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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/Tools/simulink/arducopter/functions/getTimeZero.m
Views: 1799
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function timeZero = getTimeZero(log, msgs, msgs2Ex)

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% Get the earliest time stamp in the log

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%

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% Fabian Bredemeier - IAV GmbH

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% License: GPL v3

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% Create dummy zero timestamp

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if isprop(log, 'RATE')

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    timeZero = log.RATE.TimeS(1);

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else

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    error('Message RATE not contained in log.');

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end

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% Define messages that should not be included in search for time stamp

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if nargin < 3

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    msgs2Exclude = {'FMT', 'FMTU', 'MODE', 'MULT', 'UNIT', 'PARM'};

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else

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    msgs2Exclude = msgs2Ex;

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end

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for m = msgs

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    msg = m{1};

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    % Skip messages to exclude

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    if any(strcmp(msgs2Exclude, msg))

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        continue;

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    end

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    % Output warning if message is not included in log

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    if ~any(strcmp(fieldnames(log), msg))

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        warning(['Message ' msg ' not included in log!']);

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    end

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    % Skip message if message is deleted handle

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    if ~isvalid(log.(msg))

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        continue;

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    end

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    % Compare first time stamps and get lower start time

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    firstTime = log.(msg).TimeS(1);

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    if abs(timeZero - firstTime) > 2

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        error(['Time vector of ' msg ' invalid. The first time stamp is too far off. Aborting.']);

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    elseif firstTime < timeZero

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        timeZero = firstTime;

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    end

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end

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end

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