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author | px4dev <px4@purgatory.org> | 2012-08-04 15:12:36 -0700 |
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committer | px4dev <px4@purgatory.org> | 2012-08-04 15:12:36 -0700 |
commit | 8a365179eafdf3aea98e60ab9f5882b200d4c759 (patch) | |
tree | 4f38d6d4cd80bd0b6e22e2bb534c3f117ce44e56 /apps/sdlog/mfile.template | |
download | px4-firmware-8a365179eafdf3aea98e60ab9f5882b200d4c759.tar.gz px4-firmware-8a365179eafdf3aea98e60ab9f5882b200d4c759.tar.bz2 px4-firmware-8a365179eafdf3aea98e60ab9f5882b200d4c759.zip |
Fresh import of the PX4 firmware sources.
Diffstat (limited to 'apps/sdlog/mfile.template')
-rw-r--r-- | apps/sdlog/mfile.template | 136 |
1 files changed, 136 insertions, 0 deletions
diff --git a/apps/sdlog/mfile.template b/apps/sdlog/mfile.template new file mode 100644 index 000000000..0f7ebd045 --- /dev/null +++ b/apps/sdlog/mfile.template @@ -0,0 +1,136 @@ +%% Import logfiles + +if (exist ('OCTAVE_VERSION', 'builtin')) + % Octave + graphics_toolkit ("fltk") +else + % Matlab +end + +% define log file and GPSs +logfileFolder = 'logfiles'; +fileName = 'all'; +fileEnding = 'px4log'; + +numberOfLogTypes = length(logTypes); + +path = [fileName,'.', fileEnding]; +fid = fopen(path, 'r'); + +% get file length +fseek(fid, 0,'eof'); +fileLength = ftell(fid); +fseek(fid, 0,'bof'); + +% get length of one block +blockLength = 4; % check: $$$$ +for i=1:numberOfLogTypes + blockLength = blockLength + logTypes{i}.type_bytes*logTypes{i}.number_of_array; +end + +% determine number of entries +entries = fileLength / blockLength; + + +% import data +offset = 0; +for i=1:numberOfLogTypes + + data.(genvarname(logTypes{i}.data)).(genvarname(logTypes{i}.variable_name)) = transpose(fread(fid,[logTypes{i}.number_of_array,entries],[num2str(logTypes{i}.number_of_array),'*',logTypes{i}.type_name,'=>',logTypes{i}.type_name],blockLength-logTypes{i}.type_bytes*logTypes{i}.number_of_array)); + offset = offset + logTypes{i}.type_bytes*logTypes{i}.number_of_array; + fseek(fid, offset,'bof'); + + progressPercentage = i/numberOfLogTypes*100; + fprintf('%3.0f%%',progressPercentage); +end + + +%% Plots + +figure +plot(data.sensors_raw.timestamp,data.sensors_raw.gyro_raw) + +figure +plot(data.sensors_raw.timestamp,data.sensors_raw.accelerometer_raw) + +%% Check for lost data + +% to detect lost frames (either when logging to sd card or if no new data is +% data is available for some time) +diff_counter = diff(data.sensors_raw.gyro_raw_counter); +figure +plot(diff_counter) + +% to detect how accurate the timing was +diff_timestamp = diff(data.sensors_raw.timestamp); + +figure +plot(diff_timestamp) + +%% Export to file for google earth + + +if(isfield(data.gps,'lat') && isfield(data.gps,'lon') && isfield(data.gps,'alt')) + + % extract coordinates and height where they are not zero + maskWhereNotZero = ((data.gps.lon ~= 0 & data.gps.lat ~= 0 ) & data.gps.alt ~= 0); + + % plot + figure + plot3(data.gps.lon(maskWhereNotZero),data.gps.lat(maskWhereNotZero),data.gps.alt(maskWhereNotZero)) + + + % create a kml file according to https://developers.google.com/kml/documentation/kml_tut + % also see https://support.google.com/earth/bin/answer.py?hl=en&answer=148072&topic=2376756&ctx=topic + + % open file and overwrite content + fileId = fopen('gps_path.kml','w+'); + + % define strings that should be written to file + fileStartDocumentString = ['<?xml version="1.0" encoding="UTF-8"?><kml xmlns="http://www.opengis.net/kml/2.2"><Document><name>Paths</name><description>Path</description>']; + + fileStyleString = '<Style id="blueLinebluePoly"><LineStyle><color>7fff0000</color><width>4</width></LineStyle><PolyStyle><color>7fff0000</color></PolyStyle></Style>'; + + filePlacemarkString = '<Placemark><name>Absolute Extruded</name><description>Transparent blue wall with blue outlines</description><styleUrl>#blueLinebluePoly</styleUrl><LineString><extrude>1</extrude><tessellate>1</tessellate><altitudeMode>absolute</altitudeMode><coordinates>'; + + fileEndPlacemarkString = '</coordinates></LineString></Placemark>'; + fileEndDocumentString = '</Document></kml>'; + + % start writing to file + fprintf(fileId,fileStartDocumentString); + + fprintf(fileId,fileStyleString); + fprintf(fileId,filePlacemarkString); + + + lonTemp = double(data.gps.lon(maskWhereNotZero))/1E7; + latTemp = double(data.gps.lat(maskWhereNotZero))/1E7; + altTemp = double(data.gps.alt(maskWhereNotZero))/1E3 + 100.0; % in order to see the lines above ground + + % write coordinates to file + for k=1:length(data.gps.lat(maskWhereNotZero)) + if(mod(k,10)==0) + fprintf(fileId,'%.10f,%.10f,%.10f\\n',lonTemp(k),latTemp(k),altTemp(k)); + end + end + + % write end placemark + fprintf(fileId,fileEndPlacemarkString); + + % write end of file + fprintf(fileId,fileEndDocumentString); + + % close file, it should now be readable in Google Earth using File -> Open + fclose(fileId); + +end + +if(isfield(data.position,'lat') && isfield(data.position,'lon') && isfield(data.position,'alt')) + + % extract coordinates and height where they are not zero + maskWhereNotZero = ((data.position.lon ~= 0 & data.position.lat ~= 0 ) & data.position.alt ~= 0); + + % plot + figure + plot3(data.position.lon(maskWhereNotZero),data.position.lat(maskWhereNotZero),data.position.alt(maskWhereNotZero)) +end |