Add SITL test flight logs analysis (compute position estimate variance/standard deviation).

Author: hmakelin

.gitignore

@@ -21,5 +21,9 @@ docs/_build/
 # Optional weights folder (LoFTR)
 weights/
 
-# SITL test log output
-test/sitl/output/
+# SITL test log output (but leave one sample flight log)
+test/sitl/output/
+!test/sitl/output/gisnav-sitl-test-log_2022-09-04T10-31-20Z.ulog
+
+# Jupyter Notebook checkpoints
+test/sitl/ulog_analysis/.ipynb_checkpoints/

docs/pages/developer_guide.rst

@@ -335,6 +335,18 @@ SITL tests are under the ``test/sitl`` folder. They are simple Python scripts:
     cd ~/px4_ros_com_ros2/src/gisnav/test/sitl
     python sitl_test_mock_gps_node.py
 
+Flight Log Analysis
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+The flight log generated by the SITL test can be analyzed with the Jupyter notebooks in ``test/ulog_analysis`` folder.
+You must first start ``jupyter-notebook``:
+
+.. code-block:: bash
+
+    cd ~/px4_ros_com_ros2/src/gisnav/test/sitl/ulog_analysis
+    jupyter-notebook
+
+The notebook documents the analysis and displays the results.
+
 Documentation
 ====================================================
 

requirements-dev.txt

@@ -11,4 +11,8 @@ pytest
 coverage
 
 # SITL tests
-mavsdk
+mavsdk
+
+# .ulog analysis
+jupyter
+px4tools