Data Logs

Data Logging

Your flight data will be logged in 2 different places during your flight:

1. Dataflash logs (onboard pixhawk) - These will contain the most amount of information during the flight as all the data is logged at a much higher rate than what comes down to the ground.

• In order to view these logs, you will need to pull them off the SD card
• Here are several ways for you to analyze the data flash logs
• These logs can be converted to CSV files using a python script
• There is a function available for converting these logs to matlab, but in the past I have found it to be a little unreliable. I have had much better luck using Matlabs tdfread function for importing the csv file.

2. Telemetry logs (onboard ground station) - These are logs generate by QGroundControl that log the data coming down from the pixhawk at a much lower rate than above.

• These logs can be read by QGroundControl in a playback mode in order for you to watch your flight on the ground station software after your flight is finished

Log File Details

Work in progress, will be updating for the next hour or so.

Alphabetical list of all the log categories you will encounter.

ADAT - AA241x Data

Only present in the AA241x version of the code. This contains the calculated auxiliary data that is not found in other log categories.

• Dbaro [m] - the barometeric pressure altitude above the center of lake lag
• Dgps [m] - the gps altitude above the center of lake lag (Note: this is the altitude used in mission)
• E [m] - East position from the center of lake lag
• GrndCrs or GrndSpd (renamed to GrndSpd recently) [m/s] - Ground speed as measured by GPS
• N [m] - North position from center of lake lag
• u [m/s] - body velocity in the x direction
• v [m/s] - body velocity in the y direction
• w [m/s] - body velocity in the z direction

AIR1 - Air Sensor Data

Contains sensor information related to the air.

• BaroAlt
• BaroPa
• BaroTmp
• DiffPres
• DiffPresF

AIRS - Airspeed

Contains airspeed information.

• AirTemp [C] - air temperature used to filter baro pressure information
• IndSpeed [m/s] - indicated airspeed
• TrueSpeed [m/s] - true airspeed

AMIS - AA241x Mission Status

Only present in the AA241x version of the code. This constains the current mission status information.

• CanStart - 1: the mission is able to start; 0: uav has violated a starting condition
• InMission - 1: currently running a mission, 0: not in a mission
• MisTime [min] - the current run time of the mission (time since mission started)
• Score - your current mission score

ARSP - Attitude Rate Setpoint

This constains the setpoint information for the attitude rate. None of these fields will concern you.

ATC1 - Actuator Controls Group 1

This contains the output for the acutators in control group 1. Control group 1 is not used for your aircraft so none of these fields will concern you.

ATSP - Attitude Setpoint

This contains the setpoint information for the attitude. These fields can be set by setting the *_desired variables from either the high or low module.

• PitchSp
• RollSp
• ThrustSp
• YawSP

ATT - Attitude

This contains all of the attitude information.

• GX [?] - Compensated gravity vector x direction
• GY [?] - Compensated gravity vector y direction
• GZ [?] - Compensated gravity vector z direction
• Pitch [rad] - pitch ranges from -pi/2..pi/2
• PitchRate [rad/sec] - pitch rate
• Roll [rad] - roll ranges from -pi..pi
• RollRate [rad/sec] - roll rate
• Yaw [rad] - yaw ranges from -pi..pi
• YawRate [rad/sec] - yaw rate
• qw, qx, qy, qz - quaternions

ATTC - Actuator Controls

This contains the output for the main actuators. Values are bound between -1..1 with the exception of throttle which is bound from 0..1.

BATT - Battery Status

Contains information on the battery.

• C [A] - current being pulled
• Discharged [mAh] - the amount of capacity that has been discharged
• V [V] - the battery voltage
• VFilt [V] - filtered battery voltage

BG1B

DIST

ENCD ETS0 EST1

FLOW

GPS GPSOS GPSP GS0A GS0B GS1A

IMU IMU1 IMU2

LPOS LPSP

OUT0

PWR

RC

SENS STAT

TEL0 TEL1 TEL2 TEL3 TECS

VICN

WIND

FIRE PICR PICD WDRP HIGH LOW

TIME VER PARM