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pyulog

This repository contains a python package to parse ULog files and scripts to convert and display them. ULog is a self-describing logging format which is documented here.

The provided command line scripts are:

  • ulog_info: display information from an ULog file.
  • ulog_messages: display logged messages from an ULog file.
  • ulog_params: extract parameters from an ULog file.
  • ulog2csv: convert ULog to CSV files.
  • ulog2kml: convert ULog to KML files.

Installation

Installation with package manager:

pip install pyulog

Installation from source:

python setup.py build install

Development

To install the code in a format so that it can be easily edited use the following command (this will install the package as a link to the repo):

pip install -e .

Testing

pytest test

or

python setup.py test

Code Checking

pylint pyulog/*.py

Command Line Scripts

All scripts are installed as system-wide applications (i.e. they be called on the command line without specifying Python or a system path), and support the -h flag for getting usage instructions.

The sections below show the usage syntax and sample output (from test/sample.ulg):

Display information from an ULog file (ulog_info)

Usage:

usage: ulog_info [-h] [-v] file.ulg

Display information from an ULog file

positional arguments:
  file.ulg       ULog input file

optional arguments:
  -h, --help     show this help message and exit
  -v, --verbose  Verbose output

Example output:

$ 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

Display logged messages from an ULog file (ulog_messages)

Usage:

usage: ulog_messages [-h] file.ulg

Display logged messages from an ULog file

positional arguments:
  file.ulg    ULog input file

optional arguments:
  -h, --help  show this help message and exit

Example output:

ubuntu@ubuntu:~/github/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)

Extract parameters from an ULog file (ulog_params)

Usage:

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

Extract parameters from an ULog file

positional arguments:
  file.ulg              ULog input file
  params.txt            Output filename (default=stdout)

optional arguments:
  -h, --help            show this help message and exit
  -d DELIMITER, --delimiter DELIMITER
                        Use delimiter in CSV (default is ',')
  -i, --initial         Only extract initial parameters
  -o, --octave          Use Octave format

Example output (to console):

ubuntu@ubuntu:~/github/pyulog/test$ ulog_params sample.ulg
ATT_ACC_COMP,1
ATT_BIAS_MAX,0.0500000007451
ATT_EXT_HDG_M,0
...
VT_OPT_RECOV_EN,0
VT_TYPE,0
VT_WV_LND_EN,0
VT_WV_LTR_EN,0
VT_WV_YAWR_SCL,0.15000000596

Convert ULog to CSV files (ulog2csv)

Usage:

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

Convert ULog to CSV

positional arguments:
  file.ulg              ULog input file

optional arguments:
  -h, --help            show this help message and exit
  -m MESSAGES, --messages MESSAGES
                        Only consider given messages. Must be a comma-
                        separated list of names, like
                        'sensor_combined,vehicle_gps_position'
  -d DELIMITER, --delimiter DELIMITER
                        Use delimiter in CSV (default is ',')
  -o DIR, --output DIR  Output directory (default is same as input file)

Convert ULog to KML files (ulog2kml)

Note The simplekml module must be installed on your computer. If not already present, you can install it with:

pip install simplekml

Usage:

usage: ulog2kml [-h] [-o OUTPUT_FILENAME] [--topic TOPIC_NAME]
                [--camera-trigger CAMERA_TRIGGER]
                file.ulg

Convert ULog to KML

positional arguments:
  file.ulg              ULog input file

optional arguments:
  -h, --help            show this help message and exit
  -o OUTPUT_FILENAME, --output OUTPUT_FILENAME
                        output filename
  --topic TOPIC_NAME    topic name with position data
                        (default=vehicle_gps_position)
  --camera-trigger CAMERA_TRIGGER
                        Camera trigger topic name (e.g. camera_capture)

Convert ULog to rosbag files (ulog2rosbag)

Note You need a ROS environment with px4_msgs built and sourced.

Usage:

usage: ulog2rosbag [-h] [-m MESSAGES] file.ulg result.bag

Convert ULog to rosbag

positional arguments:
  file.ulg              ULog input file
  result.ulg            rosbag output file

optional arguments:
  -h, --help            show this help message and exit
  -m MESSAGES, --messages MESSAGES
                        Only consider given messages. Must be a comma-
                        separated list of names, like
                        'sensor_combined,vehicle_gps_position'

Migrate/setup the database for use with the DatabaseULog class (ulog_migratedb)

Warning This command must be run whenever the schema changes, otherwise DatabaseULog won't function.

Warning Even if you store logs in the database, you should keep the original .ulg files. Otherwise you may lose your data.

Usage:

usage: ulog_migratedb [-h] [-d DB_PATH] [-n] [-s SQL_DIR] [-f]

Setup the database for DatabaseULog.

optional arguments:
  -h, --help            show this help message and exit
  -d DB_PATH, --database DB_PATH
                        Path to the database file
  -n, --noop            Only print results, do not execute migration scripts.
  -s SQL_DIR, --sql SQL_DIR
                        Directory with migration SQL files
  -f, --force           Run the migration script even if the database is not
                        created with this script.

Example output (to console):

ubuntu@ubuntu:~/github/pyulog$ ulog_migratedb
Using migration files in /home/ubuntu/github/pyulog/pyulog/sql.
Database file pyulog.sqlite3 not found, creating it from scratch.
Current schema version: 0 (database) and 1 (code).
Executing /home/ubuntu/github/pyulog/pyulog/sql/pyulog.1.sql.
Migration done.