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Litchi

litchi

Litchi 

Litchi(path: str | Path)

Loader for Litchi CSV flight logs.

Handles loading and processing of Litchi waypoint mission flight logs.

Initialize Litchi loader.

Parameters:

Name Type Description Default
path Union[str, Path]

Path to Litchi CSV log file.

 required
Source code in pils/drones/litchi.py 
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def __init__(self, path: str | Path) -> None:
    """Initialize Litchi loader.

    Parameters
    ----------
    path : Union[str, Path]
        Path to Litchi CSV log file.
    """
    self.path = path
    self.data = None

load_data 

load_data(cols: list[str] | None = None) -> None

Load Litchi flight log data from CSV file.

Parameters:

Name Type Description Default
cols Optional[List[str]]

List of columns to load. If None, loads default columns.

 None

Raises:

Type Description
FileNotFoundError

If CSV file not found.
Source code in pils/drones/litchi.py 
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def load_data(
    self,
    cols: list[str] | None = None,
) -> None:
    """Load Litchi flight log data from CSV file.

    Parameters
    ----------
    cols : Optional[List[str]], optional
        List of columns to load. If None, loads default columns.

    Raises
    ------
    FileNotFoundError
        If CSV file not found.
    """
    if cols is None:
        cols = [
            "latitude",
            "longitude",
            "altitude(m)",
            "speed(mps)",
            "distance(m)",
            "velocityX(mps)",
            "velocityY(mps)",
            "velocityZ(mps)",
            "pitch(deg)",
            "roll(deg)",
            "yaw(deg)",
            "batteryTemperature",
            "pitchRaw",
            "rollRaw",
            "yawRaw",
            "gimbalPitchRaw",
            "gimbalRollRaw",
            "gimbalYawRaw",
            "datetime(utc)",
            "isflying",
        ]

    litchi_data = pl.read_csv(self.path, columns=cols)

    # Parse datetime with timezone format
    litchi_data = litchi_data.with_columns(
        [
            pl.col("datetime(utc)")
            .str.to_datetime(format="%Y-%m-%d %H:%M:%S%.f", time_zone="UTC")
            .alias("datetime")
        ]
    )
    litchi_data = litchi_data.drop("datetime(utc)")
    litchi_data = drop_nan_and_zero_cols(litchi_data)
    litchi_data = litchi_data.with_columns(
        (pl.col("datetime").dt.timestamp("ms")).alias("unix_time_ms")
    )
    litchi_data = litchi_data.with_columns(
        (pl.col("unix_time_ms") / 1000.0).alias("timestamp")
    )
    if "gimbalPitchRaw" in litchi_data.columns:
        litchi_data = litchi_data.with_columns(
            (pl.col("gimbalPitchRaw") / 10.0).alias("gimbalPitch")
        )
    self.data = litchi_data