Hi,

I need to log the  X,Y & Z accelerations (described in the inertial frame) and angular velocities & accelerations (p, q, r and their time derivatives) for offline analysis. I am using a Pixhawk equipped with Copter 3.3 firmware.

The only data available in Dataflash logs are raw sensor data, which are very noisy. But as I have read in the Ardupilot documents, Arducopter uses EKF to estimate the status of the vehicle, and among the estimated variables are the accelerations & angular velocities.

Can I somehow log these data for offline use?

You need to be a member of diydrones to add comments!

Join diydrones

Email me when people reply –

Replies

  • Alireza, in the logs you will find NKF fields. This logs both estimated biases and EKF innovations. The algorithm for EKF3 is well documented, and you can use it to reconstruct EKF filter estimates using Matlab etc
  • I've been making data loggers using a Teensy [or Arduino], GY-80 imu's, GPS modules, and SDCard modules. This allows me to log anything I want with raw values independent of the APM/Pixhawk/MavLink. I can stream live data over radios/bluetooth/ESP8266 or download the logs off the SDCard and then you can manipulate the data anyway you want :)

    It's actually pretty easy as well and was way easier for me to do then try to figure out mavlink and the APM stack :)

    • That's a good solution if you want raw sensor data (although you could also easily obtain the raw data of Pixhawk sensors from Dataflash logs without having to figure out anything about Mavlink/APM). But I need the processed & filtered data, and I don't wanna go though the trouble of implementing the filters & algorithms myself.

      Anyways, thanks for the suggestion!

This reply was deleted.

Activity

DIY Robocars via Twitter
RT @gclue_akira: 柏の葉で走行させてるjetracerの中身 #instantNeRF #jetracer https://t.co/giVvuE4hP7
Jul 4
DIY Robocars via Twitter
Cool web-based self-driving simulator. Click save when the AI does the right thing https://github.com/pncsoares/self-driving-car
Jul 4
DIY Robocars via Twitter
RT @donkey_car: Human-scale Donkey Car! Hope this makes it to a @diyrobocars race https://www.youtube.com/watch?v=ZMaf031U8jg
Jun 25
DIY Robocars via Twitter
Jun 25
DIY Robocars via Twitter
Jun 16
DIY Robocars via Twitter
RT @GrantEMoe: I won my first @diyrobocars @donkey_car virtual race! Many thanks to @chr1sa @EllerbachMaxime @tawnkramer and everyone who m…
Jun 13
DIY Robocars via Twitter
RT @gclue_akira: JetRacerで自動走行したコースを、InstantNeRFで再構築。データセットは別々に収集 #jetracer #instantNeRT https://t.co/T8zjg3MFyO
Jun 13
DIY Robocars via Twitter
RT @SmallpixelCar: SPC 3.0 Now the motor also works. This car is doable. I just need to design a deck to mount my compute and sensors. http…
Jun 13
DIY Robocars via Twitter
RT @SmallpixelCar: My new car SPC 3.0. https://t.co/CKtkZOxeNQ
Jun 7
DIY Robocars via Twitter
RT @SmallpixelCar: High speed at @diyrobocars thanks @EdwardM26321707 for sharing the video https://t.co/o4317Y2U1S
Jun 7
DIY Robocars via Twitter
RT @SmallpixelCar: Today at @RAMS_RC_Club for @diyrobocars. Used @emlid RTK GPS and @adafruit @BoschGlobal IMU. Lap time 28s https://t.co/R…
May 28
DIY Robocars via Twitter
May 15
DIY Robocars via Twitter
May 14
DIY Robocars via Twitter
May 13
DIY Robocars via Twitter
RT @f1tenth: Say hi to our newest #F1TENTH creation for @ieee_ras_icra next week in Philly. It’s going to be huge! 😎 🔥 @AutowareFdn @PennEn…
May 13
DIY Robocars via Twitter
May 11
More…