flightdata 0.2.3__tar.gz → 0.2.5__tar.gz

{flightdata-0.2.3 → flightdata-0.2.5}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: flightdata
-Version: 0.2.3
+Version: 0.2.5
 Summary: Module for handling UAV flight log data
 Home-page: https://github.com/PyFlightCoach/FlightData
 Author: Thomas David

{flightdata-0.2.3 → flightdata-0.2.5}/flightdata/base/table.py

@@ -63,7 +63,7 @@ class Table:
     
     @classmethod
     def from_dict(Cls, data):
-        if ['data'] in data:
+        if 'data' in data:
             data = data['data']
         return Cls(pd.DataFrame.from_dict(data).set_index("t", drop=False))
 
@@ -119,7 +119,7 @@ class Table:
             yield self[ind]
 
     @classmethod
-    def from_constructs(cls, *args,**kwargs):
+    def from_constructs(cls, *args,**kwargs) -> Self:
         kwargs = dict(
             **{list(cls.constructs.data.keys())[i]: arg for i, arg in enumerate(args)},
             **kwargs
@@ -130,7 +130,7 @@ class Table:
                 x.to_pandas(
                     columns=cls.constructs[key].keys, 
                     index=kwargs["time"].t
-                ) for key, x in kwargs.items() if not x is None
+                ) for key, x in kwargs.items() if x is not None
             ],
             axis=1
         )
@@ -163,10 +163,7 @@ class Table:
             axis=0, 
             ignore_index=True
         ).set_index("t", drop=False))
-
-    
-    
-    
+      
     def label(self, **kwargs) -> Self:
         return self.__class__(self.data.assign(**kwargs))
 
@@ -203,6 +200,7 @@ class Table:
             return 0
 
     def unique_labels(self, cols = None) -> pd.DataFrame:
+        '''TODO Fix This'''
         if cols is None:
             cols = self.label_cols
         return self.data.loc[:, cols].reset_index(drop=True).drop_duplicates().reset_index(drop=True)
@@ -319,14 +317,33 @@ class Table:
         labs = np.array(self.single_labels())
         return self.__class__(self.data[labs == lab])
 
-    def split_labels(self) -> dict[str, Self]:
-        '''split into multiple tables based on the labels'''
+    def split_labels(self, cols=None) -> dict[str, Self]:
+        '''Split into multiple tables based on the labels'''
         res = {}
-        for l in self.unique_labels().iterrows():
-            ld = l[1].to_dict()
+        for label in self.unique_labels(cols).iterrows():
+            ld = label[1].to_dict()
             res['_'.join(ld.values())] = self.get_label_subset(**ld)
         return res
 
+    def cumulative_labels(self, *cols) -> Self:
+        '''Return a string concatenation of the requested labels. append an indexer to the end
+        of the string for repeat descrete groups of the same label.'''
+        cols = self.label_cols if len(cols)==0 else cols
+        labs = self.data.loc[:, cols].stack().groupby(level=0).apply('_'.join)
+        
+        changes = labs.shift() != labs
+        new_labels = labs.loc[changes]
+        uls = []
+        for i, nl in enumerate(new_labels):
+            uls.append(sum(new_labels.iloc[:i] == nl))
+        
+        df = pd.DataFrame(labs).assign(indexer = np.array(uls)[changes.cumsum() - 1])
+        strdf = df.copy()
+        strdf['indexer'] = strdf['indexer'].astype(int).astype(str)
+        strdf  = strdf.stack().groupby(level=0).apply('_'.join)
+        strdf.loc[df.indexer==0] = df[0]
+        return strdf.values
+
     @staticmethod
     def copy_labels(template: Self, flown: Self, path=None, min_len=0) -> Self:
         """Copy the labels from along the index warping path"""

{flightdata-0.2.3 → flightdata-0.2.5}/flightdata/flight/ardupilot.py

@@ -1,3 +1,6 @@
+from pymavlink.mavutil import mode_mapping_bynumber
+
+
 
 
 flightmodes = {

{flightdata-0.2.3 → flightdata-0.2.5}/flightdata/flight/fields.py

@@ -20,6 +20,9 @@ class Field:
     def col(self) -> str:
         return f'{self.column}_{self.i}' if self.i > 0 else self.column
 
+    def __repr__(self):
+        return f'{self.column}_{self.i}'
+    
 class Fields:
     def __init__(self, data: Union[list[Field], dict[str: Field]]):
         if isinstance(data, list):
@@ -51,9 +54,8 @@ class Fields:
             else:
                 return self.data[f'{group}_{col}'].instance(instance)
         except KeyError:
-            raise AttributeError(f'Field {name} not found')
-
-
+            return None
+            #raise AttributeError(f'Field {name} not found')
 
     def get_fields(self, names: list[str]) -> list[Field]:
         _l = lambda v: [v] if isinstance(v, Field) else v
@@ -62,6 +64,8 @@ class Fields:
     def get_cols(self, names: list[str]) -> list[str]:
         return [f.col for f in self.get_fields(names)]
 
+    def __repr__(self) -> str:
+        return f'Fields({','.join(list(self.data.keys()))})'
 
 fields = Fields([
         Field('time_flight', 'time since the start of the flight, seconds'),
@@ -80,9 +84,15 @@ fields = Fields([
         Field('attitude_roll', 'roll angle, radians'),
         Field('attitude_pitch', 'pitch angle, radians'),
         Field('attitude_yaw', 'yaw angle, radians'),
+        Field('attdes_roll', 'desired roll angle, radians'),
+        Field('attdes_pitch', 'desired pitch angle, radians'),
+        Field('attdes_yaw', 'desired yaw angle, radians'),
         Field('axisrate_roll', 'roll rate, radians / second'),
         Field('axisrate_pitch', 'pitch rate, radians / second'),
         Field('axisrate_yaw', 'yaw rate, radians / second'),
+        Field('desrate_roll', 'roll rate, radians / second'),
+        Field('desrate_pitch', 'pitch rate, radians / second'),
+        Field('desrate_yaw', 'yaw rate, radians / second'),
         Field('battery_voltage', 'volts'),
         Field('battery_current', 'amps'),
         Field('battery_totalcurrent', 'Ah'),

{flightdata-0.2.3 → flightdata-0.2.5}/flightdata/flight/flight.py

@@ -9,6 +9,7 @@ FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
 You should have received a copy of the GNU General Public License along with
 this program. If not, see <http://www.gnu.org/licenses/>.
 """
+from __future__ import annotations
 from typing import Self, Union, IO
 import numpy as np
 import pandas as pd
@@ -29,7 +30,7 @@ from scipy.signal import butter, filtfilt
 class Flight:
     ardupilot_types = [
         'XKF1', 'XKF2', 'NKF1', 'NKF2', 
-        'POS', 'ATT', 'ACC', 'GYRO', 'IMU', 
+        'POS', 'ATT', 'RATE', 'ACC', 'GYRO', 'IMU', 
         'ARSP', 'GPS', 'RCIN', 'RCOU', 'BARO', 'MODE', 
         'RPM', 'MAG', 'BAT', 'BAT2', 'VEL', 'ORGN', 'ESC', 'CURRENT']
     
@@ -43,6 +44,10 @@ class Flight:
         
     def __getattr__(self, name):
         cols = getattr(fields, name)
+        if cols is None:
+            cols = [f for f in self.data.columns if f.startswith(name)]
+            if len(cols) > 0:
+                return self.data[cols]
         try:
             if isinstance(cols, Field):
                 return self.data[cols.col]
@@ -76,7 +81,15 @@ class Flight:
                     .loc[sli].set_index("time_flight", drop=False), 
             self.parameters, self.origin, self.primary_pos_source
         )
-    
+        
+    def slice_time_flight(self, sli):
+        return Flight(
+            self.data.reset_index(drop=True)
+                .set_index('time_flight', drop=False)
+                    .loc[sli], 
+            self.parameters, self.origin, self.primary_pos_source
+        )
+        
     def copy(self, **kwargs):
         return Flight(
             kwargs['data'] if 'data' in kwargs else self.data.copy() ,
@@ -149,8 +162,6 @@ class Flight:
         Returns:
             list[Flight]: list of flights
         """
-        
-        
         modechanges = (self.flightmode_a.diff().fillna(value=0) != 0).astype(int).cumsum()
 
         flights = {flightmodes[m]: [] for m in self.flightmode_a.unique()}
@@ -185,17 +196,17 @@ class Flight:
             assert_almost_equal(self.origin.pos, other.origin.pos)
             assert self.origin.heading == other.origin.heading
             return True
-        except:
+        except Exception as ex:
             return False
         
     @staticmethod
-    def from_log(log:Union[Ardupilot, str]):
+    def from_log(log:Union[Ardupilot, str], extra_types: list[str] = None, **kwargs) -> Flight:
         """Constructor from an ardupilot bin file."""
-
-        if isinstance(log, Path):
-            log = str(log)
-        if isinstance(log, str):
-            parser = Ardupilot(log, types=Flight.ardupilot_types)
+        
+        extra_types = [] if extra_types is None else extra_types
+        
+        if isinstance(log, str) or isinstance(log, Path):
+            parser = Ardupilot(str(log), types=list(set(Flight.ardupilot_types + extra_types)))
         else:
             parser = log
 
@@ -219,6 +230,9 @@ class Flight:
                 attitude_roll = np.radians(att.Roll),
                 attitude_pitch = np.radians(att.Pitch),
                 attitude_yaw = np.radians(att.Yaw),
+                attdes_roll = np.radians(att.DesRoll),
+                attdes_pitch = np.radians(att.DesPitch),
+                attdes_yaw = np.radians(att.DesYaw),
             ))
 
         if 'POS' in parser.dfs:
@@ -232,7 +246,7 @@ class Flight:
         else:
             ppsorce = 'position'
             
-        if not ekf1 is None: 
+        if ekf1 is not None: 
             dfs = dfs + Flight.parse_instances(ekf1, dict(
                 position_N='PN',
                 position_E='PE',
@@ -242,28 +256,46 @@ class Flight:
                 velocity_D='VD',
             ), 'C')
             
-        if not ekf2 is None:
+        if ekf2 is not None:
             dfs = dfs + Flight.parse_instances(ekf2, {
                 'wind_N': 'VWN',
                 'wind_E': 'VWE',
             }, 'C')
+        if 'RATE' in parser.dfs:
+            dfs.append(Flight.build_cols(
+                time_actual = parser.rate.timestamp,
+                axisrate_roll = parser.rate.R,
+                axisrate_pitch = parser.rate.P,
+                axisrate_yaw = parser.rate.Y,
+                desrate_roll = parser.rate.RDes,
+                desrate_pitch = parser.rate.PDes,
+                desrate_yaw = parser.rate.YDes,
+            ))
         
         if 'IMU' in parser.dfs:
             imu = parser.IMU
             if 'I' in imu:
                 imu = imu.loc[imu.I==0, :]
             
-            if not ekf1 is None:
-                imu = pd.merge_asof(imu, ekf1.loc[ekf1.C==0], on='timestamp', direction='nearest')
-                imu['GyrX'] = imu.GyrX + np.radians(imu.GX) / 100
-                imu['GyrY'] = imu.GyrY + np.radians(imu.GY) / 100
-                imu['GyrZ'] = imu.GyrZ + np.radians(imu.GZ) / 100
-
-            if not ekf2 is None:
-                imu = pd.merge_asof(imu, ekf2.loc[ekf2.C==0], on='timestamp', direction='nearest')
-                imu['AccX'] = imu.AccX + imu.AX / 100
-                imu['AccY'] = imu.AccY + imu.AY / 100
-                imu['AccZ'] = imu.AccZ + imu.AZ / 100
+            if ekf1 is not None:
+                if 'C' in ekf1.columns:
+                    imu = pd.merge_asof(imu, ekf1.loc[ekf1.C==0], on='timestamp', direction='nearest')
+                else:
+                    imu = pd.merge_asof(imu, ekf1, on='timestamp', direction='nearest')
+                if all([v in imu.columns for v in ['GX', 'GY', 'GZ']]):
+                    imu['GyrX'] = imu.GyrX + np.radians(imu.GX) / 100
+                    imu['GyrY'] = imu.GyrY + np.radians(imu.GY) / 100
+                    imu['GyrZ'] = imu.GyrZ + np.radians(imu.GZ) / 100
+
+            if ekf2 is not None:
+                if 'C' in ekf2.columns:
+                    imu = pd.merge_asof(imu, ekf2.loc[ekf2.C==0], on='timestamp', direction='nearest')
+                else:
+                    imu = pd.merge_asof(imu, ekf2, on='timestamp', direction='nearest')
+                if all([v in imu.columns for v in ['AX', 'AY', 'AZ']]):
+                    imu['AccX'] = imu.AccX + imu.AX / 100
+                    imu['AccY'] = imu.AccY + imu.AY / 100
+                    imu['AccZ'] = imu.AccZ + imu.AZ / 100
 
             dfs.append(Flight.build_cols(
                 time_actual = imu.timestamp,
@@ -307,6 +339,7 @@ class Flight:
             ))
 
         if 'MODE' in parser.dfs:
+            
             df = Flight.build_cols(
                 time_actual = parser.MODE.timestamp,
                 flightmode_a = parser.MODE.Mode,
@@ -337,20 +370,25 @@ class Flight:
                 **{f'motor_rpm_{i}': parser.RPM[f'rpm{i}'] for i in range(2) if f'rpm{i}' in parser.RPM.columns},
             ))
 
-
+        for k, v in kwargs.items():
+            if k in parser.dfs:
+                dfs = dfs + Flight.parse_instances(parser.dfs[k], v)
         
-        origin = Origin('ekf_origin', GPS(parser.ORGN.iloc[:,-3:]), 0)
-
         dfout = dfs[0]
-
+        dt = dfout.time_actual.diff().max()
         for df in dfs[1:]:
-            dfout = pd.merge_asof(dfout, df, on='time_actual', direction='nearest')
+            dfout = pd.merge_asof(
+                dfout, df, on='time_actual', direction='nearest', 
+                tolerance=min(max(dt, df.time_actual.diff().max()), 0.1)
+            )
         
-        return Flight(dfout.set_index('time_flight', drop=False), parser.parms, origin, ppsorce)#.remove_time_flutter()
+        origin = Origin('ekf_origin', GPS(parser.ORGN.iloc[:,-3:]), 0)
+        
+        return Flight(dfout.set_index('time_flight', drop=False), parser.parms, origin, ppsorce)
 
     @staticmethod
     def parse_instances(indf: pd.DataFrame, colmap:dict[str, str], instancecol='Instance'):
-            
+            '''Where an instance column exists in an input df split the values into two columns'''
             instances = indf[instancecol].unique() if instancecol in indf.columns else [0]
             dfs = []
             for i in instances:
@@ -413,7 +451,6 @@ class Flight:
             ], axis=1).reset_index(drop=True).set_index('time_flight', drop=False)
         )
 
-
     def filter(self, b, a):
         dont_filter = [c for c in fields.get_cols(['time', 'flightmode', 'rcin', 'rcout']) if c in self.data.columns]
         unwrap_cols = [c for c in fields.get_cols(['attitude']) if c in self.data.columns]
@@ -432,11 +469,9 @@ class Flight:
         )
     
     def butter_filter(self, cutoff, order=5):
-        
         ts = self.time_flight.to_numpy()
         N = len(self)
         T = (ts[-1] - ts[0]) / N
-
         fs = 1/T
-
-        return self.filter(*butter(order, cutoff, fs=fs, btype='low', analog=False))
+        return self.filter(*butter(order, cutoff, fs=fs, btype='low', analog=False))
+    

{flightdata-0.2.3 → flightdata-0.2.5}/flightdata/flow.py

@@ -34,7 +34,7 @@ class Flow(Table):
             beta = np.arctan(stab_airspeed.y / stab_airspeed.x)
         beta[np.isnan(beta)] = 0.0
 
-        with np.errstate(invalid='warn'):
+        with np.errstate(invalid='ignore'):
             q = 0.5 * env.rho * abs(airspeed)**2
         q[np.isnan(q)] = 0.0
         

{flightdata-0.2.3 → flightdata-0.2.5}/flightdata/state.py

@@ -1,6 +1,5 @@
 from __future__ import annotations
 from typing import Union, List, Tuple, Self
-import warnings
 from pathlib import Path
 import numpy as np
 import pandas as pd
@@ -29,10 +28,10 @@ class State(Table):
         return g.Transformation(-self.pos, self.att.inverse())
 
     @staticmethod
-    def from_transform(transform: g.Transformation=None, **kwargs):
+    def from_transform(transform: g.Transformation=None, **kwargs) -> State:
         if transform is None:
             transform = g.Transformation()
-        if not "time" in kwargs: 
+        if "time" not in kwargs: 
             kwargs["time"] = g.Time.from_t(np.linspace(0, State._construct_freq*len(transform), len(transform)))
         return State.from_constructs(pos=transform.p, att=transform.q, **kwargs)
 
@@ -64,8 +63,8 @@ class State(Table):
         att = st.att.body_rotate(rvel * time.t)
         pos = g.Point.concatenate([
             g.P0(), 
-            (att.transform_point(vel)).cumsum()[:-1]
-        ]) * time.dt + st.pos
+            (att.transform_point(vel) * time.dt).cumsum()[:-1]
+        ]) + st.pos
         return State.from_constructs(time,pos, att, vel, rvel)
     
 
@@ -424,9 +423,14 @@ class State(Table):
     def direction(self):
         """returns 1 for going right, -1 for going left"""
         return np.sign(self.att.transform_point(g.Point(1, 0, 0)).x)
-        
+    
+    def cross_direction(self):
+        """returns 1 for going out, -1 for coming in"""
+        return np.sign(self.att.transform_point(g.Point(1, 0, 0)).y)
+    
+
     def inverted(self):
-        return np.sign(self.att.transform_point(g.Point(0, 0, 1)).z) > 0
+        return self.att.transform_point(g.Point(0, 0, 1)).z > 0
 
     def upright(self):
         return not self.inverted()

{flightdata-0.2.3 → flightdata-0.2.5}/flightdata.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: flightdata
-Version: 0.2.3
+Version: 0.2.5
 Summary: Module for handling UAV flight log data
 Home-page: https://github.com/PyFlightCoach/FlightData
 Author: Thomas David

{flightdata-0.2.3 → flightdata-0.2.5}/setup.cfg

@@ -5,7 +5,7 @@ author_email = thomasdavid0@gmail.com
 description = Module for handling UAV flight log data
 long_description = file: README.md
 long_description_content_type = text/markdown
-version = 0.2.3
+version = 0.2.5
 url = https://github.com/PyFlightCoach/FlightData
 
 [options]

{flightdata-0.2.3 → flightdata-0.2.5}/test/test_flight.py

@@ -1,13 +1,10 @@
 from flightdata import Flight, Origin
-import os
 from io import open
-from json import load, dumps, loads
+from json import load
 from pytest import fixture, approx, mark
 import numpy as np
 import pandas as pd
 from ardupilot_log_reader import Ardupilot
-from geometry import GPS
-from geometry.testing import assert_almost_equal
 
 
 @fixture(scope='session')
@@ -23,7 +20,6 @@ def fl():
 def fcj():
     return Flight.from_fc_json('test/test_inputs/00000137.json')
 
-
 def test_duration(fl):
     assert fl.duration == approx(685, rel=1e-3)
 
@@ -31,7 +27,6 @@ def test_slice(fl):
     short_flight = fl[100:200]
     assert short_flight.duration == approx(100, 0.01)
 
-
 def test_to_from_dict(fl):
     data = fl.to_dict()
     fl2 = Flight.from_dict(data)
@@ -43,7 +38,6 @@ def test_from_fc_json(fcj):
     assert fcj.duration > 200
     assert fcj.position_D.max() < -10
   
-
 @mark.skip
 def test_unique_identifier():
     with open("test/test_inputs/manual_F3A_P21_21_09_24_00000052.json", "r") as f:
@@ -54,27 +48,18 @@ def test_unique_identifier():
     
     assert flight1.unique_identifier() == flight2.unique_identifier()
 
-
 @mark.skip
 def test_baro(fl):
     press = fl.air_pressure
-    temp = fl.air_temperature
     assert press.iloc[0,0] <  120000
     assert press.iloc[0,0] >  90000
 
-
-@mark.skip
-def test_ekfv2(fl):
-    pass
-
-
 def test_flying_only(fl: Flight):
     flt = fl.flying_only()
     assert isinstance(flt, Flight)
     assert flt.duration < fl.duration
     assert flt[0].gps_altitude > 5
 
-
 def test_slice_raw_t(fl: Flight):
     sli = fl.slice_raw_t(slice(100, None, None))
     assert isinstance(sli, Flight)
@@ -86,7 +71,7 @@ def test_origin(fl: Flight):
 
 @fixture(scope='session')
 def vtol_hover():
-    return Flight.from_log('test/data/vtol_hover.bin')
+    return Flight.from_json('test/data/vtol_hover.json')
 
 def test_flightmode_split(vtol_hover: Flight):
     smodes = vtol_hover.split_modes()
@@ -94,8 +79,6 @@ def test_flightmode_split(vtol_hover: Flight):
     assert isinstance(smodes['QHOVER'], list)
     assert isinstance(smodes['QHOVER'][0], Flight)
     
-
-
 def _fft(col: pd.Series):
     from scipy.fft import fft, fftfreq
     ts = col.index
@@ -107,7 +90,6 @@ def _fft(col: pd.Series):
 
     return xf, 2.0/N * np.abs(yf[0:N//2])
 
-
 def test_butter_filter(fl: Flight):
     filtered = fl.butter_filter(1,5)
 
@@ -119,17 +101,3 @@ def test_butter_filter(fl: Flight):
 def test_remove_time_flutter(fl: Flight):
     flf = fl.remove_time_flutter()
     assert np.gradient(np.gradient(flf.data.index)) == approx(0)
-
-
-    #import plotly.graph_objects as go
-
-    #fig = go.Figure()
-    #fig.add_trace(go.Scatter(x=fl.time_flight, y=fl.acceleration_x, name='original'))
-    #fig.add_trace(go.Scatter(x=filtered.time_flight, y=filtered.acceleration_x, name='filtered'))
-    #fig.show()    
-#
-#
-    #fig = go.Figure()
-    #fig.add_trace(go.Scatter(x=x, y=y, name='original'))
-    #fig.add_trace(go.Scatter(x=xf, y=yf, name='filtered'))
-    #fig.show()