mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-28 04:13:33 +08:00
Cleanup: Moved sdlog2 file conversion scripts to separate folder.
This commit is contained in:
Stefan Rado
@@ -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.
|
||||
@@ -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
|
||||
@@ -0,0 +1,334 @@
|
||||
#!/usr/bin/env python
|
||||
|
||||
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,...]]
|
||||
|
||||
-v Use plain debug output instead of CSV.
|
||||
|
||||
-e Recover from errors.
|
||||
|
||||
-d Use "delimiter" in CSV. Default is ",".
|
||||
|
||||
-n Use "null" as placeholder for empty values in CSV. Default is empty.
|
||||
|
||||
-m MSG[.field1,field2,...]
|
||||
Dump only messages of specified type, and only specified fields.
|
||||
Multiple -m options allowed."""
|
||||
|
||||
__author__ = "Anton Babushkin"
|
||||
__version__ = "1.2"
|
||||
|
||||
import struct, sys
|
||||
|
||||
if sys.hexversion >= 0x030000F0:
|
||||
runningPython3 = True
|
||||
def _parseCString(cstr):
|
||||
return str(cstr, 'ascii').split('\0')[0]
|
||||
else:
|
||||
runningPython3 = False
|
||||
def _parseCString(cstr):
|
||||
return str(cstr).split('\0')[0]
|
||||
|
||||
class SDLog2Parser:
|
||||
BLOCK_SIZE = 8192
|
||||
MSG_HEADER_LEN = 3
|
||||
MSG_HEAD1 = 0xA3
|
||||
MSG_HEAD2 = 0x95
|
||||
MSG_FORMAT_PACKET_LEN = 89
|
||||
MSG_FORMAT_STRUCT = "BB4s16s64s"
|
||||
MSG_TYPE_FORMAT = 0x80
|
||||
FORMAT_TO_STRUCT = {
|
||||
"b": ("b", None),
|
||||
"B": ("B", None),
|
||||
"h": ("h", None),
|
||||
"H": ("H", None),
|
||||
"i": ("i", None),
|
||||
"I": ("I", None),
|
||||
"f": ("f", None),
|
||||
"n": ("4s", None),
|
||||
"N": ("16s", None),
|
||||
"Z": ("64s", None),
|
||||
"c": ("h", 0.01),
|
||||
"C": ("H", 0.01),
|
||||
"e": ("i", 0.01),
|
||||
"E": ("I", 0.01),
|
||||
"L": ("i", 0.0000001),
|
||||
"M": ("b", None),
|
||||
"q": ("q", None),
|
||||
"Q": ("Q", None),
|
||||
}
|
||||
__csv_delim = ","
|
||||
__csv_null = ""
|
||||
__msg_filter = []
|
||||
__time_msg = None
|
||||
__debug_out = False
|
||||
__correct_errors = False
|
||||
__file_name = None
|
||||
__file = None
|
||||
|
||||
def __init__(self):
|
||||
return
|
||||
|
||||
def reset(self):
|
||||
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 = 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
|
||||
self.__csv_updated = False
|
||||
self.__msg_filter_map = {} # filter in form of map, with '*" expanded to full list of fields
|
||||
|
||||
def setCSVDelimiter(self, csv_delim):
|
||||
self.__csv_delim = csv_delim
|
||||
|
||||
def setCSVNull(self, csv_null):
|
||||
self.__csv_null = csv_null
|
||||
|
||||
def setMsgFilter(self, msg_filter):
|
||||
self.__msg_filter = msg_filter
|
||||
|
||||
def setTimeMsg(self, time_msg):
|
||||
self.__time_msg = time_msg
|
||||
|
||||
def setDebugOut(self, debug_out):
|
||||
self.__debug_out = debug_out
|
||||
|
||||
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()
|
||||
if self.__debug_out:
|
||||
# init __msg_filter_map
|
||||
for msg_name, show_fields in self.__msg_filter:
|
||||
self.__msg_filter_map[msg_name] = show_fields
|
||||
first_data_msg = True
|
||||
f = open(fn, "rb")
|
||||
bytes_read = 0
|
||||
while True:
|
||||
chunk = f.read(self.BLOCK_SIZE)
|
||||
if len(chunk) == 0:
|
||||
break
|
||||
self.__buffer = self.__buffer[self.__ptr:] + chunk
|
||||
self.__ptr = 0
|
||||
while self.__bytesLeft() >= self.MSG_HEADER_LEN:
|
||||
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 = self.__buffer[self.__ptr+2]
|
||||
if msg_type == self.MSG_TYPE_FORMAT:
|
||||
# parse FORMAT message
|
||||
if self.__bytesLeft() < self.MSG_FORMAT_PACKET_LEN:
|
||||
break
|
||||
self.__parseMsgDescr()
|
||||
else:
|
||||
# parse data message
|
||||
msg_descr = self.__msg_descrs[msg_type]
|
||||
if msg_descr == None:
|
||||
raise Exception("Unknown msg type: %i" % msg_type)
|
||||
msg_length = msg_descr[0]
|
||||
if self.__bytesLeft() < msg_length:
|
||||
break
|
||||
if first_data_msg:
|
||||
# build CSV columns and init data map
|
||||
self.__initCSV()
|
||||
first_data_msg = False
|
||||
self.__parseMsg(msg_descr)
|
||||
bytes_read += self.__ptr
|
||||
if not self.__debug_out and self.__time_msg != None and self.__csv_updated:
|
||||
self.__printCSVRow()
|
||||
f.close()
|
||||
|
||||
def __bytesLeft(self):
|
||||
return len(self.__buffer) - self.__ptr
|
||||
|
||||
def __filterMsg(self, msg_name):
|
||||
show_fields = "*"
|
||||
if len(self.__msg_filter_map) > 0:
|
||||
show_fields = self.__msg_filter_map.get(msg_name)
|
||||
return show_fields
|
||||
|
||||
def __initCSV(self):
|
||||
if len(self.__msg_filter) == 0:
|
||||
for msg_name in self.__msg_names:
|
||||
self.__msg_filter.append((msg_name, "*"))
|
||||
for msg_name, show_fields in self.__msg_filter:
|
||||
if show_fields == "*":
|
||||
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
|
||||
self.__csv_columns.append(full_label)
|
||||
self.__csv_data[full_label] = None
|
||||
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 = []
|
||||
for full_label in self.__csv_columns:
|
||||
v = self.__csv_data[full_label]
|
||||
if v == None:
|
||||
v = self.__csv_null
|
||||
else:
|
||||
v = str(v)
|
||||
s.append(v)
|
||||
|
||||
if self.__file != None:
|
||||
print(self.__csv_delim.join(s), file=self.__file)
|
||||
else:
|
||||
print(self.__csv_delim.join(s))
|
||||
|
||||
def __parseMsgDescr(self):
|
||||
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 = _parseCString(data[2])
|
||||
msg_format = _parseCString(data[3])
|
||||
msg_labels = _parseCString(data[4]).split(",")
|
||||
# Convert msg_format to struct.unpack format string
|
||||
msg_struct = ""
|
||||
msg_mults = []
|
||||
for c in msg_format:
|
||||
try:
|
||||
f = self.FORMAT_TO_STRUCT[c]
|
||||
msg_struct += f[0]
|
||||
msg_mults.append(f[1])
|
||||
except KeyError as e:
|
||||
raise Exception("Unsupported format char: %s in message %s (%i)" % (c, msg_name, msg_type))
|
||||
msg_struct = "<" + msg_struct # force little-endian
|
||||
self.__msg_descrs[msg_type] = (msg_length, msg_name, msg_format, msg_labels, msg_struct, msg_mults)
|
||||
self.__msg_labels[msg_name] = msg_labels
|
||||
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))
|
||||
self.__ptr += self.MSG_FORMAT_PACKET_LEN
|
||||
|
||||
def __parseMsg(self, msg_descr):
|
||||
msg_length, msg_name, msg_format, msg_labels, msg_struct, msg_mults = msg_descr
|
||||
if not self.__debug_out and self.__time_msg != None and msg_name == self.__time_msg and self.__csv_updated:
|
||||
self.__printCSVRow()
|
||||
self.__csv_updated = False
|
||||
show_fields = self.__filterMsg(msg_name)
|
||||
if (show_fields != None):
|
||||
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] = _parseCString(data[i])
|
||||
m = msg_mults[i]
|
||||
if m != None:
|
||||
data[i] = data[i] * m
|
||||
if self.__debug_out:
|
||||
s = []
|
||||
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)))
|
||||
else:
|
||||
# update CSV data buffer
|
||||
for i in range(len(data)):
|
||||
label = msg_labels[i]
|
||||
if label in show_fields:
|
||||
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:
|
||||
self.__printCSVRow()
|
||||
self.__ptr += msg_length
|
||||
|
||||
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("\t-fPrint to file instead of stdout")
|
||||
return
|
||||
fn = sys.argv[1]
|
||||
debug_out = False
|
||||
correct_errors = False
|
||||
msg_filter = []
|
||||
csv_null = ""
|
||||
csv_delim = ","
|
||||
time_msg = "TIME"
|
||||
file_name = None
|
||||
opt = None
|
||||
for arg in sys.argv[2:]:
|
||||
if opt != None:
|
||||
if opt == "d":
|
||||
csv_delim = arg
|
||||
elif opt == "n":
|
||||
csv_null = arg
|
||||
elif opt == "t":
|
||||
time_msg = arg
|
||||
elif opt == "f":
|
||||
file_name = arg
|
||||
elif opt == "m":
|
||||
show_fields = "*"
|
||||
a = arg.split("_")
|
||||
if len(a) > 1:
|
||||
show_fields = a[1].split(",")
|
||||
msg_filter.append((a[0], show_fields))
|
||||
opt = None
|
||||
else:
|
||||
if arg == "-v":
|
||||
debug_out = True
|
||||
elif arg == "-e":
|
||||
correct_errors = True
|
||||
elif arg == "-d":
|
||||
opt = "d"
|
||||
elif arg == "-n":
|
||||
opt = "n"
|
||||
elif arg == "-m":
|
||||
opt = "m"
|
||||
elif arg == "-t":
|
||||
opt = "t"
|
||||
elif arg == "-f":
|
||||
opt = "f"
|
||||
|
||||
if csv_delim == "\\t":
|
||||
csv_delim = "\t"
|
||||
parser = SDLog2Parser()
|
||||
parser.setCSVDelimiter(csv_delim)
|
||||
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)
|
||||
|
||||
if __name__ == "__main__":
|
||||
_main()
|
||||
Reference in New Issue
Block a user