ground/gcs/src/experimental/SerialLogger/analyzeEKF.m

   1 function analyzeEKF(fn)
   2
   3 fid = fopen(fn);
   4 dat = uint8(fread(fid,inf,'uchar'));
   5 fclose(fid);
   6
   7 mag_data_size = 1 + 4*3;
   8 accel_sensor_size = 4*3;
   9 gyro_sensor_size = 4*3;
  10 raw_framing = 15:-1:0;
  11
  12 starts = strfind(char(dat'),char(raw_framing));
  13 starts(end) = [];
  14
  15 counts = typecast(reshape(dat(bsxfun(@plus,starts,(16:19)')),1,[]),'int32');
  16 accel = reshape(typecast(reshape(dat(bsxfun(@plus,starts,(20:31)')),1,[]),'single'),3,[])';
  17 gyro = reshape(typecast(reshape(dat(bsxfun(@plus,starts,(32:43)')),1,[]),'single'),3,[])';
  18 mag_updated = dat(starts+44);
  19 mag = reshape(typecast(reshape(dat(bsxfun(@plus,starts,(45:56)')),1,[]),'single'),3,[])';
  20 %gps = 28 bytes 57:84
  21 X = reshape(typecast(reshape(dat(bsxfun(@plus,starts,(85:85+13*4-1)')),1,[]),'single'),13,[])';
  22 P = reshape(typecast(reshape(dat(bsxfun(@plus,starts,(137:137+13*4-1)')),1,[]),'single'),13,[])';