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Copying log analysis file directly to the SD card during logging

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This commit is contained in:
Lorenz Meier
2012-10-25 15:47:14 +02:00
parent 8e4c45322e
commit 569938e680
2 changed files with 107 additions and 4 deletions
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ROMFS/logging/logconv.m
+56 -1
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@@ -1,6 +1,61 @@
clear all
clc
%%%%%%%%%%%%%%%%%%%%%%%
% SYSTEM VECTOR
%
% All measurements in NED frame
%
% uint64_t timestamp;
% float gyro[3]; in rad/s
% float accel[3]; in m/s^2
% float mag[3]; in Gauss
% float baro; pressure in millibar
% float baro_alt; altitude above MSL in meters
% float baro_temp; in degrees 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 adc[3]; remaining auxiliary ADC ports in volt
% float local_position
% int32 gps_raw_position
if exist('sysvector.bin', 'file')
% Read actuators file
myFile = java.io.File('sysvector.bin')
fileSize = length(myFile)
fid = fopen('sysvector.bin', 'r');
elements = int64(fileSize./(8+(3+3+3+1+1+1+4+8+4+3+3)*4));
for i=1:elements
% timestamp
sysvector(i,1) = double(fread(fid, 1, '*uint64', 0, 'ieee-le.l64'));
% actuators 1-16
% quadrotor: motor 1-4 on the first four positions
sysvector(i, 2:32) = fread(fid, 28+3, 'float', 'ieee-le');
sysvector(i,33:35) = fread(fid, 3, 'int32', 'ieee-le');
end
sysvector_interval_seconds = (sysvector(end,1) - sysvector(1:1)) / 1000000
sysvector_minutes = sysvector_interval_seconds / 60
% Normalize time
sysvector(:,1) = (sysvector(:,1) - sysvector(1,1)) / 1000000;
% Create some basic plots
% Remove zero rows from GPS
gps = sysvector(:,33:35);
gps(~any(gps,2), :) = [];
plot3(gps(:,1), gps(:,2), gps(:,3));
plot(sysvector(:,1), sysvector(:,2:32));
end
if exist('actuator_outputs0.bin', 'file')
% Read actuators file
myFile = java.io.File('actuator_outputs0.bin')
@@ -9,7 +64,7 @@ if exist('actuator_outputs0.bin', 'file')
fid = fopen('actuator_outputs0.bin', 'r');
elements = int64(fileSize./(16*4+8))
for i=1:(elements-2)
for i=1:elements
% timestamp
actuators(i,1) = double(fread(fid, 1, '*uint64', 0, 'ieee-le.l64'));
% actuators 1-16