Minor tweaks to ROMFS scripts/ logging

3 files changed, 99 insertions, 73 deletions

diff --git a/ROMFS/Makefile b/ROMFS/Makefile
index ba694b055..56ae63d27 100644
--- a/ROMFS/Makefile
+++ b/ROMFS/Makefile
@@ -29,7 +29,7 @@ ROMFS_FSSPEC	:= $(SRCROOT)/scripts/rcS~init.d/rcS \
 		   $(SRCROOT)/mixers/FMU_RET.mix~mixers/FMU_ERT.mix \
 		   $(SRCROOT)/mixers/FMU_quad_x.mix~mixers/FMU_quad_x.mix \
 		   $(SRCROOT)/mixers/FMU_quad_+.mix~mixers/FMU_quad_+.mix \
-		   $(SRCROOT)/logging/sdcard_logconverter.m~logging/sdcard_logconverter.m
+		   $(SRCROOT)/logging/logconv.m~logging/logconv.m
 
 #
 # Add the PX4IO firmware to the spec if someone has dropped it into the
diff --git a/ROMFS/logging/logconv.m b/ROMFS/logging/logconv.m
new file mode 100644
index 000000000..5a615228d
--- /dev/null
+++ b/ROMFS/logging/logconv.m
@@ -0,0 +1,98 @@
+clear all
+clc
+
+if exist('actuator_outputs0.bin', 'file')
+    % Read actuators file
+    myFile = java.io.File('actuator_outputs0.bin')
+    fileSize = length(myFile)
+
+    fid = fopen('actuator_outputs0.bin', 'r');
+    elements = int64(fileSize./(16*4+8))
+
+    for i=1:(elements-2)
+        % timestamp
+        actuators(i,1) = double(fread(fid, 1, '*uint64', 0, 'ieee-le.l64'));
+        % actuators 1-16
+        % quadrotor: motor 1-4 on the first four positions
+        actuators(i, 2:17) = fread(fid,  16, 'float', 'ieee-le');
+    end
+end
+
+if exist('actuator_controls0.bin', 'file')
+    % Read actuators file
+    myFile = java.io.File('actuator_controls0.bin')
+    fileSize = length(myFile)
+
+    fid = fopen('actuator_controls0.bin', 'r');
+    elements = int64(fileSize./(8*4+8))
+
+    for i=1:elements
+        % timestamp
+        actuator_controls(i,1) = fread(fid, 1, 'uint64', 0, 'ieee-le.l64');
+        % actuators 1-16
+        % quadrotor: motor 1-4 on the first four positions
+        actuator_controls(i, 2:9) = fread(fid,  8, 'float', 'ieee-le');
+    end
+end
+
+
+if exist('sensor_combined.bin', 'file')
+    % Read sensor combined file
+    % Type definition: Firmware/apps/uORB/topics/sensor_combined.h
+    % Struct: sensor_combined_s
+    fileInfo = dir('sensor_combined.bin');
+    fileSize = fileInfo.bytes;
+
+    fid = fopen('sensor_combined.bin', 'r');
+
+    for i=1:elements
+        % timestamp
+        sensors(i,1) = double(fread(fid, 1, '*uint64', 0, 'ieee-le.l64'));
+        % gyro raw
+        sensors(i,2:4) = fread(fid, 3, 'int16', 0, 'ieee-le');
+        % gyro counter
+        sensors(i,5) = fread(fid, 1, 'uint16', 0, 'ieee-le');
+        % gyro in rad/s
+        sensors(i,6:8) = fread(fid, 3, 'float', 0, 'ieee-le');
+
+        % accelerometer raw
+        sensors(i,9:11) = fread(fid, 3, 'int16', 0, 'ieee-le');
+        % padding bytes
+        fread(fid, 1, 'int16', 0, 'ieee-le');
+        % accelerometer counter
+        sensors(i,12) = fread(fid, 1, 'uint32', 0, 'ieee-le');
+        % accel in m/s2
+        sensors(i,13:15) = fread(fid, 3, 'float', 0, 'ieee-le');
+        % accel mode
+        sensors(i,16) = fread(fid, 1, 'int32', 0, 'ieee-le');
+        % accel range
+        sensors(i,17) = fread(fid, 1, 'float', 0, 'ieee-le');
+
+        % mag raw
+        sensors(i,18:20) = fread(fid, 3, 'int16', 0, 'ieee-le');
+        % padding bytes
+        fread(fid, 1, 'int16', 0, 'ieee-le');
+        % mag in Gauss
+        sensors(i,21:23) = fread(fid, 3, 'float', 0, 'ieee-le');
+        % mag mode
+        sensors(i,24) = fread(fid, 1, 'int32', 0, 'ieee-le');
+        % mag range
+        sensors(i,25) = fread(fid, 1, 'float', 0, 'ieee-le');
+        % mag cuttoff freq
+        sensors(i,26) = fread(fid, 1, 'float', 0, 'ieee-le');
+        % mag counter
+        sensors(i,27) = fread(fid, 1, 'int32', 0, 'ieee-le');
+
+        % baro pressure millibar
+        % baro alt meter
+        % baro temp celcius
+        % battery voltage
+        % adc voltage (3 channels)
+        sensors(i,28:34) = fread(fid, 7, 'float', 0, 'ieee-le');
+        % baro counter and battery counter
+        sensors(i,35:36) = fread(fid, 2, 'uint32', 0, 'ieee-le');
+        % battery voltage valid flag
+        sensors(i,37) = fread(fid, 1, 'uint32', 0, 'ieee-le');
+
+    end
+end
\ No newline at end of file
diff --git a/ROMFS/logging/sdcard_logconverter.m b/ROMFS/logging/sdcard_logconverter.m
deleted file mode 100755
index 09702494c..000000000
--- a/ROMFS/logging/sdcard_logconverter.m
+++ /dev/null
@@ -1,72 +0,0 @@
-clear all
-clc
-
-% Read actuators file
-fileInfo = dir('sensors_combined.bin');
-fileSize = fileInfo.bytes;
-
-fid = fopen('actuator_outputs0.bin', 'r');
-elements = int64(fileSize/16*4+8)
-
-for i=1:(elements-2)
-    actuators(i, 2:18) = fread(fid,  inf, 'float');
-end
-
-% Read sensor combined file
-% Type definition: Firmware/apps/uORB/topics/sensor_combined.h
-% Struct: sensor_combined_s
-fileInfo = dir('sensors_combined.bin');
-fileSize = fileInfo.bytes;
-
-fid = fopen('sensors_combined.bin', 'r');
-
-for i=1:elements-2
-    % timestamp
-    sensors(i,1) = double(fread(fid, 1, '*uint64', 0, 'ieee-le.l64'));
-    % gyro raw
-    sensors(i,2:4) = fread(fid, 3, 'int16', 0, 'ieee-le');
-    % gyro counter
-    sensors(i,5) = fread(fid, 1, 'uint16', 0, 'ieee-le');
-    % gyro in rad/s
-    sensors(i,6:8) = fread(fid, 3, 'float', 0, 'ieee-le');
-    
-    % accelerometer raw
-    sensors(i,9:11) = fread(fid, 3, 'int16', 0, 'ieee-le');
-    % padding bytes
-    fread(fid, 1, 'int16', 0, 'ieee-le');
-    % accelerometer counter
-    sensors(i,12) = fread(fid, 1, 'uint32', 0, 'ieee-le');
-    % accel in m/s2
-    sensors(i,13:15) = fread(fid, 3, 'float', 0, 'ieee-le');
-    % accel mode
-    sensors(i,16) = fread(fid, 1, 'int32', 0, 'ieee-le');
-    % accel range
-    sensors(i,17) = fread(fid, 1, 'float', 0, 'ieee-le');
-    
-    % mag raw
-    sensors(i,18:20) = fread(fid, 3, 'int16', 0, 'ieee-le');
-    % padding bytes
-    fread(fid, 1, 'int16', 0, 'ieee-le');
-    % mag in Gauss
-    sensors(i,21:23) = fread(fid, 3, 'float', 0, 'ieee-le');
-    % mag mode
-    sensors(i,24) = fread(fid, 1, 'int32', 0, 'ieee-le');
-    % mag range
-    sensors(i,25) = fread(fid, 1, 'float', 0, 'ieee-le');
-    % mag cuttoff freq
-    sensors(i,26) = fread(fid, 1, 'float', 0, 'ieee-le');
-    % mag counter
-    sensors(i,27) = fread(fid, 1, 'int32', 0, 'ieee-le');
-    
-    % baro pressure millibar
-    % baro alt meter
-    % baro temp celcius
-    % battery voltage
-    % adc voltage (3 channels)
-    sensors(i,28:34) = fread(fid, 7, 'float', 0, 'ieee-le');
-    % baro counter and battery counter
-    sensors(i,35:36) = fread(fid, 2, 'uint32', 0, 'ieee-le');
-    % battery voltage valid flag
-    sensors(i,37) = fread(fid, 1, 'uint32', 0, 'ieee-le');
-    
-end
\ No newline at end of file