{"action":"created","comment":{"url":"https://api.github.com/repos/PX4/Devguide/pulls/comments/233036732","pull_request_review_id":174343343,"id":233036732,"node_id":"MDI0OlB1bGxSZXF1ZXN0UmV2aWV3Q29tbWVudDIzMzAzNjczMg==","diff_hunk":"@@ -0,0 +1,332 @@\n+# Flight Review 101\n+\n+The [Flight Review](http://logs.px4.io) plots can be used to analyze vehicle condition in a specific flight.\n+\n+The plots are meant to be self-explanatory, but it takes some experience to know what ranges are acceptable and what a plot should look like.\n+This page explains how to interpret the plots and identify common problems.\n+\n+## General Usage\n+\n+Features that are common to many plots:\n+\n+- Plot background color is used to indicate flight mode during recording (where graphs depend on mode):\n+  ![Flight Modes](../../assets/flight_log_analysis/flight_review/flight_modes.png)\n+  - **Flight mode:** Background colour on the body of the plot indicates flight mode.\n+    Hovering with the mouse over a plot shows the flight mode labels.\n+  - **VTOL flight mode:** VTOL vehicles additionally show the VTOL mode as background colour in the bottom part of the plot (blue for multicopter, yellow for fixed wing, and red for transition).\n+- Mouse scrolling on a particular plot axis zooms that axis (horizontally or vertically).\n+- Mouse scrolling inside the plot zooms both axes.\n+\n+## PID Tracking Performance {#tracking}\n+\n+Depending on the flight mode, the vehicle controllers may attempt to track position, velocity, altitude or rate setpoints (the tracked setpoints depend on the mode, e.g.: in Stabilized mode there is no velocity setpoint).\n+\n+The **Estimated** line (red) should closely match with the **Setpoint** (green).\n+If they do not, in most cases the PID gains of that controller need to be tuned.\n+\n+The [Multicopter PID Tuning Guide](https://docs.px4.io/en/config_mc/pid_tuning_guide_multicopter.html) contains example plots and information about analysing tracking performance.\n+\n+> **Tip** For the rate controller in particular, it is useful to enable the high-rate logging profile ([SDLOG_PROFILE](../advanced/parameter_reference.md#SDLOG_PROFILE)) to get more details when zooming in.\n+\n+\n+## Vibration\n+\n+Vibration is one of the most common problems for multirotor vehicles.\n+High vibration levels can lead to:\n+- less efficient flight and reduced flight time\n+- the motors can heat up\n+- increased material wearout\n+- inability to tune the vehicle tightly, resulting in degraded flight performance.\n+- sensor clipping\n+- position estimation failures, potentially resulting in fly-aways.\n+\n+It is therefore important to keep an eye on the vibration levels and improve the setup if needed.\n+\n+There is a point where vibration levels are clearly too high, and generally lower vibration levels are better. \n+However there is a broad range between 'everything is ok' and 'the levels are too high'.\n+This range depends on a number of factors, including vehicle size - as larger vehicles have higher inertia, allowing for more software filtering (at the same time the vibrations on larger vehicles are of lower frequency).\n+\n+The following paragraphs and sections provide information about what plots to use for checking vibration levels, and how to analyse them.\n+\n+> **Tip** It is worth looking at multiple charts when analysing vibration (different charts can better highlight some issues).\n+\n+\n+### Actuator Controls FFT\n+\n+> **Note** You need to enable the high-rate logging profile ([SDLOG_PROFILE](../advanced/parameter_reference.md#SDLOG_PROFILE)) to see this plot.\n+\n+This graph shows a frequency plot for the roll, pitch and yaw axis based on the actuator controls signal (the PID output from the rate controller). \n+It helps to identify frequency peaks and configuring the software filters.\n+There should only be a single peak at the lowest end up to a few Hz, the rest should be low and flat.\n+\n+Note that the y-axis scaling is different for different vehicles, but logs from the same vehicle can be directly compared to each other.\n+\n+#### Examples: Good Vibration\n+\n+[QAV-R 5\" Racer](https://docs.px4.io/en/frames_multicopter/qav_r_5_kiss_esc_racer.html) frame (excellent vibration).\n+Note that this allows us to considerably increase the cutoff frequency of the software filters\n+\n+![Low vibration QAV-R 5 Racer - FFT plot](../../assets/flight_log_analysis/flight_review/vibrations_good_actuator_controls_fft.png)\n+\n+DJI F450 frame (good vibration).\n+Note the blade passing frequency of the propellers around 100 Hz.\n+\n+![Low vibration DJI F450 - FFT plot](../../assets/flight_log_analysis/flight_review/vibrations_f450_actuator_controls_fft.png)\n+\n+S500 frame:\n+\n+![Low vibration S500 actuator controls - FFT plot](../../assets/flight_log_analysis/flight_review/vibrations_s500_actuator_controls_fft.png)\n+\n+> **Note** While the plot above looks good, the [Raw Acceleration graph for the same flight](#raw_acc_s500) shows that the vibration levels are a bit high for x and y.\n+  This is a good example of why it is worth checking several graphs!\n+\n+#### Examples: Bad Vibration\n+\n+This example shows a peak in frequency close to 50 Hz. \n+In this case the cause was a landing gear that had a bit of play.\n+\n+![Vibrations in landing gear - FFT plot](../../assets/flight_log_analysis/flight_review/vibrations_landing_gear_actuator_controls_fft.png)\n+\n+\n+### Acceleration Power Spectral Density\n+\n+This is a 2D frequency plot showing the frequency response of the raw accelerometer data over time (it displays the sum for the x, y and z axis).\n+The more yellow an area is, the higher the frequency response at that time and frequency.\n+\n+Ideally only the lowest part up to a few Hz is yellow, and the rest is mostly green or blue.\n+\n+\n+#### Examples: Good Vibration\n+\n+[QAV-R 5\" Racer](https://docs.px4.io/en/frames_multicopter/qav_r_5_kiss_esc_racer.html) frame (excellent vibration).\n+\n+![Low vibration QAV-R 5 Racer - spectral density plot](../../assets/flight_log_analysis/flight_review/vibrations_good_spectral.png)\n+<!-- https://logs.px4.io/plot_app?log=cd88b091-ec89-457c-85f6-e63e4fa0f51d -->\n+\n+DJI F450 frame (good vibration).\n+Note the blade passing frequency of the propellers around 100 Hz.\n+![Low vibration DJI F450 - spectral density plot](../../assets/flight_log_analysis/flight_review/vibrations_f450_spectral.png)\n+\n+S500 frame: <!-- the Actuator Controls FFT plot looks good, whereas the vibration levels are a bit high for x and y in the Raw Acceleration plot (which is typical for an S500 airframe). This is at the limit where it starts to negatively affect flight performance.\n+GOOD or bad?\n+-->\n+\n+![Vibration S500 - spectral density plot](../../assets/flight_log_analysis/flight_review/vibrations_s500_spectral.png)\n+\n+\n+#### Examples: Bad Vibration\n+\n+? <!-- In this log the vibration levels are too high, apparent in the Raw Acceleration plot - the graph of the z-axis overlaps with the x/y-axis graph: -->\n+\n+\n+![High vibration in spectral density plot](../../assets/flight_log_analysis/flight_review/vibrations_too_high_spectral.png)\n+\n+This example shows a peak in frequency close to 50 Hz. ","path":"en/log/flight_review.md","position":124,"original_position":124,"commit_id":"4a226fd4c0633ba2644559d968f68d53fcb53079","original_commit_id":"eae777c3152d6ad73c0a137ab7feafb40dde1317","user":{"login":"bkueng","id":281593,"node_id":"MDQ6VXNlcjI4MTU5Mw==","avatar_url":"https://avatars3.githubusercontent.com/u/281593?v=4","gravatar_id":"","url":"https://api.github.com/users/bkueng","html_url":"https://github.com/bkueng","followers_url":"https://api.github.com/users/bkueng/followers","following_url":"https://api.github.com/users/bkueng/following{/other_user}","gists_url":"https://api.github.com/users/bkueng/gists{/gist_id}","starred_url":"https://api.github.com/users/bkueng/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/bkueng/subscriptions","organizations_url":"https://api.github.com/users/bkueng/orgs","repos_url":"https://api.github.com/users/bkueng/repos","events_url":"https://api.github.com/users/bkueng/events{/privacy}","received_events_url":"https://api.github.com/users/bkueng/received_events","type":"User","site_admin":false},"body":"The problems are:\r\n- it's a single frequency, and it's very strong\r\n- the problem is that it's quite low, close to the vehicle dynamics: with the default filter settings of 80 Hz, the 100 Hz are filtered out (or at least dampened), but not vibrations at 50 Hz.","created_at":"2018-11-13T13:30:06Z","updated_at":"2018-11-13T13:46:54Z","html_url":"https://github.com/PX4/Devguide/pull/645#discussion_r233036732","pull_request_url":"https://api.github.com/repos/PX4/Devguide/pulls/645","author_association":"MEMBER","_links":{"self":{"href":"https://api.github.com/repos/PX4/Devguide/pulls/comments/233036732"},"html":{"href":"https://github.com/PX4/Devguide/pull/645#discussion_r233036732"},"pull_request":{"href":"https://api.github.com/repos/PX4/Devguide/pulls/645"}},"in_reply_to_id":232898148},"pull_request":{"url":"https://api.github.com/repos/PX4/Devguide/pulls/645","id":230163934,"node_id":"MDExOlB1bGxSZXF1ZXN0MjMwMTYzOTM0","html_url":"https://github.com/PX4/Devguide/pull/645","diff_url":"https://github.com/PX4/Devguide/pull/645.diff","patch_url":"https://github.com/PX4/Devguide/pull/645.patch","issue_url":"https://api.github.com/repos/PX4/Devguide/issues/645","number":645,"state":"open","locked":false,"title":"Add a page to document how to identify the most common issues on Flight Review","user":{"login":"bkueng","id":281593,"node_id":"MDQ6VXNlcjI4MTU5Mw==","avatar_url":"https://avatars3.githubusercontent.com/u/281593?v=4","gravatar_id":"","url":"https://api.github.com/users/bkueng","html_url":"https://github.com/bkueng","followers_url":"https://api.github.com/users/bkueng/followers","following_url":"https://api.github.com/users/bkueng/following{/other_user}","gists_url":"https://api.github.com/users/bkueng/gists{/gist_id}","starred_url":"https://api.github.com/users/bkueng/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/bkueng/subscriptions","organizations_url":"https://api.github.com/users/bkueng/orgs","repos_url":"https://api.github.com/users/bkueng/repos","events_url":"https://api.github.com/users/bkueng/events{/privacy}","received_events_url":"https://api.github.com/users/bkueng/received_events","type":"User","site_admin":false},"body":"This documents the most common issues that I have come across when looking at different logs. It explains how to identify the problems by explaining how a plot should look like and providing examples, and how to fix the issue(s).\r\n\r\n@hamishwillee can you have a look, I'm sure you have some good input here.\r\n\r\nI'm sure we can add more, but I think this is a good start.\r\nI will probably directly link to this page from Flight Review.","created_at":"2018-11-12T15:01:57Z","updated_at":"2018-11-13T13:46:53Z","closed_at":null,"merged_at":null,"merge_commit_sha":"a24bb9d05f6b636e2e62cef0d90c8d6f73757975","assignee":null,"assignees":[],"requested_reviewers":[],"requested_teams":[],"labels":[],"milestone":null,"commits_url":"https://api.github.com/repos/PX4/Devguide/pulls/645/commits","review_comments_url":"https://api.github.com/repos/PX4/Devguide/pulls/645/comments","review_comment_url":"https://api.github.com/repos/PX4/Devguide/pulls/comments{/number}","comments_url":"https://api.github.com/repos/PX4/Devguide/issues/645/comments","statuses_url":"https://api.github.com/repos/PX4/Devguide/statuses/4a226fd4c0633ba2644559d968f68d53fcb53079","head":{"label":"PX4:flight_review_help","ref":"flight_review_help","sha":"4a226fd4c0633ba2644559d968f68d53fcb53079","user":{"login":"PX4","id":2096014,"node_id":"MDEyOk9yZ2FuaXphdGlvbjIwOTYwMTQ=","avatar_url":"https://avatars3.githubusercontent.com/u/2096014?v=4","gravatar_id":"","url":"https://api.github.com/users/PX4","html_url":"https://github.com/PX4","followers_url":"https://api.github.com/users/PX4/followers","following_url":"https://api.github.com/users/PX4/following{/other_user}","gists_url":"https://api.github.com/users/PX4/gists{/gist_id}","starred_url":"https://api.github.com/users/PX4/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/PX4/subscriptions","organizations_url":"https://api.github.com/users/PX4/orgs","repos_url":"https://api.github.com/users/PX4/repos","events_url":"https://api.github.com/users/PX4/events{/privacy}","received_events_url":"https://api.github.com/users/PX4/received_events","type":"Organization","site_admin":false},"repo":{"id":60527225,"node_id":"MDEwOlJlcG9zaXRvcnk2MDUyNzIyNQ==","name":"Devguide","full_name":"PX4/Devguide","private":false,"owner":{"login":"PX4","id":2096014,"node_id":"MDEyOk9yZ2FuaXphdGlvbjIwOTYwMTQ=","avatar_url":"https://avatars3.githubusercontent.com/u/2096014?v=4","gravatar_id":"","url":"https://api.github.com/users/PX4","html_url":"https://github.com/PX4","followers_url":"https://api.github.com/users/PX4/followers","following_url":"https://api.github.com/users/PX4/following{/other_user}","gists_url":"https://api.github.com/users/PX4/gists{/gist_id}","starred_url":"https://api.github.com/users/PX4/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/PX4/subscriptions","organizations_url":"https://api.github.com/users/PX4/orgs","repos_url":"https://api.github.com/users/PX4/repos","events_url":"https://api.github.com/users/PX4/events{/privacy}","received_events_url":"https://api.github.com/users/PX4/received_events","type":"Organization","site_admin":false},"html_url":"https://github.com/PX4/Devguide","description":"PX4 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