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Don't fail the estimator plot on newer logs missing innovation_check_flags #343

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Merged
bkueng merged 1 commit into from
Jun 17, 2026
Merged

Don't fail the estimator plot on newer logs missing innovation_check_flags #343

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27 changes: 18 additions & 9 deletions app/plot_app/configured_plots.py
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Original file line number Diff line number Diff line change
Expand Up @@ -944,16 +944,25 @@ def generate_plots(ulog, px4_ulog, db_data, vehicle_data, link_to_3d_page,
input_data = [
('Health Flags (vel, pos, hgt)', estimator_status['health_flags']),
('Timeout Flags (vel, pos, hgt)', estimator_status['timeout_flags']),
('Velocity Check Bit', (estimator_status['innovation_check_flags'])&0x1),
('Horizontal Position Check Bit', (estimator_status['innovation_check_flags']>>1)&1),
('Vertical Position Check Bit', (estimator_status['innovation_check_flags']>>2)&1),
('Mag X, Y, Z Check Bits', (estimator_status['innovation_check_flags']>>3)&0x7),
('Yaw Check Bit', (estimator_status['innovation_check_flags']>>6)&1),
('Airspeed Check Bit', (estimator_status['innovation_check_flags']>>7)&1),
('Synthetic Sideslip Check Bit', (estimator_status['innovation_check_flags']>>8)&1),
('Height to Ground Check Bit', (estimator_status['innovation_check_flags']>>9)&1),
('Optical Flow X, Y Check Bits', (estimator_status['innovation_check_flags']>>10)&0x3),
]
# innovation_check_flags was removed from estimator_status in newer PX4
# versions (the checks moved to *_test_ratio / pre_flt_fail_innov_*
# fields). Only add these rows for older logs that still have the field,
# so newer logs still render the health/timeout flags above instead of
# skipping the whole plot.
if 'innovation_check_flags' in estimator_status:
innovation_check_flags = estimator_status['innovation_check_flags']
input_data += [
('Velocity Check Bit', (innovation_check_flags)&0x1),
('Horizontal Position Check Bit', (innovation_check_flags>>1)&1),
('Vertical Position Check Bit', (innovation_check_flags>>2)&1),
('Mag X, Y, Z Check Bits', (innovation_check_flags>>3)&0x7),
('Yaw Check Bit', (innovation_check_flags>>6)&1),
('Airspeed Check Bit', (innovation_check_flags>>7)&1),
('Synthetic Sideslip Check Bit', (innovation_check_flags>>8)&1),
('Height to Ground Check Bit', (innovation_check_flags>>9)&1),
('Optical Flow X, Y Check Bits', (innovation_check_flags>>10)&0x3),
]
# filter: show only the flags that have non-zero samples
for cur_label, cur_data in input_data:
if np.amax(cur_data) > 0.1:
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