In [1]:

    

%load_ext autoreload
%autoreload 2
%pylab inline


    

    




Populating the interactive namespace from numpy and matplotlib

In [2]:

    

import px4tools.ulog
import pandas
import os
import pickle
import scipy.interpolate
import px4tools.version

rcParams['lines.linewidth'] = 2


    

    




attempting to monkey patch pandas timedelta series plotting
monkey patch suceeded

In [3]:

    

pandas.__version__


    

    
Out[3]:





'0.19.2'

In [4]:

    

px4tools.version.git_revision


    

    
Out[4]:





'605ac5bce713b291735e5985495d567a6486a8c7'

In [5]:

    

d_gyro = px4tools.ulog.cached_log_processing(
    log='/home/jgoppert/logs/01-18-17-gyro-bias.ulg',
    msg_filter='sensor_gyro',
    processing_func=lambda x: x['sensor_gyro_0'].resample('1 s').agg('mean'),
    save_path='./logs/01-18-17-gyro-bias-sensor_gyro_0.pkl',
    force_processing=False)

d_comb = px4tools.ulog.cached_log_processing(
    log='/home/jgoppert/logs/01-18-17-gyro-bias.ulg',
    msg_filter='',
    processing_func=lambda x: x,
    save_path='/home/jgoppert/logs/01-18-17-gyro-bias-comb.pkl',
    force_processing=False)
d_gyro_bias = d_comb.concat(dt=1).ffill().bfill()['2 min': '40 m']


    

    




---------------------------------------------------------------------------
FileNotFoundError                         Traceback (most recent call last)
<ipython-input-5-953d0a85e278> in <module>()
     11     processing_func=lambda x: x,
     12     save_path='/home/jgoppert/logs/01-18-17-gyro-bias-comb.pkl',
---> 13     force_processing=False)
     14 d_gyro_bias = d_comb.concat(dt=1).ffill().bfill()['2 min': '40 m']

/home/jgoppert/anaconda3/envs/px4/lib/python3.5/site-packages/px4tools/ulog.py in cached_log_processing(log, processing_func, msg_filter, save_path, force_processing, verbose)
    904         if verbose:
    905             print('creating pickle', save_path)
--> 906         d0 = read_ulog(log, msg_filter)
    907         d = processing_func(d0)
    908         with open(save_path, 'wb') as f:

/home/jgoppert/anaconda3/envs/px4/lib/python3.5/site-packages/px4tools/ulog.py in read_ulog(ulog_filename, messages, verbose)
    548     Convert ulog to pandas dataframe.
    549     """
--> 550     log = pyulog.ULog(ulog_filename, messages)
    551 
    552     # column naming

/home/jgoppert/anaconda3/envs/px4/lib/python3.5/site-packages/pyulog/core.py in __init__(self, file_name, message_name_filter_list)
     95         self._missing_message_ids = set() # _MessageAddLogged id's that could not be found
     96 
---> 97         self._load_file(file_name, message_name_filter_list)
     98 
     99 

/home/jgoppert/anaconda3/envs/px4/lib/python3.5/site-packages/pyulog/core.py in _load_file(self, file_name, message_name_filter_list)
    369         """ load and parse an ULog file into memory """
    370         self.file_name = file_name
--> 371         self._file_handle = open(file_name, "rb")
    372 
    373         # parse the whole file

FileNotFoundError: [Errno 2] No such file or directory: '/home/jgoppert/logs/01-18-17-gyro-bias.ulg'

In [6]:

    

d_gyro2 = px4tools.ulog.cached_log_processing(
    log='/home/jgoppert/logs/01-18-17-gyro-bias2.ulg',
    msg_filter='sensor_gyro',
    processing_func=lambda x: x['sensor_gyro_0'].resample('1 s').agg('mean'),
    save_path='./logs/01-18-17-gyro-bias2-sensor_gyro_0.pkl',
    force_processing=False)

d_comb2 = px4tools.ulog.cached_log_processing(
    log='/home/jgoppert/logs/01-18-17-gyro-bias2.ulg',
    msg_filter='',
    processing_func=lambda x: x,
    save_path='/home/jgoppert/logs/01-18-17-gyro-bias2-comb.pkl',
    force_processing=False)
d_gyro2_bias = d_comb2.concat(dt=1).ffill().bfill()['2 min': '40 m']


    

    




---------------------------------------------------------------------------
FileNotFoundError                         Traceback (most recent call last)
<ipython-input-6-e92e88a4e4ae> in <module>()
     11     processing_func=lambda x: x,
     12     save_path='/home/jgoppert/logs/01-18-17-gyro-bias2-comb.pkl',
---> 13     force_processing=False)
     14 d_gyro2_bias = d_comb2.concat(dt=1).ffill().bfill()['2 min': '40 m']

/home/jgoppert/anaconda3/envs/px4/lib/python3.5/site-packages/px4tools/ulog.py in cached_log_processing(log, processing_func, msg_filter, save_path, force_processing, verbose)
    904         if verbose:
    905             print('creating pickle', save_path)
--> 906         d0 = read_ulog(log, msg_filter)
    907         d = processing_func(d0)
    908         with open(save_path, 'wb') as f:

/home/jgoppert/anaconda3/envs/px4/lib/python3.5/site-packages/px4tools/ulog.py in read_ulog(ulog_filename, messages, verbose)
    548     Convert ulog to pandas dataframe.
    549     """
--> 550     log = pyulog.ULog(ulog_filename, messages)
    551 
    552     # column naming

/home/jgoppert/anaconda3/envs/px4/lib/python3.5/site-packages/pyulog/core.py in __init__(self, file_name, message_name_filter_list)
     95         self._missing_message_ids = set() # _MessageAddLogged id's that could not be found
     96 
---> 97         self._load_file(file_name, message_name_filter_list)
     98 
     99 

/home/jgoppert/anaconda3/envs/px4/lib/python3.5/site-packages/pyulog/core.py in _load_file(self, file_name, message_name_filter_list)
    369         """ load and parse an ULog file into memory """
    370         self.file_name = file_name
--> 371         self._file_handle = open(file_name, "rb")
    372 
    373         # parse the whole file

FileNotFoundError: [Errno 2] No such file or directory: '/home/jgoppert/logs/01-18-17-gyro-bias2.ulg'

In [7]:

    

def plot_gyro_bias(d):
    for i, axis, color in zip([7, 8, 9], ['x', 'y', 'z'], ['r', 'g', 'b']):
        est =  getattr(d, 't_estimator_status_0__f_states_{:d}_'.format(i))
        est.plot(label=axis + ' est', style=color + '--')
        true = getattr(d, 't_sensor_gyro_0__f_{:s}'.format(axis))
        true.plot(label=axis, style=color, alpha=0.5)
    plt.gcf().autofmt_xdate()
    legend(ncol=3, loc='best')
    plt.ylabel('rad/s')
    plt.title('gyro bias')

def plot_gyro_bias_error(d):
    (d.t_estimator_status_0__f_states_7_ - d.t_sensor_gyro_0__f_x).plot(label='x', style='r')
    (d.t_estimator_status_0__f_states_8_ - d.t_sensor_gyro_0__f_y).plot(label='y', style='g')
    (d.t_estimator_status_0__f_states_9_ - d.t_sensor_gyro_0__f_z).plot(label='z', style='b')
    plt.gcf().autofmt_xdate()
    legend(ncol=3, loc='best')
    plt.title('gyro bias error')


    

In [8]:

    

def plot_accel_bias(d):
    for i, axis, color in zip([10, 11, 12], ['x', 'y', 'z'], ['r', 'g', 'b']):
        est =  getattr(d, 't_estimator_status_0__f_states_{:d}_'.format(i))
        est.plot(label=axis + ' est', style=color + '--')
        true = getattr(d, 't_sensor_accel_0__f_{:s}'.format(axis))
        if axis == 'z':
            true = pandas.Series(true + 9.8)
        true.plot(label=axis, style=color, alpha=0.5)
            
    plt.ylabel('m/s^2')
    plt.gcf().autofmt_xdate()
    legend(ncol=3, loc='best')
    plt.title('accel bias')

def plot_accel_bias_error(d):
    (d.t_estimator_status_0__f_states_10_ - d.t_sensor_accel_0__f_x).plot(label='x', style='r')
    (d.t_estimator_status_0__f_states_11_ - d.t_sensor_accel_0__f_y).plot(label='y', style='g')
    (d.t_estimator_status_0__f_states_12_ - d.t_sensor_accel_0__f_z - 9.8).plot(label='z', style='b')


    

In [9]:

    

figure()
plot_gyro_bias(d_gyro_bias)
gca().set_ylim(-0.01, 0.04)

figure()
plot_gyro_bias_error(d_gyro_bias)
gca().set_ylim(-0.02, 0.02)


    

    




---------------------------------------------------------------------------
NameError                                 Traceback (most recent call last)
<ipython-input-9-c602609e5608> in <module>()
      1 figure()
----> 2 plot_gyro_bias(d_gyro_bias)
      3 gca().set_ylim(-0.01, 0.04)
      4 
      5 figure()

NameError: name 'd_gyro_bias' is not defined





    






<matplotlib.figure.Figure at 0x7ff3e2d60fd0>

In [10]:

    

figure()
plot_gyro_bias(d_gyro2_bias)
gca().set_ylim(-0.1, 0.1)

figure()
plot_gyro_bias_error(d_gyro2_bias)
gca().set_ylim(-0.1, 0.1)


    

    




---------------------------------------------------------------------------
NameError                                 Traceback (most recent call last)
<ipython-input-10-ce1c7df66f37> in <module>()
      1 figure()
----> 2 plot_gyro_bias(d_gyro2_bias)
      3 gca().set_ylim(-0.1, 0.1)
      4 
      5 figure()

NameError: name 'd_gyro2_bias' is not defined





    






<matplotlib.figure.Figure at 0x7ff3e2d5ce48>

In [11]:

    

plot_accel_bias(d_gyro2_bias)
#gca().set_ylim(-1, 0.4)


    

    




---------------------------------------------------------------------------
NameError                                 Traceback (most recent call last)
<ipython-input-11-258458eab5c4> in <module>()
----> 1 plot_accel_bias(d_gyro2_bias)
      2 #gca().set_ylim(-1, 0.4)

NameError: name 'd_gyro2_bias' is not defined

In [12]:

    

plot_accel_bias(d_gyro_bias)
#gca().set_ylim(-1, 0.4)


    

    




---------------------------------------------------------------------------
NameError                                 Traceback (most recent call last)
<ipython-input-12-ffa41926c116> in <module>()
----> 1 plot_accel_bias(d_gyro_bias)
      2 #gca().set_ylim(-1, 0.4)

NameError: name 'd_gyro_bias' is not defined

In [13]:

    

est_status = d_comb['estimator_status_0']


    

    




---------------------------------------------------------------------------
NameError                                 Traceback (most recent call last)
<ipython-input-13-0a390d4cf6fb> in <module>()
----> 1 est_status = d_comb['estimator_status_0']

NameError: name 'd_comb' is not defined

In [14]:

    

def plot_rotation_std_dev(d):
    for i in range(3):
        data = getattr(d, 't_estimator_status_0__f_covariances_{:d}_'.format(i))
        np.rad2deg(sqrt(data)).plot()
    plt.ylabel('deg')
    plt.title('rotation std. dev.')
    plt.grid()

plot_rotation_std_dev(est_status[:'2 m'])


    

    




---------------------------------------------------------------------------
NameError                                 Traceback (most recent call last)
<ipython-input-14-ca31bd50a22f> in <module>()
      7     plt.grid()
      8 
----> 9 plot_rotation_std_dev(est_status[:'2 m'])

NameError: name 'est_status' is not defined

In [15]:

    

def plot_velocity_std_dev(d):
    for i in range(3, 6):
        data = getattr(d, 't_estimator_status_0__f_covariances_{:d}_'.format(i))
        sqrt(data).plot()
    plt.ylabel('m/s')
    plt.title('velocity std. dev.')
    plt.grid()

plot_velocity_std_dev(est_status[:'2 m'])


    

    




---------------------------------------------------------------------------
NameError                                 Traceback (most recent call last)
<ipython-input-15-20c8085199ef> in <module>()
      7     plt.grid()
      8 
----> 9 plot_velocity_std_dev(est_status[:'2 m'])

NameError: name 'est_status' is not defined

In [16]:

    

px4tools.IEKF_STATES


    

    
Out[16]:





{0: 'q_nb_0',
 1: 'q_nb_1',
 2: 'q_nb_2',
 3: 'q_nb_3',
 4: 'vel_N',
 5: 'vel_E',
 6: 'vel_D',
 7: 'gyro_bias_bx',
 8: 'gyro_bias_by',
 9: 'gyro_bias_bz',
 10: 'accel_bias_bx',
 11: 'accel_bias_by',
 12: 'accel_bias_bz',
 13: 'pos_N',
 14: 'pos_E',
 15: 'pos_D',
 16: 'terrain_alt',
 17: 'baro_bias'}

In [17]:

    

def plot_gyro_bias_std_dev(d):
    for i in range(6, 9):
        data = getattr(d, 't_estimator_status_0__f_covariances_{:d}_'.format(i))
        np.rad2deg(sqrt(data)).plot()
    plt.ylabel('deg')
    plt.title('gyro bias std. dev.')
    plt.grid()

plot_gyro_bias_std_dev(est_status[:'2 m'])


    

    




---------------------------------------------------------------------------
NameError                                 Traceback (most recent call last)
<ipython-input-17-eb2a1d209e7c> in <module>()
      7     plt.grid()
      8 
----> 9 plot_gyro_bias_std_dev(est_status[:'2 m'])

NameError: name 'est_status' is not defined

In [18]:

    

def plot_accel_bias_std_dev(d):
    for i in range(9, 12):
        data = getattr(d, 't_estimator_status_0__f_covariances_{:d}_'.format(i))
        sqrt(data).plot()
    plt.ylabel('m/s^2')
    plt.title('accel bias std. dev.')
    plt.grid()

plot_accel_bias_std_dev(est_status[:'2 m'])


    

    




---------------------------------------------------------------------------
NameError                                 Traceback (most recent call last)
<ipython-input-18-02027a09a4ad> in <module>()
      7     plt.grid()
      8 
----> 9 plot_accel_bias_std_dev(est_status[:'2 m'])

NameError: name 'est_status' is not defined

In [19]:

    

def plot_pos_std_dev(d):
    for i in range(12, 15):
        data = getattr(d, 't_estimator_status_0__f_covariances_{:d}_'.format(i))
        sqrt(data).plot()
    plt.ylabel('m')
    plt.title('pos std. dev.')
    plt.grid()

plot_pos_std_dev(est_status[:'2 m'])


    

    




---------------------------------------------------------------------------
NameError                                 Traceback (most recent call last)
<ipython-input-19-8c9b3382cf9f> in <module>()
      7     plt.grid()
      8 
----> 9 plot_pos_std_dev(est_status[:'2 m'])

NameError: name 'est_status' is not defined

In [20]:

    

def plot_pos_std_dev(d):
    for i in range(12, 15):
        data = getattr(d, 't_estimator_status_0__f_covariances_{:d}_'.format(i))
        sqrt(data).plot()
    plt.ylabel('m')
    plt.title('pos std. dev.')
    plt.grid()

plot_pos_std_dev(est_status[:'2 m'])


    

    




---------------------------------------------------------------------------
NameError                                 Traceback (most recent call last)
<ipython-input-20-8c9b3382cf9f> in <module>()
      7     plt.grid()
      8 
----> 9 plot_pos_std_dev(est_status[:'2 m'])

NameError: name 'est_status' is not defined

In [21]:

    

px4tools.ulog.IEKF_ERROR_STATES


    

    
Out[21]:





{0: 'rot_N',
 1: 'rot_E',
 2: 'rot_D',
 3: 'vel_N',
 4: 'vel_E',
 5: 'vel_D',
 6: 'gyro_bias_N',
 7: 'gyro_bias_E',
 8: 'gyro_bias_D',
 9: 'accel_bias_N',
 10: 'accel_bias_E',
 11: 'accel_bias_D',
 12: 'pos_N',
 13: 'pos_E',
 14: 'pos_D',
 15: 'terrain_alt',
 16: 'baro_bias'}

In [22]:

    

est_status.t_estimator_status_0__f_covariances_6_[:'2 m'].plot()
est_status.t_estimator_status_0__f_covariances_7_[:'2 m'].plot()
est_status.t_estimator_status_0__f_covariances_8_[:'2 m'].plot()


    

    




---------------------------------------------------------------------------
NameError                                 Traceback (most recent call last)
<ipython-input-22-62f92b6a2141> in <module>()
----> 1 est_status.t_estimator_status_0__f_covariances_6_[:'2 m'].plot()
      2 est_status.t_estimator_status_0__f_covariances_7_[:'2 m'].plot()
      3 est_status.t_estimator_status_0__f_covariances_8_[:'2 m'].plot()

NameError: name 'est_status' is not defined

In [23]:

    

est_status.t_estimator_status_0__f_covariances_9_[:'2 m'].plot()
est_status.t_estimator_status_0__f_covariances_10_[:'2 m'].plot()
est_status.t_estimator_status_0__f_covariances_11_[:'2 m'].plot()


    

    




---------------------------------------------------------------------------
NameError                                 Traceback (most recent call last)
<ipython-input-23-8c726fa1d468> in <module>()
----> 1 est_status.t_estimator_status_0__f_covariances_9_[:'2 m'].plot()
      2 est_status.t_estimator_status_0__f_covariances_10_[:'2 m'].plot()
      3 est_status.t_estimator_status_0__f_covariances_11_[:'2 m'].plot()

NameError: name 'est_status' is not defined

In [24]:

    

est_status.t_estimator_status_0__f_covariances_12_[:'2 m'].plot()
est_status.t_estimator_status_0__f_covariances_13_[:'2 m'].plot()
est_status.t_estimator_status_0__f_covariances_14_[:'2 m'].plot()


    

    




---------------------------------------------------------------------------
NameError                                 Traceback (most recent call last)
<ipython-input-24-ef22244b214c> in <module>()
----> 1 est_status.t_estimator_status_0__f_covariances_12_[:'2 m'].plot()
      2 est_status.t_estimator_status_0__f_covariances_13_[:'2 m'].plot()
      3 est_status.t_estimator_status_0__f_covariances_14_[:'2 m'].plot()

NameError: name 'est_status' is not defined

In [25]:

    

est_status.t_estimator_status_0__f_covariances_15_[:'2 m'].plot()
est_status.t_estimator_status_0__f_covariances_16_[:'2 m'].plot()
est_status.t_estimator_status_0__f_covariances_17_[:'2 m'].plot()


    

    




---------------------------------------------------------------------------
NameError                                 Traceback (most recent call last)
<ipython-input-25-1d24f5980761> in <module>()
----> 1 est_status.t_estimator_status_0__f_covariances_15_[:'2 m'].plot()
      2 est_status.t_estimator_status_0__f_covariances_16_[:'2 m'].plot()
      3 est_status.t_estimator_status_0__f_covariances_17_[:'2 m'].plot()

NameError: name 'est_status' is not defined