Cleanup: Moved sdlog2 file conversion scripts to separate folder.

3 files changed, 535 insertions, 535 deletions

diff --git a/Tools/README.txt b/Tools/sdlog2/README.txt
index abeb9a4c7..abeb9a4c7 100644
--- a/Tools/README.txt
+++ b/Tools/sdlog2/README.txt
diff --git a/Tools/logconv.m b/Tools/sdlog2/logconv.m
index c416b8095..e19c97fa3 100644
--- a/Tools/logconv.m
+++ b/Tools/sdlog2/logconv.m
@@ -1,535 +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

+% 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_dump.py b/Tools/sdlog2/sdlog2_dump.py
index 5b1e55e22..5b1e55e22 100644
--- a/Tools/sdlog2_dump.py
+++ b/Tools/sdlog2/sdlog2_dump.py