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ardupilotreader

Read ArduPilot log file

Since R2024a

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Description

The ardupilotreader object reads an ArduPilot® dataflash log file (.bin). The object stores the file start and end logging times, available messages, and the total number of messages in the log file.

Creation

Syntax

arduObj = ardupilotreader(filePath)

Description

example

arduObj = ardupilotreader(filePath) reads the ArduPilot dataflash log file from the specified file name or path, and returns an object containing information about the file.

Properties

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This property is read-only.

Name of ArduPilot dataflash log file, specified as a string scalar or character vector. The FileName is the path specified in the filePath argument.

Data Types: char | string

This property is read-only.

Start time of logging offset from the system start time in the ArduPilot dataflash log file, specified as a duration object in the 'hh:mm:ss.SSSSSS' format.

Data Types: duration

This property is read-only.

Timestamp of the last timestamped message logged in the ArduPilot dataflash log file, specified as a duration object in the 'hh:mm:ss.SSSSSS' format.

Data Types: duration

This property is read-only.

Summary of all the logged messages, specified as a table that contains the fields:

  • MsgName

  • InstanceID

  • StartTimestamp

  • LastTimestamp

  • NumMessages

Data Types: table

This property is read-only.

Total number of messages in the log file

Data Types: double

Object Functions

readMessagesRead messages from ArduPilot® log file
readParametersRead parameter values from ArduPilot® log file
readLoggedOutputRead logged output messages from ArduPilot® log file

Examples

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Open Live Script

Load the BIN file.

bin = ardupilotreader('flight.bin');

Read all messages.

msg = readMessages(bin);

Specify the time interval between which to select messages.

d1 = duration([0 1 00],'Format','hh:mm:ss.SSSSSS');
d2 = d1 + duration([0 0 55],'Format','hh:mm:ss.SSSSSS');

Read the attitude message in the time interval [d1 d2].

attMsg = readMessages(bin,'MessageName',{'ATT'},'Time',[d1 d2]);

Extract attitude data from the message.

AttData = attMsg.MsgData{1,1}
AttData=534×10 timetable
       timestamp           TimeUS         DesRoll    Roll    DesPitch    Pitch    DesYaw     Yaw      ErrRP    ErrYaw    AEKF
    _______________    _______________    _______    ____    ________    _____    ______    ______    _____    ______    ____

    00:01:01.669489    00:01:01.669489       0       0.06       0        0.05     358.94    358.95      0        0        3  
    00:01:01.769448    00:01:01.769448       0       0.06       0        0.05     358.95    358.96      0        0        3  
    00:01:01.869408    00:01:01.869408       0       0.06       0        0.05     358.95    358.96      0        0        3  
    00:01:01.969368    00:01:01.969368       0       0.06       0        0.05     358.95    358.96      0        0        3  
    00:01:02.069328    00:01:02.069328       0       0.06       0        0.05     358.96    358.97      0        0        3  
    00:01:02.169288    00:01:02.169288       0       0.06       0        0.05     358.96    358.97      0        0        3  
    00:01:02.269248    00:01:02.269248       0       0.06       0        0.05     358.96    358.97      0        0        3  
    00:01:02.369208    00:01:02.369208       0       0.06       0        0.05     358.97    358.98      0        0        3  
    00:01:02.469168    00:01:02.469168       0       0.06       0        0.05     358.97    358.98      0        0        3  
    00:01:02.569128    00:01:02.569128       0       0.07       0        0.05     358.97    358.98      0        0        3  
    00:01:02.669088    00:01:02.669088       0       0.07       0        0.05     358.98    358.99      0        0        3  
    00:01:02.769048    00:01:02.769048       0       0.07       0        0.05     358.98    358.99      0        0        3  
    00:01:02.869008    00:01:02.869008       0       0.07       0        0.05     358.98    358.99      0        0        3  
    00:01:02.968968    00:01:02.968968       0       0.07       0        0.06     358.98    358.99      0        0        3  
    00:01:03.068928    00:01:03.068928       0       0.07       0        0.06     358.99       359      0        0        3  
    00:01:03.168889    00:01:03.168889       0       0.07       0        0.06     358.99       359      0        0        3  
      ⋮

Read all parameter values.

params = readParameters(bin)
params=1312×4 timetable
       timestamp           TimeUS                Name           Value    Default
    _______________    _______________    __________________    _____    _______

    00:01:01.651163    00:01:01.651163    "FORMAT_VERSION"       120       120  
    00:01:01.651163    00:01:01.651163    "SYSID_THISMAV"          1         1  
    00:01:01.651163    00:01:01.651163    "SYSID_MYGCS"          255       255  
    00:01:01.651163    00:01:01.651163    "PILOT_THR_FILT"         0         0  
    00:01:01.651163    00:01:01.651163    "PILOT_TKOFF_ALT"        0         0  
    00:01:01.651163    00:01:01.651163    "PILOT_THR_BHV"          0         0  
    00:01:01.651163    00:01:01.651163    "SERIAL0_BAUD"         115       115  
    00:01:01.651163    00:01:01.651163    "SERIAL0_PROTOCOL"       2         2  
    00:01:01.651163    00:01:01.651163    "SERIAL1_PROTOCOL"       2         2  
    00:01:01.651163    00:01:01.651163    "SERIAL1_BAUD"          57        57  
    00:01:01.651163    00:01:01.651163    "SERIAL2_PROTOCOL"       2         2  
    00:01:01.651163    00:01:01.651163    "SERIAL2_BAUD"          57        57  
    00:01:01.651163    00:01:01.651163    "SERIAL3_PROTOCOL"       5         5  
    00:01:01.651163    00:01:01.651163    "SERIAL3_BAUD"          38        38  
    00:01:01.651163    00:01:01.651163    "SERIAL4_PROTOCOL"       5         5  
    00:01:01.651163    00:01:01.651163    "SERIAL4_BAUD"          38        38  
      ⋮

Read all logged output messages.

loggedoutput = readLoggedOutput(bin);

Read logged output messages in the time interval [d1 d2].

log = readLoggedOutput(bin,'Time',[d1 d2])
log=16×2 timetable
       timestamp           TimeUS                              Message                     
    _______________    _______________    _________________________________________________

    00:01:01.651163    00:01:01.651163    "ArduCopter V4.3.3 (34e8e02c)"                   
    00:01:01.651163    00:01:01.651163    "d6384d347e3c476ea8702e6a78ef3590"               
    00:01:01.651163    00:01:01.651163    "Param space used: 323/4096"                     
    00:01:01.651163    00:01:01.651163    "RC Protocol: SITL"                              
    00:01:01.651163    00:01:01.651163    "New mission"                                    
    00:01:01.651163    00:01:01.651163    "New rally"                                      
    00:01:01.651163    00:01:01.651163    "New fence"                                      
    00:01:01.651163    00:01:01.651163    "Frame: QUAD/PLUS"                               
    00:01:01.651163    00:01:01.651163    "GPS 1: detected as u-blox at 230400 baud"       
    00:01:07.788707    00:01:07.788707    "Mission: 1 WP"                                  
    00:01:08.014449    00:01:08.014449    "EKF3 IMU0 MAG0 in-flight yaw alignment complete"
    00:01:08.019448    00:01:08.019448    "EKF3 IMU1 MAG0 in-flight yaw alignment complete"
    00:01:29.004384    00:01:29.004384    "Reached command #1"                             
    00:01:29.004384    00:01:29.004384    "Mission: 2 WP"                                  
    00:01:48.199202    00:01:48.199202    "Reached command #2"                             
    00:01:48.199202    00:01:48.199202    "Mission: 3 WP"

Version History

Introduced in R2024a