diff options
Diffstat (limited to 'ROMFS/logging/logconv.m')
-rw-r--r-- | ROMFS/logging/logconv.m | 57 |
1 files changed, 56 insertions, 1 deletions
diff --git a/ROMFS/logging/logconv.m b/ROMFS/logging/logconv.m index 5a615228d..81fcc1d7e 100644 --- a/ROMFS/logging/logconv.m +++ b/ROMFS/logging/logconv.m @@ -1,6 +1,61 @@ clear all clc +%%%%%%%%%%%%%%%%%%%%%%% +% SYSTEM VECTOR +% +% All measurements in NED frame +% +% uint64_t timestamp; +% float gyro[3]; in rad/s +% float accel[3]; in m/s^2 +% float mag[3]; in Gauss +% float baro; pressure in millibar +% float baro_alt; altitude above MSL in meters +% float baro_temp; in degrees 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 adc[3]; remaining auxiliary ADC ports in volt +% float local_position +% int32 gps_raw_position + + +if exist('sysvector.bin', 'file') + % Read actuators file + myFile = java.io.File('sysvector.bin') + fileSize = length(myFile) + + fid = fopen('sysvector.bin', 'r'); + elements = int64(fileSize./(8+(3+3+3+1+1+1+4+8+4+3+3)*4)); + + for i=1:elements + % timestamp + sysvector(i,1) = double(fread(fid, 1, '*uint64', 0, 'ieee-le.l64')); + % actuators 1-16 + % quadrotor: motor 1-4 on the first four positions + sysvector(i, 2:32) = fread(fid, 28+3, 'float', 'ieee-le'); + sysvector(i,33:35) = fread(fid, 3, 'int32', 'ieee-le'); + end + + sysvector_interval_seconds = (sysvector(end,1) - sysvector(1:1)) / 1000000 + sysvector_minutes = sysvector_interval_seconds / 60 + + % Normalize time + sysvector(:,1) = (sysvector(:,1) - sysvector(1,1)) / 1000000; + + % Create some basic plots + + % Remove zero rows from GPS + gps = sysvector(:,33:35); + gps(~any(gps,2), :) = []; + + plot3(gps(:,1), gps(:,2), gps(:,3)); + + plot(sysvector(:,1), sysvector(:,2:32)); +end + if exist('actuator_outputs0.bin', 'file') % Read actuators file myFile = java.io.File('actuator_outputs0.bin') @@ -9,7 +64,7 @@ if exist('actuator_outputs0.bin', 'file') fid = fopen('actuator_outputs0.bin', 'r'); elements = int64(fileSize./(16*4+8)) - for i=1:(elements-2) + for i=1:elements % timestamp actuators(i,1) = double(fread(fid, 1, '*uint64', 0, 'ieee-le.l64')); % actuators 1-16 |