第二章 第十二节 px4的ulog使用 -闫刚

px4固件在v1.8.0，目前使用的ulog文件，介绍下ulog的使用

ulog的使用

1. git clone https://github.com/PX4/pyulog.git
2. cd pyulog
3. python setup.py build install
4. 打开pyulog/test文件夹，下面的测试都是通过sample.ulg文件作为测试

常用命令的使用

1. ulog_info [-h] [-v] file.ulg

• 查看ulog的信息
• 例子: ulog_info sample.ulg

yangang@ubuntu:~/work/theone_proj/firmware/pyulog/test$ ulog_info  sample.ulg 
Logging start time: 0:01:52, duration: 0:01:08
Dropouts: count: 4, total duration: 0.1 s, max: 62 ms, mean: 29 ms
Info Messages:
 sys_name: PX4
 time_ref_utc: 0
 ver_hw: AUAV_X21
 ver_sw: fd483321a5cf50ead91164356d15aa474643aa73

Name (multi id, message size in bytes)    number of data points, total bytes
 actuator_controls_0 (0, 48)                 3269     156912
 actuator_outputs (0, 76)                    1311      99636
 commander_state (0, 9)                       678       6102
 control_state (0, 122)                      3268     398696
 cpuload (0, 16)                               69       1104
 ekf2_innovations (0, 140)                   3271     457940
 estimator_status (0, 309)                   1311     405099
 sensor_combined (0, 72)                    17070    1229040
 sensor_preflight (0, 16)                   17072     273152
 telemetry_status (0, 36)                      70       2520
 vehicle_attitude (0, 36)                    6461     232596
 vehicle_attitude_setpoint (0, 55)           3272     179960
 vehicle_local_position (0, 123)              678      83394
 vehicle_rates_setpoint (0, 24)              6448     154752
 vehicle_status (0, 45)                       294      13230

2. ulog_messages [-h] file.ulg

查看ulog中的uorb的消息
ulog_messages sample.ulg

yangang@ubuntu:~/work/theone_proj/firmware/pyulog/test$ ulog_messages  sample.ulg
0:02:38 ERROR: [sensors] no barometer found on /dev/baro0 (2)
0:02:42 ERROR: [sensors] no barometer found on /dev/baro0 (2)
0:02:51 ERROR: [sensors] no barometer found on /dev/baro0 (2)
0:02:56 ERROR: [sensors] no barometer found on /dev/baro0 (2)

3. ulog_params [-h] [-d DELIMITER] [-i] [-o] file.ulg [params.txt]

• 查看ulog中的参数
• ulog_params sample.ul

yangang@ubuntu:~/work/theone_proj/firmware/pyulog/test$ ulog_params  sample.ulg
ATT_ACC_COMP,1
ATT_BIAS_MAX,0.0500000007451
ATT_EXT_HDG_M,0
ATT_MAG_DECL,0.0
ATT_MAG_DECL_A,1
ATT_VIBE_THRESH,0.20000000298
ATT_W_ACC,0.20000000298
ATT_W_EXT_HDG,0.10000000149
ATT_W_GYRO_BIAS,0.10000000149
ATT_W_MAG,0.10000000149
BAT_A_PER_V,15.3910303116
BAT_CAPACITY,-1.0
BAT_CNT_V_CURR,0.000805664050858
BAT_CNT_V_VOLT,0.000805664050858

4. ulog2csv [-h] [-m MESSAGES] [-d DELIMITER] [-o DIR] file.ulg

• 把ulog文件转换成csv文件
• ulog2csv sample.ulg