Replay¶

This page shows how to do a replay (a rerun of a recorded flight or simulation). This can only be done with Paparazzi at the moment, but a standalone version is on work.
 

Replay with Paparazzi (BETA)¶

To launch a replay with Paparazzi, you'll need :
- An install of Paparazzi (following the install tutorial here gives you one)
- An install of CAMS (the graphical interface, dedicated for mapping, again you can find the installation here)
- A paparazzi log file
- A YAML config correctly set up (set replay: true and type: pprz for each UAV)
 

Once these requirements are met, follow these steps :
1. First launch the logalizer of paparazzi. It can be found at : $PAPARAZZI_HOME/sw/logalizer ($PAPARAZZI_HOME is where you installed your paparazzi). Once found, start ./play 'logfile' where logfile is the logfile you want to rerun.
2. Launch ./paparazzi
3. On the GCS, set the Session to Replay, and then hit Execute
4. Now that the replay is running on the GCS, start CAMS
 

If you followed correctly these steps, you should now be able to see the replay on CAMS.
 

It is possible to control the speed by using Gaia, the environment controller of Paparazzi. If you want to use it, go to the Paparazzi center, open the tools menu and hit Environment Simulator.
You can increase or decrease the speed by changing the Time scale option of Gaia.
 

If you want to pause the replay, you can send a SIGSTOP to the logalizer process (by doing a CTRL-Z). You can resume it by doing the fg command.
 

Standalone Replay¶

To launch a replay with only CAMS and the base package, you'll need :
- An install of CAMS (the graphical interface, dedicated for mapping, again you can find the installation here)
- A YAML config correctly set up (set replay: true type: base for each UAV)
- A nephelae database registered in ASCII (you can achieve this by instantiating your neph file as a NephelaeDataServer and then use its save_ascii function)
- The nephelae_utils repositiory
 

Once these requirements are met, follow these steps :
1. At this stage of the development, you'll have to set manually the target file in replay_neph.py (a patch is yet to come)
2. Launch the replay_neph file (located in nephelae_utils) in interpreted mode (use ipython3 -i replay_neph command)
3. Write rp = ReplayNeph()
4. Write rp.start()
5. Now that the replay is running, start CAMS
 

If you want to pause or speed up the replay, you can change the speed of the replay via the set_pacing method. In the interpreted command file, write rp.set_pacing(<value>). (0.1 = normal speed, 0.0 = pause, > 0.1 = speed up).
 

You can stop the streaming at any moment using rp.stop()