test: replace px4tools with pyulog for mission estimator analysis

px4tools is abandoned (last commit 2022) and its DataFrame handling
triggers a pandas ValueError where 'timestamp' is both an index level
and column label. This broke the MAVROS Mission post-flight analysis.

Replace the three px4tools calls (read_ulog, compute_data,
estimator_analysis) with a single analyze_estimator_attitude() function
that uses pyulog directly with vectorized numpy quaternion-to-euler
conversion. The six attitude error assertions are unchanged.

Also switch the CI pip install from ad-hoc package list to
Tools/setup/requirements.txt for consistency with the rest of PX4.

Author: mrpollo

.github/workflows/ci-orchestrator.yml

@@ -1075,7 +1075,7 @@ jobs:
         run: git config --system --add safe.directory '*'
 
       - name: Setup - Install Python Test Dependencies
-        run: pip3 install pymavlink px4tools "pandas<2"
+        run: pip3 install -r Tools/setup/requirements.txt
 
       - name: Cache - Restore ccache
         uses: actions/cache/restore@v4

integrationtests/python_src/px4_it/mavros/mission_test.py

@@ -43,7 +43,8 @@
 import json
 import math
 import os
-from px4tools import ulog
+import numpy as np
+from pyulog import ULog
 import sys
 from mavros import mavlink
 from mavros_msgs.msg import Mavlink, Waypoint, WaypointReached
@@ -65,6 +66,49 @@ def get_last_log():
     return last_log
 
 
+def analyze_estimator_attitude(log_file):
+    """Compute attitude estimator error metrics from a ULog file."""
+    ulog = ULog(log_file)
+
+    att = ulog.get_dataset('vehicle_attitude').data
+    att_gt = ulog.get_dataset('vehicle_attitude_groundtruth').data
+
+    def quat_to_euler(q0, q1, q2, q3):
+        """Quaternion (w,x,y,z) to (roll, pitch, yaw) via ZYX Tait-Bryan."""
+        roll = np.arctan2(2 * (q0 * q1 + q2 * q3), 1 - 2 * (q1**2 + q2**2))
+        sinp = 2 * (q0 * q2 - q3 * q1)
+        pitch = np.where(np.abs(sinp) >= 1,
+                         np.copysign(np.pi / 2, sinp), np.arcsin(sinp))
+        yaw = np.arctan2(2 * (q0 * q3 + q1 * q2), 1 - 2 * (q2**2 + q3**2))
+        return roll, pitch, yaw
+
+    roll, pitch, yaw = quat_to_euler(
+        att['q[0]'], att['q[1]'], att['q[2]'], att['q[3]'])
+    roll_gt, pitch_gt, yaw_gt = quat_to_euler(
+        att_gt['q[0]'], att_gt['q[1]'], att_gt['q[2]'], att_gt['q[3]'])
+
+    # interpolate groundtruth onto attitude timestamps
+    ts = att['timestamp']
+    ts_gt = att_gt['timestamp']
+    roll_gt = np.interp(ts, ts_gt, roll_gt)
+    pitch_gt = np.interp(ts, ts_gt, pitch_gt)
+    yaw_gt = np.interp(ts, ts_gt, yaw_gt)
+
+    wrap = lambda x: np.arcsin(np.sin(x))
+    e_roll = wrap(roll - roll_gt)
+    e_pitch = wrap(pitch - pitch_gt)
+    e_yaw = wrap(yaw - yaw_gt)
+
+    return {
+        'roll_error_mean': np.rad2deg(np.mean(e_roll)),
+        'pitch_error_mean': np.rad2deg(np.mean(e_pitch)),
+        'yaw_error_mean': np.rad2deg(np.mean(e_yaw)),
+        'roll_error_std': np.rad2deg(np.std(e_roll)),
+        'pitch_error_std': np.rad2deg(np.std(e_pitch)),
+        'yaw_error_std': np.rad2deg(np.std(e_yaw)),
+    }
+
+
 def read_mission(mission_filename):
     wps = []
     with open(mission_filename, 'r') as f:
@@ -290,9 +334,7 @@ def test_mission(self):
         rospy.loginfo("mission done, calculating performance metrics")
         last_log = get_last_log()
         rospy.loginfo("log file {0}".format(last_log))
-        data = ulog.read_ulog(last_log).concat(dt=0.1)
-        data = ulog.compute_data(data)
-        res = ulog.estimator_analysis(data, False)
+        res = analyze_estimator_attitude(last_log)
 
         # enforce performance
         self.assertTrue(abs(res['roll_error_mean']) < 5.0, str(res))