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PHANTOM UAV – Autopilot Flight Review

 

Autopilot Flight Review

  Dataflash Log - Download

      ‘Flight Data’ Page Log Download

      ‘Terminal’ Page Log Download

  Dataflash Log - Review

  Dataflash Log – Display in Google Maps

  Telemetry Logs

  Telemetry Log – Replay

  Telemetry Log - Browser

      Telemetry Log - File Structure

      Telemetry Log – Graphical Display

 

Previous Page -  Autopilot Flight Checklist                 

Next Page – Autopilot Flights

 

Autopilot Flight Review

There are two types of logs recorded during the flight.

The APM records flight data in its flash memory and this can be downloaded after the flight. This is the Dataflash log.

Mission Planner also records telemetry whenever there is a Mavlink connection to the APM. This is the Telemetry log.

Dataflash Log – Download

First connect the USB cable from the APM to the PC. The dataflash log cannot be downloaded over the radio telemetry link.

There are two ways to download the dataflash log using ‘Mission Planner’. They are on the ‘Flight Data’ page and on the ‘Terminal’ page.

 

‘Flight Data’ Page Log Download

 

First click on ‘CONNECT’ to establish the Mavlink connection.

 

 

On the ‘Flight Data’ page select the ‘DataFlash Logs’ tab then click on the ‘Download DataFlash Log Via Mavlink’ button.

 

 

The ‘Log’ popup window is then displayed.

 

 

Either tick the boxes next to the log numbers and click ’Download These Logs’ or click ‘Download All Logs’.

 

 

 

While the transfer is in progress, the message ”Reading nnn” is displayed under the ‘Clear Logs’ button. When completed, the message “Done nnn” is displayed

 

The logs in the APM can be cleared after download by clicking on ‘Clear Logs’.

 

The logs are downloaded into the following folder :

   ‘C:\Program Files (x86) / Mission Planner / logs / FIXED_WING / 1’.

The primary file is type ‘.bin’. There are three other file types generated from the ‘.bin’ file. They are ‘.bin.log’, ‘.bin.kmz’ and ‘.bin.gpx’.

 

The filenames of all of these files have the following format :

        yyyy-mm-dd hh-mm-ss

    where yyyy = year, mm = month, dd = day, hh = hour, mm = minute, ss = second

The ‘.bin.log’ file can be reviewed using the ‘Review a Log’ button to graph the log data.

The ‘.bin.kmz’ file is a compressed file containing a group of .kml files. (kml means Keyhole Markup Language)

‘.kmz’ files can be imported into Google Maps where a 3D graph is drawn of the flight over the Google map.

 

The ‘.bin.gpx’ file is a “GPS exchange format” file which is a GPS data format file.

 

Terminal’ Page Log Download

 

 

On the ‘Terminal’ page, first click on ‘Connect’, then click on ‘Log Download’.

The ‘Log’ popup window is then displayed.

 

 

Either tick the boxes next to the log numbers and click ’Download These Logs’ or click ‘Download All Logs’.

 

.

 

 

While the transfer is in progress, the message ”Reading nnn” is displayed under the ‘Clear Logs’ button. When completed, the message “Done nnn” is displayed

 

The logs in the APM can be cleared after download by clicking on ‘Clear Logs’.

 

The logs are downloaded into the following folder :   ‘C:\Program Files (x86) / Mission Planner / logs’.

The log files are type ‘.log’. After each ‘.log’ file has been downloaded, two other files are automatically generated from each log. These file types are ‘.kmz’ and ‘.gpx’.

The filenames of all of these files have the following format :

yyyy-mm-dd hh-mm-ss

      where yyyy = year, mm = month, dd = day, hh = hour, mm = minute, ss = second

 

The ‘.kmz’ file is a compressed file containing a group of .kml files. (kml means Keyhole Markup Language)

‘.kmz’ files can be imported into Google Maps where a 3D graph is drawn of the flight over the Google map.

 

The ‘.gpx’ file is a “GPS exchange format” file which is a GPS data format file.

Dataflash Log – Review

 

Click on the ‘Review a Log’ button to open the Log Browser popup window.

 

 

The Log Browser displays and graphs dataflash log files or telemetry log files.

 Refer section ‘Telemetry Log Browser’ below for use of this feature.

Dataflash Log – Display in Google Maps

When Google Maps is installed on your PC, ‘.kmz’ type files are associated with this program. This means that when you double click on a ‘.kmz’ file in Windows Explorer, Google Maps starts and the ‘.kmz’ file data is displayed.

After Google Maps starts, the ‘.kmz’ file will appear under ‘Temporary Places’ in the file tree.

 

 

 

 

 

 

 

 

Expand the file tree to display all of the flight segments.

 

Click on one of the segments with a tick beside it and the display zooms to the flight area and the full flight is displayed in 3D.

 

 

The flight is divided into different coloured segments as the mode is changed. Each segment can be turned on or off by clicking the check box beside the path segment in the file tree. The view can also be zoomed and rotated in any direction.

Telemetry Logs

Telemetry logs are stored by Mission Planner in the following folder :

C:\Program Files (x86) / Mission Planner / logs / FIXED_WING / 1

 

Telemetry log filenames have the following format :

yyyy-mm-dd hh-mm-ss.tlog where

yyyy = year, mm = month, dd = day, hh = hour, mm = minute, ss = second.

Telemetry Log – Replay

On the Mission Planner ‘Flight Data’ page, select the ‘Telemetry Logs’ tab below the artificial horizon display.

 

Click on ‘Load Log’ and select the tlog file.

Click on ‘Play’ and the map shows a replay of the flight path while the instrument display shows the readings as they were recorded during the flight.

Telemetry Log – Browser

On Mission Planner, select the Terminal page.

Click the ‘Log Browse’ button and the Log Browser window is displayed.

 

 

With an understanding of the telemetry log file structure, the data can be graphed.

 

Telemetry Log – File Structure

Each log has the following structure.

Line numbers are in the left hand column.

On line 3 is the APM software version.

On line 4 is the amount of unused RAM.

On line 5 is the board type.

 

On lines 6 through 29 are FMT messages. These contain column headers for each message type

On lines 30 through340 are PARM messages. These contain the initial value of each parameter.

On lines 341 through 351 are initialisation messages.

 

The rest of the log consists of groups of data recorded at set intervals. The column headers change depending which row is selected. The column headers for each type of row are shown in these table

 

This data is recorded as a group every 100mS. (default value)

MAG

TimeMs

MagX

MagY

MagZ

OfsX

OfsY

OfsZ

 

 

ATT

TimeMs

Roll

Pitch

Yaw

ErrorRP

ErrorYaw

 

 

 

IMU

TimeMs

GyrX

GyrY

GyrZ

AccX

AccY

AccZ

 

 

CTUN

TimeMs

NavRoll

Roll

NavPitch

Pitch

ThrOut

RdrOut

AccY

 

NTUN

TimeMs

Yaw

WpDist

TarBrg

NavBrg

AltErr

Arspd

Alt

GSpdCM

RCIN

TimeMs

Ch1

Ch2

Ch3

Ch4

Ch5

Ch6

Ch7

Ch8

RCOU

TimeMs

Ch1

Ch2

Ch3

Ch4

Ch5

Ch6

Ch7

Ch8

 

The GPS data is recorded every 200mS. (default value)

GPS

Status

TimeMS

Week

NSats

HDop

Lat

Lng

RelAlt

Alt

Spd

GCrs

VZ

T

 

The CURR data is recorded every 1 second. (default value)

CURR

TimeMs

Thr

Volt

Curr

Vcc

CurrTot

 

The MODE data is recorded whenever there is a change of mode

MODE

TimeMs

Mode

ModeNum

 

These are the message types.

MAG – magnetic compass data

ATT  - attitude information

IMU – gyro and accelerometer information

CTUN – control Tuning

NTUN – navigation Tuning

RCIN – data received through individual inputs

RCOU – PWM output to individual outputs

GPS – Global Positioning System

CURR – Current and Voltage

MODE – Change of mode

 

Telemetry Log – Graphical Display

To graph any flight data item, click on a row that contains that data item. The headings will then be displayed for all the data items. Select the required data item and then click on ‘Graph this data Left’ or ‘Graph this data Right’. The data for the entire log is put on the graph with the scale on the left or right depending which button you clicked.

Click ‘Clear Graph’ to remove all graphed data.

Check the ‘Show Map’ box to see the flight path overlaid on a map beside the graph.

On the graph below, altitude (meters) is graphed with its scale on the left, and current (1/100ths Amp) with its scale on the right.

The horizontal scale is line number (x 1000).

 

 

The message display can be filtered so that only one type of message is displayed.

To filter the message display, click anywhere on the title row and then select the message type from the drop down list. Click ’Filter’ and only the selected type of message is then displayed.

To cancel the filter, click on the title row and then select ‘Cancel’. Every message type is again displayed.

 

In the following message list, for example, only the MODE messages are displayed.

 

 

 

Previous Page -  Autopilot Flight Checklist                 

Next Page – Autopilot Flights