1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
|
clear all
clc
% Read actuators file
fileInfo = dir('sensors_combined.bin');
fileSize = fileInfo.bytes;
fid = fopen('actuator_outputs0.bin', 'r');
elements = int64(fileSize/16*4+8)
for i=1:(elements-2)
actuators(i, 2:18) = fread(fid, inf, 'float');
end
% Read sensor combined file
% Type definition: Firmware/apps/uORB/topics/sensor_combined.h
% Struct: sensor_combined_s
fileInfo = dir('sensors_combined.bin');
fileSize = fileInfo.bytes;
fid = fopen('sensors_combined.bin', 'r');
for i=1:elements-2
% 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
|
