使用Mission Planner下载并分析日志-魔豆窝

闪存日志存储在飞控上的数据闪存器（或者TF卡中）中，飞行后可下载。默认情况下，它们第一次配置飞控时候创建的。以下介绍如何配置和访问闪存日志。

注意：

遥测日志(也称为“tlogs”)收集与闪存日志类似的信息(更多信息请参见使用日志诊断问题)。
如果你的飞控生成闪存日志时出现错误-包括常见“IO 错误”，请尝试换SD卡。你也可以选择使用专用工具（例如H2testw）来测试下SD是否正常。一般情况下，飞控板电压低也导致记录出问题。

日志记录参数

一些常用的参数有：

LOG_BITMASK：记录项目的位掩码。一般情况下使用默认值，或设置为“0”禁用日志记录。
LOG_DISARMED：设置为1将在通电时开始记录，而不是在飞行器在解锁时候启动，这样对于解锁前调试是非常有用的。
LOG_FILE_DSRMROT：设置此位将在解锁后、等待15秒后重新上锁时候强制创建一个新的日志文件。正常情况下，从第一次解锁之后，飞控的每一次重启都会有一个日志文件。

通过MAVLink下载日志

使用micro USB数据线连接飞控到地面站。
打开Mission Planner的飞行数据界面。
在左下角，选择“数据闪存日志”项，并点击“通过Mavlink下载数据日志”按钮。

然后，选择要下载的日志。这些日志保存到你的MissionPlanner/logs目录中，该文件夹以飞行器类型命名，例如QUADCOPTER。

自动分析日志

Mission Planner：开始日志分析

最简单的分析是自动生成一个基本的报告，该报告将突出显示常见问题区域。点击“日志分析”，并选择一个你已经保存到MissionPlanner/logs目录的日志。
它们将被放在以飞行器类型命名的文件夹中，比如QUADCOPTER或ROVER。
一旦你选择了你想要的日志，它将生成一个像这样的报告：

手工回顾日志

要获得更详细的分析，点击“回顾日志”，并选择一个你已经保存到MissionPlanner/logs目录下的日志。同样，它们将被放在以飞行器类型命名的文件夹中，比如QUADCOPTER或ROVER。

从互联网或飞控下载的日志进行回顾的步骤

闪存日志的文件名后缀是 .bin 或者 .log 。

下载日志文件。请注意它一般会下载到你电脑中的下载目录。
打开Mission Planner。
打开“飞行数据”页面(左上角)。
选择“数据闪存日志”项。
点击“回顾日志”按钮。
一个标准的Windows“打开文件”对话框会让你选择下载好的.bin文件。
读取日志之后，将打开一个Manual log Review窗口，它允许你从日志中绘制数据以供查看。(见下文)

查看日志数据

一旦选择了你想要的日志，将得到如下所示的图表。闪存日志的基本格式为：

行号出现在查看器的最左边。
软件版本和飞快型号显示在顶部。
接下来是FMT消息，它告诉Mission Planner每种消息类型的列标题。
PARM行显示每个参数(按在eeprom中出现的顺序)及其在飞行开始时的值。
飞行数据信息，包括GPS、IMU等。

首先单击所需要的行，以图形化方式显示飞行数据，你应该会看到列标题会同步更新。接下来找到你要绘制图形的列，单击它，然后按“绘制此数据”按钮。在上面的示例中，已绘制了ATT的Roll-In和Roll数据。鼠标的滚轮可用于放大或缩小。你也可以选择图表的一个区域以放大它。通过单击鼠标右键并选择“将比例设置为默认值”来缩小。这是有关使用此功能的简单教程。你也可以通过单击第一列并从下拉列表中选择消息类型，只对第一列(飞行数据消息类型)进行筛选。这是非常有用的，特别是查看不同的飞行模式(称为“模式”信息)期间使用的任务。再次单击第一列，然后按“取消”以清除过滤器。

设置要记录的数据

在数据闪存中记录哪些消息由LOG_BITMASK参数控制。

消息详细信息（限于直升机）

注意：许多消息在每类飞行器的Wiki部分的“板载信息日志消息”页面中进行了详细说明。

DesRoll	The pilot’s desired roll angle in degrees (roll left is negative, right is positive)
Roll	The vehicle’s actual roll in degrees (roll left is negative, right is positive)
DesPitch	The pilot’s desired pitch angle in degrees (pitch forward is negative, pitch back is positive)
Pitch	The vehicle’s actual pitch angle in degrees (pitch forward is negative, pitch back is positive)
DesYaw	The pilot’s desired heading in degrees with 0 = north
Yaw	The vehicle’s actual heading in degrees with 0 = north
ErrRP	The average size of the roll/pitch error estimate (values between 0 and 1)
ErrYaw	The average size of the yaw error estimate (values between 0 and 1)

ATUN (auto tune overview):

	Axis: 0 = Roll, 1 = Pitch
TuneStep	0 = Returning towards Level (before or after a test), 1 = Testing (i.e. performing a twitch to test response), 2 = Updating gains (twitch completed and gains adjusted)
RateMin	Minimum recorded rate during this test
RateMax	Maximum recorded rate during this test
RPGain	Rate P gain value being tested
RDGain	Rate D gain value being tested
SPGain	Stabilize P gain being tested

ATDE (auto tune step details):

Angle	Angle of the copter in centi-degrees for the axis being testedx
Rate	Rate of rotation of the copter for the axis being tested

CAM (time and position when camera shutter was activated):

GPSTime	The GPS reported time since epoch in milliseconds
Lat	The accelerometer + GPS latitude estimate
Lng	The accelerometer + GPS longitude estimate
Alt	The accelerometer + barometer estimated altitude in cm above ground
Roll	The vehicle roll angle in centi-degrees
Pitch	The vehicle pitch angle in centi-degrees
Yaw	The vehicle’s heading in centi-degrees

CMD (commands received from the ground station or executed as part of a mission):

CTot	The total number of commands in the mission
CNum	This command’s number in the mission (0 is always home, 1 is the first command, etc)
CId	The MAVLink message id
Copt	The option parameter (used for many different purposes)
Prm1	The command’s parameter (used for many different purposes)
Alt	The command’s altitude in meters
Lat	The command’s latitude position
Lng	The command’s longitude position

COMPASS (raw compass, offset and compassmot compensation values):

Field	Description
MagX, MagY. MagZ	Raw magnetic field values for x, y and z axis
OfsX, OfsY, OfsZ	Raw magnetic offsets (will only change if COMPASS_LEARN parameter is 1)
MOfsX, MOfsY, MOfsZ	Compassmot compensation for throttle or current

CURRENT (battery voltage, current and board voltage information):

FIELD	DESCRIPTION
Thr	Pilot input throttle from 0 ~ 1000
ThrInt	Integrated throttle (i.e. sum of total throttle output for this flight)
Volt	Battery voltage in volts * 100
Curr	Current drawn from the battery in amps * 100
Vcc	Board voltage
CurrTot	Total current drawn from battery

CTUN (Control, Throttle and altitude information):

FIELD	DESCRIPTION
TimeUS	Time stamp for messages in microseconds (can be ignored)
ThI	The pilot’s throttle in as a number from 0 to 1000
ABst	Angle Boost: throttle increase (from 0 ~ 1000) as a result of the copter leaning over (automatically added to all pilot and autopilot throttle to reduce altitude loss while leaning)
ThO	Final throttle output sent to the motors (from 0 ~ 1000). Normally equal to ThrI+ABst while in stabilize mode.
ThH	Estimated throttle required to hover throttle in the range 0 ~ 1
DAlt	The Desired Altitude while in AltHold, Loiter, RTL or Auto flight modes. It is influenced by EKF origin, which in 3.5.X is corrected by GPS altitude. This behaviour is turned off in 3.6.X and can be turned on with EKF_OGN_HGT_MASK.
Alt	The current EKF Altitude
BAlt	Barometer Altitude: The altitude above ground according to the barometer
DSAlt	Desired distance in cm from ground or ceiling (only visible if Sonar is available)
SAlt	Sonar Altitude: the altitude above ground according to the sonar (Only visible of Sonar is available)
TAlt	Terrain altitude (not used by default)
DCRt	Desired Climb Rate in cm/s
CRt	Climb Rate in cm/s
N	Harmonic notch current center frequency for gyro in Hz

D32, DU32 (single data values which are either signed 32bit integers or unsigned 32bit integers):

FIELD

DESCRIPTION

Identification number for the variable. There are only two possible values:

7 = bit mask of internal state (The meaning of individual bits can be found in the def’n of theap structure
9 = simple mode’s initial heading in centi-degrees

EKF (Extended Kalman Filter):

Log information here(Dev Wiki). Overview here.

ERR (an error message):

SubSystem and Error codes listed below

Subsys	ECode and Description
2 = Radio	0 = Errors Resolved 2 = Late Frame : no updates received from receiver for two seconds
3 = Compass	0 = Errors Resolved 1 = Failed to initialise (probably a hardware issue) 4 = Unhealthy : failed to read from the sensor
5 = Radio Failsafe	0 = Failsafe Resolved 1 = Failsafe Triggered
6 = Battery Failsafe	0 = Failsafe Resolved 1 = Failsafe Triggered
8 = GCS Failsafe	0 = Failsafe Resolved 1 = Failsafe Triggered
9 = Fence Failsafe	0 = Failsafe Resolved 1 = Altitude fence breach, Failsafe Triggered 2 = Circular fence breach, Failsafe Triggered 3 = Both Alt and Circular fence breached, Failsafe Triggered 4 = Polygon fence breached, Failsafe Triggered
10 = Flight mode Change failure	Vehicle was unable to enter the desired flight mode normally because of a bad position estimate See flight mode numbers here
11 = GPS	0 = Glitch cleared 2 = GPS Glitch occurred
12 = Crash Check	1 = Crash into ground detected. Normally vehicle is disarmed soon after 2 = Loss of control detected. Normally parachute is released soon after
13 = Flip mode	2 = Flip abandoned (not armed, pilot input or timeout)
15 = Parachute	2 = Not Deployed, vehicle too low 3 = Not Deployed, vehicle landed
16 = EKF Check	0 = Variance cleared (position estimate OK) 2 = Bad Variance (position estimate bad)
17 = EKF Failsafe	0 = Failsafe Resolved 1 = Failsafe Triggered
18 = Barometer	0 = Errors Resolved 4 = Unhealthy : failed to read from the sensor
19 = CPU Load Watchdog	0 = Failsafe Resolved 1 = Failsafe Triggered (normally vehicle disarms)
20 = ADSB Failsafe	0 = Failsafe Resolved 1 = No action just report to Pilot 2 = Vehicle avoids by climbing or descending 3 = Vehicle avoids by moving horizontally 4 = Vehicle avoids by moving perpendicular to other vehicle 5 = RTL invoked
21 = Terrain Data	2 = missing terrain data
22 = Navigation	2 = Failed to set destination 3 = RTL restarted 4 = Circle initialisation failed 5 = Destination outside fence
23 = Terrain Failsafe	0 = Failsafe Resolved 1 = Failsafe Triggered (normally vehicle RTLs)
24 = EKF Primary changed	0 = 1st EKF has become primary 1 = 2nd EKF has become primary
25 = Thrust Loss Check	0 = Thrust Restored 1 = Thrust Loss Detected (altitude may be prioritised over yaw control)
26 = Sensor Failsafe (Sub)	0 = Sensor Failsafe Cleared 1 = Sensor Failsafe Triggered
27 = Leak Failsafe (Sub)	0 = Leak Failsafe Cleared 1 = Leak Detector Failsafe Triggered
28 = Pilot Input Timeout Failsafe (Sub only)	0 = Pilot Input Failsafe Cleared 1 = Pilot Input Failsafe Triggered
29 = Vibration Failsafe	0 = Excessive Vibration Compensation De-activated 1 = Excessive Vibration Compenstaion Activated

EV: (an event number). The full list of possible events can be found in AP_Logger.hbut the most common are:

Event No	DESCRIPTION
10	Armed
11	Disarmed
15	Auto Armed (pilot has raised throttle above zero and autopilot is free to take control of throttle)
18	Land Complete
25	Set Home (home location coordinates have been capture)
28	Not Landed (aka Takeoff complete)

GPA: (Global Position Accuracy)

FIELD	DESCRIPTION
VDop	Vertical dilution of precision, a unitless measure of precisionhttps://en.wikipedia.org/wiki/Dilution_of_precision
HAcc	Horizontal Accuracy as reported by the GPS module, in meters
VAcc	Vertical Accuracy as reported by the GPS module, in meters
SAcc	Speed accuracy as reported by the GPS, in m/s/s
VV	Flag to indicate if the GPS is reporting vertical velocity 0 No vertical velocity data 1 GPS has vertical velocity data
SMS	The autopilot time in milliseconds that the accuracy/GPS position data is associated with.
Delta	The time between when the previous GPS message and the current GPS message was parsed by the autopilot, in milliseconds

GPS:

FIELD	DESCRIPTION
Status	0 = no GPS, 1 = GPS but no fix, 2 = GPS with 2D fix, 3 = GPS with 3D fix
Time	The GPS reported time since epoch in milliseconds
NSats	The number of satellites current being used
HDop	A measure of gps precision (1.5 is good, >2.0 is not so good)https://en.wikipedia.org/wiki/Dilution_of_precision
Lat	Lattitude according to the GPS
Lng	Longitude according to the GPS
RelAlt	Accelerometer + Baro altitude in meters
Alt	GPS reported altitude (not used by the autopilot)
SPD	Horizontal ground speed in m/s
GCrs	Ground course in degrees (0 = north)

IMU (accelerometer and gyro information):

FIELD	DESCRIPTION
GyrX, GyrY, GyrZ	The raw gyro rotation rates in radians/second
AccX, AccY, AccZ	The raw accelerometer values in m/s/s

Mode (flight mode):

FIELD	DESCRIPTION
Mode	The flight mode displayed as a string (i.e. STABILIZE, LOITER, etc)
ThrCrs	Throttle cruise (from 0 ~ 1000) which is the autopilot’s best guess as to what throttle is required to maintain a stable hover
Rsn	Reason for mode change (TX command, failsafe, etc) . The meaning of code values can be found in your vehicle’s define.h file (under the mode_reason_t enum). For instance for ArduCopter the file is Arducopter/define.h

NTUN (navigation information):

FIELD	DESCRIPTION
WPDst	Distance to the next waypoint (or loiter target) in cm. Only updated while in Loiter, RTL, Auto.
WPBrg	Bearing to the next waypoint in degrees
PErX	Distance to intermediate target between copter and the next waypoint in the latitude direction
PErY	Distance to intermediate target between copter and the next waypoint in the longitude direction
DVelX	Desired velocity in cm/s in the latitude direction
DVelY	Desired velocity in cm/s in the longitude direction
VelX	Actual accelerometer + gps velocity estimate in the latitude direction
VelY	Actual accelerometer + gps velocity estimate in the longitude direction
DAcX	Desired acceleration in cm/s/s in the latitude direction
DAcY	Desired acceleration in cm/s/s in the longitude direction
DRol	Desired roll angle in centi-degrees
DPit	Desired pitch angle in centi-degrees

PM (performance monitoring):

FIELD	DESCRIPTION
NLon	Number of long running main loops (i.e. loops that take more than 20% longer than they should according to SCHED_LOOP_RATE - ex. 3ms for 400Hz rate)
NLoop	The total number of loops since the last PM message was displayed. This allows you to calculate the percentage of slow running loops (which should never be higher than 15%). Note that the value will depend on the autopilot clock speed
MaxT	The maximum time that any loop took since the last PM message. This shouldn’t exceed 120% of scheduler loop period, but will be much higher during the interval where the motors are armed
Mem	Available memory, in bytes
Load	Percentage (times 10) of the scheduler loop period when CPU is used