diff options
Diffstat (limited to 'ROMFS/logging/logconv.m')
| -rw-r--r-- | ROMFS/logging/logconv.m | 98 |
1 files changed, 98 insertions, 0 deletions
diff --git a/ROMFS/logging/logconv.m b/ROMFS/logging/logconv.m new file mode 100644 index 000000000..5a615228d --- /dev/null +++ b/ROMFS/logging/logconv.m @@ -0,0 +1,98 @@ +clear all +clc + +if exist('actuator_outputs0.bin', 'file') + % Read actuators file + myFile = java.io.File('actuator_outputs0.bin') + fileSize = length(myFile) + + fid = fopen('actuator_outputs0.bin', 'r'); + elements = int64(fileSize./(16*4+8)) + + for i=1:(elements-2) + % timestamp + actuators(i,1) = double(fread(fid, 1, '*uint64', 0, 'ieee-le.l64')); + % actuators 1-16 + % quadrotor: motor 1-4 on the first four positions + actuators(i, 2:17) = fread(fid, 16, 'float', 'ieee-le'); + end +end + +if exist('actuator_controls0.bin', 'file') + % Read actuators file + myFile = java.io.File('actuator_controls0.bin') + fileSize = length(myFile) + + fid = fopen('actuator_controls0.bin', 'r'); + elements = int64(fileSize./(8*4+8)) + + for i=1:elements + % timestamp + actuator_controls(i,1) = fread(fid, 1, 'uint64', 0, 'ieee-le.l64'); + % actuators 1-16 + % quadrotor: motor 1-4 on the first four positions + actuator_controls(i, 2:9) = fread(fid, 8, 'float', 'ieee-le'); + end +end + + +if exist('sensor_combined.bin', 'file') + % Read sensor combined file + % Type definition: Firmware/apps/uORB/topics/sensor_combined.h + % Struct: sensor_combined_s + fileInfo = dir('sensor_combined.bin'); + fileSize = fileInfo.bytes; + + fid = fopen('sensor_combined.bin', 'r'); + + for i=1:elements + % timestamp + sensors(i,1) = double(fread(fid, 1, '*uint64', 0, 'ieee-le.l64')); + % gyro raw + sensors(i,2:4) = fread(fid, 3, 'int16', 0, 'ieee-le'); + % gyro counter + sensors(i,5) = fread(fid, 1, 'uint16', 0, 'ieee-le'); + % gyro in rad/s + sensors(i,6:8) = fread(fid, 3, 'float', 0, 'ieee-le'); + + % accelerometer raw + sensors(i,9:11) = fread(fid, 3, 'int16', 0, 'ieee-le'); + % padding bytes + fread(fid, 1, 'int16', 0, 'ieee-le'); + % accelerometer counter + sensors(i,12) = fread(fid, 1, 'uint32', 0, 'ieee-le'); + % accel in m/s2 + sensors(i,13:15) = fread(fid, 3, 'float', 0, 'ieee-le'); + % accel mode + sensors(i,16) = fread(fid, 1, 'int32', 0, 'ieee-le'); + % accel range + sensors(i,17) = fread(fid, 1, 'float', 0, 'ieee-le'); + + % mag raw + sensors(i,18:20) = fread(fid, 3, 'int16', 0, 'ieee-le'); + % padding bytes + fread(fid, 1, 'int16', 0, 'ieee-le'); + % mag in Gauss + sensors(i,21:23) = fread(fid, 3, 'float', 0, 'ieee-le'); + % mag mode + sensors(i,24) = fread(fid, 1, 'int32', 0, 'ieee-le'); + % mag range + sensors(i,25) = fread(fid, 1, 'float', 0, 'ieee-le'); + % mag cuttoff freq + sensors(i,26) = fread(fid, 1, 'float', 0, 'ieee-le'); + % mag counter + sensors(i,27) = fread(fid, 1, 'int32', 0, 'ieee-le'); + + % baro pressure millibar + % baro alt meter + % baro temp celcius + % battery voltage + % adc voltage (3 channels) + sensors(i,28:34) = fread(fid, 7, 'float', 0, 'ieee-le'); + % baro counter and battery counter + sensors(i,35:36) = fread(fid, 2, 'uint32', 0, 'ieee-le'); + % battery voltage valid flag + sensors(i,37) = fread(fid, 1, 'uint32', 0, 'ieee-le'); + + end +end
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