diff --git a/matlab/analysis/estimatorLogViewer.m b/matlab/analysis/estimatorLogViewer.m
new file mode 100644
index 0000000000..7c28035582
--- /dev/null
+++ b/matlab/analysis/estimatorLogViewer.m
@@ -0,0 +1,131 @@
+function estimatorLogViewer(fname)
+close all;
+load(fname);
+
+stateFieldNames = [fieldnames(estimatorData.EST0);fieldnames(estimatorData.EST1)];
+stateFieldNames(strcmp('T',stateFieldNames) | strcmp('index',stateFieldNames) | ...
+    strcmp('nStat',stateFieldNames) | strcmp('fNaN',stateFieldNames) | ...
+    strcmp('fHealth',stateFieldNames) | strcmp('fTOut',stateFieldNames)) = [];
+
+innovFieldNamesT = [fieldnames(estimatorData.EST4);fieldnames(estimatorData.EST5)];
+innovFieldNamesT(strcmp('T',innovFieldNamesT) | strcmp('index',innovFieldNamesT)) = [];
+innovFieldInds = cellfun(@(x)x(end)=='V',innovFieldNamesT);
+innovFieldNames = innovFieldNamesT(~innovFieldInds);
+
+
+% lay out static objects
+f = figure('Units','normalized');
+set(f,'Position',[.25,.25,.5,.5]);
+
+tabs = uitabgroup(f);
+statesTab = uitab(tabs,'Title','States');
+innovsTab = uitab(tabs,'Title','Innovations');
+
+axesConfig = {'Units','Normalized','Position',[.05,.1,.65,.85],'NextPlot','add'};
+BGconfig = {'Units','Normalized','Position',[.75,.1,.2,.85]};
+TBconfig = {'Style','Checkbox','Units','Normalized','Position',[.75,0,.2,.1],'String','Show variance'};
+
+statesAxes = axes(statesTab,axesConfig{:},'XLabel',text('string','Time (sec)'));
+innovsAxes = axes(innovsTab,axesConfig{:},'XLabel',text('string','Time (sec)'));
+
+statesBG = uibuttongroup(statesTab,BGconfig{:});
+innovsBG = uibuttongroup(innovsTab,BGconfig{:});
+
+statesVarToggle = uicontrol(statesTab,TBconfig{:});
+innovsVarToggle = uicontrol(innovsTab,TBconfig{:});
+
+% lay out dynamic objects
+stateButtons = zeros(numel(stateFieldNames),1);
+for k = 1:numel(stateFieldNames)
+    stateButtons(k) = uicontrol(statesBG,'Style','Checkbox','Units','normalized',...
+        'String',stateFieldNames{k},'Position',[0,1 - k/numel(stateFieldNames),1, 1/numel(stateFieldNames)],...
+        'Callback',@(es,ed)toggleLine(es,ed,statesAxes,statesVarToggle,estimatorData.EST0,estimatorData.EST1,estimatorData.EST2,estimatorData.EST3));
+end
+innovButtons = zeros(numel(innovFieldNames),1);
+for k = 1:numel(innovFieldNames)
+    innovButtons(k) = uicontrol(innovsBG,'Style','Checkbox','Units','normalized',...
+        'String',innovFieldNames{k},'Position',[0,1 - k/numel(innovFieldNames),1, 1/numel(innovFieldNames)],...
+        'Callback',@(es,ed)toggleLine(es,ed,innovsAxes,innovsVarToggle,estimatorData.EST4,estimatorData.EST5,[],[]));
+end
+
+set(statesVarToggle,'Callback',@(es,ed)toggleVariance(es,ed,statesAxes,estimatorData.EST2,estimatorData.EST3));
+set(innovsVarToggle,'Callback',@(es,ed)toggleVariance(es,ed,innovsAxes,estimatorData.EST4,estimatorData.EST5));
+end
+
+function toggleLine(es,~,axes,varToggle,struct1,struct2,vstruct1,vstruct2)
+if es.Value == 0
+    delete(findobj(axes,'UserData',es.String));
+else
+    if any(strcmp(es.String,fieldnames(struct1)))
+        dataSrc = struct1;
+    else
+        dataSrc = struct2;
+    end
+    p = plot(dataSrc.T,dataSrc.(es.String));
+    set(p,'Parent',axes,'UserData',es.String);
+end
+if varToggle.Value == 1
+    if ~isempty(vstruct1) && ~isempty(vstruct2)
+        toggleVariance(varToggle,[],axes,vstruct1,vstruct2);
+    else
+        toggleVariance(varToggle,[],axes,struct1,struct2);
+    end
+end
+updateLegend(axes);
+end
+
+function toggleVariance(es,~,axes,struct1,struct2)
+if es.Value == 0
+    delete(findobj(axes,'Type','Patch'));
+else
+    lines = findobj(axes,'Type','Line');
+    if isempty(lines)
+        return;
+    end
+    stateNames = {lines.UserData};
+    if any(strncmp('s',stateNames,1))
+        varNames = strrep(stateNames,'s','P');
+    else
+        varNames = strrep(stateNames,'I','IV');
+    end
+    for k = 1:numel(varNames)
+        if any(strcmp(varNames{k},fieldnames(struct1)))
+            dataSrc = struct1;
+        else
+            dataSrc = struct2;
+        end
+        centerLineTimeFull = get(lines(k),'XData');
+        centerLineDataFull = get(lines(k),'YData');
+        
+        startTime = max(centerLineTimeFull(1),dataSrc.T(1));
+        endTime = min(centerLineTimeFull(end),dataSrc.T(end));
+        plotTimeFull = dataSrc.T(dataSrc.T >= startTime & dataSrc.T <= endTime);
+        plotDataFull = dataSrc.(varNames{k})(dataSrc.T >= startTime & dataSrc.T <= endTime);
+        
+        centerLineTime = centerLineTimeFull(centerLineTimeFull >= startTime & centerLineTimeFull <= endTime);
+        centerLineData = centerLineDataFull(centerLineTimeFull >= startTime & centerLineTimeFull <= endTime);
+        
+        plotDataT = sqrt(interp1(plotTimeFull,plotDataFull,centerLineTime));
+        
+        plotTime = downsample(centerLineTime,round(numel(plotDataT)/350),0);
+        if strcmp('IV',varNames{k}(end-1:end))
+            plotDataL = downsample(-plotDataT,round(numel(plotDataT)/350),0);
+            plotDataU = downsample(plotDataT,round(numel(plotDataT)/350),0);
+        else
+            plotDataL = downsample(centerLineData-plotDataT,round(numel(plotDataT)/350),0);
+            plotDataU = downsample(centerLineData+plotDataT,round(numel(plotDataT)/350),0);
+        end
+        p = patch(axes,[plotTime,fliplr(plotTime)],[plotDataL,fliplr(plotDataU)],lines(k).Color);
+        set(p,'EdgeColor','none','FaceAlpha',.3,'UserData',stateNames{k});
+    end
+end
+end
+
+function updateLegend(axes)
+lines = findobj(axes,'Type','Line');
+if isempty(lines)
+    legend(axes,'off');
+else
+    legend(axes,lines,{lines.UserData});
+end
+end
\ No newline at end of file
diff --git a/matlab/analysis/importPX4log.m b/matlab/analysis/importPX4log.m
new file mode 100644
index 0000000000..28ce827e10
--- /dev/null
+++ b/matlab/analysis/importPX4log.m
@@ -0,0 +1,188 @@
+function allData = importPX4log(fname,keep_msgs)
+
+% import a .px4log file
+% INPUTS
+%   fname: path to a valid .px4log file
+%   keep_msgs: cell array of message names to keep
+% OUTPUT
+%   allData: a Matlab struct with a field names for each message name in the log
+%   file. The content of each field is itself a struct with field names for
+%   each label in the corresponding message. The content of each of *these*
+%   fields will be an array of message data that is nonempty if the message
+%   name appears in keep_msgs
+
+% import method essentially translated from sdlog2_dump.py
+% George Hines, 3D Robotics, Berkeley, CA
+% 7 April 2016
+
+BLOCK_SIZE = 8192;
+MSG_HEADER_LEN = 3;
+% MSG_HEAD1 = uint8(hex2dec('A3'));
+% MSG_HEAD2 = uint8(hex2dec('95'));
+MSG_FORMAT_PACKET_LEN = 89;
+MSG_TYPE_FORMAT = uint8(hex2dec('80'));
+% MSG_FORMAT_STRUCT = {'uint8','uint8','char4','char16','char64'};
+FORMAT_TO_STRUCT = {
+    'b', {'int8', 1};
+    'B', {'uint8', 1};
+    'h', {'int16', 1};
+    'H', {'uint16', 1};
+    'i', {'int32', 1};
+    'I', {'uint32', 1};
+    'f', {'single', 1};
+    'n', {'char4', 1};
+    'N', {'char16', 1};
+    'Z', {'char64', 1};
+    'c', {'int16', 0.01};
+    'C', {'uint16', 0.01};
+    'e', {'int32', 0.01};
+    'E', {'uint32', 0.01};
+    'L', {'int32', 0.0000001};
+    'M', {'int8', 1};
+    'q', {'int64', 1};
+    'Q', {'uint64', 1}};
+
+fid = fopen(fname,'r','b');
+fInfo = dir(fname);
+totalBytes = fInfo.bytes;
+bytes_read = 0;
+msg_descrs = {};
+buffer = [];
+ptr = 1;
+allData = [];
+nextPrint = 0;
+disp('Reading file');
+while 1
+    percentDone = bytes_read / totalBytes * 100;
+    if percentDone >= nextPrint
+        fprintf('%.0f%%\n',percentDone);
+        nextPrint = nextPrint + 5;
+    end
+    
+    chunk = fread(fid,BLOCK_SIZE,'uint8');
+    if numel(chunk) == 0;
+        break
+    end
+    buffer = [buffer(ptr:end), chunk'];
+    ptr = 1;
+    while numel(buffer) - ptr > MSG_HEADER_LEN
+        %         head1 = buffer(ptr);
+        %         head2 = buffer(ptr+1);
+        msg_type = buffer(ptr+2);
+        
+        if msg_type == MSG_TYPE_FORMAT
+            if numel(buffer) - ptr <= MSG_FORMAT_PACKET_LEN
+                break;
+            end
+            % return new pointer, and all message descriptor info
+            [ptr, msg_descr] = LOCAL_parse_message_descriptors(buffer, ptr, MSG_TYPE_FORMAT, MSG_FORMAT_PACKET_LEN, FORMAT_TO_STRUCT);
+            msg_descrs(msg_descr{1},:) = msg_descr;
+            cells = repmat({inf(1,500000)},1,numel(msg_descr{5}));
+            cells(msg_descr{4}=='n' | msg_descr{4} == 'N' | msg_descr{4} == 'Z') = {[]};
+            seed = [{'index'},{'T'},msg_descr{5};[{1},{inf(1,500000)},cells]];
+            allData.(msg_descr{3}) = struct(seed{:});
+        else
+            msg_descr = msg_descrs(msg_type,:);
+            msg_length = msg_descr{2};
+            if numel(buffer) - ptr <= msg_length
+                break;
+            end
+            % return new pointer, and all message info
+            if strcmp(msg_descr{3},'TIME') || any(strcmp(msg_descr{3}, keep_msgs)) || isempty(keep_msgs)
+                [ptr,msg_data] = LOCAL_parse_message(buffer, ptr, MSG_HEADER_LEN, msg_descr);
+                ind = allData.(msg_descr{3}).index;
+                for k = 1:numel(msg_data)
+                    if isnumeric(msg_data{k})
+                        allData.(msg_descr{3}).(msg_descr{5}{k})(ind) = msg_data{k};
+                        allData.(msg_descr{3}).T(ind) = double(allData.TIME.StartTime(max(1,allData.TIME.index-1)))*1e-6;
+                        noInc = false;
+                    else
+                        allData.(msg_descr{3}).(msg_descr{5}{k}) = [allData.(msg_descr{3}).(msg_descr{5}{k}), msg_data(k)];
+                        noInc = true;
+                    end
+                end
+                if ~noInc
+                    allData.(msg_descr{3}).index = ind + 1;
+                end
+            else
+                ptr = ptr + msg_descr{2};
+            end
+        end
+    end
+    bytes_read = bytes_read + ptr;
+end
+
+disp('Releasing excess preallocated memory');
+% clean out inf values
+fields1 = fieldnames(allData);
+for k = 1:numel(fields1)
+    fields2 = fieldnames(allData.(fields1{k}));
+    for m = 1:numel(fields2)
+        if isnumeric(allData.(fields1{k}).(fields2{m}))
+            allData.(fields1{k}).(fields2{m})(isinf(allData.(fields1{k}).(fields2{m}))) = [];
+        end
+    end
+end
+disp('Done');
+end
+
+function [ptr, msg_descr] = LOCAL_parse_message_descriptors(buffer, ptr, MSG_TYPE_FORMAT, MSG_FORMAT_PACKET_LEN, FORMAT_TO_STRUCT)
+thisBlock = buffer((ptr+3):(ptr+MSG_FORMAT_PACKET_LEN+1));
+msg_type = thisBlock(1);
+if msg_type ~= MSG_TYPE_FORMAT
+    msg_length = thisBlock(2);
+    msg_name = LOCAL_parse_string(thisBlock(3:6));
+    msg_format = LOCAL_parse_string(thisBlock(7:22));
+    msg_labels = strsplit(LOCAL_parse_string(thisBlock(23:end)),',');
+    msg_struct = cell(1,numel(msg_format));
+    msg_mults = zeros(1,numel(msg_format));
+    
+    for k = 1:numel(msg_format)
+        info = FORMAT_TO_STRUCT{strcmp(msg_format(k),FORMAT_TO_STRUCT(:,1)),2};
+        msg_struct{k} = info{1};
+        msg_mults(k) = info{2};
+    end
+    msg_descr = {msg_type, msg_length, msg_name, msg_format, msg_labels, msg_struct, msg_mults};
+end
+ptr = ptr + MSG_FORMAT_PACKET_LEN;
+end
+
+function [ptr, data] = LOCAL_parse_message(buffer, ptr, MSG_HEADER_LEN, msg_descr)
+[~, msg_length, ~, ~, ~, msg_struct, msg_mults] = msg_descr{:};
+
+% unpack message per the format specifiers in msg_struct
+data = cell(1,numel(msg_struct));
+thisBytes = buffer((ptr+MSG_HEADER_LEN):(ptr+msg_length+1));
+thisPtr = 1;
+for k = 1:numel(msg_struct)
+    % parse the data chunk per msg_struct{k}
+    [dataLen,data{k}] = LOCAL_unpack(thisPtr, thisBytes, msg_struct{k}, msg_mults(k));
+    thisPtr = thisPtr + dataLen;
+end
+ptr = ptr + msg_length;
+end
+
+function [dataLen, data] = LOCAL_unpack(thisPtr, byte_array, format_type, mult)
+if strncmp('char',format_type,4)
+    dataLen = str2double(format_type(5:end));
+    data = LOCAL_parse_string(byte_array(thisPtr:(thisPtr+dataLen)));
+else
+    if strncmp('int',format_type,3)
+        dataLen = str2double(format_type(4:end))/8;
+    elseif strncmp('uint',format_type,4)
+        dataLen = str2double(format_type(5:end))/8;
+    elseif strcmp('single',format_type)
+        dataLen = 4;
+    end
+    data = typecast(uint8(byte_array(thisPtr:(thisPtr+dataLen-1))),format_type)*mult;
+end
+end
+
+function str = LOCAL_parse_string(byteArray)
+firstZero = find(byteArray==0);
+if ~isempty(firstZero)
+    str = char(byteArray(1:firstZero-1));
+else
+    str = char(byteArray);
+end
+end
\ No newline at end of file
diff --git a/matlab/analysis/usageSamples.m b/matlab/analysis/usageSamples.m
new file mode 100644
index 0000000000..e80df9ca7c
--- /dev/null
+++ b/matlab/analysis/usageSamples.m
@@ -0,0 +1,10 @@
+fname = 'indoor_flight_test.px4log';
+
+%% entire log
+wholeLog = importPX4log(fname,{});
+
+%% attitude message
+attitudeData = importPX4log(fname,{'ATT'});
+
+%% estimator messages
+estimatorData = importPX4log(fname,{'EST0','EST1','EST2','EST3','EST4','EST5','EST6'});