6.Mission Analysis
The Analysis is currently being updated for release in APM Log File Analyser v2.2.2.2, there is some analysis in previous versions but since the introduction of Spline Way Points I think some of the data became incorrect. **I will first re-validate for APM:Copter v3.3 / v3.4 covering Pixhawk, and if possible then offer compatibility for v3.2.1 for APM users assuming the changes are not so big. **
This page is in Development...
The APM or Pixhawk Flight Controllers (FC) that are flashed with APM:Copter firmware and have attached the necessary hardware for example GPS will have the ability to perform missions based on a set of instructions uploaded to the Flight Controller by Mission Planner or other software.
When the FC is placed into AUTO mode then the mission will be played, and data will be log into the Datalogs. Unfortunately these logs are very difficult to understand and when looking at mission analysis this is even more true. This is because the data is written into the Datalogs in an unexpected way. For example, the command to Navigate to the next Fixed Way Point (WP) is written well before the UAV has reached the previous WP. This make analysis a little more difficult to determine all the data.
For those wanting to understand more, here's an edit of a datalog file with my validation analysis of a Fixed WP to another Fixed WP, showing when the Commands (CMD) are written to the Datalog and when we actually reach each WP. Hopefully you will see the issues faced. Only CMD and GPS data is shown to avoid confusion.
If we plot this on Google Earth it would look like this:
Luckily the APM Log File Analyser will automatically review the logs for you and detail the information found for the following commands.
Take Off
Fixed / Spline Way Point Navigation
During the Navigation from one GPS position to another GPS position we can determine a lot of data. For example, The desired Altitude vs Actual Altitude, the accuracy (or how close) you were to the desired WP, the distance travelled from the previous WP to this new WP, the time taken to reach the WP, the speed in meters per second. We can also see data related to the Battery Capacity used and efficiency of the model, however this information is only as accurate as your parameter settings, battery calibration. Refer to the APM:Copter Wiki for more information: http://copter.ardupilot.com/wiki/common-power-module-configuration-in-mission-planner/
To explain the details of this data we can consider this.
Land at Current Position or with Navigate to WP then Land
Currently we do not complete detailed analysis of the Land mission event. I believe it could cause confusion for the flying efficiency monitoring because it includes the landing part. Also, the drift during the landing, although only small adds additional travel distance which can be confusing. It may come later if it is requested by the end users.
Return to Launch (RTL)
Currently we do not complete detailed analysis of the RTL mission event. I believe it could cause confusion for the flying efficiency monitoring because it includes the landing part. Also, the drift during the landing, although only small adds additional travel distance which can be confusing. It may come later if it is requested by the end users.
Coming soon in v2.2.2.2, work in progress ...