logconv.py added: convert sdlog binary log to CSV

1 files changed, 59 insertions, 0 deletions

diff --git a/Tools/logconv.py b/Tools/logconv.py
new file mode 100644
index 000000000..c47d22a45
--- /dev/null
+++ b/Tools/logconv.py
@@ -0,0 +1,59 @@
+#!/usr/bin/env python
+
+"""Convert binary log generated by sdlog to CSV format
+    
+Usage: python logconv.py <log.bin>"""
+
+__author__  = "Anton Babushkin"
+__version__ = "0.1"
+
+import struct, sys
+
+def _unpack_packet(data):
+    s = ""
+    s += "Q"    #.timestamp = buf.raw.timestamp,
+    s += "fff"  #.gyro = {buf.raw.gyro_rad_s[0], buf.raw.gyro_rad_s[1], buf.raw.gyro_rad_s[2]},
+    s += "fff"  #.accel = {buf.raw.accelerometer_m_s2[0], buf.raw.accelerometer_m_s2[1], buf.raw.accelerometer_m_s2[2]},
+    s += "fff"  #.mag = {buf.raw.magnetometer_ga[0], buf.raw.magnetometer_ga[1], buf.raw.magnetometer_ga[2]},
+    s += "f"    #.baro = buf.raw.baro_pres_mbar,
+    s += "f"    #.baro_alt = buf.raw.baro_alt_meter,
+    s += "f"    #.baro_temp = buf.raw.baro_temp_celcius,
+    s += "ffff" #.control = {buf.act_controls.control[0], buf.act_controls.control[1], buf.act_controls.control[2], buf.act_controls.control[3]},
+    s += "ffffffff"    #.actuators = {buf.act_outputs.output[0], buf.act_outputs.output[1], buf.act_outputs.output[2], buf.act_outputs.output[3], buf.act_outputs.output[4], buf.act_outputs.output[5], buf.act_outputs.output[6], buf.act_outputs.output[7]},
+    s += "f"    #.vbat = buf.batt.voltage_v,
+    s += "f"    #.bat_current = buf.batt.current_a,
+    s += "f"    #.bat_discharged = buf.batt.discharged_mah,
+    s += "ffff" #.adc = {buf.raw.adc_voltage_v[0], buf.raw.adc_voltage_v[1], buf.raw.adc_voltage_v[2], buf.raw.adc_voltage_v[3]},
+    s += "fff"  #.local_position = {buf.local_pos.x, buf.local_pos.y, buf.local_pos.z},
+    s += "iii"  #.gps_raw_position = {buf.gps_pos.lat, buf.gps_pos.lon, buf.gps_pos.alt},
+    s += "fff"  #.attitude = {buf.att.pitch, buf.att.roll, buf.att.yaw},
+    s += "fffffffff"    #.rotMatrix = {buf.att.R[0][0], buf.att.R[0][1], buf.att.R[0][2], buf.att.R[1][0], buf.att.R[1][1], buf.att.R[1][2], buf.att.R[2][0], buf.att.R[2][1], buf.att.R[2][2]},
+    s += "fff"  #.vicon = {buf.vicon_pos.x, buf.vicon_pos.y, buf.vicon_pos.z, buf.vicon_pos.roll, buf.vicon_pos.pitch, buf.vicon_pos.yaw},
+    s += "ffff" #.control_effective = {buf.act_controls_effective.control_effective[0], buf.act_controls_effective.control_effective[1], buf.act_controls_effective.control_effective[2], buf.act_controls_effective.control_effective[3]},
+    s += "ffffff"    #.flow = {buf.flow.flow_raw_x, buf.flow.flow_raw_y, buf.flow.flow_comp_x_m, buf.flow.flow_comp_y_m, buf.flow.ground_distance_m, buf.flow.quality},
+    s += "f"    #.diff_pressure = buf.diff_pres.differential_pressure_pa,
+    s += "f"    #.ind_airspeed = buf.airspeed.indicated_airspeed_m_s,
+    s += "f"    #.true_airspeed = buf.airspeed.true_airspeed_m_s
+    s += "iii"  # to align to 280
+    d = struct.unpack(s, data)
+    return d
+
+def _main():
+    if len(sys.argv) < 2:
+        print "Usage:\npython logconv.py <log.bin>"
+        return
+    fn = sys.argv[1]
+    sysvector_size = 280
+    f = open(fn, "r")
+    while True:
+        data = f.read(sysvector_size)
+        if len(data) < sysvector_size:
+            break
+        a = []
+        for i in _unpack_packet(data):
+            a.append(str(i))
+        print ";".join(a)
+    f.close()
+
+if __name__ == "__main__":
+    _main()