Ardupilot replay with custom .csv file with IMU data

ArduCopter Copter Simulation
1

Hi!

I try to run EKF3 estimation for manually recorded flight data (they are in .csv file: IMU + mag + baro). The problem is that I couldn’t run replay mode .csv file OR convert correctly .csv file to .BIN logs.
I am interested in experimenting with exact EKF3 implementation on my data.
I would very happy of any help!

2

Post your file?

The bin file format is self documenting to a degree, I’d hope that you have the same data that “log replay” would capture.

3

Thanks for replying!

My .csv file contains next data columns + some auxiliary

time_usec,xacc,yacc,zacc,xgyro,ygyro,zgyro,xmag,ymag,zmag,abs_pressure,diff_pressure,pressure_alt,temperature

My main goal is to take different experiments with native Ardupilot EKF3 according to input data and parameters (without taking real flights). As you can see this file doesn’t contain GPS data, so I want to see what will be the output of EKF3 in such experiment. But in the future I want to pass GPS data too the same way as sensors data (from .csv file). What can you recommend?
Thank you in advance!

4

So review this file ardupilot/libraries/AP_DAL/AP_DAL.h at ec07fdceb9535b4844d156bc5bcfe3ecc3d4f073 · ArduPilot/ardupilot · GitHub

When replay is active, several specific log messages are written. If you have enough recorded data to fill in these messages, that might work, but I suspect you’re in for an uphill battle with this.

If you can parse your way through how this class is used, you have a chance.

1 Like
5

Thanks a lot for advice!