MAVGAnalysis

In-Flight/PX4Log/ULog Analyzer for PX4

This JavaFx based tool enables PX4 Users to record and analyse data published via UDP during flight or offline based on PX4Logs or ULogs. It is not intended to replace the QGC. It is not tested with ardupilot.

Any feedback, comments and contributions are very welcome.

Development Status: Last updated 14/02/21

• MavShell client implementation finally working
• QNH lookup
• OctTree based 3D map representation visualized in 3DView and XYView (flat representation of the map according to relative altitude)
• switched to maven based build

Note: 3D map data can be transferred to MAVGCL using the custom MAVLink message msg_msp_micro_grid - for encoding refer to MAP3DSpacialInfo.java

Note: maven build currently requires mavcom, mavmap, mavodometry and mavutils built locally

Features:

• Realtime data acquisition (20ms sampling, 100ms rolling display) based on MAVLink messages or ULOG data over MAVLink
• Timechart annotated by messages (MAVLink and ULog) and parameter changes (MAVLink only)
• XY Analysis for selected key-figures
• 3D View (vehicle and observer perspective)
• MAVLink inspector (reporting raw MAVlink messages)
• Zooming (Click&Drag), pause / continue rolling update while continue recording in the background
• MAVLinkShell provides NutShell over MAVLink (Console)
• Map viewer of global position and raw gps data with option to record path (cached)
• Offline-mode: Import of key-figures from PX4Log/ULog (file or last log from device via WiFi)
• Save and load of collected data
• Key figure conversion based on expressions
• FrSky Taranis USB supported in SITL
• PS4Controller support in OSX
• Low latency MJPEG based video stream display based on uv4l or any other source
• Video stream recorded as H264/MP4 file while collecting data
• Virtual (calculated) key figures added (Example here: default definition file)
• RTCM3 base supported with automatic survey-in for UBlox M8P devices (OS X only)

Note that some features (MSP) are only available if you run a companion on your vehicle using MAVComm .

See MAVGCL XY view in some action: https://youtu.be/jOWNSIwIA9k

Requirements:

• requires minimum Java 8 JRE (Java 9/10 compatible)
• A companion running a serial-to-udp-proxy (either MAVComm or MAVROS, not required for PIXRacer)
• Video streaming from the vehicle requires an mjpeg streaming service (e.g. uv4l) running on companion

Binaries:

Available binaries can be found here.

Screenshots:

How to build on OSX (other platforms may need adjustments in build.xml):

• Clone repository
• Goto main directory cd MAVGCL-master/MAVGCL
• Run ant all

How to start after build (all platforms):

• Goto directory /dist

• Start with java -jar MAVGAnalysis.jar

• Set IP address and port in File->Preferences and restart (For local SITL use 127.0.0.1:14556 or start with java -jar MAVGAnalysis.jar --SITL=true)

• Open demo_data.mgc, import PX4Log file or collect data directly from your vehicle

• For video (mjpeg), setup uv4l at port 8080 on your companion with : ​ uv4l --auto-video_nr --sched-rr --mem-lock --driver uvc --server-option '--port=8080'

  Set video URL in File->Preferences: e.g. http://127.0.0.1:8080/stream/video.mjpeg

  or

  run MAVSlam vision based on Intel® RealSense™ R200 on your companion and point video to port 8080 of your companion.

How to deploy on OSX:

• Run ant_deploy

How to define custom key-figure metadata files:

• Refer to example file or default definition file
• Conversion based on expressions ( exp4j ). Example: <Converter class="ExpressionConverter" expression="1.5 * sin(val)"/>

Limitations:

• Limited to one device (MAVLink-ID '1')
• Currently does not support USB or any serial connection (should be easy to add, so feel free to implement it). Note: Serial via radio might be too slow.
• Default PX4Log/ULog keyfigure mapping still not complete, but you can add your own definition file

Note for developers:

MAVGAnalysis depends heavily on https://github.com/ecmnet/mavcom for MAVLink parsing.

Please note the License terms.