ecmnet / mavgcl

In-Flight Analysis for PX4

MAVGAnalysis

In-Flight/PX4Log/ULog Analyzer for PX4

This JavaFx based tool enables PX4 Users to record and analyse data published via UDP during flight or offline based on PX4Logs or ULogs. It is not intended to replace the QGC. It is not tested with ardupilot.

Any feedback, comments and contributions are very welcome.

Development Status: Last updated 24/01/23

• Auto loading of custom keyfigure definition files from a dedicated directory at startup
• Autosave into result directory requests and saves DMESG output
• Multiple videostreams
• Videostream replay (if video found in result directory)
• 3D View reworked

Note: 3D map data can be transferred to MAVGCL using the custom MAVLink message msg_msp_micro_grid - for encoding refer to MAP3DSpacialInfo.java

See MAVGCL some action:

• 3D View: https://youtu.be/9CRZ7D_caTo (2023)
• Video replay: https://www.youtube.com/watch?v=liEKiAzEZ5Y (2022)
• XY View: https://youtu.be/jOWNSIwIA9k (2018)

Features:

• Realtime data acquisition (20ms sampling, 100ms rolling display) based on MAVLink messages or ULOG data over MAVLink
• Timechart annotated by messages (MAVLink and ULog) and parameter changes (MAVLink only)
• XY Analysis for selected key-figures
• FFT for selected keyfigures
• 3D View (vehicle and observer perspective)
• MAVLink inspector (reporting raw MAVlink messages)
• Zooming (Click&Drag), pause / continue rolling update while continue recording in the background
• MAVLinkShell provides NutShell over MAVLink (Console)
• Map viewer of global/local position and raw gps data with option to record path (cached)
• Offline-mode: Import of key-figures from ULog (file or last log from device via WiFi)
• Save and load of collected data
• Key figure conversion based on expressions
• FrSky Taranis USB supported in SITL
• PS4Controller support in OSX
• Low latency MJPEG based video stream display based on uv4l or any other source
• Video stream recorded as H264/MP4 file while collecting data
• Virtual (calculated) key figures added (Example here: default definition file)
• RTCM3 base supported with automatic survey-in for UBlox devices (OS X only)

Note that some features (MSP) are only available if you run a companion on your vehicle using MAVComm .

Requirements:

• requires minimum Java 11 JRE
• A companion running a serial-to-udp-proxy (either MAVComm or MAVROS, not required for PIXRacer)
• Video streaming from the vehicle requires an rtps mjpeg streaming service running on companion

Note: maven building currently requires local mavcom, mavmap, mavbase and mavutils in local repository

Binaries:

Available binaries can be found here.

Screenshots (Light Theme):

Screenshot (Dark Theme):

How to define custom key-figure metadata files:

• Refer to example file or default definition file
• Conversion based on expressions ( exp4j ). Example: <Converter class="ExpressionConverter" expression="1.5 * sin(val)"/>

Limitations:

• Limited to one device (MAVLink-ID '1')
• Default PX4Log/ULog keyfigure mapping still not complete, but you can add your own definition file

Note for developers:

MAVGAnalysis depends on https://github.com/ecmnet/mavcom for MAVLink parsing.

Please note the License terms.

mavgcl's Issues

Connecting via UDP takes long or fails

Replay path in XY-Graph not implemented

Does not compile on Linux

I'm getting loads of build errors trying to run this on Linux, the first being
[javac] /home/trond/MAVGCL/MAVGCL/src/com/comino/flight/tabs/FlightTabs.java:63:
error: ')' expected

Autostart data acquisition when key figure is selected

PixRacer updates only little data with low interval compared to PixHawk with proxy

Just need to figure out what to send to PixRacer.

Post-Recording Analysis (List)

skipped

LineChart: Improve draw/scroll performance

Change to dynamic MAVLink parsing using JMAVlib

Switch to dynamic data model. Needs to align PX4Log data with published data via MAVLink.

OSX: Use OS X standard menu area

JavaFx does not support the standard menu area of OS X.

Request: presets for tuning

This is a mockup I put together for what I eventually wanted to implement in QGroundControl for PID tuning. Would you be interested in doing something like this for MAVGCL? I could certainly help.

mavlink/qgroundcontrol#2878

Screen layout is not updating (things are hardcoded to the author's screen size)

This is currently unusable on any other screen than your own 8). It would be great if you could add the required layout to the top level window so it changes with screen size.

XY Chart freezes due to concurrency issue

Autoscale leads to concurrency exception within javafx chart implementation

Implement pre-trigger recording

Bind to all local addresses, set the remote address when the app receives a heartbeat

• Bind to all local addresses, including broadcast and loopback
• Once the first heartbeat packet is received, send back a heartbeat packet

Doing this will ensure that you can use the tool without any command line arguments or user interaction.

Show parameters

Enhancement: Show active set of parameters

Add units to charts

More precise Replay Control

Currently, replay is done via slider control. This does not allow a precise selection of the time. Idea: Use this control: http://harmoniccode.blogspot.de/2016/03/friday-fun-xxv.html

Make USB connection possibility available

Is already working, provide target for deployment

Building infrastructure

@ecmnet add build/automation wishlist items here. You can assign it to me if Github will let you.

• MAVComm as submodule
• maven for build system and dependencies? using Ant + Ivy
• remove binaries from repo (#5)
• deploy jar to github releases
• travis-ci deploy_osx
• remove jmavlib packages from source and use submodule instead

MAVLink Message param_value and param_set not decoded/encoded correctly

MAVLink message for parameters encodes int values in float field. As msg_param_value is generated from common.xml, parsing does not work completely. Workaround in mavcomm.jar. Still issues.

No reconnect with latest master

At least on OS X.

Main panes should resize due to opened overlays

Path not drawn correctly if map moved/zoomed by mouse-gestures

Mouse disabled temporarily.

Parameters not parsed correctly in all cases

Update details and status during replay

makes currently no sense

Connection established, but no data graphed

I can see the data in the inspector, but I can't graph anything. Might well be the height issue with the UI.

Screenshot not very visible because background is white outside the drawing area

Not providing a listen address on console leads to a bad application launch

Not providing the listen address starts the app, but does not show the UI. Since the listen address should anyway be removed this can be closed when the network API is fixed.

Record Videostream along with data

Recording the video-stream along with data would extend the replay-possibilities.

UDP connection issues

Think of rewriting the UDP communication driver to address the following issues:

• Once the first heartbeat packet is received, send back a heartbeat packet
• Fix reconnection issue, when interface is removed and re-inserted from/to PC (e.g. USB-WLAN adapter)
• Reduce latency when reconnecting

Graphs not refreshed when app is out of focus for a longer time

The class path should not be hardcoded

You're currently hardcoding the class path:

<taskdef resource="com/sun/javafx/tools/ant/antlib.xml" uri="javafx:com.sun.javafx.tools.ant" classpath="/Library/Java/JavaVirtualMachines/jdk1.8.0_51.jdk/Contents/Home/lib/ant-javafx.jar" />

I'm sure there is a proper way in Java to do this without hardcoding a specific location and Java version. This path will not work on Linux and will not work on any other OS X machine (it does not work on my Mac).

Import PX4Log Files broken when connected to a vehicle

Import of PX4Logs not correct when connected to a vehicle

Send RAW RC in SITL mode

Log-Data transmission from device via MAVLink slow

Transferring causes high CPU load on PC.
Todo: Comparison with QGC

Request: BIN version

Hi,

I would love to try your program but I have no compile environment. Is there a way you could publish Windows Bin version?

Thanks

Selection of last Log via MAVLink does not work

Binaries in repository

The repository currently contains binaries, which is generally very bad redistribution style, as it makes it impossible to collaborate with multiple people. Please add a Travis CI build file instead and do releases through it (which will then contain the binaries for people to download).

https://docs.travis-ci.com/user/languages/java

Inspector does not show arrays correctly

Reason: Used parser.

Replay jumps back to end of recording when trigger-mode enabled

Remove hardcoded IP/Port assignment

License file missing

I generally recommend a license maximising contributions, so e.g. MIT or BSD:

BSD ensures you get attribution:
https://opensource.org/licenses/BSD-3-Clause

MIT is just a disclaimer:
https://opensource.org/licenses/MIT

Global position not displayed correctly in XY-Chart

Use master for default branch

It is not common to name the default branch anything other than master. Please change - its confusing the heck out of anybody familiar with GIT.

Migrate to OSM Mapviewer for offline maps

Global Position Update in Map not working

Currently only Raw-GPS data properly displayed in OpenMapTab

MapViewer bugs

• Replay of uploaded MAVCGL data or PX4Logs does not work
• Zooming does not work properly
• Path is not drawn properly when following map toggled

Import PX4Log files

Build instructions are missing

The README is missing build instructions

Preferences (List):

Preferences should contain:

• Size/Position of app
• IP Address and port
• Path/Filename to auto-store recordings
• Video URL (allow external webcams to survey flight)
• Store recent used key figure sets
• Possibility to specify a custom key figure definition set (XML), which overrides the default