An Ardupilot log to MATLAB converter. Primarily intended to facilitate processing of logs under MATLAB environment.
It is very efficient: The time required to parse large logs is in the order of seconds.
Currently, only Dataflash logs (.bin files) are supported.
Add the ardupilog
source code to your path.
Then,
log = Ardupilog()
will open a file browser, where you can select the log file you want to decode.
Alternatively, the path can be passed directly as a string:
log = Ardupilog('<path-to-log-string>')
The variable struct log
will be generated with the included message types as fields.
Each field is a variable of type LogMsgGroup
.
Each LogMsgGroup
under a log contains the following members:
typeNumID
: The message ID.name
: The declared name string.LineNo
: The message sequence numbers where messages of this type appear in the log.TimeS
: The timestamps vector in seconds since boot time, for each message.- One vector for each of the message fields, of the same length as the timestamps.
To plot a specific numerical data field from a specific message, you can enter:
log.plot('<msgName>/<fieldName>');
The full command allows for passnig a Matlab-style line style and an existing Axes Handle to plot in. Additionally, it always returns the Axes Handles it plots in:
ah = log.plot('<msgName>/<fieldName>',<lineStyle>,<axesHandle>)
For example, to plot the Pitch
field from the AHR2
message in red, enter:
log.plot('AHR2/Pitch', 'r');
and to plot more than one series in the same figure, you can capture the axis handle of the first plot:
ah = log.plot('AHR2/Roll');
log.plot('AHR2/Pitch', 'r', ah);
You can optionally filter the log file for specific message types:
log_filtered = log.filterMsgs(<msgFilter>)
log_filtered = Ardupilog('<path-to-log', <msgFilter>)
msgFilter
can be:
- Either a vector of integers, representing the message IDs you want to convert.
- Or a cell array of strings. Each string is the literal name of the message type.
Typically, only a small portion of the flight log is of interest. Ardupilog supports slicing logs to a specific start-end interval with:
sliced_log = log.getSlice([<start_value>, <end_vlaue>], <slice_type>)
sliced_log
is a deep copy of the original log, sliced to the desired limits.slice_type
can be eitherTimeS
orLineNo
.<start-value>
and<end_value>
are either sconds since boot or message sequence indexes.
Example
log_during_cruise = log.getSlice([t_begin_cruise, t_end_cruise], 'TimeS')
To parse and use the log
object created by
log = Ardupilog('<path-to-log>')
requires the ardupilog
library to exist in the current MATLAB path.
Creating a more basic struct file, free of the ardupilog
dependency, is possible with:
log_struct = log.getStruct();
log_struct
does not need the ardupilog
source code accompanying it to be shared.
Logs from the following versions are been tested for Continuous Integration:
- Copter: 3.6.9, 4.0.0, 4.1.0, 4.3.2
- Plane: 3.5.2, 3.7.1, 3.8.2, 3.9.9, 4.0.0, 4.1.0
- Rover: 4.0.0, 4.1.0
This work is distributed under the GNU GPLv3 license.