# MAVGCL

**Repository Path**: braised_fish/MAVGCL

## Basic Information

- **Project Name**: MAVGCL
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2021-06-03
- **Last Updated**: 2021-10-08

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README



# MAVGAnalysis

## In-Flight/PX4Log/ULog Analyzer for PX4 

[![Build Status](https://travis-ci.org/ecmnet/MAVGCL.svg?branch=master)](https://travis-ci.org/ecmnet/MAVGCL) [![Build status](https://ci.appveyor.com/api/projects/status/jqo0dnkcksaj6b3s?svg=true)](https://ci.appveyor.com/project/ecmnet/mavgcl) ![alt tag](https://img.shields.io/github/release/ecmnet/MAVGCL.svg)



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 	25/05/21 

* ntp server functionality added
* JDK 16 built
* rtsp protocol for mjpeg
* OctTree based 3D map representation visualized in 3DView and XYView (flat representation of the map according to relative altitude)
* switched to maven based build

Note: 3D map data can be transferred to MAVGCL using the custom MAVLink message [msg_msp_micro_grid](https://github.com/ecmnet/mavcom/blob/af3a826866d977b898170547d15e1ad334899682/mavcom/mavlink/lquac.xml#L231) - for encoding refer to [MAP3DSpacialInfo.java](https://github.com/ecmnet/mavmap/blob/aa739520e2de797cad3ba71da01f041c87445557/mavmap/src/main/java/com/comino/mavmap/map/map3D/Map3DSpacialInfo.java#L84)

Note: maven build currently requires mavcom, mavmap, mavodometry and mavutils built locally

**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
- 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 position and raw gps data with option to record path (cached)
- Offline-mode: Import of key-figures from PX4Log/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](http://www.linux-projects.org) or any other source
- Video stream recorded as H264/MP4 file while collecting data
- Virtual (calculated) key figures added (Example here: [default definition file](https://github.com/ecmnet/MAVGCL/blob/master/MAVGCL/src/com/comino/flight/model/AnalysisDataModelMetaData.xml#L1000))
- RTCM3 base supported with automatic survey-in for UBlox M8P devices (OS X only)

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

See MAVGCL XY view in some action: <https://youtu.be/jOWNSIwIA9k>

**Requirements:**

- requires minimum  **Java 8** JRE (Java 9/10 compatible)
- A companion running a serial-to-udp-proxy (either MAVComm or MAVROS, not required for PIXRacer)
- Video streaming from the vehicle requires an mjpeg streaming service (e.g.  [uv4l](http://www.linux-projects.org)) running on companion 

**Binaries:**

Available binaries can be found [here](https://github.com/ecmnet/MAVGCL/releases).

**Screenshots**:

![alt tag](https://raw.github.com/ecmnet/MAVGCL/master/MAVGCL/screenshot5.png)

![alt tag](https://raw.github.com/ecmnet/MAVGCL/master/MAVGCL/screenshot9.png)

![alt tag](https://raw.github.com/ecmnet/MAVGCL/master/MAVGCL/screenshot12.png)

![alt tag](https://raw.github.com/ecmnet/MAVGCL/master/MAVGCL/screenshot11.png) 

![alt tag](https://raw.github.com/ecmnet/MAVGCL/master/MAVGCL/screenshot13.png) 



**How to define custom key-figure metadata files:**

- Refer to [example file](https://github.com/ecmnet/MAVGCL/blob/master/MAVGCL/ExampleKeyfigureMetaData.xml) or [default definition file](https://github.com/ecmnet/MAVGCL/blob/master/MAVGCL/src/com/comino/flight/model/AnalysisDataModelMetaData.xml#L515)
- Conversion based on expressions ( [exp4j](http://www.objecthunter.net/exp4j/#Built-in_functions) ).
  Example: `<Converter class="ExpressionConverter" expression="1.5 * sin(val)"/>`

**Limitations:**

- Limited to one device (MAVLink-ID '1')
- Currently does not support USB or any serial connection (should be easy to add, so feel free to implement it). Note: Serial via radio might be too slow.
- Default PX4Log/ULog keyfigure mapping still not [complete](https://github.com/ecmnet/MAVGCL/blob/master/MAVGCL/src/com/comino/flight/model/AnalysisDataModelMetaData.xml), but you can add your own definition file


**Note for developers:**

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


Please note the [License terms](https://github.com/ecmnet/MAVGCL/blob/master/MAVGCL/LICENSE.md).