flightLogSignalMapping

Visualize UAV flight logs

Since R2020b

Description

The flightLogSignalMapping object maps flight log messages to signals that you can use to visualize the messages.

To inspect UAV logs, first load your log file using mavlinktlog, ardupilotreader or ulogreader. Use the preconfigured signal mapping, or map your own signal using mapSignal or mapulog. Then, use show to display the list of configured plots.

For ease of use, see the provided Predefined Signals and Predefined Plots. You can also view the details of the signals and plots of a flightLogSignalMapping object by using the info object function.

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. By default, the object maps messages to the predefined signals using PX4 1.14 log. Use the mapulog function to map log messages from different PX4 versions.

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

Properties

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
mapulog	Map PX4 ULOG messages to signals
show	Display plots for inspection of UAV logs
updatePlot	Update UAV flight log plot functions

Examples

Analyze EKF Yaw Estimation from PX4 Flight Log

Use the ulogreader object to read your PX4 log file.

data = ulogreader("yourLogFile.ulg")

Create a flight log signal mapping object.

mapper = flightLogSignalMapping('ulog')

Use the show function to generate a plot of the estimated yaw and magnetometer readings.

show(mapper,data,PlotsToShow="Compass")

This figure shows the Compass plot that is generated from a sample flight log with a duration of 800 seconds.

To verify if the extended Kalman filter (EKF) accurately estimates yaw during the flight, first extract the EKF heading innovations signal as a timetable.

HeadingInnovationsData = extract(mapper,data,"EstimatorInnovationHeading");

Then, extract the EKF magnetometer status signal as a timetable.

EstimatorStatusFlags = extract(mapper,data,"EstimatorStatusFlagMagnetometer");

Combine the EKF heading innovations and magnetometer status timetables.

combinedData = synchronize(magStatusFlags{1},HeadingInnovationsData{1},"union","nearest");

Create a stacked plot of the EKF heading innovation and the RejectYaw flag.

stackedplot(combinedData(:,["Heading","RejectYaw"]),DisplayLabels=["Heading Innovation","RejectYaw"])
grid on

This figure shows the stacked plot that is generated from the sample flight log. The low heading innovation and the absence of RejectYaw flag trigger indicate that the EKF accurately estimates yaw during the flight.

More About

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

Predefined Plots

After mapping signals to the list of predefined signals, you can use specific predefined plots with the show object function. To view a list of available plots and their associated signals for a flightLogSignalMapping object, use the info object function. If you want to define custom plots based on signals, use the updatePlot object function.

Each predefined plot has a set of required signals that it must map.

Predefined Plots

Plot	Description	Signals
AirspeedInnovations	Extended Kalman Filter (EKF) airspeed innovation and innovation variance	EstimatorInnovationAirspeed
Attitude	Stacked plot of roll, pitch, and yaw angles and body rotation rates	AttitudeEuler, AttitudeRate, Gyro#
AttitudeControl	Estimated attitude of the UAV and the attitude target set point	AttitudeEuler, AttitudeTargetEuler
Battery	Stacked plot of battery voltage	Battery
Compass	Estimated yaw and magnetometer readings	AttitudeEuler, Mag#, GPS#
EstimatorInnovationTestRatio	Stacked plot of the ratio of the largest EKF innovation to the innovation test limit	EstimatorStatusTestRatio
GPS2D	Raw Lat-Lon plot for GPS sensor readings	GPS#
GPSInnovations	Stacked plot of EKF GPS velocity and position innovations, and innovation variances	EstimatorInnovationGPS
HeadingInnovations	Stacked plot of EKF heading innovation and innovation variance	EstimatorInnovationHeading
Height	Stacked plots of barometer reading, GPS altitude reading, and fused height estimate	Barometer#, GPS#, LocalNED
HeightInnovations	Stacked plot of EKF range sensor and barometer height innovations and innovation variances	EstimatorInnovationHeight
IMUBias	Stacked plot of EKF inertial measurement unit (IMU) delta angle and velocity bias estimates and bias estimate variances	EstimatorStatesIMUBias
MagneticField	Stacked plot of EKF Earth magnetic field and UAV body frame magnetic field bias estimates and bias estimate variances	EstimatorStatesMagnetometerBias
MagnetometerInnovations	Stacked plot of EKF Earth magnetic field and UAV body frame magnetic field bias estimates and bias estimates variancest	EstimatorInnovationMagnetometert
Speed	Stacked plot of ground velocity and air speed	GPS#, Airspeed#
Trajectory	Trajectory in local NED 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
Wind	Wind estimate and estimate variance	EstimatorStatesWind

Version History

Introduced in R2020b

R2025a: PX4 ULOG Message Mapping

You can now use the mapulog function to map log messages from PX4 flight logs.

R2025a: Predefined Signals and Plots for EKF Analysis

The flightLogSignalMapping object contains new predefined signals and plots that you can use to analyze EKF messages from flight logs. For more details, see Predefined Signals and Predefined Plots.

R2024a: ArduPilot Log Support

The flightLogSignalMapping object now enables you to visualize ArduPilot log file (.bin) that you import using ardupilotreader object.