aboutsummaryrefslogtreecommitdiff
path: root/Tools
diff options
context:
space:
mode:
Diffstat (limited to 'Tools')
-rw-r--r--Tools/README.txt13
-rw-r--r--Tools/logconv.m535
-rw-r--r--Tools/logconv.py59
-rw-r--r--Tools/sdlog2_dump.py102
4 files changed, 620 insertions, 89 deletions
diff --git a/Tools/README.txt b/Tools/README.txt
new file mode 100644
index 000000000..abeb9a4c7
--- /dev/null
+++ b/Tools/README.txt
@@ -0,0 +1,13 @@
+====== PX4 LOG CONVERSION ======
+
+On each log session (commonly started and stopped by arming and disarming the vehicle) a new file logxxx.bin is created. In many cases there will be only one logfile named log001.bin (only one flight).
+
+There are two conversion scripts in this ZIP file:
+
+logconv.m: This is a MATLAB script which will automatically convert and display the flight data with a GUI. If running this script, the second script can be ignored.
+
+sdlog2_dump.py: This is a Python script (compatible with v2 and v3) which converts the self-describing binary log format to a CSV file. To export a CSV file from within a shell (Windows CMD or BASH on Linux / Mac OS), run:
+
+python sdlog2_dump.py log001.bin -f "export.csv" -t "TIME" -d "," -n ""
+
+Python can be downloaded from http://python.org, but is available as default on Mac OS and Linux. \ No newline at end of file
diff --git a/Tools/logconv.m b/Tools/logconv.m
new file mode 100644
index 000000000..c416b8095
--- /dev/null
+++ b/Tools/logconv.m
@@ -0,0 +1,535 @@
+% This Matlab Script can be used to import the binary logged values of the
+% PX4FMU into data that can be plotted and analyzed.
+
+%% ************************************************************************
+% PX4LOG_PLOTSCRIPT: Main function
+% ************************************************************************
+function PX4Log_Plotscript
+
+% Clear everything
+clc
+clear all
+close all
+
+% ************************************************************************
+% SETTINGS
+% ************************************************************************
+
+% Set the path to your sysvector.bin file here
+filePath = 'log001.bin';
+
+% Set the minimum and maximum times to plot here [in seconds]
+mintime=0; %The minimum time/timestamp to display, as set by the user [0 for first element / start]
+maxtime=0; %The maximum time/timestamp to display, as set by the user [0 for last element / end]
+
+%Determine which data to plot. Not completely implemented yet.
+bDisplayGPS=true;
+
+%conversion factors
+fconv_gpsalt=1; %[mm] to [m]
+fconv_gpslatlong=1; %[gps_raw_position_unit] to [deg]
+fconv_timestamp=1E-6; % [microseconds] to [seconds]
+
+% ************************************************************************
+% Import the PX4 logs
+% ************************************************************************
+ImportPX4LogData();
+
+%Translate min and max plot times to indices
+time=double(sysvector.TIME_StartTime) .*fconv_timestamp;
+mintime_log=time(1); %The minimum time/timestamp found in the log
+maxtime_log=time(end); %The maximum time/timestamp found in the log
+CurTime=mintime_log; %The current time at which to draw the aircraft position
+
+[imintime,imaxtime]=FindMinMaxTimeIndices();
+
+% ************************************************************************
+% PLOT & GUI SETUP
+% ************************************************************************
+NrFigures=5;
+NrAxes=10;
+h.figures(1:NrFigures)=0.0; % Temporary initialization of figure handle array - these are numbered consecutively
+h.axes(1:NrAxes)=0.0; % Temporary initialization of axes handle array - these are numbered consecutively
+h.pathpoints=[]; % Temporary initiliazation of path points
+
+% Setup the GUI to control the plots
+InitControlGUI();
+% Setup the plotting-GUI (figures, axes) itself.
+InitPlotGUI();
+
+% ************************************************************************
+% DRAW EVERYTHING
+% ************************************************************************
+DrawRawData();
+DrawCurrentAircraftState();
+
+%% ************************************************************************
+% *** END OF MAIN SCRIPT ***
+% NESTED FUNCTION DEFINTIONS FROM HERE ON
+% ************************************************************************
+
+
+%% ************************************************************************
+% IMPORTPX4LOGDATA (nested function)
+% ************************************************************************
+% Attention: This is the import routine for firmware from ca. 03/2013.
+% Other firmware versions might require different import
+% routines.
+
+%% ************************************************************************
+% IMPORTPX4LOGDATA (nested function)
+% ************************************************************************
+% Attention: This is the import routine for firmware from ca. 03/2013.
+% Other firmware versions might require different import
+% routines.
+
+function ImportPX4LogData()
+
+ % ************************************************************************
+ % RETRIEVE SYSTEM VECTOR
+ % *************************************************************************
+ % //All measurements in NED frame
+
+ % Convert to CSV
+ %arg1 = 'log-fx61-20130721-2.bin';
+ arg1 = filePath;
+ delim = ',';
+ time_field = 'TIME';
+ data_file = 'data.csv';
+ csv_null = '';
+
+ if not(exist(data_file, 'file'))
+ s = system( sprintf('python sdlog2_dump.py "%s" -f "%s" -t"%s" -d"%s" -n"%s"', arg1, data_file, time_field, delim, csv_null) );
+ end
+
+ if exist(data_file, 'file')
+
+ %data = csvread(data_file);
+ sysvector = tdfread(data_file, ',');
+
+ % shot the flight time
+ time_us = sysvector.TIME_StartTime(end) - sysvector.TIME_StartTime(1);
+ time_s = uint64(time_us*1e-6);
+ time_m = uint64(time_s/60);
+ time_s = time_s - time_m * 60;
+
+ disp([sprintf('Flight log duration: %d:%d (minutes:seconds)', time_m, time_s) char(10)]);
+
+ disp(['logfile conversion finished.' char(10)]);
+ else
+ disp(['file: ' data_file ' does not exist' char(10)]);
+ end
+end
+
+%% ************************************************************************
+% INITCONTROLGUI (nested function)
+% ************************************************************************
+%Setup central control GUI components to control current time where data is shown
+function InitControlGUI()
+ %**********************************************************************
+ % GUI size definitions
+ %**********************************************************************
+ dxy=5; %margins
+ %Panel: Plotctrl
+ dlabels=120;
+ dsliders=200;
+ dedits=80;
+ hslider=20;
+
+ hpanel1=40; %panel1
+ hpanel2=220;%panel2
+ hpanel3=3*hslider+4*dxy+3*dxy;%panel3.
+
+ width=dlabels+dsliders+dedits+4*dxy+2*dxy; %figure width
+ height=hpanel1+hpanel2+hpanel3+4*dxy; %figure height
+
+ %**********************************************************************
+ % Create GUI
+ %**********************************************************************
+ h.figures(1)=figure('Units','pixels','position',[200 200 width height],'Name','Control GUI');
+ h.guistatepanel=uipanel('Title','Current GUI state','Units','pixels','Position',[dxy dxy width-2*dxy hpanel1],'parent',h.figures(1));
+ h.aircraftstatepanel=uipanel('Title','Current aircraft state','Units','pixels','Position',[dxy hpanel1+2*dxy width-2*dxy hpanel2],'parent',h.figures(1));
+ h.plotctrlpanel=uipanel('Title','Plot Control','Units','pixels','Position',[dxy hpanel1+hpanel2+3*dxy width-2*dxy hpanel3],'parent',h.figures(1));
+
+ %%Control GUI-elements
+ %Slider: Current time
+ h.labels.CurTime=uicontrol(gcf,'style','text','Position',[dxy dxy dlabels hslider],'String','Current time t[s]:','parent',h.plotctrlpanel,'HorizontalAlignment','left');
+ h.sliders.CurTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels dxy dsliders hslider],...
+ 'min',mintime,'max',maxtime,'value',mintime,'callback',@curtime_callback,'parent',h.plotctrlpanel);
+ temp=get(h.sliders.CurTime,'Max')-get(h.sliders.CurTime,'Min');
+ set(h.sliders.CurTime,'SliderStep',[1.0/temp 5.0/temp]);
+ h.edits.CurTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders dxy dedits hslider],'String',get(h.sliders.CurTime,'value'),...
+ 'BackgroundColor','white','callback',@curtime_callback,'parent',h.plotctrlpanel);
+
+ %Slider: MaxTime
+ h.labels.MaxTime=uicontrol(gcf,'style','text','position',[dxy 2*dxy+hslider dlabels hslider],'String','Max. time t[s] to display:','parent',h.plotctrlpanel,'HorizontalAlignment','left');
+ h.sliders.MaxTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels 2*dxy+hslider dsliders hslider],...
+ 'min',mintime_log,'max',maxtime_log,'value',maxtime,'callback',@minmaxtime_callback,'parent',h.plotctrlpanel);
+ h.edits.MaxTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders 2*dxy+hslider dedits hslider],'String',get(h.sliders.MaxTime,'value'),...
+ 'BackgroundColor','white','callback',@minmaxtime_callback,'parent',h.plotctrlpanel);
+
+ %Slider: MinTime
+ h.labels.MinTime=uicontrol(gcf,'style','text','position',[dxy 3*dxy+2*hslider dlabels hslider],'String','Min. time t[s] to dispay :','parent',h.plotctrlpanel,'HorizontalAlignment','left');
+ h.sliders.MinTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels 3*dxy+2*hslider dsliders hslider],...
+ 'min',mintime_log,'max',maxtime_log,'value',mintime,'callback',@minmaxtime_callback,'parent',h.plotctrlpanel);
+ h.edits.MinTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders 3*dxy+2*hslider dedits hslider],'String',get(h.sliders.MinTime,'value'),...
+ 'BackgroundColor','white','callback',@minmaxtime_callback,'parent',h.plotctrlpanel);
+
+ %%Current data/state GUI-elements (Multiline-edit-box)
+ h.edits.AircraftState=uicontrol(gcf,'style','edit','Units','normalized','position',[.02 .02 0.96 0.96],'Min',1,'Max',10,'String','This shows the current aircraft state',...
+ 'HorizontalAlignment','left','parent',h.aircraftstatepanel);
+
+ h.labels.GUIState=uicontrol(gcf,'style','text','Units','pixels','position',[dxy dxy width-4*dxy hslider],'String','Current state of this GUI',...
+ 'HorizontalAlignment','left','parent',h.guistatepanel);
+
+end
+
+%% ************************************************************************
+% INITPLOTGUI (nested function)
+% ************************************************************************
+function InitPlotGUI()
+
+ % Setup handles to lines and text
+ h.markertext=[];
+ templinehandle=0.0;%line([0 1],[0 5]); % Just a temporary handle to init array
+ h.markerline(1:NrAxes)=templinehandle; % the actual handle-array to the lines - these are numbered consecutively
+ h.markerline(1:NrAxes)=0.0;
+
+ % Setup all other figures and axes for plotting
+ % PLOT WINDOW 1: GPS POSITION
+ h.figures(2)=figure('units','normalized','Toolbar','figure', 'Name', 'GPS Position');
+ h.axes(1)=axes();
+ set(h.axes(1),'Parent',h.figures(2));
+
+ % PLOT WINDOW 2: IMU, baro altitude
+ h.figures(3)=figure('Name', 'IMU / Baro Altitude');
+ h.axes(2)=subplot(4,1,1);
+ h.axes(3)=subplot(4,1,2);
+ h.axes(4)=subplot(4,1,3);
+ h.axes(5)=subplot(4,1,4);
+ set(h.axes(2:5),'Parent',h.figures(3));
+
+ % PLOT WINDOW 3: ATTITUDE ESTIMATE, ACTUATORS/CONTROLS, AIRSPEEDS,...
+ h.figures(4)=figure('Name', 'Attitude Estimate / Actuators / Airspeeds');
+ h.axes(6)=subplot(4,1,1);
+ h.axes(7)=subplot(4,1,2);
+ h.axes(8)=subplot(4,1,3);
+ h.axes(9)=subplot(4,1,4);
+ set(h.axes(6:9),'Parent',h.figures(4));
+
+ % PLOT WINDOW 4: LOG STATS
+ h.figures(5) = figure('Name', 'Log Statistics');
+ h.axes(10)=subplot(1,1,1);
+ set(h.axes(10:10),'Parent',h.figures(5));
+
+end
+
+%% ************************************************************************
+% DRAWRAWDATA (nested function)
+% ************************************************************************
+%Draws the raw data from the sysvector, but does not add any
+%marker-lines or so
+function DrawRawData()
+ % ************************************************************************
+ % PLOT WINDOW 1: GPS POSITION & GUI
+ % ************************************************************************
+ figure(h.figures(2));
+ % Only plot GPS data if available
+ if (sum(double(sysvector.GPS_Lat(imintime:imaxtime)))>0) && (bDisplayGPS)
+ %Draw data
+ plot3(h.axes(1),double(sysvector.GPS_Lat(imintime:imaxtime))*fconv_gpslatlong, ...
+ double(sysvector.GPS_Lon(imintime:imaxtime))*fconv_gpslatlong, ...
+ double(sysvector.GPS_Alt(imintime:imaxtime))*fconv_gpsalt,'r.');
+ title(h.axes(1),'GPS Position Data(if available)');
+ xlabel(h.axes(1),'Latitude [deg]');
+ ylabel(h.axes(1),'Longitude [deg]');
+ zlabel(h.axes(1),'Altitude above MSL [m]');
+ grid on
+
+ %Reset path
+ h.pathpoints=0;
+ end
+
+ % ************************************************************************
+ % PLOT WINDOW 2: IMU, baro altitude
+ % ************************************************************************
+ figure(h.figures(3));
+ plot(h.axes(2),time(imintime:imaxtime),[sysvector.IMU_MagX(imintime:imaxtime), sysvector.IMU_MagY(imintime:imaxtime), sysvector.IMU_MagZ(imintime:imaxtime)]);
+ title(h.axes(2),'Magnetometers [Gauss]');
+ legend(h.axes(2),'x','y','z');
+ plot(h.axes(3),time(imintime:imaxtime),[sysvector.IMU_AccX(imintime:imaxtime), sysvector.IMU_AccY(imintime:imaxtime), sysvector.IMU_AccZ(imintime:imaxtime)]);
+ title(h.axes(3),'Accelerometers [m/s²]');
+ legend(h.axes(3),'x','y','z');
+ plot(h.axes(4),time(imintime:imaxtime),[sysvector.IMU_GyroX(imintime:imaxtime), sysvector.IMU_GyroY(imintime:imaxtime), sysvector.IMU_GyroZ(imintime:imaxtime)]);
+ title(h.axes(4),'Gyroscopes [rad/s]');
+ legend(h.axes(4),'x','y','z');
+ plot(h.axes(5),time(imintime:imaxtime),sysvector.SENS_BaroAlt(imintime:imaxtime),'color','blue');
+ if(bDisplayGPS)
+ hold on;
+ plot(h.axes(5),time(imintime:imaxtime),double(sysvector.GPS_Alt(imintime:imaxtime)).*fconv_gpsalt,'color','red');
+ hold off
+ legend('Barometric Altitude [m]','GPS Altitude [m]');
+ else
+ legend('Barometric Altitude [m]');
+ end
+ title(h.axes(5),'Altitude above MSL [m]');
+
+ % ************************************************************************
+ % PLOT WINDOW 3: ATTITUDE ESTIMATE, ACTUATORS/CONTROLS, AIRSPEEDS,...
+ % ************************************************************************
+ figure(h.figures(4));
+ %Attitude Estimate
+ plot(h.axes(6),time(imintime:imaxtime), [sysvector.ATT_Roll(imintime:imaxtime), sysvector.ATT_Pitch(imintime:imaxtime), sysvector.ATT_Yaw(imintime:imaxtime)] .*180./3.14159);
+ title(h.axes(6),'Estimated attitude [deg]');
+ legend(h.axes(6),'roll','pitch','yaw');
+ %Actuator Controls
+ plot(h.axes(7),time(imintime:imaxtime), [sysvector.ATTC_Roll(imintime:imaxtime), sysvector.ATTC_Pitch(imintime:imaxtime), sysvector.ATTC_Yaw(imintime:imaxtime), sysvector.ATTC_Thrust(imintime:imaxtime)]);
+ title(h.axes(7),'Actuator control [-]');
+ legend(h.axes(7),'ATT CTRL Roll [-1..+1]','ATT CTRL Pitch [-1..+1]','ATT CTRL Yaw [-1..+1]','ATT CTRL Thrust [0..+1]');
+ %Actuator Controls
+ plot(h.axes(8),time(imintime:imaxtime), [sysvector.OUT0_Out0(imintime:imaxtime), sysvector.OUT0_Out1(imintime:imaxtime), sysvector.OUT0_Out2(imintime:imaxtime), sysvector.OUT0_Out3(imintime:imaxtime), sysvector.OUT0_Out4(imintime:imaxtime), sysvector.OUT0_Out5(imintime:imaxtime), sysvector.OUT0_Out6(imintime:imaxtime), sysvector.OUT0_Out7(imintime:imaxtime)]);
+ title(h.axes(8),'Actuator PWM (raw-)outputs [µs]');
+ legend(h.axes(8),'CH1','CH2','CH3','CH4','CH5','CH6','CH7','CH8');
+ set(h.axes(8), 'YLim',[800 2200]);
+ %Airspeeds
+ plot(h.axes(9),time(imintime:imaxtime), sysvector.AIRS_IndSpeed(imintime:imaxtime));
+ hold on
+ plot(h.axes(9),time(imintime:imaxtime), sysvector.AIRS_TrueSpeed(imintime:imaxtime));
+ hold off
+ %add GPS total airspeed here
+ title(h.axes(9),'Airspeed [m/s]');
+ legend(h.axes(9),'Indicated Airspeed (IAS)','True Airspeed (TAS)','GPS Airspeed');
+ %calculate time differences and plot them
+ intervals = zeros(0,imaxtime - imintime);
+ for k = imintime+1:imaxtime
+ intervals(k) = time(k) - time(k-1);
+ end
+ plot(h.axes(10), time(imintime:imaxtime), intervals);
+
+ %Set same timescale for all plots
+ for i=2:NrAxes
+ set(h.axes(i),'XLim',[mintime maxtime]);
+ end
+
+ set(h.labels.GUIState,'String','OK','BackgroundColor',[240/255 240/255 240/255]);
+end
+
+%% ************************************************************************
+% DRAWCURRENTAIRCRAFTSTATE(nested function)
+% ************************************************************************
+function DrawCurrentAircraftState()
+ %find current data index
+ i=find(time>=CurTime,1,'first');
+
+ %**********************************************************************
+ % Current aircraft state label update
+ %**********************************************************************
+ acstate{1,:}=[sprintf('%s \t\t','GPS Pos:'),'[lat=',num2str(double(sysvector.GPS_Lat(i))*fconv_gpslatlong),'°, ',...
+ 'lon=',num2str(double(sysvector.GPS_Lon(i))*fconv_gpslatlong),'°, ',...
+ 'alt=',num2str(double(sysvector.GPS_Alt(i))*fconv_gpsalt),'m]'];
+ acstate{2,:}=[sprintf('%s \t\t','Mags[gauss]'),'[x=',num2str(sysvector.IMU_MagX(i)),...
+ ', y=',num2str(sysvector.IMU_MagY(i)),...
+ ', z=',num2str(sysvector.IMU_MagZ(i)),']'];
+ acstate{3,:}=[sprintf('%s \t\t','Accels[m/s²]'),'[x=',num2str(sysvector.IMU_AccX(i)),...
+ ', y=',num2str(sysvector.IMU_AccY(i)),...
+ ', z=',num2str(sysvector.IMU_AccZ(i)),']'];
+ acstate{4,:}=[sprintf('%s \t\t','Gyros[rad/s]'),'[x=',num2str(sysvector.IMU_GyroX(i)),...
+ ', y=',num2str(sysvector.IMU_GyroY(i)),...
+ ', z=',num2str(sysvector.IMU_GyroZ(i)),']'];
+ acstate{5,:}=[sprintf('%s \t\t','Altitude[m]'),'[Barometric: ',num2str(sysvector.SENS_BaroAlt(i)),'m, GPS: ',num2str(double(sysvector.GPS_Alt(i))*fconv_gpsalt),'m]'];
+ acstate{6,:}=[sprintf('%s \t','Est. attitude[deg]:'),'[Roll=',num2str(sysvector.ATT_Roll(i).*180./3.14159),...
+ ', Pitch=',num2str(sysvector.ATT_Pitch(i).*180./3.14159),...
+ ', Yaw=',num2str(sysvector.ATT_Yaw(i).*180./3.14159),']'];
+ acstate{7,:}=sprintf('%s \t[','Actuator Ctrls [-]:');
+ %for j=1:4
+ acstate{7,:}=[acstate{7,:},num2str(sysvector.ATTC_Roll(i)),','];
+ acstate{7,:}=[acstate{7,:},num2str(sysvector.ATTC_Pitch(i)),','];
+ acstate{7,:}=[acstate{7,:},num2str(sysvector.ATTC_Yaw(i)),','];
+ acstate{7,:}=[acstate{7,:},num2str(sysvector.ATTC_Thrust(i)),','];
+ %end
+ acstate{7,:}=[acstate{7,:},']'];
+ acstate{8,:}=sprintf('%s \t[','Actuator Outputs [PWM/µs]:');
+ %for j=1:8
+ acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out0(i)),','];
+ acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out1(i)),','];
+ acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out2(i)),','];
+ acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out3(i)),','];
+ acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out4(i)),','];
+ acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out5(i)),','];
+ acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out6(i)),','];
+ acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out7(i)),','];
+ %end
+ acstate{8,:}=[acstate{8,:},']'];
+ acstate{9,:}=[sprintf('%s \t','Airspeed[m/s]:'),'[IAS: ',num2str(sysvector.AIRS_IndSpeed(i)),', TAS: ',num2str(sysvector.AIRS_TrueSpeed(i)),']'];
+
+ set(h.edits.AircraftState,'String',acstate);
+
+ %**********************************************************************
+ % GPS Plot Update
+ %**********************************************************************
+ %Plot traveled path, and and time.
+ figure(h.figures(2));
+ hold on;
+ if(CurTime>mintime+1) %the +1 is only a small bugfix
+ h.pathline=plot3(h.axes(1),double(sysvector.GPS_Lat(imintime:i))*fconv_gpslatlong, ...
+ double(sysvector.GPS_Lon(imintime:i))*fconv_gpslatlong, ...
+ double(sysvector.GPS_Alt(imintime:i))*fconv_gpsalt,'b','LineWidth',2);
+ end;
+ hold off
+ %Plot current position
+ newpoint=[double(sysvector.GPS_Lat(i))*fconv_gpslatlong double(sysvector.GPS_Lat(i))*fconv_gpslatlong double(sysvector.GPS_Alt(i))*fconv_gpsalt];
+ if(numel(h.pathpoints)<=3) %empty path
+ h.pathpoints(1,1:3)=newpoint;
+ else %Not empty, append new point
+ h.pathpoints(size(h.pathpoints,1)+1,:)=newpoint;
+ end
+ axes(h.axes(1));
+ line(h.pathpoints(:,1),h.pathpoints(:,2),h.pathpoints(:,3),'LineStyle','none','Marker','.','MarkerEdge','black','MarkerSize',20);
+
+
+ % Plot current time (small label next to current gps position)
+ textdesc=strcat(' t=',num2str(time(i)),'s');
+ if(isvalidhandle(h.markertext))
+ delete(h.markertext); %delete old text
+ end
+ h.markertext=text(double(sysvector.GPS_Lat(i))*fconv_gpslatlong,double(sysvector.GPS_Lon(i))*fconv_gpslatlong,...
+ double(sysvector.GPS_Alt(i))*fconv_gpsalt,textdesc);
+ set(h.edits.CurTime,'String',CurTime);
+
+ %**********************************************************************
+ % Plot the lines showing the current time in the 2-d plots
+ %**********************************************************************
+ for i=2:NrAxes
+ if(isvalidhandle(h.markerline(i))) delete(h.markerline(i)); end
+ ylims=get(h.axes(i),'YLim');
+ h.markerline(i)=line([CurTime CurTime] ,get(h.axes(i),'YLim'),'Color','black');
+ set(h.markerline(i),'parent',h.axes(i));
+ end
+
+ set(h.labels.GUIState,'String','OK','BackgroundColor',[240/255 240/255 240/255]);
+end
+
+%% ************************************************************************
+% MINMAXTIME CALLBACK (nested function)
+% ************************************************************************
+function minmaxtime_callback(hObj,event) %#ok<INUSL>
+ new_mintime=get(h.sliders.MinTime,'Value');
+ new_maxtime=get(h.sliders.MaxTime,'Value');
+
+ %Safety checks:
+ bErr=false;
+ %1: mintime must be < maxtime
+ if((new_mintime>maxtime) || (new_maxtime<mintime))
+ set(h.labels.GUIState,'String','Error: Mintime cannot be bigger than maxtime! Values were not changed.','BackgroundColor','red');
+ bErr=true;
+ else
+ %2: MinTime must be <=CurTime
+ if(new_mintime>CurTime)
+ set(h.labels.GUIState,'String','Error: Mintime cannot be bigger than CurTime! CurTime set to new mintime.','BackgroundColor','red');
+ mintime=new_mintime;
+ CurTime=mintime;
+ bErr=true;
+ end
+ %3: MaxTime must be >CurTime
+ if(new_maxtime<CurTime)
+ set(h.labels.GUIState,'String','Error: Maxtime cannot be smaller than CurTime! CurTime set to new maxtime.','BackgroundColor','red');
+ maxtime=new_maxtime;
+ CurTime=maxtime;
+ bErr=true;
+ end
+ end
+
+ if(bErr==false)
+ maxtime=new_maxtime;
+ mintime=new_mintime;
+ end
+
+ %Needs to be done in case values were reset above
+ set(h.sliders.MinTime,'Value',mintime);
+ set(h.sliders.MaxTime,'Value',maxtime);
+
+ %Update curtime-slider
+ set(h.sliders.CurTime,'Value',CurTime);
+ set(h.sliders.CurTime,'Max',maxtime);
+ set(h.sliders.CurTime,'Min',mintime);
+ temp=get(h.sliders.CurTime,'Max')-get(h.sliders.CurTime,'Min');
+ set(h.sliders.CurTime,'SliderStep',[1.0/temp 5.0/temp]); %Set Stepsize to constant [in seconds]
+
+ %update edit fields
+ set(h.edits.CurTime,'String',get(h.sliders.CurTime,'Value'));
+ set(h.edits.MinTime,'String',get(h.sliders.MinTime,'Value'));
+ set(h.edits.MaxTime,'String',get(h.sliders.MaxTime,'Value'));
+
+ %Finally, we have to redraw. Update time indices first.
+ [imintime,imaxtime]=FindMinMaxTimeIndices();
+ DrawRawData(); %Rawdata only
+ DrawCurrentAircraftState(); %path info & markers
+end
+
+
+%% ************************************************************************
+% CURTIME CALLBACK (nested function)
+% ************************************************************************
+function curtime_callback(hObj,event) %#ok<INUSL>
+ %find current time
+ if(hObj==h.sliders.CurTime)
+ CurTime=get(h.sliders.CurTime,'Value');
+ elseif (hObj==h.edits.CurTime)
+ temp=str2num(get(h.edits.CurTime,'String'));
+ if(temp<maxtime && temp>mintime)
+ CurTime=temp;
+ else
+ %Error
+ set(h.labels.GUIState,'String','Error: You tried to set an invalid current time! Previous value restored.','BackgroundColor','red');
+ end
+ else
+ %Error
+ set(h.labels.GUIState,'String','Error: curtime_callback','BackgroundColor','red');
+ end
+
+ set(h.sliders.CurTime,'Value',CurTime);
+ set(h.edits.CurTime,'String',num2str(CurTime));
+
+ %Redraw time markers, but don't have to redraw the whole raw data
+ DrawCurrentAircraftState();
+end
+
+%% ************************************************************************
+% FINDMINMAXINDICES (nested function)
+% ************************************************************************
+function [idxmin,idxmax] = FindMinMaxTimeIndices()
+ for i=1:size(sysvector.TIME_StartTime,1)
+ if time(i)>=mintime; idxmin=i; break; end
+ end
+ for i=1:size(sysvector.TIME_StartTime,1)
+ if maxtime==0; idxmax=size(sysvector.TIME_StartTime,1); break; end
+ if time(i)>=maxtime; idxmax=i; break; end
+ end
+ mintime=time(idxmin);
+ maxtime=time(idxmax);
+end
+
+%% ************************************************************************
+% ISVALIDHANDLE (nested function)
+% ************************************************************************
+function isvalid = isvalidhandle(handle)
+ if(exist(varname(handle))>0 && length(ishandle(handle))>0)
+ if(ishandle(handle)>0)
+ if(handle>0.0)
+ isvalid=true;
+ return;
+ end
+ end
+ end
+ isvalid=false;
+end
+
+%% ************************************************************************
+% JUST SOME SMALL HELPER FUNCTIONS (nested function)
+% ************************************************************************
+function out = varname(var)
+ out = inputname(1);
+end
+
+%This is the end of the matlab file / the main function
+end
diff --git a/Tools/logconv.py b/Tools/logconv.py
deleted file mode 100644
index c47d22a45..000000000
--- a/Tools/logconv.py
+++ /dev/null
@@ -1,59 +0,0 @@
-#!/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()
diff --git a/Tools/sdlog2_dump.py b/Tools/sdlog2_dump.py
index 318f72971..7fefc5908 100644
--- a/Tools/sdlog2_dump.py
+++ b/Tools/sdlog2_dump.py
@@ -1,6 +1,8 @@
#!/usr/bin/env python
-"""Dump binary log generated by sdlog2 or APM as CSV
+from __future__ import print_function
+
+"""Dump binary log generated by PX4's sdlog2 or APM as CSV
Usage: python sdlog2_dump.py <log.bin> [-v] [-e] [-d delimiter] [-n null] [-m MSG[.field1,field2,...]]
@@ -21,6 +23,11 @@ __version__ = "1.2"
import struct, sys
+if sys.hexversion >= 0x030000F0:
+ runningPython3 = True
+else:
+ runningPython3 = False
+
class SDLog2Parser:
BLOCK_SIZE = 8192
MSG_HEADER_LEN = 3
@@ -55,6 +62,8 @@ class SDLog2Parser:
__time_msg = None
__debug_out = False
__correct_errors = False
+ __file_name = None
+ __file = None
def __init__(self):
return
@@ -63,7 +72,7 @@ class SDLog2Parser:
self.__msg_descrs = {} # message descriptions by message type map
self.__msg_labels = {} # message labels by message name map
self.__msg_names = [] # message names in the same order as FORMAT messages
- self.__buffer = "" # buffer for input binary data
+ self.__buffer = bytearray() # buffer for input binary data
self.__ptr = 0 # read pointer in buffer
self.__csv_columns = [] # CSV file columns in correct order in format "MSG.label"
self.__csv_data = {} # current values for all columns
@@ -87,6 +96,14 @@ class SDLog2Parser:
def setCorrectErrors(self, correct_errors):
self.__correct_errors = correct_errors
+
+ def setFileName(self, file_name):
+ self.__file_name = file_name
+ if file_name != None:
+ self.__file = open(file_name, 'w+')
+ else:
+ self.__file = None
+
def process(self, fn):
self.reset()
@@ -95,7 +112,7 @@ class SDLog2Parser:
for msg_name, show_fields in self.__msg_filter:
self.__msg_filter_map[msg_name] = show_fields
first_data_msg = True
- f = open(fn, "r")
+ f = open(fn, "rb")
bytes_read = 0
while True:
chunk = f.read(self.BLOCK_SIZE)
@@ -104,15 +121,15 @@ class SDLog2Parser:
self.__buffer = self.__buffer[self.__ptr:] + chunk
self.__ptr = 0
while self.__bytesLeft() >= self.MSG_HEADER_LEN:
- head1 = ord(self.__buffer[self.__ptr])
- head2 = ord(self.__buffer[self.__ptr+1])
+ head1 = self.__buffer[self.__ptr]
+ head2 = self.__buffer[self.__ptr+1]
if (head1 != self.MSG_HEAD1 or head2 != self.MSG_HEAD2):
if self.__correct_errors:
self.__ptr += 1
continue
else:
raise Exception("Invalid header at %i (0x%X): %02X %02X, must be %02X %02X" % (bytes_read + self.__ptr, bytes_read + self.__ptr, head1, head2, self.MSG_HEAD1, self.MSG_HEAD2))
- msg_type = ord(self.__buffer[self.__ptr+2])
+ msg_type = self.__buffer[self.__ptr+2]
if msg_type == self.MSG_TYPE_FORMAT:
# parse FORMAT message
if self.__bytesLeft() < self.MSG_FORMAT_PACKET_LEN:
@@ -154,10 +171,13 @@ class SDLog2Parser:
show_fields = self.__msg_labels.get(msg_name, [])
self.__msg_filter_map[msg_name] = show_fields
for field in show_fields:
- full_label = msg_name + "." + field
+ full_label = msg_name + "_" + field
self.__csv_columns.append(full_label)
self.__csv_data[full_label] = None
- print self.__csv_delim.join(self.__csv_columns)
+ if self.__file != None:
+ print(self.__csv_delim.join(self.__csv_columns), file=self.__file)
+ else:
+ print(self.__csv_delim.join(self.__csv_columns))
def __printCSVRow(self):
s = []
@@ -168,16 +188,28 @@ class SDLog2Parser:
else:
v = str(v)
s.append(v)
- print self.__csv_delim.join(s)
+
+ if self.__file != None:
+ print(self.__csv_delim.join(s), file=self.__file)
+ else:
+ print(self.__csv_delim.join(s))
def __parseMsgDescr(self):
- data = struct.unpack(self.MSG_FORMAT_STRUCT, self.__buffer[self.__ptr + 3 : self.__ptr + self.MSG_FORMAT_PACKET_LEN])
+ if runningPython3:
+ data = struct.unpack(self.MSG_FORMAT_STRUCT, self.__buffer[self.__ptr + 3 : self.__ptr + self.MSG_FORMAT_PACKET_LEN])
+ else:
+ data = struct.unpack(self.MSG_FORMAT_STRUCT, str(self.__buffer[self.__ptr + 3 : self.__ptr + self.MSG_FORMAT_PACKET_LEN]))
msg_type = data[0]
if msg_type != self.MSG_TYPE_FORMAT:
msg_length = data[1]
- msg_name = data[2].strip("\0")
- msg_format = data[3].strip("\0")
- msg_labels = data[4].strip("\0").split(",")
+ if runningPython3:
+ msg_name = str(data[2], 'ascii').strip("\0")
+ msg_format = str(data[3], 'ascii').strip("\0")
+ msg_labels = str(data[4], 'ascii').strip("\0").split(",")
+ else:
+ msg_name = str(data[2]).strip("\0")
+ msg_format = str(data[3]).strip("\0")
+ msg_labels = str(data[4]).strip("\0").split(",")
# Convert msg_format to struct.unpack format string
msg_struct = ""
msg_mults = []
@@ -194,8 +226,8 @@ class SDLog2Parser:
self.__msg_names.append(msg_name)
if self.__debug_out:
if self.__filterMsg(msg_name) != None:
- print "MSG FORMAT: type = %i, length = %i, name = %s, format = %s, labels = %s, struct = %s, mults = %s" % (
- msg_type, msg_length, msg_name, msg_format, str(msg_labels), msg_struct, msg_mults)
+ print("MSG FORMAT: type = %i, length = %i, name = %s, format = %s, labels = %s, struct = %s, mults = %s" % (
+ msg_type, msg_length, msg_name, msg_format, str(msg_labels), msg_struct, msg_mults))
self.__ptr += self.MSG_FORMAT_PACKET_LEN
def __parseMsg(self, msg_descr):
@@ -205,8 +237,11 @@ class SDLog2Parser:
self.__csv_updated = False
show_fields = self.__filterMsg(msg_name)
if (show_fields != None):
- data = list(struct.unpack(msg_struct, self.__buffer[self.__ptr+self.MSG_HEADER_LEN:self.__ptr+msg_length]))
- for i in xrange(len(data)):
+ if runningPython3:
+ data = list(struct.unpack(msg_struct, self.__buffer[self.__ptr+self.MSG_HEADER_LEN:self.__ptr+msg_length]))
+ else:
+ data = list(struct.unpack(msg_struct, str(self.__buffer[self.__ptr+self.MSG_HEADER_LEN:self.__ptr+msg_length])))
+ for i in range(len(data)):
if type(data[i]) is str:
data[i] = data[i].strip("\0")
m = msg_mults[i]
@@ -214,17 +249,17 @@ class SDLog2Parser:
data[i] = data[i] * m
if self.__debug_out:
s = []
- for i in xrange(len(data)):
+ for i in range(len(data)):
label = msg_labels[i]
if show_fields == "*" or label in show_fields:
s.append(label + "=" + str(data[i]))
- print "MSG %s: %s" % (msg_name, ", ".join(s))
+ print("MSG %s: %s" % (msg_name, ", ".join(s)))
else:
# update CSV data buffer
- for i in xrange(len(data)):
+ for i in range(len(data)):
label = msg_labels[i]
if label in show_fields:
- self.__csv_data[msg_name + "." + label] = data[i]
+ self.__csv_data[msg_name + "_" + label] = data[i]
if self.__time_msg != None and msg_name != self.__time_msg:
self.__csv_updated = True
if self.__time_msg == None:
@@ -233,13 +268,14 @@ class SDLog2Parser:
def _main():
if len(sys.argv) < 2:
- print "Usage: python sdlog2_dump.py <log.bin> [-v] [-e] [-d delimiter] [-n null] [-m MSG[.field1,field2,...]] [-t TIME_MSG_NAME]\n"
- print "\t-v\tUse plain debug output instead of CSV.\n"
- print "\t-e\tRecover from errors.\n"
- print "\t-d\tUse \"delimiter\" in CSV. Default is \",\".\n"
- print "\t-n\tUse \"null\" as placeholder for empty values in CSV. Default is empty.\n"
- print "\t-m MSG[.field1,field2,...]\n\t\tDump only messages of specified type, and only specified fields.\n\t\tMultiple -m options allowed."
- print "\t-t\tSpecify TIME message name to group data messages by time and significantly reduce duplicate output.\n"
+ print("Usage: python sdlog2_dump.py <log.bin> [-v] [-e] [-d delimiter] [-n null] [-m MSG[.field1,field2,...]] [-t TIME_MSG_NAME]\n")
+ print("\t-v\tUse plain debug output instead of CSV.\n")
+ print("\t-e\tRecover from errors.\n")
+ print("\t-d\tUse \"delimiter\" in CSV. Default is \",\".\n")
+ print("\t-n\tUse \"null\" as placeholder for empty values in CSV. Default is empty.\n")
+ print("\t-m MSG[.field1,field2,...]\n\t\tDump only messages of specified type, and only specified fields.\n\t\tMultiple -m options allowed.")
+ print("\t-t\tSpecify TIME message name to group data messages by time and significantly reduce duplicate output.\n")
+ print("\t-fPrint to file instead of stdout")
return
fn = sys.argv[1]
debug_out = False
@@ -247,7 +283,8 @@ def _main():
msg_filter = []
csv_null = ""
csv_delim = ","
- time_msg = None
+ time_msg = "TIME"
+ file_name = None
opt = None
for arg in sys.argv[2:]:
if opt != None:
@@ -257,9 +294,11 @@ def _main():
csv_null = arg
elif opt == "t":
time_msg = arg
+ elif opt == "f":
+ file_name = arg
elif opt == "m":
show_fields = "*"
- a = arg.split(".")
+ a = arg.split("_")
if len(a) > 1:
show_fields = a[1].split(",")
msg_filter.append((a[0], show_fields))
@@ -277,6 +316,8 @@ def _main():
opt = "m"
elif arg == "-t":
opt = "t"
+ elif arg == "-f":
+ opt = "f"
if csv_delim == "\\t":
csv_delim = "\t"
@@ -285,6 +326,7 @@ def _main():
parser.setCSVNull(csv_null)
parser.setMsgFilter(msg_filter)
parser.setTimeMsg(time_msg)
+ parser.setFileName(file_name)
parser.setDebugOut(debug_out)
parser.setCorrectErrors(correct_errors)
parser.process(fn)
generated by cgit v1.2.3 (git 2.39.1) at 2024-08-23 17:44:36 +0000