diff --git a/ROMFS/Makefile b/ROMFS/Makefile
index 39d74d6825..ba694b0552 100644
--- a/ROMFS/Makefile
+++ b/ROMFS/Makefile
@@ -28,7 +28,8 @@ ROMFS_FSSPEC	:= $(SRCROOT)/scripts/rcS~init.d/rcS \
 		   $(SRCROOT)/mixers/FMU_AET.mix~mixers/FMU_AET.mix \
 		   $(SRCROOT)/mixers/FMU_RET.mix~mixers/FMU_ERT.mix \
 		   $(SRCROOT)/mixers/FMU_quad_x.mix~mixers/FMU_quad_x.mix \
-		   $(SRCROOT)/mixers/FMU_quad_+.mix~mixers/FMU_quad_+.mix
+		   $(SRCROOT)/mixers/FMU_quad_+.mix~mixers/FMU_quad_+.mix \
+		   $(SRCROOT)/logging/sdcard_logconverter.m~logging/sdcard_logconverter.m
 
 #
 # Add the PX4IO firmware to the spec if someone has dropped it into the
diff --git a/ROMFS/logging/sdcard_logconverter.m b/ROMFS/logging/sdcard_logconverter.m
new file mode 100755
index 0000000000..09702494c3
--- /dev/null
+++ b/ROMFS/logging/sdcard_logconverter.m
@@ -0,0 +1,72 @@
+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
\ No newline at end of file