Predefined Signals.

Data Types: string

`messageName` — Name of message to map
string scalar | character vector

Message to map to the signal, specified as a string scalar or character vector. The specified message much contain the fields you want to map to the signal.

Data Types: string

`fieldName` — Name of message field to map
string scalar | character vector | vector of strings | cell array of character vectors

Field to map, specified as either a string scalar, a character vector, a 1xN vector of strings, or a 1xN cell array of character vectors where N is the number of fields that you want to map.

Example: mapulog(mapper,"EstimatorStatusTestRatio", "EstimatorStatus","hdg_test_ratio",VarNames=["Heading"]) maps the hdg_test_ratio field of the EstimatorStatus message to the Heading field of the EstimatorStatusTestRatio signal.

Data Types: string

Name-Value Arguments

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Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

Example: mapulog(mapper,"EstimatorStatusGPSCheckFail", "EstimatorStatus","gps_check_fail_flags",BitmaskExpansions=3,VarNames=["GPS_CHECK_FAIL_GPS_FIX","GPS_CHECK_FAIL_MIN_SAT_COUNT","GPS_CHECK_FAIL_MAX_PDOP"]) maps the first three bits of the gps_check_fail_flags field of the EstimatorStatus message to the GPS_CHECK_FAIL_GPS_FIX ,GPS_CHECK_FAIL_MIN_SAT_COUNT, and GPS_CHECK_FAIL_MAX_PDOP fields of the EstimatorStatusGPSCheckFail signal.

`InstanceID` — Message instance identifier
`1` (default) | integer

Message instance identifier, specified as an integer. Specify this argument to select the message instance that you want to map.

`BitmaskExpansion` — Bitmask expansion
`0` (default) | vector of integers

Bitmask expansion, specified as a 1xN vector of integers. Specify this argument to select the number of bits in each message field that you want to extract.

`VarNames` — Signal fields
string scalar | character vector | vector of strings | cell array of character vectors

Signal fields to which you want to map the message fields, specified as either a string scalar, a character vector, a 1xN vector of strings, or a 1xN cell array of character vectors where N is the number of fields that you want to map.

`VarUnits` — Signal field units
string scalar | character vector | vector of strings | cell array of character vectors

Units of the signal fields to which you want to map the message fields, specified as either a string scalar, a character vector, a 1xN vector of strings, or a 1xN cell array of character vectors where N is the number of fields that you want to map.

More About

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Predefined Signals

The flightLogSignalMapping object has a set of predefined signals and plots. Use info object function to view the signals, and to check if a signal is already mapped and ready to plot.

Signals with the format SignalName# support mapping multiple signals of the same type. Replace # with incremental integer for each signal name of that type.

Predefined Signals

Signal Name	Description	Fields	Units
`Accel#`	Raw accelerometer reading from IMU sensor	`AccelX, AccelY, AccelZ`	`m/s^2, m/s^2, m/s^2`
`Airspeed#`	Airspeed reading of pressure differential, indicated air speed, and temperature	`PressDiff, IndicatedAirSpeed, Temperature`	`Pa, m/s, degreeC`
`AttitudeEuler`	Attitude of UAV in Euler (ZYX) form	`Roll, Pitch, Yaw`	`rad, rad, rad`
`AttitudeRate`	Angular velocity along each body axis	`BodyRotationRateX, BodyRotationRateY, BodyRotationRateZ`	`rad/s, rad/s, rad/s`
`AttitudeTargetEuler`	Target attitude of UAV in Euler (ZYX) form	`TargetRoll, TargetPitch, TargetYaw`	`rad, rad, rad`
`Barometer#`	Barometer readings for absolute pressure, relative pressure, and temperature	`PressAbs, PressAltitude, Temperature`	`Pa, m, degreeC`
`Battery`	Voltage readings for battery and remaining battery capacity (%)	`Voltage1,Voltage2, ... Voltage16, RemainingCapacity`	`v, v, ... v, %`
`EstimatorInnovationAirspeed`	Extended Kalman Filter (EKF) airspeed innovation and innovation variance	`Airspeed, Var_Airspeed`	`m/s, (m/s)^2`
`EstimatorInnovationGPS`	EKF GPS velocity and position innovations and innovation variances	`V_X, V_Y, V_Z, P_X, P_Y, P_Z, Var_V_X, Var_V_Y, Var_V_Z, Var_P_X, Var_P_Y, Var_P_Z`	`m/s, m/s, m/s, m, m, m, (m/s)^2, (m/s)^2, (m/s)^2, m^2, m^2, m^2`
`EstimatorInnovationHeading`	EKF heading innovation and innovation variance	`Heading, Var_Heading`	`rad, rad^2`
`EstimatorInnovationHeight`	EKF range sensor and barometer height innovations and innovation variances	`RangeHeight, BaroHeight, Var_RangeHeight, Var_BaroHeight`	`m, m^2, m^2`
`EstimatorInnovationMagnetometer`	EKF magnetometer innovation and innovation variance	`X, Y, Z, Var_X, Var_Y, Var_Z`	`Gauss, Gauss, Gauss, Gauss^2, Gauss^2, Gauss^2`
`EstimatorInnovationOpticalFlow`	EKF optical flow sensor innovation and innovation variance	`X, Y, Var_X, Var_Y`	`rad/sec, rad/sec, (rad/sec)^2, (rad/sec)^2`
`EstimatorStatesIMUBias`	EKF inertial measurement unit (IMU) delta angle and velocity bias estimates and bias estimate variances	`DeltaAngleBiasX, DeltaAngleBiasY, DeltaAngleBiasZ", DeltaVelocityBiasX, DeltaVelocityBiasY, DeltaVelocityBiasZ, Var_DeltaAngleBiasX, Var_DeltaAngleBiasY, Var_DeltaAngleBiasZ, Var_DeltaVelocityBiasX, Var_DeltaVelocityBiasY, Var_DeltaVelocityBiasZ`	`rad, rad, rad, m/s, m/s, m/s, rad^2, rad^2, rad^2, (m/s)^2, (m/s)^2, (m/s)^2`
`EstimatorStatesMagnetometerBias`	EKF Earth magnetic field and UAV body frame magnetic field bias estimates and bias estimate variances	`EarthMagneticFieldN, EarthMagneticFieldE, EarthMagneticFieldD, BodyMagneticFieldX, BodyMagneticFieldY, BodyMagneticFieldZ, Var_EarthMagneticFieldN, Var_EarthMagneticFieldE, Var_EarthMagneticFieldD, Var_BodyMagneticFieldX, Var_BodyMagneticFieldY, Var_BodyMagneticFieldZ`	`gauss, gauss, gauss, gauss, gauss, gauss, gauss^2, gauss^2, gauss^2, gauss^2, gauss^2, gauss^2`
`EstimatorStatesWind`	EKF wind estimate and estimate variance	`WindNorth, WindEast, Var_WindNorth, Var_WindEast`	`m/s, m/s, (m/s)^2, (m/s)^2`
`EstimatorStatusControlMode`	EKF logic states, specified as logical values	`CS_TILT_ALIGN, CS_YAW_ALIGN, CS_GPS, CS_OPT_FLOW, CS_MAG_HDG, CS_MAG_3D, CS_MAG_DEC, CS_IN_AIR, CS_WIND, CS_BARO_HGT, CS_RNG_HGT, CS_GPS_HGT, CS_EV_POS, CS_EV_YAW, CS_EV_HGT, CS_BETA, CS_MAG_FIELD, CS_FIXED_WING, CS_MAG_FAULT, CS_ASPD, CS_GND_EFFECT, CS_RNG_STUCK, CS_GPS_YAW, CS_MAG_ALIGNED, CS_EV_VEL, CS_SYNTHETIC_MAG_Z, CS_VEHICLE_AT_REST, CS_GPS_YAW_FAULT, CS_RNG_FAULT`	None
`EstimatorStatusFlagAirspeed`	Flag that indicates whether the EKF rejects the airspeed observation	`RejectAirspeed`	None
`EstimatorStatusFlagHeightAboveGround`	Flag that indicates whether the EKF rejects the height above ground observation	`RejectHeightAboveGround`	None
`EstimatorStatusFlagHorizontalStates`	Flags that indicate whether the EKF rejects the horizontal velocity and position observations	`RejectVelocity, RejectPosition`	None
`EstimatorStatusFlagMagnetometer`	Flags that indicate whether the EKF rejects the magnetometer and yaw observations	`RejectX, RejectY, RejectZ, RejectYaw`	None
`EstimatorStatusFlagOpticalFlow`	Flags that indicate whether the EKF rejects the optical flow observations	`RejectX, RejectY`	None
`EstimatorStatusFlagSideslip`	Flag that indicates whether the EKF rejects the synthetic sideslip observation	`RejectSyntheticSideslip`	None
`EstimatorStatusFlagVerticalStates`	Flags that indicate whether the EKF rejects the vertical velocity and position observations	`RejectVelocity, RejectPosition`	None
`EstimatorStatusFilterFault`	Flags that indicate whether the EKF encounters faults such as numerical errors, bad data, or clipping	`NUMERIC_ERROR_MAG_X, NUMERIC_ERROR_MAG_Y, NUMERIC_ERROR_MAG_Z, NUMERIC_ERROR_MAG_HDG, NUMERIC_ERROR_MAG_DEC, NUMERIC_ERROR_ASPD, NUMERIC_ERROR_SYNTHETIC_BETA, NUMERIC_ERROR_OPT_FLOW_X, NUMERIC_ERROR_OPT_FLOW_Y, NUMERIC_ERROR_VEL_N, NUMERIC_ERROR_VEL_E, NUMERIC_ERROR_VEL_D, NUMERIC_ERROR_POS_N, NUMERIC_ERROR_POS_E, NUMERIC_ERROR_POS_D, NUMERIC_BAD_DELTA_VEL_BIAS, NUMERIC_BAD_VERTICAL_ACCEL, NUMERIC_DELTA_VEL_CLIPPING`	None
`EstimatorStatusGPSCheckFail`	Flags that indicate the status of GPS checks	`GPS_CHECK_FAIL_GPS_FIX, GPS_CHECK_FAIL_MIN_SAT_COUNT, GPS_CHECK_FAIL_MAX_PDOP GPS_CHECK_FAIL_MAX_HORZ_ERR, GPS_CHECK_FAIL_MAX_VERT_ERR, GPS_CHECK_FAIL_MAX_SPD_ERR, GPS_CHECK_FAIL_MAX_HORZ_DRIFT, GPS_CHECK_FAIL_MAX_VERT_DRIFT, GPS_CHECK_FAIL_MAX_HORZ_SPD_ERR, GPS_CHECK_FAIL_MAX_VERT_SPD_ERR, GPS_CHECK_FAIL_SPOOFED`	None
`EstimatorStatusTestRatio`	Low-pass filtered ratio of the largest innovation to the innovation test limit	`Heading, Velocity, Position, Height, TrueAirspeed, HeightAboveGround, SyntheticSideslip`	None
`GPS#`	GPS readings for latitude, longitude, altitude, ground speed, course angle, and number of satellites visible	`Latitude, Longitude, Altitude, GroundSpeed, CourseAngle, SatellitesVisible`	`degree, degree, m, m/s, degree, N/A`
`Gyro#`	Raw body angular velocity readings from IMU sensor	`GyroX, GyroY, GyroZ`	`rad/s, rad/s, rad/s`
`LocalENU`	Local ENU coordinates estimated by the UAV	`X, Y, Z`	`m, m, m`
`LocalENUTarget`	Target location in local ENU coordinates	`XTarget, YTarget, ZTarget`	`m, m, m`
`LocalENUVel`	Local ENU velocity estimated by the UAV	`VX, VY, VZ`	`m/s, m/s, m/s`
`LocalENUVelTarget`	Target velocity in local ENU coordinates	`VXTarget, VYTarget, VZTarget`	`m/s, m/s, m/s`
`LocalNED`	Local NED coordinates estimated by the UAV	`X, Y, Z`	`m, m, m`
`LocalNEDTarget`	Target location in local NED coordinates	`XTarget, YTarget, ZTarget`	`m, m, m`
`LocalNEDVel`	Local NED velocity estimated by the UAV	`VX, VY, VZ`	`m/s, m/s, m/s`
`LocalNEDVelTarget`	Target velocity in local NED coordinates	`VXTarget, VYTarget, VZTarget`	`m/s, m/s, m/s`
`Mag#`	Raw magnetometer reading from IMU sensor	`MagX, MagY, MagZ`	`Gs, Gs, Gs`

Version History

Introduced in R2025a

mapulog

Syntax

Description

Input Arguments

mapper — Flight log signal mapping flightLogSignalMapping object

signalName — Signal name string scalar | character vector

messageName — Name of message to map string scalar | character vector

fieldName — Name of message field to map string scalar | character vector | vector of strings | cell array of character vectors

Name-Value Arguments

InstanceID — Message instance identifier 1 (default) | integer

BitmaskExpansion — Bitmask expansion 0 (default) | vector of integers

VarNames — Signal fields string scalar | character vector | vector of strings | cell array of character vectors

VarUnits — Signal field units string scalar | character vector | vector of strings | cell array of character vectors

More About

Predefined Signals

Version History

See Also

`mapper` — Flight log signal mapping
`flightLogSignalMapping` object

`signalName` — Signal name
string scalar | character vector

`messageName` — Name of message to map
string scalar | character vector

`fieldName` — Name of message field to map
string scalar | character vector | vector of strings | cell array of character vectors

`InstanceID` — Message instance identifier
`1` (default) | integer

`BitmaskExpansion` — Bitmask expansion
`0` (default) | vector of integers

`VarNames` — Signal fields
string scalar | character vector | vector of strings | cell array of character vectors

`VarUnits` — Signal field units
string scalar | character vector | vector of strings | cell array of character vectors