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Code Issues Releases Activity

Make matlab log processing support overo UAVtalk packets now

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This commit is contained in:
James Cotton 2012-07-24 14:08:14 -05:00
parent 30085d23ff
commit 82219d2511
1 changed files with 14 additions and 8 deletions
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22
ground/openpilotgcs/src/plugins/uavobjects/uavobjecttemplate.m
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@ -60,6 +60,7 @@ $(ALLOCATIONCODE)
fid = fopen(logfile);
correctMsgByte=hex2dec('20');
correctTimestampedByte=hex2dec('A0');
correctSyncByte=hex2dec('3C');
unknownObjIDList=zeros(1,2);
@ -83,13 +84,9 @@ while (1)
continue
end
%% Process header if we are aligned
timestamp = typecast(uint8(prebuf(1:4)), 'uint32');
datasize = typecast(uint8(prebuf(5:12)), 'uint64');
% get msg type (quint8 1 byte ) should be 0x20, ignore the rest?
msgType = fread(fid, 1, 'uint8');
if msgType ~= correctMsgByte
if msgType ~= correctMsgByte && msgType ~= hex2dec('A0')
wrongMessageByte = wrongMessageByte + 1;
continue
end
@ -98,7 +95,15 @@ while (1)
msgSize = fread(fid, 1, 'uint16');
% get obj id (quint32 4 bytes)
objID = fread(fid, 1, 'uint32');
if msgType == correctMsgByte
%% Process header if we are aligned
timestamp = typecast(uint8(prebuf(1:4)), 'uint32');
datasize = typecast(uint8(prebuf(5:12)), 'uint64');
elseif msgType == correctTimestampedByte
timestamp = fread(fid,1,'uint16');
end
if (isempty(objID)) %End of file
break;
end
@ -153,8 +158,9 @@ $(SWITCHCODE)
fprintf([str1 str2 str3 str4 str5]);
end
prebuf = fread(fid, 12, 'uint8');
if msgType ~= correctTimestampedByte
prebuf = fread(fid, 12, 'uint8');
end
end
fprintf('%d records in %0.2f seconds.\n', ftell(fid), etime(clock,startTime));