forked from Archive/PX4-Autopilot
98 lines
3.2 KiB
Matlab
98 lines
3.2 KiB
Matlab
clear all
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clc
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if exist('actuator_outputs0.bin', 'file')
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% Read actuators file
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myFile = java.io.File('actuator_outputs0.bin')
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fileSize = length(myFile)
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fid = fopen('actuator_outputs0.bin', 'r');
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elements = int64(fileSize./(16*4+8))
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for i=1:(elements-2)
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% timestamp
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actuators(i,1) = double(fread(fid, 1, '*uint64', 0, 'ieee-le.l64'));
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% actuators 1-16
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% quadrotor: motor 1-4 on the first four positions
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actuators(i, 2:17) = fread(fid, 16, 'float', 'ieee-le');
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end
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end
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if exist('actuator_controls0.bin', 'file')
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% Read actuators file
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myFile = java.io.File('actuator_controls0.bin')
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fileSize = length(myFile)
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fid = fopen('actuator_controls0.bin', 'r');
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elements = int64(fileSize./(8*4+8))
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for i=1:elements
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% timestamp
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actuator_controls(i,1) = fread(fid, 1, 'uint64', 0, 'ieee-le.l64');
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% actuators 1-16
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% quadrotor: motor 1-4 on the first four positions
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actuator_controls(i, 2:9) = fread(fid, 8, 'float', 'ieee-le');
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end
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end
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if exist('sensor_combined.bin', 'file')
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% Read sensor combined file
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% Type definition: Firmware/apps/uORB/topics/sensor_combined.h
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% Struct: sensor_combined_s
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fileInfo = dir('sensor_combined.bin');
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fileSize = fileInfo.bytes;
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fid = fopen('sensor_combined.bin', 'r');
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for i=1:elements
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% timestamp
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sensors(i,1) = double(fread(fid, 1, '*uint64', 0, 'ieee-le.l64'));
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% gyro raw
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sensors(i,2:4) = fread(fid, 3, 'int16', 0, 'ieee-le');
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% gyro counter
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sensors(i,5) = fread(fid, 1, 'uint16', 0, 'ieee-le');
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% gyro in rad/s
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sensors(i,6:8) = fread(fid, 3, 'float', 0, 'ieee-le');
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% accelerometer raw
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sensors(i,9:11) = fread(fid, 3, 'int16', 0, 'ieee-le');
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% padding bytes
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fread(fid, 1, 'int16', 0, 'ieee-le');
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% accelerometer counter
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sensors(i,12) = fread(fid, 1, 'uint32', 0, 'ieee-le');
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% accel in m/s2
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sensors(i,13:15) = fread(fid, 3, 'float', 0, 'ieee-le');
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% accel mode
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sensors(i,16) = fread(fid, 1, 'int32', 0, 'ieee-le');
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% accel range
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sensors(i,17) = fread(fid, 1, 'float', 0, 'ieee-le');
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% mag raw
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sensors(i,18:20) = fread(fid, 3, 'int16', 0, 'ieee-le');
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% padding bytes
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fread(fid, 1, 'int16', 0, 'ieee-le');
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% mag in Gauss
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sensors(i,21:23) = fread(fid, 3, 'float', 0, 'ieee-le');
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% mag mode
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sensors(i,24) = fread(fid, 1, 'int32', 0, 'ieee-le');
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% mag range
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sensors(i,25) = fread(fid, 1, 'float', 0, 'ieee-le');
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% mag cuttoff freq
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sensors(i,26) = fread(fid, 1, 'float', 0, 'ieee-le');
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% mag counter
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sensors(i,27) = fread(fid, 1, 'int32', 0, 'ieee-le');
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% baro pressure millibar
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% baro alt meter
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% baro temp celcius
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% battery voltage
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% adc voltage (3 channels)
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sensors(i,28:34) = fread(fid, 7, 'float', 0, 'ieee-le');
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% baro counter and battery counter
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sensors(i,35:36) = fread(fid, 2, 'uint32', 0, 'ieee-le');
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% battery voltage valid flag
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sensors(i,37) = fread(fid, 1, 'uint32', 0, 'ieee-le');
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end
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end |