forked from Archive/PX4-Autopilot
101 lines
4.7 KiB
Matlab
101 lines
4.7 KiB
Matlab
% This Matlab Script can be used to import the binary logged values of the
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% PX4FMU into data that can be plotted and analyzed.
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% Clear everything
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clc
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clear all
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close all
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% Set the path to your sysvector.bin file here
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filePath = 'sysvector.bin';
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%%%%%%%%%%%%%%%%%%%%%%%
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% SYSTEM VECTOR
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%
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% //All measurements in NED frame
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%
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% uint64_t timestamp; //[us]
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% float gyro[3]; //[rad/s]
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% float accel[3]; //[m/s^2]
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% float mag[3]; //[gauss]
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% float baro; //pressure [millibar]
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% float baro_alt; //altitude above MSL [meter]
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% float baro_temp; //[degree celcius]
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% float control[4]; //roll, pitch, yaw [-1..1], thrust [0..1]
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% float actuators[8]; //motor 1-8, in motor units (PWM: 1000-2000,AR.Drone: 0-512)
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% float vbat; //battery voltage in [volt]
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% float adc[3]; //remaining auxiliary ADC ports [volt]
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% float local_position[3]; //tangent plane mapping into x,y,z [m]
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% int32_t gps_raw_position[3]; //latitude [degrees] north, longitude [degrees] east, altitude above MSL [millimeter]
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% float attitude[3]; //pitch, roll, yaw [rad]
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% float rotMatrix[9]; //unitvectors
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% float actuator_control[4]; //unitvector
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% float optical_flow[4]; //roll, pitch, yaw [-1..1], thrust [0..1]
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% Definition of the logged values
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logFormat{1} = struct('name', 'timestamp', 'bytes', 8, 'array', 1, 'precision', 'uint64', 'machineformat', 'ieee-le.l64');
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logFormat{2} = struct('name', 'gyro', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{3} = struct('name', 'accel', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{4} = struct('name', 'mag', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{5} = struct('name', 'baro', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{6} = struct('name', 'baro_alt', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{7} = struct('name', 'baro_temp', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{8} = struct('name', 'control', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{9} = struct('name', 'actuators', 'bytes', 4, 'array', 8, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{10} = struct('name', 'vbat', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{11} = struct('name', 'adc', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{12} = struct('name', 'local_position', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{13} = struct('name', 'gps_raw_position', 'bytes', 4, 'array', 3, 'precision', 'uint32', 'machineformat', 'ieee-le');
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logFormat{14} = struct('name', 'attitude', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{15} = struct('name', 'rot_matrix', 'bytes', 4, 'array', 9, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{16} = struct('name', 'vicon_position', 'bytes', 4, 'array', 6, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{17} = struct('name', 'actuator_control', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{18} = struct('name', 'optical_flow', 'bytes', 4, 'array', 6, 'precision', 'float', 'machineformat', 'ieee-le');
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% First get length of one line
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columns = length(logFormat);
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lineLength = 0;
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for i=1:columns
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lineLength = lineLength + logFormat{i}.bytes * logFormat{i}.array;
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end
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if exist(filePath, 'file')
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fileInfo = dir(filePath);
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fileSize = fileInfo.bytes;
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elements = int64(fileSize./(lineLength))
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fid = fopen(filePath, 'r');
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offset = 0;
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for i=1:columns
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% using fread with a skip speeds up the import drastically, do not
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% import the values one after the other
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sysvector.(genvarname(logFormat{i}.name)) = transpose(fread(...
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fid, ...
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[logFormat{i}.array, elements], [num2str(logFormat{i}.array),'*',logFormat{i}.precision,'=>',logFormat{i}.precision], ...
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lineLength - logFormat{i}.bytes*logFormat{i}.array, ...
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logFormat{i}.machineformat) ...
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);
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offset = offset + logFormat{i}.bytes*logFormat{i}.array;
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fseek(fid, offset,'bof');
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end
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% shot the flight time
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time_us = sysvector.timestamp(end) - sysvector.timestamp(1);
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time_s = time_us*1e-6
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time_m = time_s/60
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% close the logfile
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fclose(fid);
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disp(['end log2matlab conversion' char(10)]);
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else
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disp(['file: ' filePath ' does not exist' char(10)]);
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end
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