pyFlightPlotter

Interactive, configurable and three-dimensional flight data plotting, with little boilerplate

Features:

• 3D plotting including estimation, setpoint and measurements of
  • attitude
  • position
  • velocity
  • acceleration
  • rotor force command
  • control surface deflection
• Time-series plotting in configurable window
  • _plot_timeseries() method supports different line styles and colours, yet keeps style consistent
• Syncronized vertical cursor in time-series; even 3D window updates with mouse hover
• Craft3D class with addRotor and addSurface methods to vastly simplify building crafts
  • Single-axis surface tilt supported
  • Dual-axis rotor tilt supported
• Real-time animation (although currently relatively low frame-rate, unless only drawing attitude)
• automatic playback (instead of mouse hover)
• more examples

Installation

Clone the repo

git clone github.com/tudelft/pyFlightPlotter

Install

cd pyFlightPlotter
pip install .

Run example:

python3 -i docs/examples/complete_example.py

Usage

A complete example is given in docs/examples/complete_example.py. An example of how to integrate pyFlightPlotter for your log-data structure is shown in indiflight.

A minimum example (docs/examples/minimal_example.py) is shown below:

import numpy as np

from pyFlightPlotter import FlightPlotterBase, BlittedCursor, Viewport, Quadrotor

class FlightPlotterMinimalExample(FlightPlotterBase):
    def __init__(self, time, data):
        self.data = data
        super().__init__(time, name="MWE")
        self.define_layout(nrows=1, ncols=1)
        self.plot()

    def _populate(self):
        self._plot_timeseries(
            self.fig.add_subplot(self.gs[0, 0]),
            light=None,
            solid=[self.data[2], self.data[3]],
            dashed=[self.data[0], self.data[1]],
            series_labels=["Signal 1", "Signal 2"],
            style_labels=[None, "Estimated", "Setpoint"],
            title="Example Time Series",
            ylabel="Amplitude",
        )

if __name__ == "__main__":
    t = np.linspace(0, 2, 101)
    data = [
        np.sin(2*np.pi*0.5*t), np.sin(2*np.pi*0.5*t + 0.2),
        np.cos(2*np.pi*0.5*t + 0.4), np.cos(2*np.pi*0.5*t + 0.6),
    ]

    fp = FlightPlotterMinimalExample(t, data)
    bc = BlittedCursor(fp.all_axes, sharex=True)

    vp = Viewport(craft=Quadrotor(),
                  time=np.array([0., 1., 2.]),
                  att=np.array([[1., 0., 0., 0.], [0.7, 0., 0., 0.7], [0., 0., 0., 1.]]),
                  # ... many more data can be passed here, but attitude is required
                  interpolation="linear",
                  follow=False,
                  title="Viewport Example",
                  )

    # connect mouse hover
    fp.connect_viewport(vp)