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Log analysis

Flix quadcopter uses RAM to store flight log data. The default log capacity is 10 seconds at 100 Hz. This configuration can be adjusted in the log.ino file.

To perform log analysis, you need to download the log right after the flight without powering off the drone. Then you can use several tools to analyze the log data.

Log download

To download the log, connect the ESP32 using USB right after the flight and run the following command:

make log

Logs are stored in tools/log/*.csv files.

Analysis

PlotJuggler

The recommended tool for log analysis is PlotJuggler.

  1. Install PlotJuggler using the official instructions.

  2. Run PlotJuggler and drag'n'drop the downloaded log file there. Choose t column to be used as X axis.

    You can open the most recent downloaded file using the command:

    make plot

    You can perform both log download and run PlotJuggler in one command:

    make log plot

FlightPlot

FlightPlot is a powerful tool for analyzing logs in ULog format. This format is used in PX4 and ArduPilot flight software.

  1. Install FlightPlot.
  2. Flix repository contains a tool for converting CSV logs to ULog format. Build the tool using the instructions and convert the log you want to analyze.
  3. Run FlightPlot and drag'n'drop the converted ULog-file there.

Foxglove Studio

Foxglove is a tool for visualizing and analyzing robotics data with very rich functionality. It can import various formats, but mainly focuses on its own format, called MCAP.

  1. Install Foxglove Studio from the official website.

  2. Flix repository contains a tool for converting CSV logs to MCAP format. First, install its dependencies:

    cd tools
pip install -r requirements.txt

  3. Convert the log you want to analyze:

    csv_to_mcap.py log_file.csv

  4. Open the log in Foxglove Studio using Open local file command.