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reduces update rate of progress display, stores message time (not TIME message) as floating point seconds, automatically extracts TIME message, updates usage samples accordingly

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George Hines
2016-04-07 11:58:51 -07:00
parent 2ad21bc8c7
commit eb41d25ff6
3 changed files with 14 additions and 7 deletions
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matlab/analysis/importPX4log.m
+12 -5
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@@ -49,11 +49,16 @@ bytes_read = 0;
msg_descrs = {}; msg_descrs = {};
buffer = []; buffer = [];
ptr = 1; ptr = 1;
headers_done = false;
allData = []; allData = [];
nextPrint = 0;
disp('Reading file');
while 1 while 1
disp(bytes_read / totalBytes*100); percentDone = bytes_read / totalBytes * 100;
if percentDone >= nextPrint
fprintf('%.0f%%\n',percentDone);
nextPrint = nextPrint + 5;
end
chunk = fread(fid,BLOCK_SIZE,'uint8'); chunk = fread(fid,BLOCK_SIZE,'uint8');
if numel(chunk) == 0; if numel(chunk) == 0;
break break
@@ -83,13 +88,13 @@ while 1
break; break;
end end
% return new pointer, and all message info % return new pointer, and all message info
if any(strcmp(msg_descr{3}, keep_msgs)) || isempty(keep_msgs) 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); [ptr,msg_data] = LOCAL_parse_message(buffer, ptr, MSG_HEADER_LEN, msg_descr);
ind = allData.(msg_descr{3}).index; ind = allData.(msg_descr{3}).index;
for k = 1:numel(msg_data) for k = 1:numel(msg_data)
if isnumeric(msg_data{k}) if isnumeric(msg_data{k})
allData.(msg_descr{3}).(msg_descr{5}{k})(ind) = msg_data{k}; allData.(msg_descr{3}).(msg_descr{5}{k})(ind) = msg_data{k};
allData.(msg_descr{3}).T(ind) = allData.TIME.StartTime(max(1,allData.TIME.index-1)); allData.(msg_descr{3}).T(ind) = double(allData.TIME.StartTime(max(1,allData.TIME.index-1)))*1e-6;
noInc = false; noInc = false;
else else
allData.(msg_descr{3}).(msg_descr{5}{k}) = [allData.(msg_descr{3}).(msg_descr{5}{k}), msg_data(k)]; allData.(msg_descr{3}).(msg_descr{5}{k}) = [allData.(msg_descr{3}).(msg_descr{5}{k}), msg_data(k)];
@@ -107,6 +112,7 @@ while 1
bytes_read = bytes_read + ptr; bytes_read = bytes_read + ptr;
end end
disp('Releasing excess preallocated memory');
% clean out inf values % clean out inf values
fields1 = fieldnames(allData); fields1 = fieldnames(allData);
for k = 1:numel(fields1) for k = 1:numel(fields1)
@@ -117,6 +123,7 @@ for k = 1:numel(fields1)
end end
end end
end end
disp('Done');
end end
function [ptr, msg_descr] = LOCAL_parse_message_descriptors(buffer, ptr, MSG_TYPE_FORMAT, MSG_FORMAT_PACKET_LEN, FORMAT_TO_STRUCT) function [ptr, msg_descr] = LOCAL_parse_message_descriptors(buffer, ptr, MSG_TYPE_FORMAT, MSG_FORMAT_PACKET_LEN, FORMAT_TO_STRUCT)
matlab/analysis/indoor_flight_test.px4log
BIN
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matlab/analysis/usageSamples.m
+2 -2
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@@ -4,7 +4,7 @@ fname = 'indoor_flight_test.px4log';
wholeLog = importPX4log(fname,{}); wholeLog = importPX4log(fname,{});
%% attitude message %% attitude message
attitudeData = importPX4log(fname,{'TIME','ATT'}); attitudeData = importPX4log(fname,{'ATT'});
%% estimator messages %% estimator messages
estimatorData = importPX4log(fname,{'TIME','EST0','EST1','EST2','EST3','EST4','EST5','EST6'}); estimatorData = importPX4log(fname,{'EST0','EST1','EST2','EST3','EST4','EST5','EST6'});