PX4 ULG日志文档解析

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于 2024-08-14 16:29:54 发布

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文章标签：无人机 matlab

本文链接：https://blog.csdn.net/hkzuibang/article/details/141194446

版权

用matlab解析ulg文件，方便日志分析处理。matlab官网都有教程，不过贴在这儿节省朋友们一点时间。

path = '测试数据\20240814\';
ulog = ulogreader([path 'log100.ulg']);
topicName = ulog.AvailableTopics.TopicNames; % string array
instanceID = ulog.AvailableTopics.InstanceID;    % array
dataCol = length(instanceID);
for i = 1:dataCol
    name = topicName{i};
    switch name
        case "debug_vect"
            msg = readTopicMsgs(ulog,'TopicNames',{name}, 'InstanceID',{instanceID(i)});
            debug_vect = msg.TopicMessages{1,1};
        case "estimator_aid_src_fake_pos"
            msg = readTopicMsgs(ulog,'TopicNames',{name}, 'InstanceID',{instanceID(i)});
            estimator_aid_src_fake_pos = msg.TopicMessages{1,1};
        case "estimator_event_flags"
            msg = readTopicMsgs(ulog,'TopicNames',{name}, 'InstanceID',{instanceID(i)});
            estimator_event_flags = msg.TopicMessages{1,1};
        case "estimator_innovation_test_ratios"
            msg = readTopicMsgs(ulog,'TopicNames',{name}, 'InstanceID',{instanceID(i)});
            estimator_innovation_test_ratios = msg.TopicMessages{1,1};
        case   "estimator_innovation_variances"
            msg = readTopicMsgs(ulog,'TopicNames',{name}, 'InstanceID',{instanceID(i)});
            estimator_innovation_variances = msg.TopicMessages{1,1};
        case   "estimator_innovations"
            msg = readTopicMsgs(ulog,'TopicNames',{name}, 'InstanceID',{instanceID(i)});
            estimator_innovations = msg.TopicMessages{1,1};
         case   "estimator_sensor_bias"
            msg = readTopicMsgs(ulog,'TopicNames',{name}, 'InstanceID',{instanceID(i)});
            estimator_sensor_bias = msg.TopicMessages{1,1};
        case   "estimator_states"
            msg = readTopicMsgs(ulog,'TopicNames',{name}, 'InstanceID',{instanceID(i)});
            estimator_states = msg.TopicMessages{1,1};
        case   "estimator_status"
            msg = readTopicMsgs(ulog,'TopicNames',{name}, 'InstanceID',{instanceID(i)});
            estimator_status = msg.TopicMessages{1,1};
        case   "estimator_status_flags"
            msg = readTopicMsgs(ulog,'TopicNames',{name}, 'InstanceID',{instanceID(i)});
            estimator_status_flags = msg.TopicMessages{1,1};
        case   "event"
            msg = readTopicMsgs(ulog,'TopicNames',{name}, 'InstanceID',{instanceID(i)});
            event = msg.TopicMessages{1,1};
        case   "sensor_combined"
            msg = readTopicMsgs(ulog,'TopicNames',{name}, 'InstanceID',{instanceID(i)});
            sensor_combined = msg.TopicMessages{1,1};
        case   "sensor_selection"
            msg = readTopicMsgs(ulog,'TopicNames',{name}, 'InstanceID',{instanceID(i)});
            sensor_selection = msg.TopicMessages{1,1};
        case   "vehicle_air_data"
            msg = readTopicMsgs(ulog,'TopicNames',{name}, 'InstanceID',{instanceID(i)});
            vehicle_air_data = msg.TopicMessages{1,1};
        case   "vehicle_attitude"
            msg = readTopicMsgs(ulog,'TopicNames',{name}, 'InstanceID',{instanceID(i)});
            vehicle_attitude = msg.TopicMessages{1,1};
        case   "vehicle_command"
            msg = readTopicMsgs(ulog,'TopicNames',{name}, 'InstanceID',{instanceID(i)});
            vehicle_command = msg.TopicMessages{1,1};
        case   "vehicle_land_detected"
            msg = readTopicMsgs(ulog,'TopicNames',{name}, 'InstanceID',{instanceID(i)});
            vehicle_land_detected = msg.TopicMessages{1,1};
        case   "vehicle_magnetometer"
            msg = readTopicMsgs(ulog,'TopicNames',{name}, 'InstanceID',{instanceID(i)});
            vehicle_magnetometer = msg.TopicMessages{1,1};
        case   "vehicle_odometry"
            msg = readTopicMsgs(ulog,'TopicNames',{name}, 'InstanceID',{instanceID(i)});
            vehicle_odometry = msg.TopicMessages{1,1};
        case   "vehicle_status"
            msg = readTopicMsgs(ulog,'TopicNames',{name}, 'InstanceID',{instanceID(i)});
            vehicle_status = msg.TopicMessages{1,1};
        case   "simulink_custom_message"
            msg = readTopicMsgs(ulog,'TopicNames',{name}, 'InstanceID',{instanceID(i)});
            simulink_custom_message = msg.TopicMessages{1,1};
        case   "ekf2_timestamps"
            msg = readTopicMsgs(ulog,'TopicNames',{name}, 'InstanceID',{instanceID(i)});
            ekf2_timestamps = msg.TopicMessages{1,1};
        case   "vehicle_imu"
            msg = readTopicMsgs(ulog,'TopicNames',{name}, 'InstanceID',{instanceID(i)});
            vehicle_imu = msg.TopicMessages{1,1};
        case   "vehicle_local_position"
            msg = readTopicMsgs(ulog,'TopicNames',{name}, 'InstanceID',{instanceID(i)});
            vehicle_local_position = msg.TopicMessages{1,1};
        otherwise
            continue
    end
end