Cleanup: Moved sdlog2 file conversion scripts to separate folder.

3 files changed, 882 insertions, 0 deletions

diff --git a/Tools/sdlog2/README.txt b/Tools/sdlog2/README.txt
new file mode 100644
index 000000000..abeb9a4c7
--- /dev/null
+++ b/Tools/sdlog2/README.txt
@@ -0,0 +1,13 @@
+====== PX4 LOG CONVERSION ======
+
+On each log session (commonly started and stopped by arming and disarming the vehicle) a new file logxxx.bin is created. In many cases there will be only one logfile named log001.bin (only one flight).
+
+There are two conversion scripts in this ZIP file:
+
+logconv.m: This is a MATLAB script which will automatically convert and display the flight data with a GUI. If running this script, the second script can be ignored.
+
+sdlog2_dump.py: This is a Python script (compatible with v2 and v3) which converts the self-describing binary log format to a CSV file. To export a CSV file from within a shell (Windows CMD or BASH on Linux / Mac OS), run:
+
+python sdlog2_dump.py log001.bin -f "export.csv" -t "TIME" -d "," -n ""
+
+Python can be downloaded from http://python.org, but is available as default on Mac OS and Linux.
\ No newline at end of file
diff --git a/Tools/sdlog2/logconv.m b/Tools/sdlog2/logconv.m
new file mode 100644
index 000000000..e19c97fa3
--- /dev/null
+++ b/Tools/sdlog2/logconv.m
@@ -0,0 +1,535 @@
+% This Matlab Script can be used to import the binary logged values of the
+% PX4FMU into data that can be plotted and analyzed.
+
+%% ************************************************************************
+% PX4LOG_PLOTSCRIPT: Main function
+% ************************************************************************
+function PX4Log_Plotscript
+
+% Clear everything
+clc
+clear all
+close all
+
+% ************************************************************************
+% SETTINGS
+% ************************************************************************
+
+% Set the path to your sysvector.bin file here
+filePath = 'log001.bin';
+
+% Set the minimum and maximum times to plot here [in seconds]
+mintime=0;        %The minimum time/timestamp to display, as set by the user [0 for first element / start]
+maxtime=0;        %The maximum time/timestamp to display, as set by the user [0 for last element / end]
+
+%Determine which data to plot. Not completely implemented yet.
+bDisplayGPS=true;
+
+%conversion factors
+fconv_gpsalt=1; %[mm] to [m]
+fconv_gpslatlong=1; %[gps_raw_position_unit] to [deg]
+fconv_timestamp=1E-6; % [microseconds] to [seconds]
+
+% ************************************************************************
+% Import the PX4 logs
+% ************************************************************************
+ImportPX4LogData();
+
+%Translate min and max plot times to indices
+time=double(sysvector.TIME_StartTime) .*fconv_timestamp;
+mintime_log=time(1);        %The minimum time/timestamp found in the log
+maxtime_log=time(end);      %The maximum time/timestamp found in the log
+CurTime=mintime_log;        %The current time at which to draw the aircraft position
+
+[imintime,imaxtime]=FindMinMaxTimeIndices();
+
+% ************************************************************************
+% PLOT & GUI SETUP
+% ************************************************************************
+NrFigures=5;
+NrAxes=10;
+h.figures(1:NrFigures)=0.0;  % Temporary initialization of figure handle array - these are numbered consecutively
+h.axes(1:NrAxes)=0.0;        % Temporary initialization of axes handle array - these are numbered consecutively
+h.pathpoints=[];             % Temporary initiliazation of path points
+
+% Setup the GUI to control the plots
+InitControlGUI();
+% Setup the plotting-GUI (figures, axes) itself.
+InitPlotGUI();
+
+% ************************************************************************
+% DRAW EVERYTHING
+% ************************************************************************
+DrawRawData();
+DrawCurrentAircraftState();
+
+%% ************************************************************************
+%  *** END OF MAIN SCRIPT ***
+%  NESTED FUNCTION DEFINTIONS FROM HERE ON
+%  ************************************************************************
+
+
+%% ************************************************************************
+%  IMPORTPX4LOGDATA (nested function)
+%  ************************************************************************
+%  Attention:  This is the import routine for firmware from ca. 03/2013.
+%              Other firmware versions might require different import 
+%              routines.
+
+%% ************************************************************************
+%  IMPORTPX4LOGDATA (nested function)
+%  ************************************************************************
+%  Attention:  This is the import routine for firmware from ca. 03/2013.
+%              Other firmware versions might require different import 
+%              routines.
+
+function ImportPX4LogData()
+
+    % ************************************************************************
+    % RETRIEVE SYSTEM VECTOR
+    % *************************************************************************
+    % //All measurements in NED frame
+    
+    % Convert to CSV
+    %arg1 = 'log-fx61-20130721-2.bin';
+    arg1 = filePath;
+    delim = ',';
+    time_field = 'TIME';
+    data_file = 'data.csv';
+    csv_null = '';
+    
+    if not(exist(data_file, 'file'))
+        s = system( sprintf('python sdlog2_dump.py "%s" -f "%s" -t"%s" -d"%s" -n"%s"', arg1, data_file, time_field, delim, csv_null) );
+    end
+
+    if exist(data_file, 'file')
+
+        %data = csvread(data_file);
+        sysvector = tdfread(data_file, ',');
+
+        % shot the flight time
+        time_us = sysvector.TIME_StartTime(end) - sysvector.TIME_StartTime(1);
+        time_s = uint64(time_us*1e-6);
+        time_m = uint64(time_s/60);
+        time_s = time_s - time_m * 60;
+        
+        disp([sprintf('Flight log duration: %d:%d (minutes:seconds)', time_m, time_s) char(10)]);
+
+        disp(['logfile conversion finished.' char(10)]);
+    else
+        disp(['file: ' data_file ' does not exist' char(10)]);
+    end
+end
+
+%% ************************************************************************
+%  INITCONTROLGUI (nested function)
+%  ************************************************************************
+%Setup central control GUI components to control current time where data is shown
+function InitControlGUI()
+    %**********************************************************************
+    % GUI size definitions
+    %**********************************************************************
+    dxy=5; %margins
+    %Panel: Plotctrl
+    dlabels=120;
+    dsliders=200;
+    dedits=80;
+    hslider=20;
+        
+    hpanel1=40; %panel1
+    hpanel2=220;%panel2
+    hpanel3=3*hslider+4*dxy+3*dxy;%panel3.
+    
+    width=dlabels+dsliders+dedits+4*dxy+2*dxy;  %figure width
+    height=hpanel1+hpanel2+hpanel3+4*dxy;       %figure height
+        
+    %**********************************************************************
+    % Create GUI
+    %**********************************************************************
+    h.figures(1)=figure('Units','pixels','position',[200 200 width height],'Name','Control GUI');
+    h.guistatepanel=uipanel('Title','Current GUI state','Units','pixels','Position',[dxy dxy width-2*dxy hpanel1],'parent',h.figures(1));
+    h.aircraftstatepanel=uipanel('Title','Current aircraft state','Units','pixels','Position',[dxy hpanel1+2*dxy width-2*dxy hpanel2],'parent',h.figures(1));
+    h.plotctrlpanel=uipanel('Title','Plot Control','Units','pixels','Position',[dxy hpanel1+hpanel2+3*dxy width-2*dxy hpanel3],'parent',h.figures(1));
+    
+    %%Control GUI-elements
+    %Slider: Current time
+    h.labels.CurTime=uicontrol(gcf,'style','text','Position',[dxy dxy dlabels hslider],'String','Current time t[s]:','parent',h.plotctrlpanel,'HorizontalAlignment','left');
+    h.sliders.CurTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels dxy dsliders hslider],...
+        'min',mintime,'max',maxtime,'value',mintime,'callback',@curtime_callback,'parent',h.plotctrlpanel);
+    temp=get(h.sliders.CurTime,'Max')-get(h.sliders.CurTime,'Min');
+    set(h.sliders.CurTime,'SliderStep',[1.0/temp 5.0/temp]);
+    h.edits.CurTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders dxy dedits hslider],'String',get(h.sliders.CurTime,'value'),...
+        'BackgroundColor','white','callback',@curtime_callback,'parent',h.plotctrlpanel);
+
+    %Slider: MaxTime
+    h.labels.MaxTime=uicontrol(gcf,'style','text','position',[dxy 2*dxy+hslider dlabels hslider],'String','Max. time t[s] to display:','parent',h.plotctrlpanel,'HorizontalAlignment','left');
+    h.sliders.MaxTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels 2*dxy+hslider dsliders hslider],...
+        'min',mintime_log,'max',maxtime_log,'value',maxtime,'callback',@minmaxtime_callback,'parent',h.plotctrlpanel);
+    h.edits.MaxTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders 2*dxy+hslider dedits hslider],'String',get(h.sliders.MaxTime,'value'),...
+        'BackgroundColor','white','callback',@minmaxtime_callback,'parent',h.plotctrlpanel);
+    
+    %Slider: MinTime
+    h.labels.MinTime=uicontrol(gcf,'style','text','position',[dxy 3*dxy+2*hslider dlabels hslider],'String','Min. time t[s] to dispay :','parent',h.plotctrlpanel,'HorizontalAlignment','left');
+    h.sliders.MinTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels 3*dxy+2*hslider dsliders hslider],...
+        'min',mintime_log,'max',maxtime_log,'value',mintime,'callback',@minmaxtime_callback,'parent',h.plotctrlpanel);
+    h.edits.MinTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders 3*dxy+2*hslider dedits hslider],'String',get(h.sliders.MinTime,'value'),...
+        'BackgroundColor','white','callback',@minmaxtime_callback,'parent',h.plotctrlpanel);
+
+    %%Current data/state GUI-elements (Multiline-edit-box)
+    h.edits.AircraftState=uicontrol(gcf,'style','edit','Units','normalized','position',[.02 .02 0.96 0.96],'Min',1,'Max',10,'String','This shows the current aircraft state',...
+                                    'HorizontalAlignment','left','parent',h.aircraftstatepanel);
+    
+    h.labels.GUIState=uicontrol(gcf,'style','text','Units','pixels','position',[dxy dxy width-4*dxy hslider],'String','Current state of this GUI',...
+                                'HorizontalAlignment','left','parent',h.guistatepanel);
+    
+end
+
+%% ************************************************************************
+%  INITPLOTGUI (nested function)
+%  ************************************************************************
+function InitPlotGUI()
+    
+    % Setup handles to lines and text
+    h.markertext=[];
+    templinehandle=0.0;%line([0 1],[0 5]);   % Just a temporary handle to init array
+    h.markerline(1:NrAxes)=templinehandle;   % the actual handle-array to the lines  - these are numbered consecutively
+    h.markerline(1:NrAxes)=0.0;
+        
+    % Setup all other figures and axes for plotting
+    %  PLOT WINDOW 1: GPS POSITION
+    h.figures(2)=figure('units','normalized','Toolbar','figure', 'Name', 'GPS Position');
+    h.axes(1)=axes();
+    set(h.axes(1),'Parent',h.figures(2));
+
+    %  PLOT WINDOW 2: IMU, baro altitude
+    h.figures(3)=figure('Name', 'IMU / Baro Altitude');
+    h.axes(2)=subplot(4,1,1);
+    h.axes(3)=subplot(4,1,2);
+    h.axes(4)=subplot(4,1,3);
+    h.axes(5)=subplot(4,1,4);
+    set(h.axes(2:5),'Parent',h.figures(3));
+    
+    %  PLOT WINDOW 3: ATTITUDE ESTIMATE, ACTUATORS/CONTROLS, AIRSPEEDS,...
+    h.figures(4)=figure('Name', 'Attitude Estimate / Actuators / Airspeeds');
+    h.axes(6)=subplot(4,1,1);
+    h.axes(7)=subplot(4,1,2);
+    h.axes(8)=subplot(4,1,3);
+    h.axes(9)=subplot(4,1,4);
+    set(h.axes(6:9),'Parent',h.figures(4));
+    
+    %  PLOT WINDOW 4: LOG STATS
+    h.figures(5) = figure('Name', 'Log Statistics');
+    h.axes(10)=subplot(1,1,1);
+    set(h.axes(10:10),'Parent',h.figures(5));
+    
+end
+
+%% ************************************************************************
+%  DRAWRAWDATA (nested function)
+%  ************************************************************************
+%Draws the raw data from the sysvector, but does not add any
+%marker-lines or so
+function DrawRawData() 
+    % ************************************************************************
+    %  PLOT WINDOW 1: GPS POSITION & GUI
+    %  ************************************************************************
+    figure(h.figures(2));
+    % Only plot GPS data if available
+    if (sum(double(sysvector.GPS_Lat(imintime:imaxtime)))>0) && (bDisplayGPS)
+        %Draw data
+        plot3(h.axes(1),double(sysvector.GPS_Lat(imintime:imaxtime))*fconv_gpslatlong, ...
+                        double(sysvector.GPS_Lon(imintime:imaxtime))*fconv_gpslatlong, ...
+                        double(sysvector.GPS_Alt(imintime:imaxtime))*fconv_gpsalt,'r.');
+        title(h.axes(1),'GPS Position Data(if available)');
+        xlabel(h.axes(1),'Latitude [deg]');
+        ylabel(h.axes(1),'Longitude [deg]');
+        zlabel(h.axes(1),'Altitude above MSL [m]');
+        grid on
+        
+        %Reset path
+        h.pathpoints=0;
+    end
+
+    % ************************************************************************
+    %  PLOT WINDOW 2: IMU, baro altitude
+    %  ************************************************************************
+    figure(h.figures(3));
+    plot(h.axes(2),time(imintime:imaxtime),[sysvector.IMU_MagX(imintime:imaxtime), sysvector.IMU_MagY(imintime:imaxtime), sysvector.IMU_MagZ(imintime:imaxtime)]);
+    title(h.axes(2),'Magnetometers [Gauss]');
+    legend(h.axes(2),'x','y','z');
+    plot(h.axes(3),time(imintime:imaxtime),[sysvector.IMU_AccX(imintime:imaxtime), sysvector.IMU_AccY(imintime:imaxtime), sysvector.IMU_AccZ(imintime:imaxtime)]);
+    title(h.axes(3),'Accelerometers [m/s²]');
+    legend(h.axes(3),'x','y','z');
+    plot(h.axes(4),time(imintime:imaxtime),[sysvector.IMU_GyroX(imintime:imaxtime), sysvector.IMU_GyroY(imintime:imaxtime), sysvector.IMU_GyroZ(imintime:imaxtime)]);
+    title(h.axes(4),'Gyroscopes [rad/s]');
+    legend(h.axes(4),'x','y','z');
+    plot(h.axes(5),time(imintime:imaxtime),sysvector.SENS_BaroAlt(imintime:imaxtime),'color','blue');
+    if(bDisplayGPS)
+        hold on;
+        plot(h.axes(5),time(imintime:imaxtime),double(sysvector.GPS_Alt(imintime:imaxtime)).*fconv_gpsalt,'color','red');
+        hold off
+        legend('Barometric Altitude [m]','GPS Altitude [m]');
+    else
+        legend('Barometric Altitude [m]');
+    end
+    title(h.axes(5),'Altitude above MSL [m]');
+
+    % ************************************************************************
+    %  PLOT WINDOW 3: ATTITUDE ESTIMATE, ACTUATORS/CONTROLS, AIRSPEEDS,...
+    % ************************************************************************
+    figure(h.figures(4));
+    %Attitude Estimate
+    plot(h.axes(6),time(imintime:imaxtime), [sysvector.ATT_Roll(imintime:imaxtime), sysvector.ATT_Pitch(imintime:imaxtime), sysvector.ATT_Yaw(imintime:imaxtime)] .*180./3.14159);
+    title(h.axes(6),'Estimated attitude [deg]');
+    legend(h.axes(6),'roll','pitch','yaw');
+    %Actuator Controls
+    plot(h.axes(7),time(imintime:imaxtime), [sysvector.ATTC_Roll(imintime:imaxtime), sysvector.ATTC_Pitch(imintime:imaxtime), sysvector.ATTC_Yaw(imintime:imaxtime), sysvector.ATTC_Thrust(imintime:imaxtime)]);
+    title(h.axes(7),'Actuator control [-]');
+    legend(h.axes(7),'ATT CTRL Roll [-1..+1]','ATT CTRL Pitch [-1..+1]','ATT CTRL Yaw [-1..+1]','ATT CTRL Thrust [0..+1]');
+    %Actuator Controls
+    plot(h.axes(8),time(imintime:imaxtime), [sysvector.OUT0_Out0(imintime:imaxtime), sysvector.OUT0_Out1(imintime:imaxtime), sysvector.OUT0_Out2(imintime:imaxtime), sysvector.OUT0_Out3(imintime:imaxtime), sysvector.OUT0_Out4(imintime:imaxtime), sysvector.OUT0_Out5(imintime:imaxtime), sysvector.OUT0_Out6(imintime:imaxtime), sysvector.OUT0_Out7(imintime:imaxtime)]);
+    title(h.axes(8),'Actuator PWM (raw-)outputs [µs]');
+    legend(h.axes(8),'CH1','CH2','CH3','CH4','CH5','CH6','CH7','CH8');
+    set(h.axes(8), 'YLim',[800 2200]);
+    %Airspeeds
+    plot(h.axes(9),time(imintime:imaxtime), sysvector.AIRS_IndSpeed(imintime:imaxtime));
+    hold on
+    plot(h.axes(9),time(imintime:imaxtime), sysvector.AIRS_TrueSpeed(imintime:imaxtime));
+    hold off
+    %add GPS total airspeed here
+    title(h.axes(9),'Airspeed [m/s]');
+    legend(h.axes(9),'Indicated Airspeed (IAS)','True Airspeed (TAS)','GPS Airspeed');
+    %calculate time differences and plot them
+    intervals = zeros(0,imaxtime - imintime);
+    for k = imintime+1:imaxtime
+        intervals(k) = time(k) - time(k-1);
+    end
+    plot(h.axes(10), time(imintime:imaxtime), intervals);
+
+    %Set same timescale for all plots
+    for i=2:NrAxes
+        set(h.axes(i),'XLim',[mintime maxtime]);
+    end
+    
+    set(h.labels.GUIState,'String','OK','BackgroundColor',[240/255 240/255 240/255]);
+end
+
+%% ************************************************************************
+%  DRAWCURRENTAIRCRAFTSTATE(nested function)
+%  ************************************************************************
+function DrawCurrentAircraftState()
+    %find current data index        
+    i=find(time>=CurTime,1,'first');
+
+    %**********************************************************************
+    % Current aircraft state label update
+    %**********************************************************************
+    acstate{1,:}=[sprintf('%s \t\t','GPS Pos:'),'[lat=',num2str(double(sysvector.GPS_Lat(i))*fconv_gpslatlong),'°, ',...
+                        'lon=',num2str(double(sysvector.GPS_Lon(i))*fconv_gpslatlong),'°, ',...
+                        'alt=',num2str(double(sysvector.GPS_Alt(i))*fconv_gpsalt),'m]'];
+    acstate{2,:}=[sprintf('%s \t\t','Mags[gauss]'),'[x=',num2str(sysvector.IMU_MagX(i)),...
+                               ', y=',num2str(sysvector.IMU_MagY(i)),...
+                               ', z=',num2str(sysvector.IMU_MagZ(i)),']'];
+    acstate{3,:}=[sprintf('%s \t\t','Accels[m/s²]'),'[x=',num2str(sysvector.IMU_AccX(i)),...
+                               ', y=',num2str(sysvector.IMU_AccY(i)),...
+                               ', z=',num2str(sysvector.IMU_AccZ(i)),']'];
+    acstate{4,:}=[sprintf('%s \t\t','Gyros[rad/s]'),'[x=',num2str(sysvector.IMU_GyroX(i)),...
+                               ', y=',num2str(sysvector.IMU_GyroY(i)),...
+                               ', z=',num2str(sysvector.IMU_GyroZ(i)),']'];
+    acstate{5,:}=[sprintf('%s \t\t','Altitude[m]'),'[Barometric: ',num2str(sysvector.SENS_BaroAlt(i)),'m, GPS: ',num2str(double(sysvector.GPS_Alt(i))*fconv_gpsalt),'m]'];
+    acstate{6,:}=[sprintf('%s \t','Est. attitude[deg]:'),'[Roll=',num2str(sysvector.ATT_Roll(i).*180./3.14159),...
+                               ', Pitch=',num2str(sysvector.ATT_Pitch(i).*180./3.14159),...
+                               ', Yaw=',num2str(sysvector.ATT_Yaw(i).*180./3.14159),']'];
+    acstate{7,:}=sprintf('%s \t[','Actuator Ctrls [-]:');
+    %for j=1:4
+    acstate{7,:}=[acstate{7,:},num2str(sysvector.ATTC_Roll(i)),','];
+    acstate{7,:}=[acstate{7,:},num2str(sysvector.ATTC_Pitch(i)),','];
+    acstate{7,:}=[acstate{7,:},num2str(sysvector.ATTC_Yaw(i)),','];
+    acstate{7,:}=[acstate{7,:},num2str(sysvector.ATTC_Thrust(i)),','];
+    %end
+    acstate{7,:}=[acstate{7,:},']'];
+    acstate{8,:}=sprintf('%s \t[','Actuator Outputs [PWM/µs]:');
+    %for j=1:8
+    acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out0(i)),','];
+    acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out1(i)),','];
+    acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out2(i)),','];
+    acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out3(i)),','];
+    acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out4(i)),','];
+    acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out5(i)),','];
+    acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out6(i)),','];
+    acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out7(i)),','];
+    %end
+    acstate{8,:}=[acstate{8,:},']'];
+    acstate{9,:}=[sprintf('%s \t','Airspeed[m/s]:'),'[IAS: ',num2str(sysvector.AIRS_IndSpeed(i)),', TAS: ',num2str(sysvector.AIRS_TrueSpeed(i)),']'];
+    
+    set(h.edits.AircraftState,'String',acstate);
+    
+    %**********************************************************************
+    % GPS Plot Update
+    %**********************************************************************
+    %Plot traveled path, and  and time.
+    figure(h.figures(2));
+    hold on;
+    if(CurTime>mintime+1) %the +1 is only a small bugfix
+        h.pathline=plot3(h.axes(1),double(sysvector.GPS_Lat(imintime:i))*fconv_gpslatlong, ...
+                                    double(sysvector.GPS_Lon(imintime:i))*fconv_gpslatlong, ...
+                                    double(sysvector.GPS_Alt(imintime:i))*fconv_gpsalt,'b','LineWidth',2); 
+    end;
+    hold off
+    %Plot current position
+    newpoint=[double(sysvector.GPS_Lat(i))*fconv_gpslatlong double(sysvector.GPS_Lat(i))*fconv_gpslatlong double(sysvector.GPS_Alt(i))*fconv_gpsalt];
+    if(numel(h.pathpoints)<=3) %empty path
+        h.pathpoints(1,1:3)=newpoint;
+    else %Not empty, append new point 
+        h.pathpoints(size(h.pathpoints,1)+1,:)=newpoint;
+    end
+    axes(h.axes(1));    
+    line(h.pathpoints(:,1),h.pathpoints(:,2),h.pathpoints(:,3),'LineStyle','none','Marker','.','MarkerEdge','black','MarkerSize',20);
+    
+    
+    % Plot current time (small label next to current gps position) 
+    textdesc=strcat('  t=',num2str(time(i)),'s');
+    if(isvalidhandle(h.markertext))
+            delete(h.markertext); %delete old text
+    end 
+    h.markertext=text(double(sysvector.GPS_Lat(i))*fconv_gpslatlong,double(sysvector.GPS_Lon(i))*fconv_gpslatlong,...
+                        double(sysvector.GPS_Alt(i))*fconv_gpsalt,textdesc);
+    set(h.edits.CurTime,'String',CurTime);
+        
+    %**********************************************************************
+    % Plot the lines showing the current time in the 2-d plots
+    %**********************************************************************
+    for i=2:NrAxes
+        if(isvalidhandle(h.markerline(i))) delete(h.markerline(i)); end
+        ylims=get(h.axes(i),'YLim');
+        h.markerline(i)=line([CurTime CurTime] ,get(h.axes(i),'YLim'),'Color','black');
+        set(h.markerline(i),'parent',h.axes(i));
+    end
+    
+    set(h.labels.GUIState,'String','OK','BackgroundColor',[240/255 240/255 240/255]);
+end
+
+%% ************************************************************************
+%  MINMAXTIME CALLBACK (nested function)
+%  ************************************************************************
+function minmaxtime_callback(hObj,event) %#ok<INUSL>
+    new_mintime=get(h.sliders.MinTime,'Value');
+    new_maxtime=get(h.sliders.MaxTime,'Value');
+
+    %Safety checks:
+    bErr=false;
+    %1: mintime must be < maxtime
+    if((new_mintime>maxtime) || (new_maxtime<mintime))
+        set(h.labels.GUIState,'String','Error: Mintime cannot be bigger than maxtime! Values were not changed.','BackgroundColor','red');
+        bErr=true;
+    else
+        %2: MinTime must be <=CurTime
+        if(new_mintime>CurTime)
+            set(h.labels.GUIState,'String','Error: Mintime cannot be bigger than CurTime! CurTime set to new mintime.','BackgroundColor','red');
+            mintime=new_mintime;
+            CurTime=mintime;
+            bErr=true;
+        end
+        %3: MaxTime must be >CurTime
+        if(new_maxtime<CurTime)
+            set(h.labels.GUIState,'String','Error: Maxtime cannot be smaller than CurTime! CurTime set to new maxtime.','BackgroundColor','red');
+            maxtime=new_maxtime;
+            CurTime=maxtime;
+            bErr=true;
+        end
+    end
+
+    if(bErr==false)
+        maxtime=new_maxtime;
+        mintime=new_mintime;
+    end
+
+    %Needs to be done in case values were reset above
+    set(h.sliders.MinTime,'Value',mintime);
+    set(h.sliders.MaxTime,'Value',maxtime);
+
+    %Update curtime-slider
+    set(h.sliders.CurTime,'Value',CurTime);
+    set(h.sliders.CurTime,'Max',maxtime);
+    set(h.sliders.CurTime,'Min',mintime);
+    temp=get(h.sliders.CurTime,'Max')-get(h.sliders.CurTime,'Min'); 
+    set(h.sliders.CurTime,'SliderStep',[1.0/temp 5.0/temp]);  %Set Stepsize to constant [in seconds]
+
+    %update edit fields
+    set(h.edits.CurTime,'String',get(h.sliders.CurTime,'Value'));
+    set(h.edits.MinTime,'String',get(h.sliders.MinTime,'Value'));
+    set(h.edits.MaxTime,'String',get(h.sliders.MaxTime,'Value'));
+
+    %Finally, we have to redraw. Update time indices first.
+    [imintime,imaxtime]=FindMinMaxTimeIndices();
+    DrawRawData();                  %Rawdata only
+    DrawCurrentAircraftState();     %path info & markers
+end
+
+
+%% ************************************************************************
+%  CURTIME CALLBACK (nested function)
+%  ************************************************************************
+function curtime_callback(hObj,event) %#ok<INUSL>
+    %find current time
+    if(hObj==h.sliders.CurTime)
+        CurTime=get(h.sliders.CurTime,'Value');
+    elseif (hObj==h.edits.CurTime)
+        temp=str2num(get(h.edits.CurTime,'String'));
+        if(temp<maxtime && temp>mintime)
+            CurTime=temp;
+        else
+            %Error
+            set(h.labels.GUIState,'String','Error: You tried to set an invalid current time! Previous value restored.','BackgroundColor','red');
+        end
+    else
+        %Error
+        set(h.labels.GUIState,'String','Error: curtime_callback','BackgroundColor','red');        
+    end
+    
+    set(h.sliders.CurTime,'Value',CurTime);
+    set(h.edits.CurTime,'String',num2str(CurTime));
+    
+    %Redraw time markers, but don't have to redraw the whole raw data
+    DrawCurrentAircraftState();
+end
+
+%% ************************************************************************
+%  FINDMINMAXINDICES (nested function)
+%  ************************************************************************
+function [idxmin,idxmax] = FindMinMaxTimeIndices()
+    for i=1:size(sysvector.TIME_StartTime,1)
+        if time(i)>=mintime; idxmin=i; break; end
+    end
+    for i=1:size(sysvector.TIME_StartTime,1)
+        if maxtime==0; idxmax=size(sysvector.TIME_StartTime,1); break; end
+        if time(i)>=maxtime; idxmax=i; break; end
+    end
+    mintime=time(idxmin); 
+    maxtime=time(idxmax);
+end
+
+%% ************************************************************************
+%  ISVALIDHANDLE (nested function)
+%  ************************************************************************
+function isvalid = isvalidhandle(handle)
+   if(exist(varname(handle))>0 && length(ishandle(handle))>0) 
+        if(ishandle(handle)>0)
+            if(handle>0.0)
+                isvalid=true;
+                return;
+            end
+        end
+   end
+   isvalid=false;
+end
+
+%% ************************************************************************
+%  JUST SOME SMALL HELPER FUNCTIONS (nested function)
+%  ************************************************************************
+function out = varname(var)
+   out = inputname(1);
+end
+
+%This is the end of the matlab file / the main function
+end
diff --git a/Tools/sdlog2/sdlog2_dump.py b/Tools/sdlog2/sdlog2_dump.py
new file mode 100644
index 000000000..5b1e55e22
--- /dev/null
+++ b/Tools/sdlog2/sdlog2_dump.py
@@ -0,0 +1,334 @@
+#!/usr/bin/env python
+
+from __future__ import print_function
+
+"""Dump binary log generated by PX4's sdlog2 or APM as CSV
+    
+Usage: python sdlog2_dump.py <log.bin> [-v] [-e] [-d delimiter] [-n null] [-m MSG[.field1,field2,...]]
+    
+    -v  Use plain debug output instead of CSV.
+    
+	-e	Recover from errors.
+    
+    -d  Use "delimiter" in CSV. Default is ",".
+    
+    -n  Use "null" as placeholder for empty values in CSV. Default is empty.
+    
+    -m MSG[.field1,field2,...]
+        Dump only messages of specified type, and only specified fields.
+        Multiple -m options allowed."""
+
+__author__  = "Anton Babushkin"
+__version__ = "1.2"
+
+import struct, sys
+
+if sys.hexversion >= 0x030000F0:
+    runningPython3 = True
+    def _parseCString(cstr):
+        return str(cstr, 'ascii').split('\0')[0]
+else:
+    runningPython3 = False
+    def _parseCString(cstr):
+        return str(cstr).split('\0')[0]
+
+class SDLog2Parser:
+    BLOCK_SIZE = 8192
+    MSG_HEADER_LEN = 3
+    MSG_HEAD1 = 0xA3
+    MSG_HEAD2 = 0x95
+    MSG_FORMAT_PACKET_LEN = 89
+    MSG_FORMAT_STRUCT = "BB4s16s64s"
+    MSG_TYPE_FORMAT = 0x80
+    FORMAT_TO_STRUCT = {
+        "b": ("b", None),
+        "B": ("B", None),
+        "h": ("h", None),
+        "H": ("H", None),
+        "i": ("i", None),
+        "I": ("I", None),
+        "f": ("f", None),
+        "n": ("4s", None),
+        "N": ("16s", None),
+        "Z": ("64s", None),
+        "c": ("h", 0.01),
+        "C": ("H", 0.01),
+        "e": ("i", 0.01),
+        "E": ("I", 0.01),
+        "L": ("i", 0.0000001),
+        "M": ("b", None),
+        "q": ("q", None),
+        "Q": ("Q", None),
+    }
+    __csv_delim = ","
+    __csv_null = ""
+    __msg_filter = []
+    __time_msg = None
+    __debug_out = False
+    __correct_errors = False
+    __file_name = None
+    __file = None
+    
+    def __init__(self):
+        return
+    
+    def reset(self):
+        self.__msg_descrs = {}      # message descriptions by message type map
+        self.__msg_labels = {}      # message labels by message name map
+        self.__msg_names = []       # message names in the same order as FORMAT messages
+        self.__buffer = bytearray() # buffer for input binary data
+        self.__ptr = 0              # read pointer in buffer
+        self.__csv_columns = []     # CSV file columns in correct order in format "MSG.label"
+        self.__csv_data = {}        # current values for all columns
+        self.__csv_updated = False
+        self.__msg_filter_map = {}  # filter in form of map, with '*" expanded to full list of fields
+    
+    def setCSVDelimiter(self, csv_delim):
+        self.__csv_delim = csv_delim
+    
+    def setCSVNull(self, csv_null):
+        self.__csv_null = csv_null
+    
+    def setMsgFilter(self, msg_filter):
+        self.__msg_filter = msg_filter
+    
+    def setTimeMsg(self, time_msg):
+        self.__time_msg = time_msg
+    
+    def setDebugOut(self, debug_out):
+        self.__debug_out = debug_out
+
+    def setCorrectErrors(self, correct_errors):
+        self.__correct_errors = correct_errors
+
+    def setFileName(self, file_name):
+    	self.__file_name = file_name
+    	if file_name != None:
+    		self.__file = open(file_name, 'w+')
+    	else:
+    		self.__file = None
+
+    
+    def process(self, fn):
+        self.reset()
+        if self.__debug_out:
+            # init __msg_filter_map
+            for msg_name, show_fields in self.__msg_filter:
+                self.__msg_filter_map[msg_name] = show_fields
+        first_data_msg = True
+        f = open(fn, "rb")
+        bytes_read = 0
+        while True:
+            chunk = f.read(self.BLOCK_SIZE)
+            if len(chunk) == 0:
+                break
+            self.__buffer = self.__buffer[self.__ptr:] + chunk
+            self.__ptr = 0
+            while self.__bytesLeft() >= self.MSG_HEADER_LEN:
+                head1 = self.__buffer[self.__ptr]
+                head2 = self.__buffer[self.__ptr+1]
+                if (head1 != self.MSG_HEAD1 or head2 != self.MSG_HEAD2):
+                    if self.__correct_errors:
+                        self.__ptr += 1
+                        continue
+                    else:
+                        raise Exception("Invalid header at %i (0x%X): %02X %02X, must be %02X %02X" % (bytes_read + self.__ptr, bytes_read + self.__ptr, head1, head2, self.MSG_HEAD1, self.MSG_HEAD2))
+                msg_type = self.__buffer[self.__ptr+2]
+                if msg_type == self.MSG_TYPE_FORMAT:
+                    # parse FORMAT message
+                    if self.__bytesLeft() < self.MSG_FORMAT_PACKET_LEN:
+                        break
+                    self.__parseMsgDescr()
+                else:
+                    # parse data message
+                    msg_descr = self.__msg_descrs[msg_type]
+                    if msg_descr == None:
+                        raise Exception("Unknown msg type: %i" % msg_type)
+                    msg_length = msg_descr[0]
+                    if self.__bytesLeft() < msg_length:
+                        break
+                    if first_data_msg:
+                        # build CSV columns and init data map
+                        self.__initCSV()
+                        first_data_msg = False
+                    self.__parseMsg(msg_descr)
+            bytes_read += self.__ptr
+        if not self.__debug_out and self.__time_msg != None and self.__csv_updated:
+            self.__printCSVRow()
+        f.close()
+    
+    def __bytesLeft(self):
+        return len(self.__buffer) - self.__ptr
+    
+    def __filterMsg(self, msg_name):
+        show_fields = "*"
+        if len(self.__msg_filter_map) > 0:
+            show_fields = self.__msg_filter_map.get(msg_name)
+        return show_fields
+    
+    def __initCSV(self):
+        if len(self.__msg_filter) == 0:
+            for msg_name in self.__msg_names:
+                self.__msg_filter.append((msg_name, "*"))
+        for msg_name, show_fields in self.__msg_filter:
+            if show_fields == "*":
+                show_fields = self.__msg_labels.get(msg_name, [])
+            self.__msg_filter_map[msg_name] = show_fields
+            for field in show_fields:
+                full_label = msg_name + "_" + field
+                self.__csv_columns.append(full_label)
+                self.__csv_data[full_label] = None
+        if self.__file != None:
+            print(self.__csv_delim.join(self.__csv_columns), file=self.__file)
+        else:
+            print(self.__csv_delim.join(self.__csv_columns))
+
+    def __printCSVRow(self):
+        s = []
+        for full_label in self.__csv_columns:
+            v = self.__csv_data[full_label]
+            if v == None:
+                v = self.__csv_null
+            else:
+                v = str(v)
+            s.append(v)
+
+        if self.__file != None:
+            print(self.__csv_delim.join(s), file=self.__file)
+        else:
+            print(self.__csv_delim.join(s))
+
+    def __parseMsgDescr(self):
+        if runningPython3:
+            data = struct.unpack(self.MSG_FORMAT_STRUCT, self.__buffer[self.__ptr + 3 : self.__ptr + self.MSG_FORMAT_PACKET_LEN])
+        else:
+            data = struct.unpack(self.MSG_FORMAT_STRUCT, str(self.__buffer[self.__ptr + 3 : self.__ptr + self.MSG_FORMAT_PACKET_LEN]))
+        msg_type = data[0]
+        if msg_type != self.MSG_TYPE_FORMAT:
+            msg_length = data[1]
+            msg_name = _parseCString(data[2])
+            msg_format = _parseCString(data[3])
+            msg_labels = _parseCString(data[4]).split(",")
+            # Convert msg_format to struct.unpack format string
+            msg_struct = ""
+            msg_mults = []
+            for c in msg_format:
+                try:
+                    f = self.FORMAT_TO_STRUCT[c]
+                    msg_struct += f[0]
+                    msg_mults.append(f[1])
+                except KeyError as e:
+                    raise Exception("Unsupported format char: %s in message %s (%i)" % (c, msg_name, msg_type))
+            msg_struct = "<" + msg_struct   # force little-endian
+            self.__msg_descrs[msg_type] = (msg_length, msg_name, msg_format, msg_labels, msg_struct, msg_mults)
+            self.__msg_labels[msg_name] = msg_labels
+            self.__msg_names.append(msg_name)
+            if self.__debug_out:
+                if self.__filterMsg(msg_name) != None:
+                    print("MSG FORMAT: type = %i, length = %i, name = %s, format = %s, labels = %s, struct = %s, mults = %s" % (
+                                msg_type, msg_length, msg_name, msg_format, str(msg_labels), msg_struct, msg_mults))
+        self.__ptr += self.MSG_FORMAT_PACKET_LEN
+    
+    def __parseMsg(self, msg_descr):
+        msg_length, msg_name, msg_format, msg_labels, msg_struct, msg_mults = msg_descr
+        if not self.__debug_out and self.__time_msg != None and msg_name == self.__time_msg and self.__csv_updated:
+            self.__printCSVRow()
+            self.__csv_updated = False
+        show_fields = self.__filterMsg(msg_name)
+        if (show_fields != None):
+            if runningPython3:
+                data = list(struct.unpack(msg_struct, self.__buffer[self.__ptr+self.MSG_HEADER_LEN:self.__ptr+msg_length]))
+            else:
+                data = list(struct.unpack(msg_struct, str(self.__buffer[self.__ptr+self.MSG_HEADER_LEN:self.__ptr+msg_length])))
+            for i in range(len(data)):
+                if type(data[i]) is str:
+                    data[i] = _parseCString(data[i])
+                m = msg_mults[i]
+                if m != None:
+                    data[i] = data[i] * m
+            if self.__debug_out:
+                s = []
+                for i in range(len(data)):
+                    label = msg_labels[i]
+                    if show_fields == "*" or label in show_fields:
+                        s.append(label + "=" + str(data[i]))
+                print("MSG %s: %s" % (msg_name, ", ".join(s)))
+            else:
+                # update CSV data buffer
+                for i in range(len(data)):
+                    label = msg_labels[i]
+                    if label in show_fields:
+                        self.__csv_data[msg_name + "_" + label] = data[i]
+                        if self.__time_msg != None and msg_name != self.__time_msg:
+                            self.__csv_updated = True
+                if self.__time_msg == None:
+                    self.__printCSVRow()
+        self.__ptr += msg_length
+
+def _main():
+    if len(sys.argv) < 2:
+        print("Usage: python sdlog2_dump.py <log.bin> [-v] [-e] [-d delimiter] [-n null] [-m MSG[.field1,field2,...]] [-t TIME_MSG_NAME]\n")
+        print("\t-v\tUse plain debug output instead of CSV.\n")
+        print("\t-e\tRecover from errors.\n")
+        print("\t-d\tUse \"delimiter\" in CSV. Default is \",\".\n")
+        print("\t-n\tUse \"null\" as placeholder for empty values in CSV. Default is empty.\n")
+        print("\t-m MSG[.field1,field2,...]\n\t\tDump only messages of specified type, and only specified fields.\n\t\tMultiple -m options allowed.")
+        print("\t-t\tSpecify TIME message name to group data messages by time and significantly reduce duplicate output.\n")
+        print("\t-fPrint to file instead of stdout")
+        return
+    fn = sys.argv[1]
+    debug_out = False
+    correct_errors = False
+    msg_filter = []
+    csv_null = ""
+    csv_delim = ","
+    time_msg = "TIME"
+    file_name = None
+    opt = None
+    for arg in sys.argv[2:]:
+        if opt != None:
+            if opt == "d":
+                csv_delim = arg
+            elif opt == "n":
+                csv_null = arg
+            elif opt == "t":
+                time_msg = arg
+            elif opt == "f":
+            	file_name = arg
+            elif opt == "m":
+                show_fields = "*"
+                a = arg.split("_")
+                if len(a) > 1:
+                    show_fields = a[1].split(",")
+                msg_filter.append((a[0], show_fields))
+            opt = None
+        else:
+            if arg == "-v":
+                debug_out = True
+            elif arg == "-e":
+                correct_errors = True
+            elif arg == "-d":
+                opt = "d"
+            elif arg == "-n":
+                opt = "n"
+            elif arg == "-m":
+                opt = "m"
+            elif arg == "-t":
+                opt = "t"
+            elif arg == "-f":
+                opt = "f"
+
+    if csv_delim == "\\t":
+        csv_delim = "\t"
+    parser = SDLog2Parser()
+    parser.setCSVDelimiter(csv_delim)
+    parser.setCSVNull(csv_null)
+    parser.setMsgFilter(msg_filter)
+    parser.setTimeMsg(time_msg)
+    parser.setFileName(file_name)
+    parser.setDebugOut(debug_out)
+    parser.setCorrectErrors(correct_errors)
+    parser.process(fn)
+
+if __name__ == "__main__":
+    _main()