Refactor Wi-Fi log download

Use MAVLink LOG_REQUEST_DATA and LOG_DATA for download log instead of console.
Make Wi-Fi download default way of downloading the log.
Make `log` command only print the header and `log dump` dump the log.

Makefile

@@ -32,7 +32,7 @@ simulator: build_simulator
 	gazebo --verbose ${CURDIR}/gazebo/flix.world
 
 log:
-	PORT=$(PORT) tools/grab_log.py
+	tools/log.py
 
 plot:
 	plotjuggler -d $(shell ls -t tools/log/*.csv | head -n1)

docs/log.md

@@ -2,11 +2,7 @@
 
 Flix quadcopter uses RAM to store flight log data. The default log capacity is 10 seconds at 100 Hz. This configuration can be adjusted in the `log.ino` file.
 
-To perform log analysis, you need to download the log right after the flight without powering off the drone. Then you can use several tools to analyze the log data.
+To perform log analysis, you need to download the flight log. To to that, ensure you're connected to the drone using Wi-Fi and run the following command:
-
-## Log download
-
-To download the log, connect the ESP32 using USB right after the flight and run the following command:
 
 ```bash
 make log

docs/usage.md

@@ -226,3 +226,13 @@ If the pilot moves the control sticks, the drone will switch back to *STAB* mode
 You can adjust some of the drone's parameters (include PID coefficients) in QGroundControl. In order to do that, go to the QGroundControl menu ⇒ *Vehicle Setup* ⇒ *Parameters*.
 
 <img src="img/parameters.png" width="400">
+
+## Flight log
+
+After the flight, you can download the flight log for analysis wirelessly. Use the following for that:
+
+```bash
+make log
+```
+
+See more details about log analysis in the [log analysis](log.md) article.

flix/cli.ino

@@ -38,7 +38,7 @@ const char* motd =
 "stab/acro/auto - set mode\n"
 "rc - show RC data\n"
 "mot - show motor output\n"
-"log - dump in-RAM log\n"
+"log [dump] - print log header [and data]\n"
 "cr - calibrate RC\n"
 "ca - calibrate accel\n"
 "mfr, mfl, mrr, mrl - test motor (remove props)\n"
@@ -135,7 +135,8 @@ void doCommand(String str, bool echo = false) {
 		print("front-right %g front-left %g rear-right %g rear-left %g\n",
 			motors[MOTOR_FRONT_RIGHT], motors[MOTOR_FRONT_LEFT], motors[MOTOR_REAR_RIGHT], motors[MOTOR_REAR_LEFT]);
 	} else if (command == "log") {
-		dumpLog();
+		printLogHeader();
+		if (arg0 == "dump") printLogData();
 	} else if (command == "cr") {
 		calibrateRC();
 	} else if (command == "ca") {

flix/log.ino

@@ -61,12 +61,13 @@ void logData() {
 	}
 }
 
-void dumpLog() {
+void printLogHeader() {
-	// Print header
 	for (int i = 0; i < logColumns; i++) {
 		print("%s%s", logEntries[i].name, i < logColumns - 1 ? "," : "\n");
 	}
-	// Print data
+}
+
+void printLogData() {
 	for (int i = 0; i < LOG_SIZE; i++) {
 		if (logBuffer[i][0] == 0) continue; // skip empty records
 		for (int j = 0; j < logColumns; j++) {

flix/mavlink.ino

@@ -210,6 +210,20 @@ void handleMavlink(const void *_msg) {
 		armed = motors[0] > 0 || motors[1] > 0 || motors[2] > 0 || motors[3] > 0;
 	}
 
+	if (msg.msgid == MAVLINK_MSG_ID_LOG_REQUEST_DATA) {
+		mavlink_log_request_data_t m;
+		mavlink_msg_log_request_data_decode(&msg, &m);
+		if (m.target_system && m.target_system != SYSTEM_ID) return;
+
+		// Send all log records
+		for (int i = 0; i < sizeof(logBuffer) / sizeof(logBuffer[0]); i++) {
+			mavlink_message_t msg;
+			mavlink_msg_log_data_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, 0, i,
+				sizeof(logBuffer[0]), (uint8_t *)logBuffer[i]);
+			sendMessage(&msg);
+		}
+	}
+
 	// Handle commands
 	if (msg.msgid == MAVLINK_MSG_ID_COMMAND_LONG) {
 		mavlink_command_long_t m;

gazebo/flix.h

@@ -45,7 +45,8 @@ void normalizeRC();
 void calibrateRC();
 void calibrateRCChannel(float *channel, uint16_t zero[16], uint16_t max[16], const char *str);
 void printRCCalibration();
-void dumpLog();
+void printLogHeader();
+void printLogData();
 void processMavlink();
 void sendMavlink();
 void sendMessage(const void *msg);

tools/log.py

@@ -3,21 +3,49 @@
 # Download flight log remotely and save to file
 
 import os
+import time
 import datetime
+import struct
+from pymavlink.dialects.v20.common import MAVLink_log_data_message
 from pyflix import Flix
 
 DIR = os.path.dirname(os.path.realpath(__file__))
-
 flix = Flix()
 
 print('Downloading log...')
-lines = flix.cli('log').splitlines()
 
-# sort by timestamp
+header = flix.cli('log')
-header = lines.pop(0)
+print('Received header:\n- ' + '\n- '.join(header.split(',')))
-lines.sort(key=lambda line: float(line.split(',')[0]))
+
+records = []
+
+def on_record(msg: MAVLink_log_data_message):
+    global stop
+    stop = time.time() + 1  # extend timeout
+    records.append([])
+    i = 0
+    data = bytes(msg.data)
+    while i + 4 <= msg.count:
+        records[-1].append(struct.unpack('<f', data[i:i+4])[0])
+        i += 4
+
+stop = time.time() + 3
+flix.on('mavlink.LOG_DATA', on_record)
+flix.mavlink.log_request_data_send(flix.system_id, 0, 0, 0, 0xFFFFFFFF)
+
+while time.time() < stop:
+    time.sleep(1)
+
+flix.off(on_record)
+
+records.sort(key=lambda record: record[0])
+records = [record for record in records if record[0] != 0]
+
+print(f'Received records: {len(records)}')
 
 log = open(f'{DIR}/log/{datetime.datetime.now().isoformat()}.csv', 'wb')
-content = header.encode() + b'\n' + b'\n'.join(line.encode() for line in lines)
+log.write(header.encode() + b'\n')
-log.write(content)
+for record in records:
+    line = ','.join(f'{value}' for value in record)
+    log.write(line.encode() + b'\n')
 print(f'Written {os.path.relpath(log.name, os.curdir)}')