# INAV Blackbox Explorer!

This tool allows you to view and analyze logs created by INAV Blackbox feature.

Open log file/video
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Introduction to Blackbox

The Blackbox feature is built in to INAV and is supported on most flight controllers..

Already have a log recorded? Open it and start analyzing.

If you believe you've found a bug in this viewer (e.g. the viewer crashes upon attempting to open a log file), or you have a suggestion, please add it to the viewer's GitHub bug tracker.

Tuning your craft

The Blackbox can deliver insights on your flight performance that will allow you to tune variables such as your PIDs and filters settings.

For help and instructions on how to tune your craft, please read some of these resources:

- Blackbox tuning and troubleshooting YouTube playlist

Other tools

If you want to analyze your logs with your own mathematics package (such as Matlab) you can use the separate blackbox_decode tool to convert your log file into a CSV file for analysis.

If you want to share your log as a video, you can use the "export video" button at the top to render a WebM video, or use the commandline blackbox_render tool tool to turn your log into a series of PNG files, or use a screen recording tool to record the playback of this log viewer.

Version

The latest official version is vX.X.XX

Changelog

- #### View

- #### Playback

- #### Speed

- #### Zoom

- #### Time

- #### Log sync

100 200 300 400 500 100

## Legend

#### Field values

| Raw value | Decoded |  | Raw value | Decoded
--- | --- | --- | --- | --- | ---

-
-
-
-
-
-
00:00.000
1
2
3
4
5
6
7
8
9
Clear All
-
-

#### Configure graphs

#### Log Header Information

#####

#####

#####

PID Settings

Name | Proportional | Integral | Derivative | FeedForward
--- | --- | --- | --- | ---

Basic/Acro
ROLL |  |  |  |
PITCH |  |  |  |
YAW |  |  |  |

Barometer & Sonar/Altitude
ALT |  |  |
VEL |  |  |

Heading
MAG |  |  |

GPS
POS |  |  |
POSR |  |  |

Angle/Horizon Strength (Angle) Strength (Horizon) Transition (Horizon)
LEVEL |  |  |

Receiver Mode

Provider

Hardware Options

Accelerometer | Magnetometer | Barometer

Debug Settings

Debug Mode

Unknown Header Fields

Name | Value

RC Command and Motor Protocols

ROLL/PITCH
Rate | Expo | Deadband
YAW
Rate | Expo | Deadband

Rates
ROLL Rate | PITCH Rate | YAW Rate

Motors
Protocol

Throttle

Throttle Mid | Throttle Expo | Min Throttle | Max Throttle

TPA | TPA Breakpoint | Airmode Activate

D-Shot Offset (%) | D-Shot Motor Low | D-Shot Motor High

Voltage and Current

Current Scale | Current Offset
VBat Scale | VBat Ref
Min Cell Voltage | Warning Voltage | Max Cell Voltage

| VBAT_PID_COMPENSATION | Scale PID parameters based upon current battery voltage

Other Features

#### Shortcut Keys

Scrolling, Zooming, Play and Pause

- Home
  and
  End
  Go to the start or end of the current log.
- ←
  and
  →
  Moves through log backwards and forwards by exactly 100ms.
- Alt
  ←
  and
  →
  Moves through log backwards and forwards by exactly one frame. If a video is loaded, then scroll one video frame otherwise scroll one log frame.
- PgUp
  and
  PgDn
  Moves through log backwards and forwards fast.

- Shift
  ←
  and
  →
  Zoom Log Out and In.
- Shift
  Alt
  ←
  and
  →
  Zoom Log Out and In but faster.

- Spacebar
  Starts / Pauses Log and/or Video

Quick Modes

- Z
  Toggle QuickZoom. Quickly Zoom out to Max and back
- S
  Toggle QuickSmooth, Quickly override graph smoothing and force all graph smoothing to zero.
- X
  Toggle QuickExpo, Quickly override graph expo and force all graph expo to linear.
- G
  Toggle QuickGrid, Quickly override graph grid view's and force all grids to disappear.
- T
  Toggle QuickTable, Quickly show the field values table.
- C
  Toggle QuickConfig, Quickly show the configuration dump file (if loaded).

Marking, Smart Sync

- M
  Toggles a Marker on the log at the current time. As you scroll, time from marker (offset) is displayed on the toolbar. (Useful for measuring times between events.)
- Alt
  M
  Smart Sync. With both a log AND a video loaded, Press 'M' to place a marker on the log where an event occurs (such as the exact start of a roll). Then scroll backwards and forwards until your video shows the exaxt same start of event. Now press 'Alt M' to sync the log and video at this point.

- I
  Mark the start of (IN) video export or analyser start.
- O
  Mark the end of (OUT) video export or analyser end.

Workspaces / Favourites

- Shift
  0
  to
  9
  Save the current displayed graph configuration to workspace/favourite key 0 through 9 (this includes all graph smoothing and expo etc.).
- 0
  to
  9
  Recall workspace/favourite stored in keys 0 through 9. Very fast graph configuration swapping useful for comparing traces.

- Ctrl
  Z
  Swap back to your last graph configuration. Repeatedly pressing Ctrl-Z will toggle the last two graph configurations.

- Alt
  Shift
  1
  to
  9
  Save the current time to Bookmark hotkeys 1 through 9
- Alt
  1
  to
  9
  Recall Bookmark 1 though 9 to jump to specific time quickly.
- Alt
  0
  Special Case, clear all bookmarks

#### Export video

Video duration

You can use the I (In) and O (Out) keys while viewing the log to mark the start and end points of the video

Framerate
Resolution
Dim flight video
Video format

WebM

Audio format

Not supported yet (no audio will be included)

Note

If you experience problems with the background flight video being glitchy in the exported video, follow the instructions here to re-encode your flight video.

Rendered frames

File size

You must install this tool as a Chrome App in order to export videos larger than 500MB
Remaining time

#### Advanced User Settings

Mixer Settings
Custom
Select custom craft display.

Mixer Type |

The custom mixer settings ONLY affect the craft icon that is displayed over the log. Please set the closest craft type (e.g. QuadX) and then identify which motors are connected to which motor outputs. If you deselect the custom setting, then the viewer will function as per the original method (i.e. it will autocalculate the craft model based upon the number of motors found in the log.)

Stick Settings
Units
Display actual units on stick display.
Stick Trails
Show stick trails.
Invert Yaw
Invert Yaw in Stick Display

Mode Mode 1 Mode 2 Mode 3 Mode 4 |

Position | Top % | Left % | Size %

Legend Settings
Units
Display actual units on legend.
Velocity
Craft Settings

Position | Top % | Left % | Size %

Analyser Settings
Hanning
Use Hanning Window for Analyser

Position | Top % | Left % | Size %

Watermark Settings
Watermark
Show the watermark.

Logo |

Position | Top % | Left % | Size %
Transparency | % |  |  |

Lap Timer Settings
Lap Timer
Show the lap timer.

Position | Top % | Left % |
Transparency | % |  |  |

To use the lap timer feature, you MUST set a "start time" bookmark at the beginning of the log/video (where the race starts for example) plus additional bookmarks to mark the start of each lap. Bookmark the video frames where you actually cross the start/finish line for best results.