def get(self, *args, **kwargs):
""" GET request callback """
# load the log file
log_id = self.get_argument('log')
if not validate_log_id(log_id):
raise tornado.web.HTTPError(400, 'Invalid Parameter')
log_file_name = get_log_filename(log_id)
ulog = load_ulog_file(log_file_name)
# extract the necessary information from the log
try:
# required topics: none of these are optional
gps_pos = ulog.get_dataset('vehicle_gps_position').data
vehicle_global_position = ulog.get_dataset(
'vehicle_global_position').data
attitude = ulog.get_dataset('vehicle_attitude').data
except (KeyError, IndexError, ValueError) as error:
raise CustomHTTPError(
400, 'The log does not contain all required topics<br />'
'(vehicle_gps_position, vehicle_global_position, '
'vehicle_attitude)') from error
# manual control setpoint is optional
manual_control_setpoint = None
try:
manual_control_setpoint = ulog.get_dataset(
'manual_control_setpoint').data
except (KeyError, IndexError, ValueError) as error:
pass
# Get the takeoff location. We use the first position with a valid fix,
# and assume that the vehicle is not in the air already at that point
takeoff_index = 0
gps_indices = np.nonzero(gps_pos['fix_type'] > 2)
if len(gps_indices[0]) > 0:
takeoff_index = gps_indices[0][0]
takeoff_altitude = '{:.3f}' \
.format(gps_pos['alt'][takeoff_index] * 1.e-3)
takeoff_latitude = '{:.10f}'.format(gps_pos['lat'][takeoff_index] *
1.e-7)
takeoff_longitude = '{:.10f}'.format(gps_pos['lon'][takeoff_index] *
1.e-7)
# calculate UTC time offset (assume there's no drift over the entire log)
utc_offset = int(gps_pos['time_utc_usec'][takeoff_index]) - \
int(gps_pos['timestamp'][takeoff_index])
# flight modes
flight_mode_changes = get_flight_mode_changes(ulog)
flight_modes_str = '[ '
for t, mode in flight_mode_changes:
t += utc_offset
utctimestamp = datetime.datetime.utcfromtimestamp(
t / 1.e6).replace(tzinfo=datetime.timezone.utc)
if mode in flight_modes_table:
mode_name, color = flight_modes_table[mode]
else:
mode_name = ''
color = '#ffffff'
flight_modes_str += '["{:}", "{:}"], ' \
.format(utctimestamp.isoformat(), mode_name)
flight_modes_str += ' ]'
# manual control setpoints (stick input)
manual_control_setpoints_str = '[ '
if manual_control_setpoint:
for i in range(len(manual_control_setpoint['timestamp'])):
manual_x = manual_control_setpoint['x'][i]
manual_y = manual_control_setpoint['y'][i]
manual_z = manual_control_setpoint['z'][i]
manual_r = manual_control_setpoint['r'][i]
t = manual_control_setpoint['timestamp'][i] + utc_offset
utctimestamp = datetime.datetime.utcfromtimestamp(
t / 1.e6).replace(tzinfo=datetime.timezone.utc)
manual_control_setpoints_str += '["{:}", {:.3f}, {:.3f}, {:.3f}, {:.3f}], ' \
.format(utctimestamp.isoformat(), manual_x, manual_y, manual_z, manual_r)
manual_control_setpoints_str += ' ]'
# position
# Note: alt_ellipsoid from gps_pos would be the better match for
# altitude, but it's not always available. And since we add an offset
# (to match the takeoff location with the ground altitude) it does not
# matter as much.
position_data = '[ '
# TODO: use vehicle_global_position? If so, then:
# - altitude requires an offset (to match the GPS data)
# - it's worse for some logs where the estimation is bad -> acro flights
# (-> add both: user-selectable between GPS & estimated trajectory?)
for i in range(len(gps_pos['timestamp'])):
lon = gps_pos['lon'][i] * 1.e-7
lat = gps_pos['lat'][i] * 1.e-7
alt = gps_pos['alt'][i] * 1.e-3
t = gps_pos['timestamp'][i] + utc_offset
utctimestamp = datetime.datetime.utcfromtimestamp(
t / 1.e6).replace(tzinfo=datetime.timezone.utc)
if i == 0:
start_timestamp = utctimestamp
end_timestamp = utctimestamp
position_data += '["{:}", {:.10f}, {:.10f}, {:.3f}], ' \
.format(utctimestamp.isoformat(), lon, lat, alt)
position_data += ' ]'
start_timestamp_str = '"{:}"'.format(start_timestamp.isoformat())
boot_timestamp = datetime.datetime.utcfromtimestamp(
utc_offset / 1.e6).replace(tzinfo=datetime.timezone.utc)
boot_timestamp_str = '"{:}"'.format(boot_timestamp.isoformat())
end_timestamp_str = '"{:}"'.format(end_timestamp.isoformat())
# orientation as quaternion
attitude_data = '[ '
for i in range(len(attitude['timestamp'])):
att_qw = attitude['q[0]'][i]
att_qx = attitude['q[1]'][i]
att_qy = attitude['q[2]'][i]
att_qz = attitude['q[3]'][i]
t = attitude['timestamp'][i] + utc_offset
utctimestamp = datetime.datetime.utcfromtimestamp(
t / 1.e6).replace(tzinfo=datetime.timezone.utc)
# Cesium uses (x, y, z, w)
attitude_data += '["{:}", {:.6f}, {:.6f}, {:.6f}, {:.6f}], ' \
.format(utctimestamp.isoformat(), att_qx, att_qy, att_qz, att_qw)
attitude_data += ' ]'
# handle different vehicle types
# the model_scale_factor should scale the different models to make them
# equal in size (in proportion)
mav_type = ulog.initial_parameters.get('MAV_TYPE', None)
if mav_type == 1: # fixed wing
model_scale_factor = 0.06
model_uri = 'plot_app/static/cesium/SampleData/models/CesiumAir/Cesium_Air.glb'
elif mav_type == 2: # quad
model_scale_factor = 1
model_uri = 'plot_app/static/cesium/models/iris/iris.glb'
elif mav_type == 22: # delta-quad
# TODO: use the delta-quad model
model_scale_factor = 0.06
model_uri = 'plot_app/static/cesium/SampleData/models/CesiumAir/Cesium_Air.glb'
else: # TODO: handle more types
model_scale_factor = 1
model_uri = 'plot_app/static/cesium/models/iris/iris.glb'
template = get_jinja_env().get_template(THREED_TEMPLATE)
self.write(
template.render(
flight_modes=flight_modes_str,
manual_control_setpoints=manual_control_setpoints_str,
takeoff_altitude=takeoff_altitude,
takeoff_longitude=takeoff_longitude,
takeoff_latitude=takeoff_latitude,
position_data=position_data,
start_timestamp=start_timestamp_str,
boot_timestamp=boot_timestamp_str,
end_timestamp=end_timestamp_str,
attitude_data=attitude_data,
model_scale_factor=model_scale_factor,
model_uri=model_uri,
log_id=log_id,
bing_api_key=get_bing_maps_api_key(),
cesium_api_key=get_cesium_api_key()))
def get_pid_analysis_plots(ulog, px4_ulog, db_data, link_to_main_plots):
"""
get all bokeh plots shown on the PID analysis page
:return: list of bokeh plots
"""
def _resample(time_array, data, desired_time):
""" resample data at a given time to a vector of desired_time """
data_f = interp1d(time_array, data, fill_value='extrapolate')
return data_f(desired_time)
page_intro = """
<p>
This page shows step response plots for the PID controller. The step
response is an objective measure to evaluate the performance of a PID
controller, i.e. if the tuning gains are appropriate. In particular, the
following metrics can be read from the plots: response time, overshoot and
settling time.
</p>
<p>
The step response plots are based on <a href="https://github.com/Plasmatree/PID-Analyzer">
PID-Analyzer</a>, originally written for Betaflight by Florian Melsheimer.
Documentation with some examples can be found <a
href="https://github.com/Plasmatree/PID-Analyzer/wiki/Influence-of-parameters">here</a>.
</p>
<p>
The analysis may take a while...
</p>
"""
curdoc().template_variables['title_html'] = get_heading_html(
ulog, px4_ulog, db_data, None, [('Open Main Plots', link_to_main_plots)],
'PID Analysis') + page_intro
plots = []
data = ulog.data_list
flight_mode_changes = get_flight_mode_changes(ulog)
x_range_offset = (ulog.last_timestamp - ulog.start_timestamp) * 0.05
x_range = Range1d(ulog.start_timestamp - x_range_offset, ulog.last_timestamp + x_range_offset)
# COMPATIBILITY support for old logs
if any(elem.name == 'vehicle_angular_velocity' for elem in data):
rate_topic_name = 'vehicle_angular_velocity'
rate_field_names = ['xyz[0]', 'xyz[1]', 'xyz[2]']
else: # old
rate_topic_name = 'rate_ctrl_status'
rate_field_names = ['rollspeed', 'pitchspeed', 'yawspeed']
# required PID response data
pid_analysis_error = False
try:
# Rate
rate_data = ulog.get_dataset(rate_topic_name)
gyro_time = rate_data.data['timestamp']
vehicle_rates_setpoint = ulog.get_dataset('vehicle_rates_setpoint')
actuator_controls_0 = ulog.get_dataset('actuator_controls_0')
throttle = _resample(actuator_controls_0.data['timestamp'],
actuator_controls_0.data['control[3]'] * 100, gyro_time)
time_seconds = gyro_time / 1e6
except (KeyError, IndexError, ValueError) as error:
print(type(error), ":", error)
pid_analysis_error = True
div = Div(text="<p><b>Error</b>: missing topics or data for PID analysis "
"(required topics: vehicle_angular_velocity, vehicle_rates_setpoint, "
"vehicle_attitude, vehicle_attitude_setpoint and "
"actuator_controls_0).</p>", width=int(plot_width*0.9))
plots.append(column(div, width=int(plot_width*0.9)))
has_attitude = True
try:
# Attitude (optional)
vehicle_attitude = ulog.get_dataset('vehicle_attitude')
attitude_time = vehicle_attitude.data['timestamp']
vehicle_attitude_setpoint = ulog.get_dataset('vehicle_attitude_setpoint')
except (KeyError, IndexError, ValueError) as error:
print(type(error), ":", error)
has_attitude = False
for index, axis in enumerate(['roll', 'pitch', 'yaw']):
axis_name = axis.capitalize()
# rate
data_plot = DataPlot(data, plot_config, 'actuator_controls_0',
y_axis_label='[deg/s]', title=axis_name+' Angular Rate',
plot_height='small',
x_range=x_range)
thrust_max = 200
actuator_controls = data_plot.dataset
if actuator_controls is None: # do not show the rate plot if actuator_controls is missing
continue
time_controls = actuator_controls.data['timestamp']
thrust = actuator_controls.data['control[3]'] * thrust_max
# downsample if necessary
max_num_data_points = 4.0*plot_config['plot_width']
if len(time_controls) > max_num_data_points:
step_size = int(len(time_controls) / max_num_data_points)
time_controls = time_controls[::step_size]
thrust = thrust[::step_size]
if len(time_controls) > 0:
# make sure the polygon reaches down to 0
thrust = np.insert(thrust, [0, len(thrust)], [0, 0])
time_controls = np.insert(time_controls, [0, len(time_controls)],
[time_controls[0], time_controls[-1]])
p = data_plot.bokeh_plot
p.patch(time_controls, thrust, line_width=0, fill_color='#555555',
fill_alpha=0.4, alpha=0, legend_label='Thrust [0, {:}]'.format(thrust_max))
data_plot.change_dataset(rate_topic_name)
data_plot.add_graph([lambda data: ("rate"+str(index),
np.rad2deg(data[rate_field_names[index]]))],
colors3[0:1], [axis_name+' Rate Estimated'], mark_nan=True)
data_plot.change_dataset('vehicle_rates_setpoint')
data_plot.add_graph([lambda data: (axis, np.rad2deg(data[axis]))],
colors3[1:2], [axis_name+' Rate Setpoint'],
mark_nan=True, use_step_lines=True)
axis_letter = axis[0].upper()
rate_int_limit = '(*100)'
# this param is MC/VTOL only (it will not exist on FW)
rate_int_limit_param = 'MC_' + axis_letter + 'R_INT_LIM'
if rate_int_limit_param in ulog.initial_parameters:
rate_int_limit = '[-{0:.0f}, {0:.0f}]'.format(
ulog.initial_parameters[rate_int_limit_param]*100)
data_plot.change_dataset('rate_ctrl_status')
data_plot.add_graph([lambda data: (axis, data[axis+'speed_integ']*100)],
colors3[2:3], [axis_name+' Rate Integral '+rate_int_limit])
plot_flight_modes_background(data_plot, flight_mode_changes)
if data_plot.finalize() is not None: plots.append(data_plot.bokeh_plot)
# PID response
if not pid_analysis_error:
try:
gyro_rate = np.rad2deg(rate_data.data[rate_field_names[index]])
setpoint = _resample(vehicle_rates_setpoint.data['timestamp'],
np.rad2deg(vehicle_rates_setpoint.data[axis]),
gyro_time)
trace = Trace(axis, time_seconds, gyro_rate, setpoint, throttle)
plots.append(plot_pid_response(trace, ulog.data_list, plot_config).bokeh_plot)
except Exception as e:
print(type(e), axis, ":", e)
div = Div(text="<p><b>Error</b>: PID analysis failed. Possible "
"error causes are: logged data rate is too low, or there "
"is not enough motion for the analysis.</p>",
width=int(plot_width*0.9))
plots.insert(0, column(div, width=int(plot_width*0.9)))
pid_analysis_error = True
# attitude
if not pid_analysis_error and has_attitude:
throttle = _resample(actuator_controls_0.data['timestamp'],
actuator_controls_0.data['control[3]'] * 100, attitude_time)
time_seconds = attitude_time / 1e6
# don't plot yaw, as yaw is mostly controlled directly by rate
for index, axis in enumerate(['roll', 'pitch']):
axis_name = axis.capitalize()
# PID response
if not pid_analysis_error and has_attitude:
try:
attitude_estimated = np.rad2deg(vehicle_attitude.data[axis])
setpoint = _resample(vehicle_attitude_setpoint.data['timestamp'],
np.rad2deg(vehicle_attitude_setpoint.data[axis+'_d']),
attitude_time)
trace = Trace(axis, time_seconds, attitude_estimated, setpoint, throttle)
plots.append(plot_pid_response(trace, ulog.data_list, plot_config,
'Angle').bokeh_plot)
except Exception as e:
print(type(e), axis, ":", e)
div = Div(text="<p><b>Error</b>: Attitude PID analysis failed. Possible "
"error causes are: logged data rate is too low/data missing, "
"or there is not enough motion for the analysis.</p>",
width=int(plot_width*0.9))
plots.insert(0, column(div, width=int(plot_width*0.9)))
pid_analysis_error = True
return plots
def get(self, *args, **kwargs):
""" GET request callback """
# load the log file
log_id = self.get_argument('log')
if not validate_log_id(log_id):
raise tornado.web.HTTPError(400, 'Invalid Parameter')
log_file_name = get_log_filename(log_id)
ulog = load_ulog_file(log_file_name)
# extract the necessary information from the log
try:
# required topics: none of these are optional
gps_pos = ulog.get_dataset('vehicle_gps_position').data
vehicle_global_position = ulog.get_dataset('vehicle_global_position').data
attitude = ulog.get_dataset('vehicle_attitude').data
except (KeyError, IndexError, ValueError) as error:
raise CustomHTTPError(
400,
'The log does not contain all required topics<br />'
'(vehicle_gps_position, vehicle_global_position, '
'vehicle_attitude)')
# These are optional data streams. Most of them are added
# for charting/streaming 2D plots on the 3D viewer.
manual_control_setpoint = None
vehicle_local_position = None
vehicle_local_position_setpoint = None
vehicle_attitude_setpoint = None
vehicle_rates_setpoint = None
actuator_outputs = None
sensor_combined = None
actuator_controls_0 = None
# Exception handling is done on each dataset separately to find
# source of the missing stream.
# Exception: manual_control_setpoint
try:
manual_control_setpoint = ulog.get_dataset('manual_control_setpoint').data
except (KeyError, IndexError, ValueError) as error:
print("Manual control setpoint not found")
# Exception: vehicle_local_position
try:
vehicle_local_position = ulog.get_dataset('vehicle_local_position').data
except (KeyError, IndexError, ValueError) as error:
print("Vehicle local position not found")
# Exception: vehicle_local_position_setpoint
try:
vehicle_local_position_setpoint = ulog.get_dataset('vehicle_local_position_setpoint').data
except (KeyError, IndexError, ValueError) as error:
print("Vehicle local position setpoint not found")
# Exception: vehicle_attitude_setpoint
try:
vehicle_attitude_setpoint = ulog.get_dataset('vehicle_attitude_setpoint').data
except (KeyError, IndexError, ValueError) as error:
print("Vehicle attitude setpoint not found")
# Exception: vehicle_rates_setpoint
try:
vehicle_rates_setpoint = ulog.get_dataset('vehicle_rates_setpoint').data
except (KeyError, IndexError, ValueError) as error:
print("Vehicle rates setpoint not found")
# Exception: actuator_outputs
try:
actuator_outputs = ulog.get_dataset('actuator_outputs').data
except (KeyError, IndexError, ValueError) as error:
print("Actuator output not found")
# Exception: sensor_combined
try:
sensor_combined = ulog.get_dataset('sensor_combined').data
except (KeyError, IndexError, ValueError) as error:
print("Sensor combined not found")
# Exception: actuator_controls_0
try:
actuator_controls_0 = ulog.get_dataset('actuator_controls_0').data
except (KeyError, IndexError, ValueError) as error:
print("Actuator Controls 0 not found")
# Get the takeoff location. We use the first position with a valid fix,
# and assume that the vehicle is not in the air already at that point
takeoff_index = 0
gps_indices = np.nonzero(gps_pos['fix_type'] > 2)
if len(gps_indices[0]) > 0:
takeoff_index = gps_indices[0][0]
takeoff_altitude = '{:.3f}' \
.format(gps_pos['alt'][takeoff_index] * 1.e-3)
takeoff_latitude = '{:.10f}'.format(gps_pos['lat'][takeoff_index] * 1.e-7)
takeoff_longitude = '{:.10f}'.format(gps_pos['lon'][takeoff_index] * 1.e-7)
# calculate UTC time offset (assume there's no drift over the entire log)
utc_offset = int(gps_pos['time_utc_usec'][takeoff_index]) - \
int(gps_pos['timestamp'][takeoff_index])
# flight modes
flight_mode_changes = get_flight_mode_changes(ulog)
flight_modes_str = '[ '
for t, mode in flight_mode_changes:
t += utc_offset
utctimestamp = datetime.datetime.utcfromtimestamp(t/1.e6).replace(
tzinfo=datetime.timezone.utc)
if mode in flight_modes_table:
mode_name, color = flight_modes_table[mode]
else:
mode_name = ''
color = '#ffffff'
flight_modes_str += '["{:}", "{:}"], ' \
.format(utctimestamp.isoformat(), mode_name)
flight_modes_str += ' ]'
# manual control setpoints (stick input)
manual_control_setpoints_str = '[ '
if manual_control_setpoint:
for i in range(len(manual_control_setpoint['timestamp'])):
manual_x = manual_control_setpoint['x'][i]
manual_y = manual_control_setpoint['y'][i]
manual_z = manual_control_setpoint['z'][i]
manual_r = manual_control_setpoint['r'][i]
t = manual_control_setpoint['timestamp'][i] + utc_offset
utctimestamp = datetime.datetime.utcfromtimestamp(t/1.e6).replace(
tzinfo=datetime.timezone.utc)
manual_control_setpoints_str += '["{:}", {:.3f}, {:.3f}, {:.3f}, {:.3f}], ' \
.format(utctimestamp.isoformat(), manual_x, manual_y, manual_z, manual_r)
manual_control_setpoints_str += ' ]'
# position
# Note: alt_ellipsoid from gps_pos would be the better match for
# altitude, but it's not always available. And since we add an offset
# (to match the takeoff location with the ground altitude) it does not
# matter as much.
position_data = '[ '
# TODO: use vehicle_global_position? If so, then:
# - altitude requires an offset (to match the GPS data)
# - it's worse for some logs where the estimation is bad -> acro flights
# (-> add both: user-selectable between GPS & estimated trajectory?)
for i in range(len(gps_pos['timestamp'])):
lon = gps_pos['lon'][i] * 1.e-7
lat = gps_pos['lat'][i] * 1.e-7
alt = gps_pos['alt'][i] * 1.e-3
t = gps_pos['timestamp'][i] + utc_offset
utctimestamp = datetime.datetime.utcfromtimestamp(t/1.e6).replace(
tzinfo=datetime.timezone.utc)
if i == 0:
start_timestamp = utctimestamp
end_timestamp = utctimestamp
position_data += '["{:}", {:.10f}, {:.10f}, {:.3f}], ' \
.format(utctimestamp.isoformat(), lon, lat, alt)
position_data += ' ]'
start_timestamp_str = '"{:}"'.format(start_timestamp.isoformat())
boot_timestamp = datetime.datetime.utcfromtimestamp(utc_offset/1.e6).replace(
tzinfo=datetime.timezone.utc)
boot_timestamp_str = '"{:}"'.format(boot_timestamp.isoformat())
end_timestamp_str = '"{:}"'.format(end_timestamp.isoformat())
# orientation as quaternion
attitude_data = '[ '
for i in range(len(attitude['timestamp'])):
att_qw = attitude['q[0]'][i]
att_qx = attitude['q[1]'][i]
att_qy = attitude['q[2]'][i]
att_qz = attitude['q[3]'][i]
rollSpeed = attitude['rollspeed'][i]
pitchSpeed = attitude['pitchspeed'][i]
yawSpeed = attitude['yawspeed'][i]
t = attitude['timestamp'][i] + utc_offset
utctimestamp = datetime.datetime.utcfromtimestamp(t/1.e6).replace(
tzinfo=datetime.timezone.utc)
# Cesium uses (x, y, z, w)
attitude_data += '["{:}", {:.6f}, {:.6f}, {:.6f}, {:.6f}, {:.6f}, {:.6f}, {:.6f}], ' \
.format(utctimestamp.isoformat(), att_qx, att_qy, att_qz, att_qw, rollSpeed, pitchSpeed, yawSpeed)
attitude_data += ' ]'
# Optional data stream serialization starts here.
# The code checks None condition to decide whether
# to serialize or not.
# Attitude setpoint data
vehicle_rates_setpoint_data = '[ '
if vehicle_rates_setpoint is not None:
for i in range(len(vehicle_rates_setpoint['timestamp'])):
rollRateSP = vehicle_rates_setpoint['roll'][i]
pitchRateSP = vehicle_rates_setpoint['pitch'][i]
yawRateSp = vehicle_rates_setpoint['yaw'][i]
t = vehicle_rates_setpoint['timestamp'][i] + utc_offset
utctimestamp = datetime.datetime.utcfromtimestamp(t/1.e6).replace(
tzinfo=datetime.timezone.utc)
vehicle_rates_setpoint_data += '["{:}", {:.6f}, {:.6f}, {:.6f}], ' \
.format(utctimestamp.isoformat(), rollRateSP, pitchRateSP, yawRateSp)
vehicle_rates_setpoint_data += ' ]'
# Sensor combined data. Includes things like raw gyro, raw accelleration.
sensor_combined_data = '[ '
if sensor_combined is not None:
for i in range(len(sensor_combined['timestamp'])):
rawRoll = sensor_combined['gyro_rad[0]'][i]
rawPitch = sensor_combined['gyro_rad[1]'][i]
rawYaw = sensor_combined['gyro_rad[2]'][i]
rawXAcc = sensor_combined['accelerometer_m_s2[0]'][i]
rawYAcc = sensor_combined['accelerometer_m_s2[1]'][i]
rawZAcc = sensor_combined['accelerometer_m_s2[2]'][i]
t = sensor_combined['timestamp'][i] + utc_offset
utctimestamp = datetime.datetime.utcfromtimestamp(t/1.e6).replace(
tzinfo=datetime.timezone.utc)
sensor_combined_data += '["{:}", {:.6f}, {:.6f}, {:.6f}, {:.6f}, {:.6f}, {:.6f}], ' \
.format(utctimestamp.isoformat(), rawRoll, rawPitch, rawYaw, rawXAcc, rawYAcc, rawZAcc)
sensor_combined_data += ' ]'
# Attitude setpoint
vehicle_attitude_setpoint_data = '[ '
if vehicle_attitude_setpoint is not None:
for i in range(len(vehicle_attitude_setpoint['timestamp'])):
rollSP = vehicle_attitude_setpoint['roll_body'][i]
pitchSP = vehicle_attitude_setpoint['pitch_body'][i]
yawSP = vehicle_attitude_setpoint['yaw_body'][i]
t = vehicle_attitude_setpoint['timestamp'][i] + utc_offset
utctimestamp = datetime.datetime.utcfromtimestamp(t/1.e6).replace(
tzinfo=datetime.timezone.utc)
vehicle_attitude_setpoint_data += '["{:}", {:.6f}, {:.6f}, {:.6f}], ' \
.format(utctimestamp.isoformat(), rollSP, pitchSP, yawSP)
vehicle_attitude_setpoint_data += ' ]'
# Local Position
vehicle_local_position_data = '[ '
if vehicle_local_position is not None:
for i in range(len(vehicle_local_position['timestamp'])):
xPos = vehicle_local_position['x'][i]
yPos = vehicle_local_position['y'][i]
zPos = vehicle_local_position['z'][i]
xVel = vehicle_local_position['vx'][i]
yVel = vehicle_local_position['vy'][i]
zVel = vehicle_local_position['vz'][i]
t = vehicle_local_position['timestamp'][i] + utc_offset
utctimestamp = datetime.datetime.utcfromtimestamp(t/1.e6).replace(
tzinfo=datetime.timezone.utc)
vehicle_local_position_data += '["{:}", {:.6f}, {:.6f}, {:.6f}, {:.6f}, {:.6f}, {:.6f}], ' \
.format(utctimestamp.isoformat(), xPos, yPos, zPos, xVel, yVel, zVel)
vehicle_local_position_data += ' ]'
# Local Position Setpoint
vehicle_local_position_setpoint_data = '[ '
if vehicle_local_position_setpoint is not None:
for i in range(len(vehicle_local_position_setpoint['timestamp'])):
xPosSP = vehicle_local_position_setpoint['x'][i]
yPosSP = vehicle_local_position_setpoint['y'][i]
zPosSP = vehicle_local_position_setpoint['z'][i]
xVelSP = vehicle_local_position_setpoint['vx'][i]
yVelSP = vehicle_local_position_setpoint['vy'][i]
zVelSP = vehicle_local_position_setpoint['vz'][i]
t = vehicle_local_position_setpoint['timestamp'][i] + utc_offset
utctimestamp = datetime.datetime.utcfromtimestamp(t/1.e6).replace(
tzinfo=datetime.timezone.utc)
vehicle_local_position_setpoint_data += '["{:}", {:.6f}, {:.6f}, {:.6f}, {:.6f}, {:.6f}, {:.6f}], ' \
.format(utctimestamp.isoformat(), xPosSP, yPosSP, zPosSP, xVelSP, yVelSP, zVelSP)
vehicle_local_position_setpoint_data += ' ]'
# Actuator Outputs. This can handle airframes up to 8 actuation outputs (i.e. motors).
# Tons of formatting things ...
actuator_outputs_data = '[ '
if actuator_outputs is not None:
num_actuator_outputs = 8
max_outputs = np.amax(actuator_outputs['noutputs'])
if max_outputs < num_actuator_outputs: num_actuator_outputs = max_outputs
for i in range(len(actuator_outputs['timestamp'])):
t = actuator_outputs['timestamp'][i] + utc_offset
utctimestamp = datetime.datetime.utcfromtimestamp(t/1.e6).replace(
tzinfo=datetime.timezone.utc)
actuatorList = []
actuatorList.append(utctimestamp.isoformat())
actuatorDictionary={}
formatStringLoop = ''
for x in range(max_outputs):
actuatorDictionary["actuator_outputs_{0}".format(x)]=actuator_outputs['output['+str(x)+']'][i]
formatStringLoop += ', {:.6f}'
actuatorList.append(actuatorDictionary["actuator_outputs_{0}".format(x)])
formatStringLoop += '], '
formatString = '["{:}"' + formatStringLoop
actuator_outputs_data += formatString.format(*actuatorList)
actuator_outputs_data += ' ]'
# Actuator controls
actuator_controls_0_data = '[ '
if actuator_controls_0 is not None:
for i in range(len(actuator_controls_0['timestamp'])):
cont0 = actuator_controls_0['control[0]'][i]
cont1 = actuator_controls_0['control[1]'][i]
cont2 = actuator_controls_0['control[2]'][i]
cont3 = actuator_controls_0['control[3]'][i]
t = actuator_controls_0['timestamp'][i] + utc_offset
utctimestamp = datetime.datetime.utcfromtimestamp(t/1.e6).replace(
tzinfo=datetime.timezone.utc)
actuator_controls_0_data += '["{:}", {:.6f}, {:.6f}, {:.6f}, {:.6f}], ' \
.format(utctimestamp.isoformat(), cont0, cont1, cont2, cont3)
actuator_controls_0_data += ' ]'
# handle different vehicle types
# the model_scale_factor should scale the different models to make them
# equal in size (in proportion)
mav_type = ulog.initial_parameters.get('MAV_TYPE', None)
if mav_type == 1: # fixed wing
model_scale_factor = 0.06
model_uri = 'plot_app/static/cesium/SampleData/models/CesiumAir/Cesium_Air.glb'
elif mav_type == 2: # quad
model_scale_factor = 1
model_uri = 'plot_app/static/cesium/models/iris/iris.glb'
elif mav_type == 22: # delta-quad
# TODO: use the delta-quad model
model_scale_factor = 0.06
model_uri = 'plot_app/static/cesium/SampleData/models/CesiumAir/Cesium_Air.glb'
else: # TODO: handle more types
model_scale_factor = 1
model_uri = 'plot_app/static/cesium/models/iris/iris.glb'
template = get_jinja_env().get_template(THREED_TEMPLATE)
self.write(template.render(
flight_modes=flight_modes_str,
manual_control_setpoints=manual_control_setpoints_str,
takeoff_altitude=takeoff_altitude,
takeoff_longitude=takeoff_longitude,
takeoff_latitude=takeoff_latitude,
position_data=position_data,
start_timestamp=start_timestamp_str,
boot_timestamp=boot_timestamp_str,
end_timestamp=end_timestamp_str,
attitude_data=attitude_data,
vehicle_attitude_setpoint_data = vehicle_attitude_setpoint_data,
vehicle_local_position_data = vehicle_local_position_data,
vehicle_local_position_setpoint_data = vehicle_local_position_setpoint_data,
actuator_outputs_data = actuator_outputs_data,
vehicle_rates_setpoint_data = vehicle_rates_setpoint_data,
sensor_combined_data = sensor_combined_data,
actuator_controls_0_data = actuator_controls_0_data,
model_scale_factor=model_scale_factor,
model_uri=model_uri,
log_id=log_id,
bing_api_key=get_bing_maps_api_key(),
cesium_api_key=get_cesium_api_key()))
