mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-02-10 00:54:15 +01:00
a59d08b7af
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2327 ebee16cc-31ac-478f-84a7-5cbb03baadba
1337 lines
51 KiB
Matlab
1337 lines
51 KiB
Matlab
function [] = OPLogConvert()
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%% Define indices and arrays of structures to hold data
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actuatorcommandIdx = 1;
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ActuatorCommand.timestamp = 0;
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ActuatorCommand(1).Channel = zeros(1,8);
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actuatordesiredIdx = 1;
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ActuatorDesired.timestamp = 0;
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ActuatorDesired(1).Roll = 0;
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ActuatorDesired(1).Pitch = 0;
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ActuatorDesired(1).Yaw = 0;
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ActuatorDesired(1).Throttle = 0;
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ActuatorDesired(1).UpdateTime = 0;
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ActuatorDesired(1).NumLongUpdates = 0;
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actuatorsettingsIdx = 1;
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ActuatorSettings.timestamp = 0;
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ActuatorSettings(1).FixedWingRoll1 = 0;
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ActuatorSettings(1).FixedWingRoll2 = 0;
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ActuatorSettings(1).FixedWingPitch1 = 0;
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ActuatorSettings(1).FixedWingPitch2 = 0;
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ActuatorSettings(1).FixedWingYaw = 0;
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ActuatorSettings(1).FixedWingThrottle = 0;
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ActuatorSettings(1).VTOLMotorN = 0;
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ActuatorSettings(1).VTOLMotorNE = 0;
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ActuatorSettings(1).VTOLMotorE = 0;
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ActuatorSettings(1).VTOLMotorSE = 0;
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ActuatorSettings(1).VTOLMotorS = 0;
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ActuatorSettings(1).VTOLMotorSW = 0;
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ActuatorSettings(1).VTOLMotorW = 0;
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ActuatorSettings(1).VTOLMotorNW = 0;
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ActuatorSettings(1).ChannelUpdateFreq = zeros(1,2);
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ActuatorSettings(1).ChannelMax = zeros(1,8);
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ActuatorSettings(1).ChannelNeutral = zeros(1,8);
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ActuatorSettings(1).ChannelMin = zeros(1,8);
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ahrscalibrationIdx = 1;
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AHRSCalibration.timestamp = 0;
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AHRSCalibration(1).measure_var = 0;
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AHRSCalibration(1).accel_bias = zeros(1,3);
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AHRSCalibration(1).accel_scale = zeros(1,3);
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AHRSCalibration(1).accel_var = zeros(1,3);
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AHRSCalibration(1).gyro_bias = zeros(1,3);
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AHRSCalibration(1).gyro_scale = zeros(1,3);
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AHRSCalibration(1).gyro_var = zeros(1,3);
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AHRSCalibration(1).gyro_tempcompfactor = zeros(1,3);
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AHRSCalibration(1).mag_bias = zeros(1,3);
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AHRSCalibration(1).mag_scale = zeros(1,3);
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AHRSCalibration(1).mag_var = zeros(1,3);
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AHRSCalibration(1).vel_var = 0;
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AHRSCalibration(1).pos_var = 0;
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ahrssettingsIdx = 1;
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AHRSSettings.timestamp = 0;
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AHRSSettings(1).Algorithm = 0;
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AHRSSettings(1).Downsampling = 0;
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AHRSSettings(1).UpdatePeriod = 0;
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AHRSSettings(1).BiasCorrectedRaw = 0;
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AHRSSettings(1).YawBias = 0;
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AHRSSettings(1).PitchBias = 0;
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AHRSSettings(1).RollBias = 0;
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ahrsstatusIdx = 1;
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AhrsStatus.timestamp = 0;
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AhrsStatus(1).SerialNumber = zeros(1,8);
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AhrsStatus(1).CPULoad = 0;
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AhrsStatus(1).RunningTime = 0;
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AhrsStatus(1).IdleTimePerCyle = 0;
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AhrsStatus(1).RunningTimePerCyle = 0;
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AhrsStatus(1).DroppedUpdates = 0;
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AhrsStatus(1).LinkRunning = 0;
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AhrsStatus(1).AhrsKickstarts = 0;
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AhrsStatus(1).AhrsCrcErrors = 0;
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AhrsStatus(1).AhrsRetries = 0;
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AhrsStatus(1).AhrsInvalidPackets = 0;
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AhrsStatus(1).OpCrcErrors = 0;
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AhrsStatus(1).OpRetries = 0;
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AhrsStatus(1).OpInvalidPackets = 0;
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attitudeactualIdx = 1;
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AttitudeActual.timestamp = 0;
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AttitudeActual(1).q1 = 0;
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AttitudeActual(1).q2 = 0;
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AttitudeActual(1).q3 = 0;
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AttitudeActual(1).q4 = 0;
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AttitudeActual(1).Roll = 0;
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AttitudeActual(1).Pitch = 0;
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AttitudeActual(1).Yaw = 0;
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attitudedesiredIdx = 1;
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AttitudeDesired.timestamp = 0;
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AttitudeDesired(1).Roll = 0;
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AttitudeDesired(1).Pitch = 0;
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AttitudeDesired(1).Yaw = 0;
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AttitudeDesired(1).Throttle = 0;
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attituderawIdx = 1;
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AttitudeRaw.timestamp = 0;
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AttitudeRaw(1).magnetometers = zeros(1,3);
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AttitudeRaw(1).gyros = zeros(1,3);
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AttitudeRaw(1).gyros_filtered = zeros(1,3);
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AttitudeRaw(1).gyrotemp = zeros(1,2);
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AttitudeRaw(1).accels = zeros(1,3);
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AttitudeRaw(1).accels_filtered = zeros(1,3);
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baroaltitudeIdx = 1;
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BaroAltitude.timestamp = 0;
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BaroAltitude(1).Altitude = 0;
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BaroAltitude(1).Temperature = 0;
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BaroAltitude(1).Pressure = 0;
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batterysettingsIdx = 1;
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BatterySettings.timestamp = 0;
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BatterySettings(1).BatteryVoltage = 0;
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BatterySettings(1).BatteryCapacity = 0;
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BatterySettings(1).BatteryType = 0;
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BatterySettings(1).Calibrations = zeros(1,2);
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firmwareiapobjIdx = 1;
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FirmwareIAPObj.timestamp = 0;
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FirmwareIAPObj(1).Command = 0;
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FirmwareIAPObj(1).Description = zeros(1,100);
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FirmwareIAPObj(1).HWVersion = 0;
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FirmwareIAPObj(1).Target = 0;
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FirmwareIAPObj(1).ArmReset = 0;
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FirmwareIAPObj(1).crc = 0;
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flightbatterystateIdx = 1;
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FlightBatteryState.timestamp = 0;
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FlightBatteryState(1).Voltage = 0;
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FlightBatteryState(1).Current = 0;
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FlightBatteryState(1).PeakCurrent = 0;
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FlightBatteryState(1).AvgCurrent = 0;
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FlightBatteryState(1).ConsumedEnergy = 0;
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FlightBatteryState(1).EstimatedFlightTime = 0;
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flighttelemetrystatsIdx = 1;
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FlightTelemetryStats.timestamp = 0;
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FlightTelemetryStats(1).Status = 0;
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FlightTelemetryStats(1).TxDataRate = 0;
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FlightTelemetryStats(1).RxDataRate = 0;
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FlightTelemetryStats(1).TxFailures = 0;
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FlightTelemetryStats(1).RxFailures = 0;
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FlightTelemetryStats(1).TxRetries = 0;
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gcstelemetrystatsIdx = 1;
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GCSTelemetryStats.timestamp = 0;
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GCSTelemetryStats(1).Status = 0;
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GCSTelemetryStats(1).TxDataRate = 0;
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GCSTelemetryStats(1).RxDataRate = 0;
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GCSTelemetryStats(1).TxFailures = 0;
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GCSTelemetryStats(1).RxFailures = 0;
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GCSTelemetryStats(1).TxRetries = 0;
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gpspositionIdx = 1;
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GPSPosition.timestamp = 0;
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GPSPosition(1).Status = 0;
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GPSPosition(1).Latitude = 0;
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GPSPosition(1).Longitude = 0;
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GPSPosition(1).Altitude = 0;
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GPSPosition(1).GeoidSeparation = 0;
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GPSPosition(1).Heading = 0;
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GPSPosition(1).Groundspeed = 0;
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GPSPosition(1).Satellites = 0;
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GPSPosition(1).PDOP = 0;
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GPSPosition(1).HDOP = 0;
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GPSPosition(1).VDOP = 0;
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gpssatellitesIdx = 1;
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GPSSatellites.timestamp = 0;
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GPSSatellites(1).SatsInView = 0;
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GPSSatellites(1).PRN = zeros(1,16);
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GPSSatellites(1).Elevation = zeros(1,16);
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GPSSatellites(1).Azimuth = zeros(1,16);
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GPSSatellites(1).SNR = zeros(1,16);
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gpstimeIdx = 1;
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GPSTime.timestamp = 0;
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GPSTime(1).Month = 0;
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GPSTime(1).Day = 0;
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GPSTime(1).Year = 0;
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GPSTime(1).Hour = 0;
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GPSTime(1).Minute = 0;
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GPSTime(1).Second = 0;
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guidancesettingsIdx = 1;
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GuidanceSettings.timestamp = 0;
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GuidanceSettings(1).GuidanceMode = 0;
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GuidanceSettings(1).MaxGroundspeed = 0;
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GuidanceSettings(1).GroundVelocityP = 0;
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GuidanceSettings(1).MaxVerticalSpeed = 0;
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GuidanceSettings(1).VertVelocityP = 0;
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GuidanceSettings(1).VelP = 0;
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GuidanceSettings(1).VelI = 0;
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GuidanceSettings(1).VelD = 0;
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GuidanceSettings(1).DownP = 0;
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GuidanceSettings(1).DownI = 0;
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GuidanceSettings(1).DownD = 0;
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GuidanceSettings(1).MaxVelIntegral = 0;
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GuidanceSettings(1).MaxThrottleIntegral = 0;
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GuidanceSettings(1).VelUpdatePeriod = 0;
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GuidanceSettings(1).VelPIDUpdatePeriod = 0;
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homelocationIdx = 1;
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HomeLocation.timestamp = 0;
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HomeLocation(1).Set = 0;
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HomeLocation(1).Latitude = 0;
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HomeLocation(1).Longitude = 0;
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HomeLocation(1).Altitude = 0;
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HomeLocation(1).ECEF = zeros(1,3);
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HomeLocation(1).RNE = zeros(1,9);
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HomeLocation(1).Be = zeros(1,3);
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i2cstatsIdx = 1;
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I2CStats.timestamp = 0;
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I2CStats(1).event_errors = 0;
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I2CStats(1).fsm_errors = 0;
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I2CStats(1).irq_errors = 0;
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I2CStats(1).last_error_type = 0;
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I2CStats(1).event_log = zeros(1,5);
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I2CStats(1).state_log = zeros(1,5);
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manualcontrolcommandIdx = 1;
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ManualControlCommand.timestamp = 0;
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ManualControlCommand(1).Connected = 0;
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ManualControlCommand(1).Armed = 0;
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ManualControlCommand(1).Roll = 0;
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ManualControlCommand(1).Pitch = 0;
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ManualControlCommand(1).Yaw = 0;
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ManualControlCommand(1).Throttle = 0;
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ManualControlCommand(1).FlightMode = 0;
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ManualControlCommand(1).StabilizationSettings = zeros(1,3);
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ManualControlCommand(1).Accessory1 = 0;
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ManualControlCommand(1).Accessory2 = 0;
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ManualControlCommand(1).Accessory3 = 0;
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ManualControlCommand(1).Channel = zeros(1,8);
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manualcontrolsettingsIdx = 1;
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ManualControlSettings.timestamp = 0;
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ManualControlSettings(1).InputMode = 0;
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ManualControlSettings(1).Roll = 0;
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ManualControlSettings(1).Pitch = 0;
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ManualControlSettings(1).Yaw = 0;
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ManualControlSettings(1).Throttle = 0;
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ManualControlSettings(1).FlightMode = 0;
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ManualControlSettings(1).Accessory1 = 0;
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ManualControlSettings(1).Accessory2 = 0;
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ManualControlSettings(1).Accessory3 = 0;
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ManualControlSettings(1).Pos1StabilizationSettings = zeros(1,3);
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ManualControlSettings(1).Pos2StabilizationSettings = zeros(1,3);
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ManualControlSettings(1).Pos3StabilizationSettings = zeros(1,3);
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ManualControlSettings(1).Pos1FlightMode = 0;
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ManualControlSettings(1).Pos2FlightMode = 0;
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ManualControlSettings(1).Pos3FlightMode = 0;
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ManualControlSettings(1).ChannelMax = zeros(1,8);
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ManualControlSettings(1).ChannelNeutral = zeros(1,8);
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ManualControlSettings(1).ChannelMin = zeros(1,8);
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ManualControlSettings(1).ArmedTimeout = 0;
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mixersettingsIdx = 1;
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MixerSettings.timestamp = 0;
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MixerSettings(1).MaxAccel = 0;
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MixerSettings(1).FeedForward = 0;
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MixerSettings(1).AccelTime = 0;
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MixerSettings(1).DecelTime = 0;
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MixerSettings(1).ThrottleCurve1 = zeros(1,5);
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MixerSettings(1).ThrottleCurve2 = zeros(1,5);
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MixerSettings(1).Mixer1Type = 0;
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MixerSettings(1).Mixer1Vector = zeros(1,5);
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MixerSettings(1).Mixer2Type = 0;
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MixerSettings(1).Mixer2Vector = zeros(1,5);
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MixerSettings(1).Mixer3Type = 0;
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MixerSettings(1).Mixer3Vector = zeros(1,5);
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MixerSettings(1).Mixer4Type = 0;
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MixerSettings(1).Mixer4Vector = zeros(1,5);
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MixerSettings(1).Mixer5Type = 0;
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MixerSettings(1).Mixer5Vector = zeros(1,5);
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MixerSettings(1).Mixer6Type = 0;
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MixerSettings(1).Mixer6Vector = zeros(1,5);
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MixerSettings(1).Mixer7Type = 0;
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MixerSettings(1).Mixer7Vector = zeros(1,5);
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MixerSettings(1).Mixer8Type = 0;
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MixerSettings(1).Mixer8Vector = zeros(1,5);
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mixerstatusIdx = 1;
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MixerStatus.timestamp = 0;
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MixerStatus(1).Mixer1 = 0;
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MixerStatus(1).Mixer2 = 0;
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MixerStatus(1).Mixer3 = 0;
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MixerStatus(1).Mixer4 = 0;
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MixerStatus(1).Mixer5 = 0;
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MixerStatus(1).Mixer6 = 0;
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MixerStatus(1).Mixer7 = 0;
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MixerStatus(1).Mixer8 = 0;
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objectpersistenceIdx = 1;
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ObjectPersistence.timestamp = 0;
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ObjectPersistence(1).Operation = 0;
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ObjectPersistence(1).Selection = 0;
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ObjectPersistence(1).ObjectID = 0;
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ObjectPersistence(1).InstanceID = 0;
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pipxtrememodemsettingsIdx = 1;
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PipXtremeModemSettings.timestamp = 0;
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PipXtremeModemSettings(1).Mode = 0;
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PipXtremeModemSettings(1).Serial_Baudrate = 0;
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PipXtremeModemSettings(1).Frequency_Calibration = 0;
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PipXtremeModemSettings(1).Frequency_Min = 0;
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PipXtremeModemSettings(1).Frequency_Max = 0;
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PipXtremeModemSettings(1).Frequency = 0;
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PipXtremeModemSettings(1).Max_RF_Bandwidth = 0;
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PipXtremeModemSettings(1).Max_Tx_Power = 0;
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PipXtremeModemSettings(1).Tx_Data_Wait = 0;
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PipXtremeModemSettings(1).AES_Encryption = 0;
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PipXtremeModemSettings(1).AES_EncryptionKey = zeros(1,16);
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PipXtremeModemSettings(1).Paired_Serial_Number = 0;
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pipxtrememodemstatusIdx = 1;
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PipXtremeModemStatus.timestamp = 0;
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PipXtremeModemStatus(1).Firmware_Version_Major = 0;
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PipXtremeModemStatus(1).Firmware_Version_Minor = 0;
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PipXtremeModemStatus(1).Serial_Number = 0;
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PipXtremeModemStatus(1).Up_Time = 0;
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PipXtremeModemStatus(1).Frequency = 0;
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PipXtremeModemStatus(1).RF_Bandwidth = 0;
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PipXtremeModemStatus(1).Tx_Power = 0;
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PipXtremeModemStatus(1).State = 0;
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PipXtremeModemStatus(1).Tx_Retry = 0;
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PipXtremeModemStatus(1).Tx_Data_Rate = 0;
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PipXtremeModemStatus(1).Rx_Data_Rate = 0;
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positionactualIdx = 1;
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PositionActual.timestamp = 0;
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PositionActual(1).North = 0;
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PositionActual(1).East = 0;
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PositionActual(1).Down = 0;
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positiondesiredIdx = 1;
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PositionDesired.timestamp = 0;
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PositionDesired(1).North = 0;
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PositionDesired(1).East = 0;
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PositionDesired(1).Down = 0;
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ratedesiredIdx = 1;
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RateDesired.timestamp = 0;
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RateDesired(1).Roll = 0;
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RateDesired(1).Pitch = 0;
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RateDesired(1).Yaw = 0;
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stabilizationsettingsIdx = 1;
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StabilizationSettings.timestamp = 0;
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StabilizationSettings(1).RollMax = 0;
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StabilizationSettings(1).PitchMax = 0;
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StabilizationSettings(1).YawMax = 0;
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StabilizationSettings(1).ManualRate = zeros(1,3);
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StabilizationSettings(1).MaximumRate = zeros(1,3);
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StabilizationSettings(1).RollRatePI = zeros(1,3);
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StabilizationSettings(1).PitchRatePI = zeros(1,3);
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StabilizationSettings(1).YawRatePI = zeros(1,3);
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StabilizationSettings(1).RollPI = zeros(1,3);
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StabilizationSettings(1).PitchPI = zeros(1,3);
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StabilizationSettings(1).YawPI = zeros(1,3);
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systemalarmsIdx = 1;
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SystemAlarms.timestamp = 0;
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SystemAlarms(1).Alarm = zeros(1,14);
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systemsettingsIdx = 1;
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SystemSettings.timestamp = 0;
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SystemSettings(1).AirframeType = 0;
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systemstatsIdx = 1;
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SystemStats.timestamp = 0;
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SystemStats(1).FlightTime = 0;
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SystemStats(1).HeapRemaining = 0;
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SystemStats(1).CPULoad = 0;
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telemetrysettingsIdx = 1;
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TelemetrySettings.timestamp = 0;
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TelemetrySettings(1).Speed = 0;
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velocityactualIdx = 1;
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VelocityActual.timestamp = 0;
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VelocityActual(1).North = 0;
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VelocityActual(1).East = 0;
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VelocityActual(1).Down = 0;
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velocitydesiredIdx = 1;
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VelocityDesired.timestamp = 0;
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VelocityDesired(1).North = 0;
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VelocityDesired(1).East = 0;
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VelocityDesired(1).Down = 0;
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%% Open file
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%fid = fopen('log.opl');
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[FileName,PathName,FilterIndex] = uigetfile('*.opl');
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logfile = strcat(PathName,FileName);
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fid = fopen(logfile);
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while (1)
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%% Read logging header
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timestamp = fread(fid, 1, 'uint32');
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if (feof(fid)); break; end
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datasize = fread(fid, 1, 'int64');
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%% Read message header
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% get sync field (0x3C, 1 byte)
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sync = fread(fid, 1, 'uint8');
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if sync ~= hex2dec('3C')
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disp ('Wrong sync byte');
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return
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end
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% get msg type (quint8 1 byte ) should be 0x20, ignore the rest?
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msgType = fread(fid, 1, 'uint8');
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if msgType ~= hex2dec('20')
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disp ('Wrong msgType');
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return
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end
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% get msg size (quint16 2 bytes) excludes crc, include msg header and data payload
|
|
msgSize = fread(fid, 1, 'uint16');
|
|
% get obj id (quint32 4 bytes)
|
|
objID = fread(fid, 1, 'uint32');
|
|
|
|
|
|
%% Read object
|
|
switch objID
|
|
case 3909877022
|
|
ActuatorCommand(actuatorcommandIdx) = ReadActuatorCommandObject(fid, timestamp);
|
|
actuatorcommandIdx = actuatorcommandIdx + 1;
|
|
case 3562104706
|
|
ActuatorDesired(actuatordesiredIdx) = ReadActuatorDesiredObject(fid, timestamp);
|
|
actuatordesiredIdx = actuatordesiredIdx + 1;
|
|
case 3054509114
|
|
ActuatorSettings(actuatorsettingsIdx) = ReadActuatorSettingsObject(fid, timestamp);
|
|
actuatorsettingsIdx = actuatorsettingsIdx + 1;
|
|
case 806362034
|
|
AHRSCalibration(ahrscalibrationIdx) = ReadAHRSCalibrationObject(fid, timestamp);
|
|
ahrscalibrationIdx = ahrscalibrationIdx + 1;
|
|
case 3741078856
|
|
AHRSSettings(ahrssettingsIdx) = ReadAHRSSettingsObject(fid, timestamp);
|
|
ahrssettingsIdx = ahrssettingsIdx + 1;
|
|
case 933623714
|
|
AhrsStatus(ahrsstatusIdx) = ReadAhrsStatusObject(fid, timestamp);
|
|
ahrsstatusIdx = ahrsstatusIdx + 1;
|
|
case 4233858292
|
|
AttitudeActual(attitudeactualIdx) = ReadAttitudeActualObject(fid, timestamp);
|
|
attitudeactualIdx = attitudeactualIdx + 1;
|
|
case 1412270808
|
|
AttitudeDesired(attitudedesiredIdx) = ReadAttitudeDesiredObject(fid, timestamp);
|
|
attitudedesiredIdx = attitudedesiredIdx + 1;
|
|
case 1323193976
|
|
AttitudeRaw(attituderawIdx) = ReadAttitudeRawObject(fid, timestamp);
|
|
attituderawIdx = attituderawIdx + 1;
|
|
case 3980666102
|
|
BaroAltitude(baroaltitudeIdx) = ReadBaroAltitudeObject(fid, timestamp);
|
|
baroaltitudeIdx = baroaltitudeIdx + 1;
|
|
case 2784959898
|
|
BatterySettings(batterysettingsIdx) = ReadBatterySettingsObject(fid, timestamp);
|
|
batterysettingsIdx = batterysettingsIdx + 1;
|
|
case 879185696
|
|
FirmwareIAPObj(firmwareiapobjIdx) = ReadFirmwareIAPObjObject(fid, timestamp);
|
|
firmwareiapobjIdx = firmwareiapobjIdx + 1;
|
|
case 126985486
|
|
FlightBatteryState(flightbatterystateIdx) = ReadFlightBatteryStateObject(fid, timestamp);
|
|
flightbatterystateIdx = flightbatterystateIdx + 1;
|
|
case 1712072286
|
|
FlightTelemetryStats(flighttelemetrystatsIdx) = ReadFlightTelemetryStatsObject(fid, timestamp);
|
|
flighttelemetrystatsIdx = flighttelemetrystatsIdx + 1;
|
|
case 1998458950
|
|
GCSTelemetryStats(gcstelemetrystatsIdx) = ReadGCSTelemetryStatsObject(fid, timestamp);
|
|
gcstelemetrystatsIdx = gcstelemetrystatsIdx + 1;
|
|
case 3041480770
|
|
GPSPosition(gpspositionIdx) = ReadGPSPositionObject(fid, timestamp);
|
|
gpspositionIdx = gpspositionIdx + 1;
|
|
case 3593446318
|
|
GPSSatellites(gpssatellitesIdx) = ReadGPSSatellitesObject(fid, timestamp);
|
|
gpssatellitesIdx = gpssatellitesIdx + 1;
|
|
case 1459613858
|
|
GPSTime(gpstimeIdx) = ReadGPSTimeObject(fid, timestamp);
|
|
gpstimeIdx = gpstimeIdx + 1;
|
|
case 2071403670
|
|
GuidanceSettings(guidancesettingsIdx) = ReadGuidanceSettingsObject(fid, timestamp);
|
|
guidancesettingsIdx = guidancesettingsIdx + 1;
|
|
case 3590360786
|
|
HomeLocation(homelocationIdx) = ReadHomeLocationObject(fid, timestamp);
|
|
homelocationIdx = homelocationIdx + 1;
|
|
case 1063893720
|
|
I2CStats(i2cstatsIdx) = ReadI2CStatsObject(fid, timestamp);
|
|
i2cstatsIdx = i2cstatsIdx + 1;
|
|
case 2841592332
|
|
ManualControlCommand(manualcontrolcommandIdx) = ReadManualControlCommandObject(fid, timestamp);
|
|
manualcontrolcommandIdx = manualcontrolcommandIdx + 1;
|
|
case 157988682
|
|
ManualControlSettings(manualcontrolsettingsIdx) = ReadManualControlSettingsObject(fid, timestamp);
|
|
manualcontrolsettingsIdx = manualcontrolsettingsIdx + 1;
|
|
case 1336817486
|
|
MixerSettings(mixersettingsIdx) = ReadMixerSettingsObject(fid, timestamp);
|
|
mixersettingsIdx = mixersettingsIdx + 1;
|
|
case 4137893648
|
|
MixerStatus(mixerstatusIdx) = ReadMixerStatusObject(fid, timestamp);
|
|
mixerstatusIdx = mixerstatusIdx + 1;
|
|
case 572614706
|
|
ObjectPersistence(objectpersistenceIdx) = ReadObjectPersistenceObject(fid, timestamp);
|
|
objectpersistenceIdx = objectpersistenceIdx + 1;
|
|
case 444830632
|
|
PipXtremeModemSettings(pipxtrememodemsettingsIdx) = ReadPipXtremeModemSettingsObject(fid, timestamp);
|
|
pipxtrememodemsettingsIdx = pipxtrememodemsettingsIdx + 1;
|
|
case 2490854928
|
|
PipXtremeModemStatus(pipxtrememodemstatusIdx) = ReadPipXtremeModemStatusObject(fid, timestamp);
|
|
pipxtrememodemstatusIdx = pipxtrememodemstatusIdx + 1;
|
|
case 3765671478
|
|
PositionActual(positionactualIdx) = ReadPositionActualObject(fid, timestamp);
|
|
positionactualIdx = positionactualIdx + 1;
|
|
case 801433018
|
|
PositionDesired(positiondesiredIdx) = ReadPositionDesiredObject(fid, timestamp);
|
|
positiondesiredIdx = positiondesiredIdx + 1;
|
|
case 3124868380
|
|
RateDesired(ratedesiredIdx) = ReadRateDesiredObject(fid, timestamp);
|
|
ratedesiredIdx = ratedesiredIdx + 1;
|
|
case 3792991236
|
|
StabilizationSettings(stabilizationsettingsIdx) = ReadStabilizationSettingsObject(fid, timestamp);
|
|
stabilizationsettingsIdx = stabilizationsettingsIdx + 1;
|
|
case 2311314672
|
|
SystemAlarms(systemalarmsIdx) = ReadSystemAlarmsObject(fid, timestamp);
|
|
systemalarmsIdx = systemalarmsIdx + 1;
|
|
case 59202798
|
|
SystemSettings(systemsettingsIdx) = ReadSystemSettingsObject(fid, timestamp);
|
|
systemsettingsIdx = systemsettingsIdx + 1;
|
|
case 680908530
|
|
SystemStats(systemstatsIdx) = ReadSystemStatsObject(fid, timestamp);
|
|
systemstatsIdx = systemstatsIdx + 1;
|
|
case 2785592614
|
|
TelemetrySettings(telemetrysettingsIdx) = ReadTelemetrySettingsObject(fid, timestamp);
|
|
telemetrysettingsIdx = telemetrysettingsIdx + 1;
|
|
case 1207999624
|
|
VelocityActual(velocityactualIdx) = ReadVelocityActualObject(fid, timestamp);
|
|
velocityactualIdx = velocityactualIdx + 1;
|
|
case 305094202
|
|
VelocityDesired(velocitydesiredIdx) = ReadVelocityDesiredObject(fid, timestamp);
|
|
velocitydesiredIdx = velocitydesiredIdx + 1;
|
|
|
|
otherwise
|
|
disp('Unknown object ID');
|
|
msgBytesLeft = datasize - 1 - 1 - 2 - 4;
|
|
fread(fid, msgBytesLeft, 'uint8');
|
|
end
|
|
|
|
end
|
|
|
|
%% Clean Up and Save mat file
|
|
fclose(fid);
|
|
|
|
matfile = strrep(logfile,'opl','mat');
|
|
save(matfile ,'ActuatorCommand','ActuatorDesired','ActuatorSettings','AHRSCalibration','AHRSSettings','AhrsStatus','AttitudeActual','AttitudeDesired','AttitudeRaw','BaroAltitude','BatterySettings','FirmwareIAPObj','FlightBatteryState','FlightTelemetryStats','GCSTelemetryStats','GPSPosition','GPSSatellites','GPSTime','GuidanceSettings','HomeLocation','I2CStats','ManualControlCommand','ManualControlSettings','MixerSettings','MixerStatus','ObjectPersistence','PipXtremeModemSettings','PipXtremeModemStatus','PositionActual','PositionDesired','RateDesired','StabilizationSettings','SystemAlarms','SystemSettings','SystemStats','TelemetrySettings','VelocityActual','VelocityDesired');
|
|
|
|
end
|
|
|
|
|
|
%% Object reading functions
|
|
function [ActuatorCommand] = ReadActuatorCommandObject(fid, timestamp)
|
|
if 1
|
|
headerSize = 8;
|
|
else
|
|
ActuatorCommand.instanceID = fread(fid, 1, 'uint16');
|
|
headerSize = 10;
|
|
end
|
|
|
|
ActuatorCommand.timestamp = timestamp;
|
|
ActuatorCommand.Channel = double(fread(fid, 8, 'int16'));
|
|
% read CRC
|
|
fread(fid, 1, 'uint8');
|
|
end
|
|
|
|
function [ActuatorDesired] = ReadActuatorDesiredObject(fid, timestamp)
|
|
if 1
|
|
headerSize = 8;
|
|
else
|
|
ActuatorDesired.instanceID = fread(fid, 1, 'uint16');
|
|
headerSize = 10;
|
|
end
|
|
|
|
ActuatorDesired.timestamp = timestamp;
|
|
ActuatorDesired.Roll = double(fread(fid, 1, 'float32'));
|
|
ActuatorDesired.Pitch = double(fread(fid, 1, 'float32'));
|
|
ActuatorDesired.Yaw = double(fread(fid, 1, 'float32'));
|
|
ActuatorDesired.Throttle = double(fread(fid, 1, 'float32'));
|
|
ActuatorDesired.UpdateTime = double(fread(fid, 1, 'float32'));
|
|
ActuatorDesired.NumLongUpdates = double(fread(fid, 1, 'float32'));
|
|
% read CRC
|
|
fread(fid, 1, 'uint8');
|
|
end
|
|
|
|
function [ActuatorSettings] = ReadActuatorSettingsObject(fid, timestamp)
|
|
if 1
|
|
headerSize = 8;
|
|
else
|
|
ActuatorSettings.instanceID = fread(fid, 1, 'uint16');
|
|
headerSize = 10;
|
|
end
|
|
|
|
ActuatorSettings.timestamp = timestamp;
|
|
ActuatorSettings.FixedWingRoll1 = double(fread(fid, 1, 'uint8'));
|
|
ActuatorSettings.FixedWingRoll2 = double(fread(fid, 1, 'uint8'));
|
|
ActuatorSettings.FixedWingPitch1 = double(fread(fid, 1, 'uint8'));
|
|
ActuatorSettings.FixedWingPitch2 = double(fread(fid, 1, 'uint8'));
|
|
ActuatorSettings.FixedWingYaw = double(fread(fid, 1, 'uint8'));
|
|
ActuatorSettings.FixedWingThrottle = double(fread(fid, 1, 'uint8'));
|
|
ActuatorSettings.VTOLMotorN = double(fread(fid, 1, 'uint8'));
|
|
ActuatorSettings.VTOLMotorNE = double(fread(fid, 1, 'uint8'));
|
|
ActuatorSettings.VTOLMotorE = double(fread(fid, 1, 'uint8'));
|
|
ActuatorSettings.VTOLMotorSE = double(fread(fid, 1, 'uint8'));
|
|
ActuatorSettings.VTOLMotorS = double(fread(fid, 1, 'uint8'));
|
|
ActuatorSettings.VTOLMotorSW = double(fread(fid, 1, 'uint8'));
|
|
ActuatorSettings.VTOLMotorW = double(fread(fid, 1, 'uint8'));
|
|
ActuatorSettings.VTOLMotorNW = double(fread(fid, 1, 'uint8'));
|
|
ActuatorSettings.ChannelUpdateFreq = double(fread(fid, 2, 'int16'));
|
|
ActuatorSettings.ChannelMax = double(fread(fid, 8, 'int16'));
|
|
ActuatorSettings.ChannelNeutral = double(fread(fid, 8, 'int16'));
|
|
ActuatorSettings.ChannelMin = double(fread(fid, 8, 'int16'));
|
|
% read CRC
|
|
fread(fid, 1, 'uint8');
|
|
end
|
|
|
|
function [AHRSCalibration] = ReadAHRSCalibrationObject(fid, timestamp)
|
|
if 1
|
|
headerSize = 8;
|
|
else
|
|
AHRSCalibration.instanceID = fread(fid, 1, 'uint16');
|
|
headerSize = 10;
|
|
end
|
|
|
|
AHRSCalibration.timestamp = timestamp;
|
|
AHRSCalibration.measure_var = double(fread(fid, 1, 'uint8'));
|
|
AHRSCalibration.accel_bias = double(fread(fid, 3, 'float32'));
|
|
AHRSCalibration.accel_scale = double(fread(fid, 3, 'float32'));
|
|
AHRSCalibration.accel_var = double(fread(fid, 3, 'float32'));
|
|
AHRSCalibration.gyro_bias = double(fread(fid, 3, 'float32'));
|
|
AHRSCalibration.gyro_scale = double(fread(fid, 3, 'float32'));
|
|
AHRSCalibration.gyro_var = double(fread(fid, 3, 'float32'));
|
|
AHRSCalibration.gyro_tempcompfactor = double(fread(fid, 3, 'float32'));
|
|
AHRSCalibration.mag_bias = double(fread(fid, 3, 'float32'));
|
|
AHRSCalibration.mag_scale = double(fread(fid, 3, 'float32'));
|
|
AHRSCalibration.mag_var = double(fread(fid, 3, 'float32'));
|
|
AHRSCalibration.vel_var = double(fread(fid, 1, 'float32'));
|
|
AHRSCalibration.pos_var = double(fread(fid, 1, 'float32'));
|
|
% read CRC
|
|
fread(fid, 1, 'uint8');
|
|
end
|
|
|
|
function [AHRSSettings] = ReadAHRSSettingsObject(fid, timestamp)
|
|
if 1
|
|
headerSize = 8;
|
|
else
|
|
AHRSSettings.instanceID = fread(fid, 1, 'uint16');
|
|
headerSize = 10;
|
|
end
|
|
|
|
AHRSSettings.timestamp = timestamp;
|
|
AHRSSettings.Algorithm = double(fread(fid, 1, 'uint8'));
|
|
AHRSSettings.Downsampling = double(fread(fid, 1, 'uint8'));
|
|
AHRSSettings.UpdatePeriod = double(fread(fid, 1, 'uint8'));
|
|
AHRSSettings.BiasCorrectedRaw = double(fread(fid, 1, 'uint8'));
|
|
AHRSSettings.YawBias = double(fread(fid, 1, 'float32'));
|
|
AHRSSettings.PitchBias = double(fread(fid, 1, 'float32'));
|
|
AHRSSettings.RollBias = double(fread(fid, 1, 'float32'));
|
|
% read CRC
|
|
fread(fid, 1, 'uint8');
|
|
end
|
|
|
|
function [AhrsStatus] = ReadAhrsStatusObject(fid, timestamp)
|
|
if 1
|
|
headerSize = 8;
|
|
else
|
|
AhrsStatus.instanceID = fread(fid, 1, 'uint16');
|
|
headerSize = 10;
|
|
end
|
|
|
|
AhrsStatus.timestamp = timestamp;
|
|
AhrsStatus.SerialNumber = double(fread(fid, 8, 'uint8'));
|
|
AhrsStatus.CPULoad = double(fread(fid, 1, 'uint8'));
|
|
AhrsStatus.RunningTime = double(fread(fid, 1, 'uint32'));
|
|
AhrsStatus.IdleTimePerCyle = double(fread(fid, 1, 'uint8'));
|
|
AhrsStatus.RunningTimePerCyle = double(fread(fid, 1, 'uint8'));
|
|
AhrsStatus.DroppedUpdates = double(fread(fid, 1, 'uint8'));
|
|
AhrsStatus.LinkRunning = double(fread(fid, 1, 'uint8'));
|
|
AhrsStatus.AhrsKickstarts = double(fread(fid, 1, 'uint8'));
|
|
AhrsStatus.AhrsCrcErrors = double(fread(fid, 1, 'uint8'));
|
|
AhrsStatus.AhrsRetries = double(fread(fid, 1, 'uint8'));
|
|
AhrsStatus.AhrsInvalidPackets = double(fread(fid, 1, 'uint8'));
|
|
AhrsStatus.OpCrcErrors = double(fread(fid, 1, 'uint8'));
|
|
AhrsStatus.OpRetries = double(fread(fid, 1, 'uint8'));
|
|
AhrsStatus.OpInvalidPackets = double(fread(fid, 1, 'uint8'));
|
|
% read CRC
|
|
fread(fid, 1, 'uint8');
|
|
end
|
|
|
|
function [AttitudeActual] = ReadAttitudeActualObject(fid, timestamp)
|
|
if 1
|
|
headerSize = 8;
|
|
else
|
|
AttitudeActual.instanceID = fread(fid, 1, 'uint16');
|
|
headerSize = 10;
|
|
end
|
|
|
|
AttitudeActual.timestamp = timestamp;
|
|
AttitudeActual.q1 = double(fread(fid, 1, 'float32'));
|
|
AttitudeActual.q2 = double(fread(fid, 1, 'float32'));
|
|
AttitudeActual.q3 = double(fread(fid, 1, 'float32'));
|
|
AttitudeActual.q4 = double(fread(fid, 1, 'float32'));
|
|
AttitudeActual.Roll = double(fread(fid, 1, 'float32'));
|
|
AttitudeActual.Pitch = double(fread(fid, 1, 'float32'));
|
|
AttitudeActual.Yaw = double(fread(fid, 1, 'float32'));
|
|
% read CRC
|
|
fread(fid, 1, 'uint8');
|
|
end
|
|
|
|
function [AttitudeDesired] = ReadAttitudeDesiredObject(fid, timestamp)
|
|
if 1
|
|
headerSize = 8;
|
|
else
|
|
AttitudeDesired.instanceID = fread(fid, 1, 'uint16');
|
|
headerSize = 10;
|
|
end
|
|
|
|
AttitudeDesired.timestamp = timestamp;
|
|
AttitudeDesired.Roll = double(fread(fid, 1, 'float32'));
|
|
AttitudeDesired.Pitch = double(fread(fid, 1, 'float32'));
|
|
AttitudeDesired.Yaw = double(fread(fid, 1, 'float32'));
|
|
AttitudeDesired.Throttle = double(fread(fid, 1, 'float32'));
|
|
% read CRC
|
|
fread(fid, 1, 'uint8');
|
|
end
|
|
|
|
function [AttitudeRaw] = ReadAttitudeRawObject(fid, timestamp)
|
|
if 1
|
|
headerSize = 8;
|
|
else
|
|
AttitudeRaw.instanceID = fread(fid, 1, 'uint16');
|
|
headerSize = 10;
|
|
end
|
|
|
|
AttitudeRaw.timestamp = timestamp;
|
|
AttitudeRaw.magnetometers = double(fread(fid, 3, 'int16'));
|
|
AttitudeRaw.gyros = double(fread(fid, 3, 'uint16'));
|
|
AttitudeRaw.gyros_filtered = double(fread(fid, 3, 'float32'));
|
|
AttitudeRaw.gyrotemp = double(fread(fid, 2, 'uint16'));
|
|
AttitudeRaw.accels = double(fread(fid, 3, 'uint16'));
|
|
AttitudeRaw.accels_filtered = double(fread(fid, 3, 'float32'));
|
|
% read CRC
|
|
fread(fid, 1, 'uint8');
|
|
end
|
|
|
|
function [BaroAltitude] = ReadBaroAltitudeObject(fid, timestamp)
|
|
if 1
|
|
headerSize = 8;
|
|
else
|
|
BaroAltitude.instanceID = fread(fid, 1, 'uint16');
|
|
headerSize = 10;
|
|
end
|
|
|
|
BaroAltitude.timestamp = timestamp;
|
|
BaroAltitude.Altitude = double(fread(fid, 1, 'float32'));
|
|
BaroAltitude.Temperature = double(fread(fid, 1, 'float32'));
|
|
BaroAltitude.Pressure = double(fread(fid, 1, 'float32'));
|
|
% read CRC
|
|
fread(fid, 1, 'uint8');
|
|
end
|
|
|
|
function [BatterySettings] = ReadBatterySettingsObject(fid, timestamp)
|
|
if 1
|
|
headerSize = 8;
|
|
else
|
|
BatterySettings.instanceID = fread(fid, 1, 'uint16');
|
|
headerSize = 10;
|
|
end
|
|
|
|
BatterySettings.timestamp = timestamp;
|
|
BatterySettings.BatteryVoltage = double(fread(fid, 1, 'float32'));
|
|
BatterySettings.BatteryCapacity = double(fread(fid, 1, 'uint32'));
|
|
BatterySettings.BatteryType = double(fread(fid, 1, 'uint8'));
|
|
BatterySettings.Calibrations = double(fread(fid, 2, 'float32'));
|
|
% read CRC
|
|
fread(fid, 1, 'uint8');
|
|
end
|
|
|
|
function [FirmwareIAPObj] = ReadFirmwareIAPObjObject(fid, timestamp)
|
|
if 1
|
|
headerSize = 8;
|
|
else
|
|
FirmwareIAPObj.instanceID = fread(fid, 1, 'uint16');
|
|
headerSize = 10;
|
|
end
|
|
|
|
FirmwareIAPObj.timestamp = timestamp;
|
|
FirmwareIAPObj.Command = double(fread(fid, 1, 'uint16'));
|
|
FirmwareIAPObj.Description = double(fread(fid, 100, 'uint8'));
|
|
FirmwareIAPObj.HWVersion = double(fread(fid, 1, 'uint8'));
|
|
FirmwareIAPObj.Target = double(fread(fid, 1, 'uint8'));
|
|
FirmwareIAPObj.ArmReset = double(fread(fid, 1, 'uint8'));
|
|
FirmwareIAPObj.crc = double(fread(fid, 1, 'uint32'));
|
|
% read CRC
|
|
fread(fid, 1, 'uint8');
|
|
end
|
|
|
|
function [FlightBatteryState] = ReadFlightBatteryStateObject(fid, timestamp)
|
|
if 1
|
|
headerSize = 8;
|
|
else
|
|
FlightBatteryState.instanceID = fread(fid, 1, 'uint16');
|
|
headerSize = 10;
|
|
end
|
|
|
|
FlightBatteryState.timestamp = timestamp;
|
|
FlightBatteryState.Voltage = double(fread(fid, 1, 'float32'));
|
|
FlightBatteryState.Current = double(fread(fid, 1, 'float32'));
|
|
FlightBatteryState.PeakCurrent = double(fread(fid, 1, 'float32'));
|
|
FlightBatteryState.AvgCurrent = double(fread(fid, 1, 'float32'));
|
|
FlightBatteryState.ConsumedEnergy = double(fread(fid, 1, 'float32'));
|
|
FlightBatteryState.EstimatedFlightTime = double(fread(fid, 1, 'float32'));
|
|
% read CRC
|
|
fread(fid, 1, 'uint8');
|
|
end
|
|
|
|
function [FlightTelemetryStats] = ReadFlightTelemetryStatsObject(fid, timestamp)
|
|
if 1
|
|
headerSize = 8;
|
|
else
|
|
FlightTelemetryStats.instanceID = fread(fid, 1, 'uint16');
|
|
headerSize = 10;
|
|
end
|
|
|
|
FlightTelemetryStats.timestamp = timestamp;
|
|
FlightTelemetryStats.Status = double(fread(fid, 1, 'uint8'));
|
|
FlightTelemetryStats.TxDataRate = double(fread(fid, 1, 'float32'));
|
|
FlightTelemetryStats.RxDataRate = double(fread(fid, 1, 'float32'));
|
|
FlightTelemetryStats.TxFailures = double(fread(fid, 1, 'uint32'));
|
|
FlightTelemetryStats.RxFailures = double(fread(fid, 1, 'uint32'));
|
|
FlightTelemetryStats.TxRetries = double(fread(fid, 1, 'uint32'));
|
|
% read CRC
|
|
fread(fid, 1, 'uint8');
|
|
end
|
|
|
|
function [GCSTelemetryStats] = ReadGCSTelemetryStatsObject(fid, timestamp)
|
|
if 1
|
|
headerSize = 8;
|
|
else
|
|
GCSTelemetryStats.instanceID = fread(fid, 1, 'uint16');
|
|
headerSize = 10;
|
|
end
|
|
|
|
GCSTelemetryStats.timestamp = timestamp;
|
|
GCSTelemetryStats.Status = double(fread(fid, 1, 'uint8'));
|
|
GCSTelemetryStats.TxDataRate = double(fread(fid, 1, 'float32'));
|
|
GCSTelemetryStats.RxDataRate = double(fread(fid, 1, 'float32'));
|
|
GCSTelemetryStats.TxFailures = double(fread(fid, 1, 'uint32'));
|
|
GCSTelemetryStats.RxFailures = double(fread(fid, 1, 'uint32'));
|
|
GCSTelemetryStats.TxRetries = double(fread(fid, 1, 'uint32'));
|
|
% read CRC
|
|
fread(fid, 1, 'uint8');
|
|
end
|
|
|
|
function [GPSPosition] = ReadGPSPositionObject(fid, timestamp)
|
|
if 1
|
|
headerSize = 8;
|
|
else
|
|
GPSPosition.instanceID = fread(fid, 1, 'uint16');
|
|
headerSize = 10;
|
|
end
|
|
|
|
GPSPosition.timestamp = timestamp;
|
|
GPSPosition.Status = double(fread(fid, 1, 'uint8'));
|
|
GPSPosition.Latitude = double(fread(fid, 1, 'int32'));
|
|
GPSPosition.Longitude = double(fread(fid, 1, 'int32'));
|
|
GPSPosition.Altitude = double(fread(fid, 1, 'float32'));
|
|
GPSPosition.GeoidSeparation = double(fread(fid, 1, 'float32'));
|
|
GPSPosition.Heading = double(fread(fid, 1, 'float32'));
|
|
GPSPosition.Groundspeed = double(fread(fid, 1, 'float32'));
|
|
GPSPosition.Satellites = double(fread(fid, 1, 'int8'));
|
|
GPSPosition.PDOP = double(fread(fid, 1, 'float32'));
|
|
GPSPosition.HDOP = double(fread(fid, 1, 'float32'));
|
|
GPSPosition.VDOP = double(fread(fid, 1, 'float32'));
|
|
% read CRC
|
|
fread(fid, 1, 'uint8');
|
|
end
|
|
|
|
function [GPSSatellites] = ReadGPSSatellitesObject(fid, timestamp)
|
|
if 1
|
|
headerSize = 8;
|
|
else
|
|
GPSSatellites.instanceID = fread(fid, 1, 'uint16');
|
|
headerSize = 10;
|
|
end
|
|
|
|
GPSSatellites.timestamp = timestamp;
|
|
GPSSatellites.SatsInView = double(fread(fid, 1, 'int8'));
|
|
GPSSatellites.PRN = double(fread(fid, 16, 'int8'));
|
|
GPSSatellites.Elevation = double(fread(fid, 16, 'float32'));
|
|
GPSSatellites.Azimuth = double(fread(fid, 16, 'float32'));
|
|
GPSSatellites.SNR = double(fread(fid, 16, 'int8'));
|
|
% read CRC
|
|
fread(fid, 1, 'uint8');
|
|
end
|
|
|
|
function [GPSTime] = ReadGPSTimeObject(fid, timestamp)
|
|
if 1
|
|
headerSize = 8;
|
|
else
|
|
GPSTime.instanceID = fread(fid, 1, 'uint16');
|
|
headerSize = 10;
|
|
end
|
|
|
|
GPSTime.timestamp = timestamp;
|
|
GPSTime.Month = double(fread(fid, 1, 'int8'));
|
|
GPSTime.Day = double(fread(fid, 1, 'int8'));
|
|
GPSTime.Year = double(fread(fid, 1, 'int16'));
|
|
GPSTime.Hour = double(fread(fid, 1, 'int8'));
|
|
GPSTime.Minute = double(fread(fid, 1, 'int8'));
|
|
GPSTime.Second = double(fread(fid, 1, 'int8'));
|
|
% read CRC
|
|
fread(fid, 1, 'uint8');
|
|
end
|
|
|
|
function [GuidanceSettings] = ReadGuidanceSettingsObject(fid, timestamp)
|
|
if 1
|
|
headerSize = 8;
|
|
else
|
|
GuidanceSettings.instanceID = fread(fid, 1, 'uint16');
|
|
headerSize = 10;
|
|
end
|
|
|
|
GuidanceSettings.timestamp = timestamp;
|
|
GuidanceSettings.GuidanceMode = double(fread(fid, 1, 'uint8'));
|
|
GuidanceSettings.MaxGroundspeed = double(fread(fid, 1, 'int32'));
|
|
GuidanceSettings.GroundVelocityP = double(fread(fid, 1, 'float32'));
|
|
GuidanceSettings.MaxVerticalSpeed = double(fread(fid, 1, 'int32'));
|
|
GuidanceSettings.VertVelocityP = double(fread(fid, 1, 'float32'));
|
|
GuidanceSettings.VelP = double(fread(fid, 1, 'float32'));
|
|
GuidanceSettings.VelI = double(fread(fid, 1, 'float32'));
|
|
GuidanceSettings.VelD = double(fread(fid, 1, 'float32'));
|
|
GuidanceSettings.DownP = double(fread(fid, 1, 'float32'));
|
|
GuidanceSettings.DownI = double(fread(fid, 1, 'float32'));
|
|
GuidanceSettings.DownD = double(fread(fid, 1, 'float32'));
|
|
GuidanceSettings.MaxVelIntegral = double(fread(fid, 1, 'float32'));
|
|
GuidanceSettings.MaxThrottleIntegral = double(fread(fid, 1, 'float32'));
|
|
GuidanceSettings.VelUpdatePeriod = double(fread(fid, 1, 'int32'));
|
|
GuidanceSettings.VelPIDUpdatePeriod = double(fread(fid, 1, 'int32'));
|
|
% read CRC
|
|
fread(fid, 1, 'uint8');
|
|
end
|
|
|
|
function [HomeLocation] = ReadHomeLocationObject(fid, timestamp)
|
|
if 1
|
|
headerSize = 8;
|
|
else
|
|
HomeLocation.instanceID = fread(fid, 1, 'uint16');
|
|
headerSize = 10;
|
|
end
|
|
|
|
HomeLocation.timestamp = timestamp;
|
|
HomeLocation.Set = double(fread(fid, 1, 'uint8'));
|
|
HomeLocation.Latitude = double(fread(fid, 1, 'int32'));
|
|
HomeLocation.Longitude = double(fread(fid, 1, 'int32'));
|
|
HomeLocation.Altitude = double(fread(fid, 1, 'float32'));
|
|
HomeLocation.ECEF = double(fread(fid, 3, 'int32'));
|
|
HomeLocation.RNE = double(fread(fid, 9, 'float32'));
|
|
HomeLocation.Be = double(fread(fid, 3, 'float32'));
|
|
% read CRC
|
|
fread(fid, 1, 'uint8');
|
|
end
|
|
|
|
function [I2CStats] = ReadI2CStatsObject(fid, timestamp)
|
|
if 1
|
|
headerSize = 8;
|
|
else
|
|
I2CStats.instanceID = fread(fid, 1, 'uint16');
|
|
headerSize = 10;
|
|
end
|
|
|
|
I2CStats.timestamp = timestamp;
|
|
I2CStats.event_errors = double(fread(fid, 1, 'uint16'));
|
|
I2CStats.fsm_errors = double(fread(fid, 1, 'uint16'));
|
|
I2CStats.irq_errors = double(fread(fid, 1, 'uint16'));
|
|
I2CStats.last_error_type = double(fread(fid, 1, 'uint8'));
|
|
I2CStats.event_log = double(fread(fid, 5, 'uint32'));
|
|
I2CStats.state_log = double(fread(fid, 5, 'uint32'));
|
|
% read CRC
|
|
fread(fid, 1, 'uint8');
|
|
end
|
|
|
|
function [ManualControlCommand] = ReadManualControlCommandObject(fid, timestamp)
|
|
if 1
|
|
headerSize = 8;
|
|
else
|
|
ManualControlCommand.instanceID = fread(fid, 1, 'uint16');
|
|
headerSize = 10;
|
|
end
|
|
|
|
ManualControlCommand.timestamp = timestamp;
|
|
ManualControlCommand.Connected = double(fread(fid, 1, 'uint8'));
|
|
ManualControlCommand.Armed = double(fread(fid, 1, 'uint8'));
|
|
ManualControlCommand.Roll = double(fread(fid, 1, 'float32'));
|
|
ManualControlCommand.Pitch = double(fread(fid, 1, 'float32'));
|
|
ManualControlCommand.Yaw = double(fread(fid, 1, 'float32'));
|
|
ManualControlCommand.Throttle = double(fread(fid, 1, 'float32'));
|
|
ManualControlCommand.FlightMode = double(fread(fid, 1, 'uint8'));
|
|
ManualControlCommand.StabilizationSettings = double(fread(fid, 3, 'uint8'));
|
|
ManualControlCommand.Accessory1 = double(fread(fid, 1, 'float32'));
|
|
ManualControlCommand.Accessory2 = double(fread(fid, 1, 'float32'));
|
|
ManualControlCommand.Accessory3 = double(fread(fid, 1, 'float32'));
|
|
ManualControlCommand.Channel = double(fread(fid, 8, 'int16'));
|
|
% read CRC
|
|
fread(fid, 1, 'uint8');
|
|
end
|
|
|
|
function [ManualControlSettings] = ReadManualControlSettingsObject(fid, timestamp)
|
|
if 1
|
|
headerSize = 8;
|
|
else
|
|
ManualControlSettings.instanceID = fread(fid, 1, 'uint16');
|
|
headerSize = 10;
|
|
end
|
|
|
|
ManualControlSettings.timestamp = timestamp;
|
|
ManualControlSettings.InputMode = double(fread(fid, 1, 'uint8'));
|
|
ManualControlSettings.Roll = double(fread(fid, 1, 'uint8'));
|
|
ManualControlSettings.Pitch = double(fread(fid, 1, 'uint8'));
|
|
ManualControlSettings.Yaw = double(fread(fid, 1, 'uint8'));
|
|
ManualControlSettings.Throttle = double(fread(fid, 1, 'uint8'));
|
|
ManualControlSettings.FlightMode = double(fread(fid, 1, 'uint8'));
|
|
ManualControlSettings.Accessory1 = double(fread(fid, 1, 'uint8'));
|
|
ManualControlSettings.Accessory2 = double(fread(fid, 1, 'uint8'));
|
|
ManualControlSettings.Accessory3 = double(fread(fid, 1, 'uint8'));
|
|
ManualControlSettings.Pos1StabilizationSettings = double(fread(fid, 3, 'uint8'));
|
|
ManualControlSettings.Pos2StabilizationSettings = double(fread(fid, 3, 'uint8'));
|
|
ManualControlSettings.Pos3StabilizationSettings = double(fread(fid, 3, 'uint8'));
|
|
ManualControlSettings.Pos1FlightMode = double(fread(fid, 1, 'uint8'));
|
|
ManualControlSettings.Pos2FlightMode = double(fread(fid, 1, 'uint8'));
|
|
ManualControlSettings.Pos3FlightMode = double(fread(fid, 1, 'uint8'));
|
|
ManualControlSettings.ChannelMax = double(fread(fid, 8, 'int16'));
|
|
ManualControlSettings.ChannelNeutral = double(fread(fid, 8, 'int16'));
|
|
ManualControlSettings.ChannelMin = double(fread(fid, 8, 'int16'));
|
|
ManualControlSettings.ArmedTimeout = double(fread(fid, 1, 'uint16'));
|
|
% read CRC
|
|
fread(fid, 1, 'uint8');
|
|
end
|
|
|
|
function [MixerSettings] = ReadMixerSettingsObject(fid, timestamp)
|
|
if 1
|
|
headerSize = 8;
|
|
else
|
|
MixerSettings.instanceID = fread(fid, 1, 'uint16');
|
|
headerSize = 10;
|
|
end
|
|
|
|
MixerSettings.timestamp = timestamp;
|
|
MixerSettings.MaxAccel = double(fread(fid, 1, 'float32'));
|
|
MixerSettings.FeedForward = double(fread(fid, 1, 'float32'));
|
|
MixerSettings.AccelTime = double(fread(fid, 1, 'float32'));
|
|
MixerSettings.DecelTime = double(fread(fid, 1, 'float32'));
|
|
MixerSettings.ThrottleCurve1 = double(fread(fid, 5, 'float32'));
|
|
MixerSettings.ThrottleCurve2 = double(fread(fid, 5, 'float32'));
|
|
MixerSettings.Mixer1Type = double(fread(fid, 1, 'uint8'));
|
|
MixerSettings.Mixer1Vector = double(fread(fid, 5, 'int8'));
|
|
MixerSettings.Mixer2Type = double(fread(fid, 1, 'uint8'));
|
|
MixerSettings.Mixer2Vector = double(fread(fid, 5, 'int8'));
|
|
MixerSettings.Mixer3Type = double(fread(fid, 1, 'uint8'));
|
|
MixerSettings.Mixer3Vector = double(fread(fid, 5, 'int8'));
|
|
MixerSettings.Mixer4Type = double(fread(fid, 1, 'uint8'));
|
|
MixerSettings.Mixer4Vector = double(fread(fid, 5, 'int8'));
|
|
MixerSettings.Mixer5Type = double(fread(fid, 1, 'uint8'));
|
|
MixerSettings.Mixer5Vector = double(fread(fid, 5, 'int8'));
|
|
MixerSettings.Mixer6Type = double(fread(fid, 1, 'uint8'));
|
|
MixerSettings.Mixer6Vector = double(fread(fid, 5, 'int8'));
|
|
MixerSettings.Mixer7Type = double(fread(fid, 1, 'uint8'));
|
|
MixerSettings.Mixer7Vector = double(fread(fid, 5, 'int8'));
|
|
MixerSettings.Mixer8Type = double(fread(fid, 1, 'uint8'));
|
|
MixerSettings.Mixer8Vector = double(fread(fid, 5, 'int8'));
|
|
% read CRC
|
|
fread(fid, 1, 'uint8');
|
|
end
|
|
|
|
function [MixerStatus] = ReadMixerStatusObject(fid, timestamp)
|
|
if 1
|
|
headerSize = 8;
|
|
else
|
|
MixerStatus.instanceID = fread(fid, 1, 'uint16');
|
|
headerSize = 10;
|
|
end
|
|
|
|
MixerStatus.timestamp = timestamp;
|
|
MixerStatus.Mixer1 = double(fread(fid, 1, 'float32'));
|
|
MixerStatus.Mixer2 = double(fread(fid, 1, 'float32'));
|
|
MixerStatus.Mixer3 = double(fread(fid, 1, 'float32'));
|
|
MixerStatus.Mixer4 = double(fread(fid, 1, 'float32'));
|
|
MixerStatus.Mixer5 = double(fread(fid, 1, 'float32'));
|
|
MixerStatus.Mixer6 = double(fread(fid, 1, 'float32'));
|
|
MixerStatus.Mixer7 = double(fread(fid, 1, 'float32'));
|
|
MixerStatus.Mixer8 = double(fread(fid, 1, 'float32'));
|
|
% read CRC
|
|
fread(fid, 1, 'uint8');
|
|
end
|
|
|
|
function [ObjectPersistence] = ReadObjectPersistenceObject(fid, timestamp)
|
|
if 1
|
|
headerSize = 8;
|
|
else
|
|
ObjectPersistence.instanceID = fread(fid, 1, 'uint16');
|
|
headerSize = 10;
|
|
end
|
|
|
|
ObjectPersistence.timestamp = timestamp;
|
|
ObjectPersistence.Operation = double(fread(fid, 1, 'uint8'));
|
|
ObjectPersistence.Selection = double(fread(fid, 1, 'uint8'));
|
|
ObjectPersistence.ObjectID = double(fread(fid, 1, 'uint32'));
|
|
ObjectPersistence.InstanceID = double(fread(fid, 1, 'uint32'));
|
|
% read CRC
|
|
fread(fid, 1, 'uint8');
|
|
end
|
|
|
|
function [PipXtremeModemSettings] = ReadPipXtremeModemSettingsObject(fid, timestamp)
|
|
if 1
|
|
headerSize = 8;
|
|
else
|
|
PipXtremeModemSettings.instanceID = fread(fid, 1, 'uint16');
|
|
headerSize = 10;
|
|
end
|
|
|
|
PipXtremeModemSettings.timestamp = timestamp;
|
|
PipXtremeModemSettings.Mode = double(fread(fid, 1, 'uint8'));
|
|
PipXtremeModemSettings.Serial_Baudrate = double(fread(fid, 1, 'uint8'));
|
|
PipXtremeModemSettings.Frequency_Calibration = double(fread(fid, 1, 'uint8'));
|
|
PipXtremeModemSettings.Frequency_Min = double(fread(fid, 1, 'uint32'));
|
|
PipXtremeModemSettings.Frequency_Max = double(fread(fid, 1, 'uint32'));
|
|
PipXtremeModemSettings.Frequency = double(fread(fid, 1, 'uint32'));
|
|
PipXtremeModemSettings.Max_RF_Bandwidth = double(fread(fid, 1, 'uint8'));
|
|
PipXtremeModemSettings.Max_Tx_Power = double(fread(fid, 1, 'uint8'));
|
|
PipXtremeModemSettings.Tx_Data_Wait = double(fread(fid, 1, 'uint8'));
|
|
PipXtremeModemSettings.AES_Encryption = double(fread(fid, 1, 'uint8'));
|
|
PipXtremeModemSettings.AES_EncryptionKey = double(fread(fid, 16, 'uint8'));
|
|
PipXtremeModemSettings.Paired_Serial_Number = double(fread(fid, 1, 'uint32'));
|
|
% read CRC
|
|
fread(fid, 1, 'uint8');
|
|
end
|
|
|
|
function [PipXtremeModemStatus] = ReadPipXtremeModemStatusObject(fid, timestamp)
|
|
if 1
|
|
headerSize = 8;
|
|
else
|
|
PipXtremeModemStatus.instanceID = fread(fid, 1, 'uint16');
|
|
headerSize = 10;
|
|
end
|
|
|
|
PipXtremeModemStatus.timestamp = timestamp;
|
|
PipXtremeModemStatus.Firmware_Version_Major = double(fread(fid, 1, 'uint8'));
|
|
PipXtremeModemStatus.Firmware_Version_Minor = double(fread(fid, 1, 'uint8'));
|
|
PipXtremeModemStatus.Serial_Number = double(fread(fid, 1, 'uint32'));
|
|
PipXtremeModemStatus.Up_Time = double(fread(fid, 1, 'uint32'));
|
|
PipXtremeModemStatus.Frequency = double(fread(fid, 1, 'uint32'));
|
|
PipXtremeModemStatus.RF_Bandwidth = double(fread(fid, 1, 'uint32'));
|
|
PipXtremeModemStatus.Tx_Power = double(fread(fid, 1, 'int8'));
|
|
PipXtremeModemStatus.State = double(fread(fid, 1, 'uint8'));
|
|
PipXtremeModemStatus.Tx_Retry = double(fread(fid, 1, 'uint16'));
|
|
PipXtremeModemStatus.Tx_Data_Rate = double(fread(fid, 1, 'uint32'));
|
|
PipXtremeModemStatus.Rx_Data_Rate = double(fread(fid, 1, 'uint32'));
|
|
% read CRC
|
|
fread(fid, 1, 'uint8');
|
|
end
|
|
|
|
function [PositionActual] = ReadPositionActualObject(fid, timestamp)
|
|
if 1
|
|
headerSize = 8;
|
|
else
|
|
PositionActual.instanceID = fread(fid, 1, 'uint16');
|
|
headerSize = 10;
|
|
end
|
|
|
|
PositionActual.timestamp = timestamp;
|
|
PositionActual.North = double(fread(fid, 1, 'int32'));
|
|
PositionActual.East = double(fread(fid, 1, 'int32'));
|
|
PositionActual.Down = double(fread(fid, 1, 'int32'));
|
|
% read CRC
|
|
fread(fid, 1, 'uint8');
|
|
end
|
|
|
|
function [PositionDesired] = ReadPositionDesiredObject(fid, timestamp)
|
|
if 1
|
|
headerSize = 8;
|
|
else
|
|
PositionDesired.instanceID = fread(fid, 1, 'uint16');
|
|
headerSize = 10;
|
|
end
|
|
|
|
PositionDesired.timestamp = timestamp;
|
|
PositionDesired.North = double(fread(fid, 1, 'int32'));
|
|
PositionDesired.East = double(fread(fid, 1, 'int32'));
|
|
PositionDesired.Down = double(fread(fid, 1, 'int32'));
|
|
% read CRC
|
|
fread(fid, 1, 'uint8');
|
|
end
|
|
|
|
function [RateDesired] = ReadRateDesiredObject(fid, timestamp)
|
|
if 1
|
|
headerSize = 8;
|
|
else
|
|
RateDesired.instanceID = fread(fid, 1, 'uint16');
|
|
headerSize = 10;
|
|
end
|
|
|
|
RateDesired.timestamp = timestamp;
|
|
RateDesired.Roll = double(fread(fid, 1, 'float32'));
|
|
RateDesired.Pitch = double(fread(fid, 1, 'float32'));
|
|
RateDesired.Yaw = double(fread(fid, 1, 'float32'));
|
|
% read CRC
|
|
fread(fid, 1, 'uint8');
|
|
end
|
|
|
|
function [StabilizationSettings] = ReadStabilizationSettingsObject(fid, timestamp)
|
|
if 1
|
|
headerSize = 8;
|
|
else
|
|
StabilizationSettings.instanceID = fread(fid, 1, 'uint16');
|
|
headerSize = 10;
|
|
end
|
|
|
|
StabilizationSettings.timestamp = timestamp;
|
|
StabilizationSettings.RollMax = double(fread(fid, 1, 'uint8'));
|
|
StabilizationSettings.PitchMax = double(fread(fid, 1, 'uint8'));
|
|
StabilizationSettings.YawMax = double(fread(fid, 1, 'uint8'));
|
|
StabilizationSettings.ManualRate = double(fread(fid, 3, 'float32'));
|
|
StabilizationSettings.MaximumRate = double(fread(fid, 3, 'float32'));
|
|
StabilizationSettings.RollRatePI = double(fread(fid, 3, 'float32'));
|
|
StabilizationSettings.PitchRatePI = double(fread(fid, 3, 'float32'));
|
|
StabilizationSettings.YawRatePI = double(fread(fid, 3, 'float32'));
|
|
StabilizationSettings.RollPI = double(fread(fid, 3, 'float32'));
|
|
StabilizationSettings.PitchPI = double(fread(fid, 3, 'float32'));
|
|
StabilizationSettings.YawPI = double(fread(fid, 3, 'float32'));
|
|
% read CRC
|
|
fread(fid, 1, 'uint8');
|
|
end
|
|
|
|
function [SystemAlarms] = ReadSystemAlarmsObject(fid, timestamp)
|
|
if 1
|
|
headerSize = 8;
|
|
else
|
|
SystemAlarms.instanceID = fread(fid, 1, 'uint16');
|
|
headerSize = 10;
|
|
end
|
|
|
|
SystemAlarms.timestamp = timestamp;
|
|
SystemAlarms.Alarm = double(fread(fid, 14, 'uint8'));
|
|
% read CRC
|
|
fread(fid, 1, 'uint8');
|
|
end
|
|
|
|
function [SystemSettings] = ReadSystemSettingsObject(fid, timestamp)
|
|
if 1
|
|
headerSize = 8;
|
|
else
|
|
SystemSettings.instanceID = fread(fid, 1, 'uint16');
|
|
headerSize = 10;
|
|
end
|
|
|
|
SystemSettings.timestamp = timestamp;
|
|
SystemSettings.AirframeType = double(fread(fid, 1, 'uint8'));
|
|
% read CRC
|
|
fread(fid, 1, 'uint8');
|
|
end
|
|
|
|
function [SystemStats] = ReadSystemStatsObject(fid, timestamp)
|
|
if 1
|
|
headerSize = 8;
|
|
else
|
|
SystemStats.instanceID = fread(fid, 1, 'uint16');
|
|
headerSize = 10;
|
|
end
|
|
|
|
SystemStats.timestamp = timestamp;
|
|
SystemStats.FlightTime = double(fread(fid, 1, 'uint32'));
|
|
SystemStats.HeapRemaining = double(fread(fid, 1, 'uint16'));
|
|
SystemStats.CPULoad = double(fread(fid, 1, 'uint8'));
|
|
% read CRC
|
|
fread(fid, 1, 'uint8');
|
|
end
|
|
|
|
function [TelemetrySettings] = ReadTelemetrySettingsObject(fid, timestamp)
|
|
if 1
|
|
headerSize = 8;
|
|
else
|
|
TelemetrySettings.instanceID = fread(fid, 1, 'uint16');
|
|
headerSize = 10;
|
|
end
|
|
|
|
TelemetrySettings.timestamp = timestamp;
|
|
TelemetrySettings.Speed = double(fread(fid, 1, 'uint8'));
|
|
% read CRC
|
|
fread(fid, 1, 'uint8');
|
|
end
|
|
|
|
function [VelocityActual] = ReadVelocityActualObject(fid, timestamp)
|
|
if 1
|
|
headerSize = 8;
|
|
else
|
|
VelocityActual.instanceID = fread(fid, 1, 'uint16');
|
|
headerSize = 10;
|
|
end
|
|
|
|
VelocityActual.timestamp = timestamp;
|
|
VelocityActual.North = double(fread(fid, 1, 'int32'));
|
|
VelocityActual.East = double(fread(fid, 1, 'int32'));
|
|
VelocityActual.Down = double(fread(fid, 1, 'int32'));
|
|
% read CRC
|
|
fread(fid, 1, 'uint8');
|
|
end
|
|
|
|
function [VelocityDesired] = ReadVelocityDesiredObject(fid, timestamp)
|
|
if 1
|
|
headerSize = 8;
|
|
else
|
|
VelocityDesired.instanceID = fread(fid, 1, 'uint16');
|
|
headerSize = 10;
|
|
end
|
|
|
|
VelocityDesired.timestamp = timestamp;
|
|
VelocityDesired.North = double(fread(fid, 1, 'int32'));
|
|
VelocityDesired.East = double(fread(fid, 1, 'int32'));
|
|
VelocityDesired.Down = double(fread(fid, 1, 'int32'));
|
|
% read CRC
|
|
fread(fid, 1, 'uint8');
|
|
end
|
|
|
|
|
|
|
|
|