% 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);