mapulog

Map PX4 ULOG messages to signals

Since R2025a

Syntax

mapulog(mapper,signalName,messageName,fieldName)

mapulog(___,Name=Value)

Description

mapulog(mapper,signalName,messageName,fieldName) maps the specified field fieldName of the specified message messageName from a PX4^® ULOG file to the signalName. For a list of preconfigured signals, see Predefined Signals.

mapulog(___,Name=Value) specifies options using one or more name-value arguments in addition to the input arguments from the previous syntax.

Input Arguments

mapper — Flight log signal mapping

flightLogSignalMapping object

Flight log signal mapping, specified as a flightLogSignalMapping object. The object must have been configured at creation to map PX4 ULOG files by using the flightLogSignalMapping("ulog") syntax.

signalName — Signal name

string scalar | character vector

Signal to which you want to map the message fields, specified as a string scalar or character vector. For a list of preconfigured signals, see Predefined Signals.

Data Types: string

messageName — Name of message to map

string scalar | character vector

Message to map to the signal, specified as a string scalar or character vector. The specified message much contain the fields you want to map to the signal.

Data Types: string

fieldName — Name of message field to map

string scalar | character vector | vector of strings | cell array of character vectors

Field to map, specified as either a string scalar, a character vector, a 1xN vector of strings, or a 1xN cell array of character vectors where N is the number of fields that you want to map.

Example: mapulog(mapper,"EstimatorStatusTestRatio", "EstimatorStatus","hdg_test_ratio",VarNames=["Heading"]) maps the hdg_test_ratio field of the EstimatorStatus message to the Heading field of the EstimatorStatusTestRatio signal.

Data Types: string

Name-Value Arguments

Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

Example: mapulog(mapper,"EstimatorStatusGPSCheckFail", "EstimatorStatus","gps_check_fail_flags",BitmaskExpansions=3,VarNames=["GPS_CHECK_FAIL_GPS_FIX","GPS_CHECK_FAIL_MIN_SAT_COUNT","GPS_CHECK_FAIL_MAX_PDOP"]) maps the first three bits of the gps_check_fail_flags field of the EstimatorStatus message to the GPS_CHECK_FAIL_GPS_FIX ,GPS_CHECK_FAIL_MIN_SAT_COUNT, and GPS_CHECK_FAIL_MAX_PDOP fields of the EstimatorStatusGPSCheckFail signal.

InstanceID — Message instance identifier

1 (default) | integer

Message instance identifier, specified as an integer. Specify this argument to select the message instance that you want to map.

BitmaskExpansion — Bitmask expansion

0 (default) | vector of integers

Bitmask expansion, specified as a 1xN vector of integers. Specify this argument to select the number of bits in each message field that you want to extract.

VarNames — Signal fields

string scalar | character vector | vector of strings | cell array of character vectors

Signal fields to which you want to map the message fields, specified as either a string scalar, a character vector, a 1xN vector of strings, or a 1xN cell array of character vectors where N is the number of fields that you want to map.

VarUnits — Signal field units

string scalar | character vector | vector of strings | cell array of character vectors

Units of the signal fields to which you want to map the message fields, specified as either a string scalar, a character vector, a 1xN vector of strings, or a 1xN cell array of character vectors where N is the number of fields that you want to map.

More About

Predefined Signals

The flightLogSignalMapping object has a set of predefined signals and plots. Use info object function to view the signals, and to check if a signal is already mapped and ready to plot.

Signals with the format SignalName# support mapping multiple signals of the same type. Replace # with incremental integer for each signal name of that type.

Predefined Signals

Signal Name	Description	Fields	Units
Accel#	Raw accelerometer reading from IMU sensor	AccelX, AccelY, AccelZ	m/s^2, m/s^2, m/s^2
Airspeed#	Airspeed reading of pressure differential, indicated air speed, and temperature	PressDiff, IndicatedAirSpeed, Temperature	Pa, m/s, degreeC
AttitudeEuler	Attitude of UAV in Euler (ZYX) form	Roll, Pitch, Yaw	rad, rad, rad
AttitudeRate	Angular velocity along each body axis	BodyRotationRateX, BodyRotationRateY, BodyRotationRateZ	rad/s, rad/s, rad/s
AttitudeTargetEuler	Target attitude of UAV in Euler (ZYX) form	TargetRoll, TargetPitch, TargetYaw	rad, rad, rad
Barometer#	Barometer readings for absolute pressure, relative pressure, and temperature	PressAbs, PressAltitude, Temperature	Pa, m, degreeC
Battery	Voltage readings for battery and remaining battery capacity (%)	Voltage1,Voltage2, ... Voltage16, RemainingCapacity	v, v, ... v, %
EstimatorInnovationAirspeed	Extended Kalman Filter (EKF) airspeed innovation and innovation variance	Airspeed, Var_Airspeed	m/s, (m/s)^2
EstimatorInnovationGPS	EKF GPS velocity and position innovations and innovation variances	V_X, V_Y, V_Z, P_X, P_Y, P_Z, Var_V_X, Var_V_Y, Var_V_Z, Var_P_X, Var_P_Y, Var_P_Z	m/s, m/s, m/s, m, m, m, (m/s)^2, (m/s)^2, (m/s)^2, m^2, m^2, m^2
EstimatorInnovationHeading	EKF heading innovation and innovation variance	Heading, Var_Heading	rad, rad^2
EstimatorInnovationHeight	EKF range sensor and barometer height innovations and innovation variances	RangeHeight, BaroHeight, Var_RangeHeight, Var_BaroHeight	m, m^2, m^2
EstimatorInnovationMagnetometer	EKF magnetometer innovation and innovation variance	X, Y, Z, Var_X, Var_Y, Var_Z	Gauss, Gauss, Gauss, Gauss^2, Gauss^2, Gauss^2
EstimatorInnovationOpticalFlow	EKF optical flow sensor innovation and innovation variance	X, Y, Var_X, Var_Y	rad/sec, rad/sec, (rad/sec)^2, (rad/sec)^2
EstimatorStatesIMUBias	EKF inertial measurement unit (IMU) delta angle and velocity bias estimates and bias estimate variances	DeltaAngleBiasX, DeltaAngleBiasY, DeltaAngleBiasZ", DeltaVelocityBiasX, DeltaVelocityBiasY, DeltaVelocityBiasZ, Var_DeltaAngleBiasX, Var_DeltaAngleBiasY, Var_DeltaAngleBiasZ, Var_DeltaVelocityBiasX, Var_DeltaVelocityBiasY, Var_DeltaVelocityBiasZ	rad, rad, rad, m/s, m/s, m/s, rad^2, rad^2, rad^2, (m/s)^2, (m/s)^2, (m/s)^2
EstimatorStatesMagnetometerBias	EKF Earth magnetic field and UAV body frame magnetic field bias estimates and bias estimate variances	EarthMagneticFieldN, EarthMagneticFieldE, EarthMagneticFieldD, BodyMagneticFieldX, BodyMagneticFieldY, BodyMagneticFieldZ, Var_EarthMagneticFieldN, Var_EarthMagneticFieldE, Var_EarthMagneticFieldD, Var_BodyMagneticFieldX, Var_BodyMagneticFieldY, Var_BodyMagneticFieldZ	gauss, gauss, gauss, gauss, gauss, gauss, gauss^2, gauss^2, gauss^2, gauss^2, gauss^2, gauss^2
EstimatorStatesWind	EKF wind estimate and estimate variance	WindNorth, WindEast, Var_WindNorth, Var_WindEast	m/s, m/s, (m/s)^2, (m/s)^2
EstimatorStatusControlMode	EKF logic states, specified as logical values	CS_TILT_ALIGN, CS_YAW_ALIGN, CS_GPS, CS_OPT_FLOW, CS_MAG_HDG, CS_MAG_3D, CS_MAG_DEC, CS_IN_AIR, CS_WIND, CS_BARO_HGT, CS_RNG_HGT, CS_GPS_HGT, CS_EV_POS, CS_EV_YAW, CS_EV_HGT, CS_BETA, CS_MAG_FIELD, CS_FIXED_WING, CS_MAG_FAULT, CS_ASPD, CS_GND_EFFECT, CS_RNG_STUCK, CS_GPS_YAW, CS_MAG_ALIGNED, CS_EV_VEL, CS_SYNTHETIC_MAG_Z, CS_VEHICLE_AT_REST, CS_GPS_YAW_FAULT, CS_RNG_FAULT	None
EstimatorStatusFlagAirspeed	Flag that indicates whether the EKF rejects the airspeed observation	RejectAirspeed	None
EstimatorStatusFlagHeightAboveGround	Flag that indicates whether the EKF rejects the height above ground observation	RejectHeightAboveGround	None
EstimatorStatusFlagHorizontalStates	Flags that indicate whether the EKF rejects the horizontal velocity and position observations	RejectVelocity, RejectPosition	None
EstimatorStatusFlagMagnetometer	Flags that indicate whether the EKF rejects the magnetometer and yaw observations	RejectX, RejectY, RejectZ, RejectYaw	None
EstimatorStatusFlagOpticalFlow	Flags that indicate whether the EKF rejects the optical flow observations	RejectX, RejectY	None
EstimatorStatusFlagSideslip	Flag that indicates whether the EKF rejects the synthetic sideslip observation	RejectSyntheticSideslip	None
EstimatorStatusFlagVerticalStates	Flags that indicate whether the EKF rejects the vertical velocity and position observations	RejectVelocity, RejectPosition	None
EstimatorStatusFilterFault	Flags that indicate whether the EKF encounters faults such as numerical errors, bad data, or clipping	NUMERIC_ERROR_MAG_X, NUMERIC_ERROR_MAG_Y, NUMERIC_ERROR_MAG_Z, NUMERIC_ERROR_MAG_HDG, NUMERIC_ERROR_MAG_DEC, NUMERIC_ERROR_ASPD, NUMERIC_ERROR_SYNTHETIC_BETA, NUMERIC_ERROR_OPT_FLOW_X, NUMERIC_ERROR_OPT_FLOW_Y, NUMERIC_ERROR_VEL_N, NUMERIC_ERROR_VEL_E, NUMERIC_ERROR_VEL_D, NUMERIC_ERROR_POS_N, NUMERIC_ERROR_POS_E, NUMERIC_ERROR_POS_D, NUMERIC_BAD_DELTA_VEL_BIAS, NUMERIC_BAD_VERTICAL_ACCEL, NUMERIC_DELTA_VEL_CLIPPING	None
EstimatorStatusGPSCheckFail	Flags that indicate the status of GPS checks	GPS_CHECK_FAIL_GPS_FIX, GPS_CHECK_FAIL_MIN_SAT_COUNT, GPS_CHECK_FAIL_MAX_PDOP GPS_CHECK_FAIL_MAX_HORZ_ERR, GPS_CHECK_FAIL_MAX_VERT_ERR, GPS_CHECK_FAIL_MAX_SPD_ERR, GPS_CHECK_FAIL_MAX_HORZ_DRIFT, GPS_CHECK_FAIL_MAX_VERT_DRIFT, GPS_CHECK_FAIL_MAX_HORZ_SPD_ERR, GPS_CHECK_FAIL_MAX_VERT_SPD_ERR, GPS_CHECK_FAIL_SPOOFED	None
EstimatorStatusTestRatio	Low-pass filtered ratio of the largest innovation to the innovation test limit	Heading, Velocity, Position, Height, TrueAirspeed, HeightAboveGround, SyntheticSideslip	None
GPS#	GPS readings for latitude, longitude, altitude, ground speed, course angle, and number of satellites visible	Latitude, Longitude, Altitude, GroundSpeed, CourseAngle, SatellitesVisible	degree, degree, m, m/s, degree, N/A
Gyro#	Raw body angular velocity readings from IMU sensor	GyroX, GyroY, GyroZ	rad/s, rad/s, rad/s
LocalENU	Local ENU coordinates estimated by the UAV	X, Y, Z	m, m, m
LocalENUTarget	Target location in local ENU coordinates	XTarget, YTarget, ZTarget	m, m, m
LocalENUVel	Local ENU velocity estimated by the UAV	VX, VY, VZ	m/s, m/s, m/s
LocalENUVelTarget	Target velocity in local ENU coordinates	VXTarget, VYTarget, VZTarget	m/s, m/s, m/s
LocalNED	Local NED coordinates estimated by the UAV	X, Y, Z	m, m, m
LocalNEDTarget	Target location in local NED coordinates	XTarget, YTarget, ZTarget	m, m, m
LocalNEDVel	Local NED velocity estimated by the UAV	VX, VY, VZ	m/s, m/s, m/s
LocalNEDVelTarget	Target velocity in local NED coordinates	VXTarget, VYTarget, VZTarget	m/s, m/s, m/s
Mag#	Raw magnetometer reading from IMU sensor	MagX, MagY, MagZ	Gs, Gs, Gs

Version History

Introduced in R2025a