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PC tools and live viewer

Every tool exists in MATLAB and in Python, with the same options and outputs. MATLAB setup:

run('<repo>/02 - Tools/00 - Matlab/initPath.m')   % once per session

Python setup (details in 02 - Tools/01 - Python/README.md):

cd "02 - Tools/01 - Python"
python -m pip install -e .        # installs the acwing-tools command

initPath.m adds all folders (tools, original filter, extended filter) to the path and prints which iekfAttitude.m is in use (it must be the one in FiltersComparison/IEKF_originalVersion; compareEmbeddedVsMatlab warns if another copy shadows it).

Live viewer (firmware with APP_TLM_REPLAY = 0):

L = acwingLiveViewer("serial", "COM6");                 % 921600 baud by default
L = acwingLiveViewer("serial", "COM6", 921600, "C:\logs") % choose the log folder
L = acwingLiveViewer("ble");                            % BLE, board found automatically
  1. Start the viewer, then reset the board and keep it still for 2–4 s (static calibration; it restarts if the board moves).
  2. The 3D triad follows the board in the levelled NWU frame, seen with x (N) to the right, y (W) into the screen and z up, slightly from above. The text panel shows roll/pitch/yaw, packet rate (~240 Hz), lost packets, display lag (warning above 0.5 s), gyro bias, flags (ACC de-weighted, MAG de-weighted, STILL) and the calibration result. Before the filter starts it shows the STATUS diagnosis instead.
  3. Close the figure to stop. The log (acwing_log_*.mat, autosaved every 10 s) is also returned and copied into the workspace as acwingLog; a raw .bin capture is written next to it.

Byte-level link check:

tlmSniffer("COM6")      % bytes -> frames -> STATUS -> diagnosis

Python equivalents (installation in 02 - Tools/01 - Python/README.md):

acwing-tools viewer COM6                  # live viewer; --log-dir DIR, --baud B
acwing-tools viewer --replay file.bin     # replay a recorded session (no board needed)
acwing-tools viewer --ble                 # BLE (pip install bleak), board found automatically
acwing-tools sniff COM6                   # byte-level link check

The Python viewer shows the same panel and writes the same .mat log (variable L) and raw .bin. Logs are interchangeable between MATLAB and Python.

Flight logs from the drone's log flash, over the FC USB port (a CDC virtual COM port: on the Nucleo bench, the USB_USER connector):

acwing-tools log list --port COM7                     # logs on the drone
acwing-tools log get --port COM7 --out-dir logs       # all -> acwing_flight_<id>.bin
acwing-tools log decode logs/acwing_flight_00003.bin --csv out --mat out
acwing-tools log get --ble                            # last flight over Bluetooth

files = acwingLogDownload("COM7", "all", "logs");
F = acwingLogDecode(files{1});

The format, the recording policy and the protocol are in Flight log and USB.