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Diffstat (limited to 'ROMFS/logging/logconv.m')
| -rwxr-xr-x | ROMFS/logging/logconv.m | 224 |
1 files changed, 0 insertions, 224 deletions
diff --git a/ROMFS/logging/logconv.m b/ROMFS/logging/logconv.m deleted file mode 100755 index 92ee01413..000000000 --- a/ROMFS/logging/logconv.m +++ /dev/null @@ -1,224 +0,0 @@ -% This Matlab Script can be used to import the binary logged values of the -% PX4FMU into data that can be plotted and analyzed. - -% Clear everything -clc -clear all -close all - -% Set the path to your sysvector.bin file here -filePath = 'sysvector.bin'; - -% Work around a Matlab bug (not related to PX4) -% where timestamps from 1.1.1970 do not allow to -% read the file's size -if ismac - system('touch -t 201212121212.12 sysvector.bin'); -end - -%%%%%%%%%%%%%%%%%%%%%%% -% SYSTEM VECTOR -% -% //All measurements in NED frame -% -% uint64_t timestamp; //[us] -% float gyro[3]; //[rad/s] -% float accel[3]; //[m/s^2] -% float mag[3]; //[gauss] -% float baro; //pressure [millibar] -% float baro_alt; //altitude above MSL [meter] -% float baro_temp; //[degree celcius] -% float control[4]; //roll, pitch, yaw [-1..1], thrust [0..1] -% float actuators[8]; //motor 1-8, in motor units (PWM: 1000-2000,AR.Drone: 0-512) -% float vbat; //battery voltage in [volt] -% float bat_current - current drawn from battery at this time instant -% float bat_discharged - discharged energy in mAh -% float adc[4]; //ADC ports [volt] -% float local_position[3]; //tangent plane mapping into x,y,z [m] -% int32_t gps_raw_position[3]; //latitude [degrees] north, longitude [degrees] east, altitude above MSL [millimeter] -% float attitude[3]; //pitch, roll, yaw [rad] -% float rotMatrix[9]; //unitvectors -% float actuator_control[4]; //unitvector -% float optical_flow[4]; //roll, pitch, yaw [-1..1], thrust [0..1] -% float diff_pressure; - pressure difference in millibar -% float ind_airspeed; -% float true_airspeed; - -% Definition of the logged values -logFormat{1} = struct('name', 'timestamp', 'bytes', 8, 'array', 1, 'precision', 'uint64', 'machineformat', 'ieee-le.l64'); -logFormat{2} = struct('name', 'gyro', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le'); -logFormat{3} = struct('name', 'accel', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le'); -logFormat{4} = struct('name', 'mag', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le'); -logFormat{5} = struct('name', 'baro', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); -logFormat{6} = struct('name', 'baro_alt', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); -logFormat{7} = struct('name', 'baro_temp', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); -logFormat{8} = struct('name', 'control', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le'); -logFormat{9} = struct('name', 'actuators', 'bytes', 4, 'array', 8, 'precision', 'float', 'machineformat', 'ieee-le'); -logFormat{10} = struct('name', 'vbat', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); -logFormat{11} = struct('name', 'bat_current', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); -logFormat{12} = struct('name', 'bat_discharged', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); -logFormat{13} = struct('name', 'adc', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le'); -logFormat{14} = struct('name', 'local_position', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le'); -logFormat{15} = struct('name', 'gps_raw_position', 'bytes', 4, 'array', 3, 'precision', 'uint32', 'machineformat', 'ieee-le'); -logFormat{16} = struct('name', 'attitude', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le'); -logFormat{17} = struct('name', 'rot_matrix', 'bytes', 4, 'array', 9, 'precision', 'float', 'machineformat', 'ieee-le'); -logFormat{18} = struct('name', 'vicon_position', 'bytes', 4, 'array', 6, 'precision', 'float', 'machineformat', 'ieee-le'); -logFormat{19} = struct('name', 'actuator_control', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le'); -logFormat{20} = struct('name', 'optical_flow', 'bytes', 4, 'array', 6, 'precision', 'float', 'machineformat', 'ieee-le'); -logFormat{21} = struct('name', 'diff_pressure', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); -logFormat{22} = struct('name', 'ind_airspeed', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); -logFormat{23} = struct('name', 'true_airspeed', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); - -% First get length of one line -columns = length(logFormat); -lineLength = 0; - -for i=1:columns - lineLength = lineLength + logFormat{i}.bytes * logFormat{i}.array; -end - - -if exist(filePath, 'file') - - fileInfo = dir(filePath); - fileSize = fileInfo.bytes; - - elements = int64(fileSize./(lineLength)); - - fid = fopen(filePath, 'r'); - offset = 0; - for i=1:columns - % using fread with a skip speeds up the import drastically, do not - % import the values one after the other - sysvector.(genvarname(logFormat{i}.name)) = transpose(fread(... - fid, ... - [logFormat{i}.array, elements], [num2str(logFormat{i}.array),'*',logFormat{i}.precision,'=>',logFormat{i}.precision], ... - lineLength - logFormat{i}.bytes*logFormat{i}.array, ... - logFormat{i}.machineformat) ... - ); - offset = offset + logFormat{i}.bytes*logFormat{i}.array; - fseek(fid, offset,'bof'); - end - - % shot the flight time - time_us = sysvector.timestamp(end) - sysvector.timestamp(1); - time_s = time_us*1e-6; - time_m = time_s/60; - - % close the logfile - fclose(fid); - - disp(['end log2matlab conversion' char(10)]); -else - disp(['file: ' filePath ' does not exist' char(10)]); -end - -%% Plot GPS RAW measurements - -% Only plot GPS data if available -if cumsum(double(sysvector.gps_raw_position(200:end,1))) > 0 - figure('units','normalized','outerposition',[0 0 1 1]) - plot3(sysvector.gps_raw_position(200:end,1), sysvector.gps_raw_position(200:end,2), sysvector.gps_raw_position(200:end,3)); -end - - -%% Plot optical flow trajectory - -flow_sz = size(sysvector.timestamp); -flow_elements = flow_sz(1); - -xt(1:flow_elements,1) = sysvector.timestamp(:,1); % time column [ms] - - -%calc dt -dt = zeros(flow_elements,1); -for i = 1:flow_elements-1 - dt(i+1,1) = double(xt(i+1,1)-xt(i,1)) * 10^(-6); % timestep [s] -end -dt(1,1) = mean(dt); - - -global_speed = zeros(flow_elements,3); - -%calc global speed (with rot matrix) -for i = 1:flow_elements - rotM = [sysvector.rot_matrix(i,1:3);sysvector.rot_matrix(i,4:6);sysvector.rot_matrix(i,7:9)]'; - speedX = sysvector.optical_flow(i,3); - speedY = sysvector.optical_flow(i,4); - - relSpeed = [-speedY,speedX,0]; - global_speed(i,:) = relSpeed * rotM; -end - - - -px = zeros(flow_elements,1); -py = zeros(flow_elements,1); -distance = 0; - -last_vx = 0; -last_vy = 0; -elem_cnt = 0; - -% Very basic accumulation, stops on bad flow quality -for i = 1:flow_elements - if sysvector.optical_flow(i,6) > 5 - px(i,1) = global_speed(i,1)*dt(i,1); - py(i,1) = global_speed(i,2)*dt(i,1); - distance = distance + norm([px(i,1) py(i,1)]); - last_vx = px(i,1); - last_vy = py(i,1); - else - px(i,1) = last_vx; - py(i,1) = last_vy; - last_vx = last_vx*0.95; - last_vy = last_vy*0.95; - end -end - -px_sum = cumsum(px); -py_sum = cumsum(py); -time = cumsum(dt); - -figure() -set(gca, 'Units','normal'); - -plot(py_sum, px_sum, '-blue', 'LineWidth',2); -axis equal; -% set title and axis captions -xlabel('X position (meters)','fontsize',14) -ylabel('Y position (meters)','fontsize',14) -% mark begin and end -hold on -plot(py_sum(1,1),px_sum(1,1),'ks','LineWidth',2,... -'MarkerEdgeColor','k',... -'MarkerFaceColor','g',... -'MarkerSize',10) -hold on -plot(py_sum(end,1),px_sum(end,1),'kv','LineWidth',2,... -'MarkerEdgeColor','k',... -'MarkerFaceColor','b',... -'MarkerSize',10) -% add total length as annotation -set(gca,'fontsize',13); -legend('Trajectory', 'START', sprintf('END\n(%.2f m, %.0f:%.0f s)', distance, time_m, time_s - time_m*60)); -title('Optical Flow Position Integration', 'fontsize', 15); - -figure() -plot(time, sysvector.optical_flow(:,5), 'blue'); -axis([time(1,1) time(end,1) 0 (max(sysvector.optical_flow(i,5))+0.2)]); -xlabel('seconds','fontsize',14); -ylabel('m','fontsize',14); -set(gca,'fontsize',13); -title('Ultrasound Altitude', 'fontsize', 15); - - -figure() -plot(time, global_speed(:,2), 'red'); -hold on; -plot(time, global_speed(:,1), 'blue'); -legend('y velocity (m/s)', 'x velocity (m/s)'); -xlabel('seconds','fontsize',14); -ylabel('m/s','fontsize',14); -set(gca,'fontsize',13); -title('Optical Flow Velocity', 'fontsize', 15); |