function [] = OPLogConvert(varargin)
%% Define indices and arrays of structures to hold data
% THIS FILE IS AUTOMATICALLY GENERATED.

wrongSyncByte=0;
wrongMessageByte=0;
lastWrongSyncByte=0;
lastWrongMessageByte=0;
str1=[];
str2=[];
str3=[];
str4=[];
str5=[];

fprintf('\n\n***OpenPilot log parser***\n\n');

outputType='mat'; %Default output is a .mat file
checkCRC = false;
global crc_table;
crc_table = [ ...
    hex2dec('00'),hex2dec('07'),hex2dec('0e'),hex2dec('09'),hex2dec('1c'),hex2dec('1b'),hex2dec('12'),hex2dec('15'),hex2dec('38'),hex2dec('3f'),hex2dec('36'),hex2dec('31'),hex2dec('24'),hex2dec('23'),hex2dec('2a'),hex2dec('2d'), ...
    hex2dec('70'),hex2dec('77'),hex2dec('7e'),hex2dec('79'),hex2dec('6c'),hex2dec('6b'),hex2dec('62'),hex2dec('65'),hex2dec('48'),hex2dec('4f'),hex2dec('46'),hex2dec('41'),hex2dec('54'),hex2dec('53'),hex2dec('5a'),hex2dec('5d'), ...
    hex2dec('e0'),hex2dec('e7'),hex2dec('ee'),hex2dec('e9'),hex2dec('fc'),hex2dec('fb'),hex2dec('f2'),hex2dec('f5'),hex2dec('d8'),hex2dec('df'),hex2dec('d6'),hex2dec('d1'),hex2dec('c4'),hex2dec('c3'),hex2dec('ca'),hex2dec('cd'), ...
    hex2dec('90'),hex2dec('97'),hex2dec('9e'),hex2dec('99'),hex2dec('8c'),hex2dec('8b'),hex2dec('82'),hex2dec('85'),hex2dec('a8'),hex2dec('af'),hex2dec('a6'),hex2dec('a1'),hex2dec('b4'),hex2dec('b3'),hex2dec('ba'),hex2dec('bd'), ...
    hex2dec('c7'),hex2dec('c0'),hex2dec('c9'),hex2dec('ce'),hex2dec('db'),hex2dec('dc'),hex2dec('d5'),hex2dec('d2'),hex2dec('ff'),hex2dec('f8'),hex2dec('f1'),hex2dec('f6'),hex2dec('e3'),hex2dec('e4'),hex2dec('ed'),hex2dec('ea'), ...
    hex2dec('b7'),hex2dec('b0'),hex2dec('b9'),hex2dec('be'),hex2dec('ab'),hex2dec('ac'),hex2dec('a5'),hex2dec('a2'),hex2dec('8f'),hex2dec('88'),hex2dec('81'),hex2dec('86'),hex2dec('93'),hex2dec('94'),hex2dec('9d'),hex2dec('9a'), ...
    hex2dec('27'),hex2dec('20'),hex2dec('29'),hex2dec('2e'),hex2dec('3b'),hex2dec('3c'),hex2dec('35'),hex2dec('32'),hex2dec('1f'),hex2dec('18'),hex2dec('11'),hex2dec('16'),hex2dec('03'),hex2dec('04'),hex2dec('0d'),hex2dec('0a'), ...
    hex2dec('57'),hex2dec('50'),hex2dec('59'),hex2dec('5e'),hex2dec('4b'),hex2dec('4c'),hex2dec('45'),hex2dec('42'),hex2dec('6f'),hex2dec('68'),hex2dec('61'),hex2dec('66'),hex2dec('73'),hex2dec('74'),hex2dec('7d'),hex2dec('7a'), ...
    hex2dec('89'),hex2dec('8e'),hex2dec('87'),hex2dec('80'),hex2dec('95'),hex2dec('92'),hex2dec('9b'),hex2dec('9c'),hex2dec('b1'),hex2dec('b6'),hex2dec('bf'),hex2dec('b8'),hex2dec('ad'),hex2dec('aa'),hex2dec('a3'),hex2dec('a4'), ...
    hex2dec('f9'),hex2dec('fe'),hex2dec('f7'),hex2dec('f0'),hex2dec('e5'),hex2dec('e2'),hex2dec('eb'),hex2dec('ec'),hex2dec('c1'),hex2dec('c6'),hex2dec('cf'),hex2dec('c8'),hex2dec('dd'),hex2dec('da'),hex2dec('d3'),hex2dec('d4'), ...
    hex2dec('69'),hex2dec('6e'),hex2dec('67'),hex2dec('60'),hex2dec('75'),hex2dec('72'),hex2dec('7b'),hex2dec('7c'),hex2dec('51'),hex2dec('56'),hex2dec('5f'),hex2dec('58'),hex2dec('4d'),hex2dec('4a'),hex2dec('43'),hex2dec('44'), ...
    hex2dec('19'),hex2dec('1e'),hex2dec('17'),hex2dec('10'),hex2dec('05'),hex2dec('02'),hex2dec('0b'),hex2dec('0c'),hex2dec('21'),hex2dec('26'),hex2dec('2f'),hex2dec('28'),hex2dec('3d'),hex2dec('3a'),hex2dec('33'),hex2dec('34'), ...
    hex2dec('4e'),hex2dec('49'),hex2dec('40'),hex2dec('47'),hex2dec('52'),hex2dec('55'),hex2dec('5c'),hex2dec('5b'),hex2dec('76'),hex2dec('71'),hex2dec('78'),hex2dec('7f'),hex2dec('6a'),hex2dec('6d'),hex2dec('64'),hex2dec('63'), ...
    hex2dec('3e'),hex2dec('39'),hex2dec('30'),hex2dec('37'),hex2dec('22'),hex2dec('25'),hex2dec('2c'),hex2dec('2b'),hex2dec('06'),hex2dec('01'),hex2dec('08'),hex2dec('0f'),hex2dec('1a'),hex2dec('1d'),hex2dec('14'),hex2dec('13'), ...
    hex2dec('ae'),hex2dec('a9'),hex2dec('a0'),hex2dec('a7'),hex2dec('b2'),hex2dec('b5'),hex2dec('bc'),hex2dec('bb'),hex2dec('96'),hex2dec('91'),hex2dec('98'),hex2dec('9f'),hex2dec('8a'),hex2dec('8d'),hex2dec('84'),hex2dec('83'), ...
    hex2dec('de'),hex2dec('d9'),hex2dec('d0'),hex2dec('d7'),hex2dec('c2'),hex2dec('c5'),hex2dec('cc'),hex2dec('cb'),hex2dec('e6'),hex2dec('e1'),hex2dec('e8'),hex2dec('ef'),hex2dec('fa'),hex2dec('fd'),hex2dec('f4'),hex2dec('f3')  ...
    ];

if nargin==0
	%%
	if (exist('uigetfile')) %#ok<EXIST>
		[FileName, PathName]=uigetfile('*.opl');
		logfile=fullfile(PathName, FileName);

	else
		error('Your technical computing program does not support file choosers. Please input the file name in the argument. ')
	end
elseif nargin>0
	logfile=varargin{1};
	if nargin>1
		outputType=varargin{2};
	end
end

if ~strcmpi(outputType,'mat') && ~strcmpi(outputType,'csv')
	error('Incorrect file format specified. Second argument must be ''mat'' or ''csv''.');
end


	accelsIdx = 0;
	Accels=struct('timestamp', 0,...
		 'x', 0,...
		 'y', 0,...
		 'z', 0,...
		 'temperature', 0);
	ACCELS_OBJID=3718078400;

	accessorydesiredIdx = 0;
	AccessoryDesired=struct('timestamp', 0,...
		 'instanceID', 0,...
		 'AccessoryVal', 0);
	ACCESSORYDESIRED_OBJID=3288963162;

	actuatorcommandIdx = 0;
	ActuatorCommand=struct('timestamp', 0,...
		 'Channel', zeros(10,1),...
		 'MaxUpdateTime', 0,...
		 'UpdateTime', 0,...
		 'NumFailedUpdates', 0);
	ACTUATORCOMMAND_OBJID=87182520;

	actuatordesiredIdx = 0;
	ActuatorDesired=struct('timestamp', 0,...
		 'Roll', 0,...
		 'Pitch', 0,...
		 'Yaw', 0,...
		 'Throttle', 0,...
		 'UpdateTime', 0,...
		 'NumLongUpdates', 0);
	ACTUATORDESIRED_OBJID=3393963172;

	actuatorsettingsIdx = 0;
	ActuatorSettings=struct('timestamp', 0,...
		 'ChannelUpdateFreq', zeros(4,1),...
		 'ChannelMax', zeros(10,1),...
		 'ChannelNeutral', zeros(10,1),...
		 'ChannelMin', zeros(10,1),...
		 'FixedWingRoll1', 0,...
		 'FixedWingRoll2', 0,...
		 'FixedWingPitch1', 0,...
		 'FixedWingPitch2', 0,...
		 'FixedWingYaw1', 0,...
		 'FixedWingYaw2', 0,...
		 'FixedWingThrottle', 0,...
		 'VTOLMotorN', 0,...
		 'VTOLMotorNE', 0,...
		 'VTOLMotorE', 0,...
		 'VTOLMotorSE', 0,...
		 'VTOLMotorS', 0,...
		 'VTOLMotorSW', 0,...
		 'VTOLMotorW', 0,...
		 'VTOLMotorNW', 0,...
		 'ChannelType', zeros(10,1),...
		 'ChannelAddr', zeros(10,1),...
		 'MotorsSpinWhileArmed', 0);
	ACTUATORSETTINGS_OBJID=4068955974;

	altholdsmoothedIdx = 0;
	AltHoldSmoothed=struct('timestamp', 0,...
		 'Altitude', 0,...
		 'Velocity', 0,...
		 'Accel', 0);
	ALTHOLDSMOOTHED_OBJID=734443986;

	altitudeholddesiredIdx = 0;
	AltitudeHoldDesired=struct('timestamp', 0,...
		 'Altitude', 0,...
		 'Roll', 0,...
		 'Pitch', 0,...
		 'Yaw', 0);
	ALTITUDEHOLDDESIRED_OBJID=1230744942;

	altitudeholdsettingsIdx = 0;
	AltitudeHoldSettings=struct('timestamp', 0,...
		 'Kp', 0,...
		 'Ki', 0,...
		 'Kd', 0,...
		 'Ka', 0,...
		 'PressureNoise', 0,...
		 'AccelNoise', 0,...
		 'AccelDrift', 0);
	ALTITUDEHOLDSETTINGS_OBJID=4274346818;

	attitudeactualIdx = 0;
	AttitudeActual=struct('timestamp', 0,...
		 'q1', 0,...
		 'q2', 0,...
		 'q3', 0,...
		 'q4', 0,...
		 'Roll', 0,...
		 'Pitch', 0,...
		 'Yaw', 0);
	ATTITUDEACTUAL_OBJID=869979622;

	attitudesettingsIdx = 0;
	AttitudeSettings=struct('timestamp', 0,...
		 'GyroGain', 0,...
		 'AccelKp', 0,...
		 'AccelKi', 0,...
		 'YawBiasRate', 0,...
		 'AccelBias', zeros(3,1),...
		 'GyroBias', zeros(3,1),...
		 'BoardRotation', zeros(3,1),...
		 'ZeroDuringArming', 0,...
		 'BiasCorrectGyro', 0,...
		 'TrimFlight', 0);
	ATTITUDESETTINGS_OBJID=3272064074;

	baroaltitudeIdx = 0;
	BaroAltitude=struct('timestamp', 0,...
		 'Altitude', 0,...
		 'Temperature', 0,...
		 'Pressure', 0);
	BAROALTITUDE_OBJID=2573348458;

	cameradesiredIdx = 0;
	CameraDesired=struct('timestamp', 0,...
		 'Roll', 0,...
		 'Pitch', 0,...
		 'Yaw', 0);
	CAMERADESIRED_OBJID=1394562126;

	camerastabsettingsIdx = 0;
	CameraStabSettings=struct('timestamp', 0,...
		 'MaxAxisLockRate', 0,...
		 'ResponseTime', zeros(3,1),...
		 'Input', zeros(3,1),...
		 'InputRange', zeros(3,1),...
		 'InputRate', zeros(3,1),...
		 'StabilizationMode', zeros(3,1),...
		 'OutputRange', zeros(3,1));
	CAMERASTABSETTINGS_OBJID=999677370;

	faultsettingsIdx = 0;
	FaultSettings=struct('timestamp', 0,...
		 'ActivateFault', 0);
	FAULTSETTINGS_OBJID=662223420;

	firmwareiapobjIdx = 0;
	FirmwareIAPObj=struct('timestamp', 0,...
		 'crc', 0,...
		 'Command', 0,...
		 'BoardRevision', 0,...
		 'Description', zeros(40,1),...
		 'CPUSerial', zeros(12,1),...
		 'BoardType', 0,...
		 'ArmReset', 0);
	FIRMWAREIAPOBJ_OBJID=1020132200;

	flightbatterysettingsIdx = 0;
	FlightBatterySettings=struct('timestamp', 0,...
		 'Capacity', 0,...
		 'VoltageThresholds', zeros(2,1),...
		 'SensorCalibrations', zeros(2,1),...
		 'Type', 0,...
		 'NbCells', 0,...
		 'SensorType', 0);
	FLIGHTBATTERYSETTINGS_OBJID=4050828056;

	flightbatterystateIdx = 0;
	FlightBatteryState=struct('timestamp', 0,...
		 'Voltage', 0,...
		 'Current', 0,...
		 'PeakCurrent', 0,...
		 'AvgCurrent', 0,...
		 'ConsumedEnergy', 0,...
		 'EstimatedFlightTime', 0);
	FLIGHTBATTERYSTATE_OBJID=146855766;

	flightplancontrolIdx = 0;
	FlightPlanControl=struct('timestamp', 0,...
		 'Command', 0);
	FLIGHTPLANCONTROL_OBJID=1407447424;

	flightplansettingsIdx = 0;
	FlightPlanSettings=struct('timestamp', 0,...
		 'Test', 0);
	FLIGHTPLANSETTINGS_OBJID=2464808822;

	flightplanstatusIdx = 0;
	FlightPlanStatus=struct('timestamp', 0,...
		 'ErrorFileID', 0,...
		 'ErrorLineNum', 0,...
		 'Debug', zeros(2,1),...
		 'Status', 0,...
		 'ErrorType', 0);
	FLIGHTPLANSTATUS_OBJID=570879558;

	flightstatusIdx = 0;
	FlightStatus=struct('timestamp', 0,...
		 'Armed', 0,...
		 'FlightMode', 0);
	FLIGHTSTATUS_OBJID=3886315226;

	flighttelemetrystatsIdx = 0;
	FlightTelemetryStats=struct('timestamp', 0,...
		 'TxDataRate', 0,...
		 'RxDataRate', 0,...
		 'TxFailures', 0,...
		 'RxFailures', 0,...
		 'TxRetries', 0,...
		 'Status', 0);
	FLIGHTTELEMETRYSTATS_OBJID=796797186;

	gcsreceiverIdx = 0;
	GCSReceiver=struct('timestamp', 0,...
		 'Channel', zeros(6,1));
	GCSRECEIVER_OBJID=3430820796;

	gcstelemetrystatsIdx = 0;
	GCSTelemetryStats=struct('timestamp', 0,...
		 'TxDataRate', 0,...
		 'RxDataRate', 0,...
		 'TxFailures', 0,...
		 'RxFailures', 0,...
		 'TxRetries', 0,...
		 'Status', 0);
	GCSTELEMETRYSTATS_OBJID=2881955652;

	gpspositionIdx = 0;
	GPSPosition=struct('timestamp', 0,...
		 'Latitude', 0,...
		 'Longitude', 0,...
		 'Altitude', 0,...
		 'GeoidSeparation', 0,...
		 'Heading', 0,...
		 'Groundspeed', 0,...
		 'PDOP', 0,...
		 'HDOP', 0,...
		 'VDOP', 0,...
		 'Status', 0,...
		 'Satellites', 0);
	GPSPOSITION_OBJID=3802342326;

	gpssatellitesIdx = 0;
	GPSSatellites=struct('timestamp', 0,...
		 'Elevation', zeros(16,1),...
		 'Azimuth', zeros(16,1),...
		 'SatsInView', 0,...
		 'PRN', zeros(16,1),...
		 'SNR', zeros(16,1));
	GPSSATELLITES_OBJID=153147800;

	gpstimeIdx = 0;
	GPSTime=struct('timestamp', 0,...
		 'Year', 0,...
		 'Month', 0,...
		 'Day', 0,...
		 'Hour', 0,...
		 'Minute', 0,...
		 'Second', 0);
	GPSTIME_OBJID=3561455748;

	guidancesettingsIdx = 0;
	GuidanceSettings=struct('timestamp', 0,...
		 'HorizontalPosPI', zeros(3,1),...
		 'HorizontalVelPID', zeros(4,1),...
		 'VerticalPosPI', zeros(3,1),...
		 'VerticalVelPID', zeros(4,1),...
		 'MaxRollPitch', 0,...
		 'UpdatePeriod', 0,...
		 'HorizontalVelMax', 0,...
		 'VerticalVelMax', 0,...
		 'GuidanceMode', 0,...
		 'ThrottleControl', 0);
	GUIDANCESETTINGS_OBJID=1856479156;

	gyrosIdx = 0;
	Gyros=struct('timestamp', 0,...
		 'x', 0,...
		 'y', 0,...
		 'z', 0,...
		 'temperature', 0);
	GYROS_OBJID=69372662;

	gyrosbiasIdx = 0;
	GyrosBias=struct('timestamp', 0,...
		 'x', 0,...
		 'y', 0,...
		 'z', 0);
	GYROSBIAS_OBJID=3837196672;

	homelocationIdx = 0;
	HomeLocation=struct('timestamp', 0,...
		 'Latitude', 0,...
		 'Longitude', 0,...
		 'Altitude', 0,...
		 'ECEF', zeros(3,1),...
		 'RNE', zeros(9,1),...
		 'Be', zeros(3,1),...
		 'g_e', 0,...
		 'Set', 0);
	HOMELOCATION_OBJID=1538502396;

	hwsettingsIdx = 0;
	HwSettings=struct('timestamp', 0,...
		 'CC_RcvrPort', 0,...
		 'CC_MainPort', 0,...
		 'CC_FlexiPort', 0,...
		 'OP_RcvrPort', 0,...
		 'OP_MainPort', 0,...
		 'OP_FlexiPort', 0,...
		 'TelemetrySpeed', 0,...
		 'GPSSpeed', 0,...
		 'ComUsbBridgeSpeed', 0,...
		 'USB_DeviceType', 0,...
		 'USB_HIDPort', 0,...
		 'USB_VCPPort', 0,...
		 'OptionalModules', zeros(5,1),...
		 'DSMxBind', 0);
	HWSETTINGS_OBJID=786847578;

	i2cstatsIdx = 0;
	I2CStats=struct('timestamp', 0,...
		 'evirq_log', zeros(5,1),...
		 'erirq_log', zeros(5,1),...
		 'event_errors', 0,...
		 'fsm_errors', 0,...
		 'irq_errors', 0,...
		 'nacks', 0,...
		 'timeouts', 0,...
		 'last_error_type', 0,...
		 'event_log', zeros(5,1),...
		 'state_log', zeros(5,1));
	I2CSTATS_OBJID=3071574590;

	magnetometerIdx = 0;
	Magnetometer=struct('timestamp', 0,...
		 'x', 0,...
		 'y', 0,...
		 'z', 0);
	MAGNETOMETER_OBJID=2168149470;

	manualcontrolcommandIdx = 0;
	ManualControlCommand=struct('timestamp', 0,...
		 'Throttle', 0,...
		 'Roll', 0,...
		 'Pitch', 0,...
		 'Yaw', 0,...
		 'Collective', 0,...
		 'Channel', zeros(9,1),...
		 'Connected', 0);
	MANUALCONTROLCOMMAND_OBJID=511886034;

	manualcontrolsettingsIdx = 0;
	ManualControlSettings=struct('timestamp', 0,...
		 'ChannelMin', zeros(9,1),...
		 'ChannelNeutral', zeros(9,1),...
		 'ChannelMax', zeros(9,1),...
		 'ArmedTimeout', 0,...
		 'ChannelGroups', zeros(9,1),...
		 'ChannelNumber', zeros(9,1),...
		 'Arming', 0,...
		 'Stabilization1Settings', zeros(3,1),...
		 'Stabilization2Settings', zeros(3,1),...
		 'Stabilization3Settings', zeros(3,1),...
		 'FlightModePosition', zeros(3,1));
	MANUALCONTROLSETTINGS_OBJID=2139802646;

	mixersettingsIdx = 0;
	MixerSettings=struct('timestamp', 0,...
		 'MaxAccel', 0,...
		 'FeedForward', 0,...
		 'AccelTime', 0,...
		 'DecelTime', 0,...
		 'ThrottleCurve1', zeros(5,1),...
		 'ThrottleCurve2', zeros(5,1),...
		 'Curve2Source', 0,...
		 'Mixer1Type', 0,...
		 'Mixer1Vector', zeros(5,1),...
		 'Mixer2Type', 0,...
		 'Mixer2Vector', zeros(5,1),...
		 'Mixer3Type', 0,...
		 'Mixer3Vector', zeros(5,1),...
		 'Mixer4Type', 0,...
		 'Mixer4Vector', zeros(5,1),...
		 'Mixer5Type', 0,...
		 'Mixer5Vector', zeros(5,1),...
		 'Mixer6Type', 0,...
		 'Mixer6Vector', zeros(5,1),...
		 'Mixer7Type', 0,...
		 'Mixer7Vector', zeros(5,1),...
		 'Mixer8Type', 0,...
		 'Mixer8Vector', zeros(5,1),...
		 'Mixer9Type', 0,...
		 'Mixer9Vector', zeros(5,1),...
		 'Mixer10Type', 0,...
		 'Mixer10Vector', zeros(5,1));
	MIXERSETTINGS_OBJID=1561777860;

	mixerstatusIdx = 0;
	MixerStatus=struct('timestamp', 0,...
		 'Mixer1', 0,...
		 'Mixer2', 0,...
		 'Mixer3', 0,...
		 'Mixer4', 0,...
		 'Mixer5', 0,...
		 'Mixer6', 0,...
		 'Mixer7', 0,...
		 'Mixer8', 0);
	MIXERSTATUS_OBJID=298824934;

	nedaccelIdx = 0;
	NedAccel=struct('timestamp', 0,...
		 'North', 0,...
		 'East', 0,...
		 'Down', 0);
	NEDACCEL_OBJID=2088721344;

	objectpersistenceIdx = 0;
	ObjectPersistence=struct('timestamp', 0,...
		 'ObjectID', 0,...
		 'InstanceID', 0,...
		 'Operation', 0,...
		 'Selection', 0);
	OBJECTPERSISTENCE_OBJID=4137343160;

	overosyncstatsIdx = 0;
	OveroSyncStats=struct('timestamp', 0,...
		 'Send', 0,...
		 'Received', 0,...
		 'DroppedUpdates', 0,...
		 'Connected', 0);
	OVEROSYNCSTATS_OBJID=948201656;

	positionactualIdx = 0;
	PositionActual=struct('timestamp', 0,...
		 'North', 0,...
		 'East', 0,...
		 'Down', 0);
	POSITIONACTUAL_OBJID=4204670274;

	positiondesiredIdx = 0;
	PositionDesired=struct('timestamp', 0,...
		 'North', 0,...
		 'East', 0,...
		 'Down', 0);
	POSITIONDESIRED_OBJID=2005777956;

	ratedesiredIdx = 0;
	RateDesired=struct('timestamp', 0,...
		 'Roll', 0,...
		 'Pitch', 0,...
		 'Yaw', 0);
	RATEDESIRED_OBJID=216582182;

	receiveractivityIdx = 0;
	ReceiverActivity=struct('timestamp', 0,...
		 'ActiveGroup', 0,...
		 'ActiveChannel', 0);
	RECEIVERACTIVITY_OBJID=511464410;

	revocalibrationIdx = 0;
	RevoCalibration=struct('timestamp', 0,...
		 'accel_bias', zeros(3,1),...
		 'accel_scale', zeros(3,1),...
		 'accel_var', zeros(3,1),...
		 'gyro_bias', zeros(3,1),...
		 'gyro_scale', zeros(3,1),...
		 'gyro_var', zeros(3,1),...
		 'gyro_tempcoeff', zeros(3,1),...
		 'mag_bias', zeros(3,1),...
		 'mag_scale', zeros(3,1),...
		 'mag_var', zeros(3,1),...
		 'BiasCorrectedRaw', 0);
	REVOCALIBRATION_OBJID=3261937586;

	sonaraltitudeIdx = 0;
	SonarAltitude=struct('timestamp', 0,...
		 'Altitude', 0);
	SONARALTITUDE_OBJID=1817840828;

	stabilizationdesiredIdx = 0;
	StabilizationDesired=struct('timestamp', 0,...
		 'Roll', 0,...
		 'Pitch', 0,...
		 'Yaw', 0,...
		 'Throttle', 0,...
		 'StabilizationMode', zeros(3,1));
	STABILIZATIONDESIRED_OBJID=3683646524;

	stabilizationsettingsIdx = 0;
	StabilizationSettings=struct('timestamp', 0,...
		 'ManualRate', zeros(3,1),...
		 'MaximumRate', zeros(3,1),...
		 'RollRatePID', zeros(4,1),...
		 'PitchRatePID', zeros(4,1),...
		 'YawRatePID', zeros(4,1),...
		 'RollPI', zeros(3,1),...
		 'PitchPI', zeros(3,1),...
		 'YawPI', zeros(3,1),...
		 'GyroTau', 0,...
		 'WeakLevelingKp', 0,...
		 'RollMax', 0,...
		 'PitchMax', 0,...
		 'YawMax', 0,...
		 'MaxAxisLock', 0,...
		 'MaxAxisLockRate', 0,...
		 'MaxWeakLevelingRate', 0,...
		 'LowThrottleZeroIntegral', 0);
	STABILIZATIONSETTINGS_OBJID=1601750302;

	systemalarmsIdx = 0;
	SystemAlarms=struct('timestamp', 0,...
		 'Alarm', zeros(18,1));
	SYSTEMALARMS_OBJID=164088830;

	systemsettingsIdx = 0;
	SystemSettings=struct('timestamp', 0,...
		 'GUIConfigData', zeros(2,1),...
		 'AirframeType', 0);
	SYSTEMSETTINGS_OBJID=817716604;

	systemstatsIdx = 0;
	SystemStats=struct('timestamp', 0,...
		 'FlightTime', 0,...
		 'HeapRemaining', 0,...
		 'IRQStackRemaining', 0,...
		 'CPULoad', 0,...
		 'CPUTemp', 0);
	SYSTEMSTATS_OBJID=3591414000;

	taskinfoIdx = 0;
	TaskInfo=struct('timestamp', 0,...
		 'StackRemaining', zeros(17,1),...
		 'Running', zeros(17,1),...
		 'RunningTime', zeros(17,1));
	TASKINFO_OBJID=1360472970;

	velocityactualIdx = 0;
	VelocityActual=struct('timestamp', 0,...
		 'North', 0,...
		 'East', 0,...
		 'Down', 0);
	VELOCITYACTUAL_OBJID=1510536730;

	velocitydesiredIdx = 0;
	VelocityDesired=struct('timestamp', 0,...
		 'North', 0,...
		 'East', 0,...
		 'Down', 0);
	VELOCITYDESIRED_OBJID=2660526482;

	watchdogstatusIdx = 0;
	WatchdogStatus=struct('timestamp', 0,...
		 'BootupFlags', 0,...
		 'ActiveFlags', 0);
	WATCHDOGSTATUS_OBJID=2718431868;



fid = fopen(logfile);
correctMsgByte=hex2dec('20');
correctSyncByte=hex2dec('3C');

% Parse log file, entry by entry
prebuf = fread(fid, 12, 'uint8');
log_size = dir(logfile);
log_size = log_size.bytes;
last_print = 0;

startTime=clock;

while (1)
	if (feof(fid)); break; end

	%% Read message header
	% get sync field (0x3C, 1 byte)
	sync = fread(fid, 1, 'uint8');
	if sync ~= correctSyncByte
		prebuf = [prebuf(2:end); sync];
		wrongSyncByte=wrongSyncByte+1;
% 		disp ('Wrong sync byte');
		continue
	end

    	%% Process header if we are aligned
	timestamp = typecast(uint8(prebuf(1:4)), 'uint32');
	datasize = typecast(uint8(prebuf(5:12)), 'uint64');

	% get msg type (quint8 1 byte ) should be 0x20, ignore the rest?
	msgType = fread(fid, 1, 'uint8');
	if msgType ~= correctMsgByte
% 		disp ('Wrong msgType');
		wrongMessageByte=wrongMessageByte+1;
		continue
	end

	% get msg size (quint16 2 bytes) excludes crc, include msg header and data payload
	msgSize = fread(fid, 1, 'uint16'); %#ok<NASGU>
	% get obj id (quint32 4 bytes)
	objID = fread(fid, 1, 'uint32');

	if (isempty(objID)) 	%End of file
		break;
	end

	%% Read object
	try
	switch objID
		case ACCELS_OBJID
			accelsIdx = accelsIdx + 1;
			Accels= ReadAccelsObject(fid, timestamp, checkCRC, Accels, accelsIdx);
			if accelsIdx >= length(Accels.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(Accels);
				for i=1:length(FieldNames) %Grow structure
					Accels.(FieldNames{i})(:,accelsIdx*2+1) = 0;
				end;
			end
		case ACCESSORYDESIRED_OBJID
			accessorydesiredIdx = accessorydesiredIdx + 1;
			AccessoryDesired= ReadAccessoryDesiredObject(fid, timestamp, checkCRC, AccessoryDesired, accessorydesiredIdx);
			if accessorydesiredIdx >= length(AccessoryDesired.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(AccessoryDesired);
				for i=1:length(FieldNames) %Grow structure
					AccessoryDesired.(FieldNames{i})(:,accessorydesiredIdx*2+1) = 0;
				end;
			end
		case ACTUATORCOMMAND_OBJID
			actuatorcommandIdx = actuatorcommandIdx + 1;
			ActuatorCommand= ReadActuatorCommandObject(fid, timestamp, checkCRC, ActuatorCommand, actuatorcommandIdx);
			if actuatorcommandIdx >= length(ActuatorCommand.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(ActuatorCommand);
				for i=1:length(FieldNames) %Grow structure
					ActuatorCommand.(FieldNames{i})(:,actuatorcommandIdx*2+1) = 0;
				end;
			end
		case ACTUATORDESIRED_OBJID
			actuatordesiredIdx = actuatordesiredIdx + 1;
			ActuatorDesired= ReadActuatorDesiredObject(fid, timestamp, checkCRC, ActuatorDesired, actuatordesiredIdx);
			if actuatordesiredIdx >= length(ActuatorDesired.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(ActuatorDesired);
				for i=1:length(FieldNames) %Grow structure
					ActuatorDesired.(FieldNames{i})(:,actuatordesiredIdx*2+1) = 0;
				end;
			end
		case ACTUATORSETTINGS_OBJID
			actuatorsettingsIdx = actuatorsettingsIdx + 1;
			ActuatorSettings= ReadActuatorSettingsObject(fid, timestamp, checkCRC, ActuatorSettings, actuatorsettingsIdx);
			if actuatorsettingsIdx >= length(ActuatorSettings.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(ActuatorSettings);
				for i=1:length(FieldNames) %Grow structure
					ActuatorSettings.(FieldNames{i})(:,actuatorsettingsIdx*2+1) = 0;
				end;
			end
		case ALTHOLDSMOOTHED_OBJID
			altholdsmoothedIdx = altholdsmoothedIdx + 1;
			AltHoldSmoothed= ReadAltHoldSmoothedObject(fid, timestamp, checkCRC, AltHoldSmoothed, altholdsmoothedIdx);
			if altholdsmoothedIdx >= length(AltHoldSmoothed.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(AltHoldSmoothed);
				for i=1:length(FieldNames) %Grow structure
					AltHoldSmoothed.(FieldNames{i})(:,altholdsmoothedIdx*2+1) = 0;
				end;
			end
		case ALTITUDEHOLDDESIRED_OBJID
			altitudeholddesiredIdx = altitudeholddesiredIdx + 1;
			AltitudeHoldDesired= ReadAltitudeHoldDesiredObject(fid, timestamp, checkCRC, AltitudeHoldDesired, altitudeholddesiredIdx);
			if altitudeholddesiredIdx >= length(AltitudeHoldDesired.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(AltitudeHoldDesired);
				for i=1:length(FieldNames) %Grow structure
					AltitudeHoldDesired.(FieldNames{i})(:,altitudeholddesiredIdx*2+1) = 0;
				end;
			end
		case ALTITUDEHOLDSETTINGS_OBJID
			altitudeholdsettingsIdx = altitudeholdsettingsIdx + 1;
			AltitudeHoldSettings= ReadAltitudeHoldSettingsObject(fid, timestamp, checkCRC, AltitudeHoldSettings, altitudeholdsettingsIdx);
			if altitudeholdsettingsIdx >= length(AltitudeHoldSettings.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(AltitudeHoldSettings);
				for i=1:length(FieldNames) %Grow structure
					AltitudeHoldSettings.(FieldNames{i})(:,altitudeholdsettingsIdx*2+1) = 0;
				end;
			end
		case ATTITUDEACTUAL_OBJID
			attitudeactualIdx = attitudeactualIdx + 1;
			AttitudeActual= ReadAttitudeActualObject(fid, timestamp, checkCRC, AttitudeActual, attitudeactualIdx);
			if attitudeactualIdx >= length(AttitudeActual.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(AttitudeActual);
				for i=1:length(FieldNames) %Grow structure
					AttitudeActual.(FieldNames{i})(:,attitudeactualIdx*2+1) = 0;
				end;
			end
		case ATTITUDESETTINGS_OBJID
			attitudesettingsIdx = attitudesettingsIdx + 1;
			AttitudeSettings= ReadAttitudeSettingsObject(fid, timestamp, checkCRC, AttitudeSettings, attitudesettingsIdx);
			if attitudesettingsIdx >= length(AttitudeSettings.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(AttitudeSettings);
				for i=1:length(FieldNames) %Grow structure
					AttitudeSettings.(FieldNames{i})(:,attitudesettingsIdx*2+1) = 0;
				end;
			end
		case BAROALTITUDE_OBJID
			baroaltitudeIdx = baroaltitudeIdx + 1;
			BaroAltitude= ReadBaroAltitudeObject(fid, timestamp, checkCRC, BaroAltitude, baroaltitudeIdx);
			if baroaltitudeIdx >= length(BaroAltitude.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(BaroAltitude);
				for i=1:length(FieldNames) %Grow structure
					BaroAltitude.(FieldNames{i})(:,baroaltitudeIdx*2+1) = 0;
				end;
			end
		case CAMERADESIRED_OBJID
			cameradesiredIdx = cameradesiredIdx + 1;
			CameraDesired= ReadCameraDesiredObject(fid, timestamp, checkCRC, CameraDesired, cameradesiredIdx);
			if cameradesiredIdx >= length(CameraDesired.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(CameraDesired);
				for i=1:length(FieldNames) %Grow structure
					CameraDesired.(FieldNames{i})(:,cameradesiredIdx*2+1) = 0;
				end;
			end
		case CAMERASTABSETTINGS_OBJID
			camerastabsettingsIdx = camerastabsettingsIdx + 1;
			CameraStabSettings= ReadCameraStabSettingsObject(fid, timestamp, checkCRC, CameraStabSettings, camerastabsettingsIdx);
			if camerastabsettingsIdx >= length(CameraStabSettings.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(CameraStabSettings);
				for i=1:length(FieldNames) %Grow structure
					CameraStabSettings.(FieldNames{i})(:,camerastabsettingsIdx*2+1) = 0;
				end;
			end
		case FAULTSETTINGS_OBJID
			faultsettingsIdx = faultsettingsIdx + 1;
			FaultSettings= ReadFaultSettingsObject(fid, timestamp, checkCRC, FaultSettings, faultsettingsIdx);
			if faultsettingsIdx >= length(FaultSettings.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(FaultSettings);
				for i=1:length(FieldNames) %Grow structure
					FaultSettings.(FieldNames{i})(:,faultsettingsIdx*2+1) = 0;
				end;
			end
		case FIRMWAREIAPOBJ_OBJID
			firmwareiapobjIdx = firmwareiapobjIdx + 1;
			FirmwareIAPObj= ReadFirmwareIAPObjObject(fid, timestamp, checkCRC, FirmwareIAPObj, firmwareiapobjIdx);
			if firmwareiapobjIdx >= length(FirmwareIAPObj.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(FirmwareIAPObj);
				for i=1:length(FieldNames) %Grow structure
					FirmwareIAPObj.(FieldNames{i})(:,firmwareiapobjIdx*2+1) = 0;
				end;
			end
		case FLIGHTBATTERYSETTINGS_OBJID
			flightbatterysettingsIdx = flightbatterysettingsIdx + 1;
			FlightBatterySettings= ReadFlightBatterySettingsObject(fid, timestamp, checkCRC, FlightBatterySettings, flightbatterysettingsIdx);
			if flightbatterysettingsIdx >= length(FlightBatterySettings.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(FlightBatterySettings);
				for i=1:length(FieldNames) %Grow structure
					FlightBatterySettings.(FieldNames{i})(:,flightbatterysettingsIdx*2+1) = 0;
				end;
			end
		case FLIGHTBATTERYSTATE_OBJID
			flightbatterystateIdx = flightbatterystateIdx + 1;
			FlightBatteryState= ReadFlightBatteryStateObject(fid, timestamp, checkCRC, FlightBatteryState, flightbatterystateIdx);
			if flightbatterystateIdx >= length(FlightBatteryState.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(FlightBatteryState);
				for i=1:length(FieldNames) %Grow structure
					FlightBatteryState.(FieldNames{i})(:,flightbatterystateIdx*2+1) = 0;
				end;
			end
		case FLIGHTPLANCONTROL_OBJID
			flightplancontrolIdx = flightplancontrolIdx + 1;
			FlightPlanControl= ReadFlightPlanControlObject(fid, timestamp, checkCRC, FlightPlanControl, flightplancontrolIdx);
			if flightplancontrolIdx >= length(FlightPlanControl.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(FlightPlanControl);
				for i=1:length(FieldNames) %Grow structure
					FlightPlanControl.(FieldNames{i})(:,flightplancontrolIdx*2+1) = 0;
				end;
			end
		case FLIGHTPLANSETTINGS_OBJID
			flightplansettingsIdx = flightplansettingsIdx + 1;
			FlightPlanSettings= ReadFlightPlanSettingsObject(fid, timestamp, checkCRC, FlightPlanSettings, flightplansettingsIdx);
			if flightplansettingsIdx >= length(FlightPlanSettings.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(FlightPlanSettings);
				for i=1:length(FieldNames) %Grow structure
					FlightPlanSettings.(FieldNames{i})(:,flightplansettingsIdx*2+1) = 0;
				end;
			end
		case FLIGHTPLANSTATUS_OBJID
			flightplanstatusIdx = flightplanstatusIdx + 1;
			FlightPlanStatus= ReadFlightPlanStatusObject(fid, timestamp, checkCRC, FlightPlanStatus, flightplanstatusIdx);
			if flightplanstatusIdx >= length(FlightPlanStatus.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(FlightPlanStatus);
				for i=1:length(FieldNames) %Grow structure
					FlightPlanStatus.(FieldNames{i})(:,flightplanstatusIdx*2+1) = 0;
				end;
			end
		case FLIGHTSTATUS_OBJID
			flightstatusIdx = flightstatusIdx + 1;
			FlightStatus= ReadFlightStatusObject(fid, timestamp, checkCRC, FlightStatus, flightstatusIdx);
			if flightstatusIdx >= length(FlightStatus.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(FlightStatus);
				for i=1:length(FieldNames) %Grow structure
					FlightStatus.(FieldNames{i})(:,flightstatusIdx*2+1) = 0;
				end;
			end
		case FLIGHTTELEMETRYSTATS_OBJID
			flighttelemetrystatsIdx = flighttelemetrystatsIdx + 1;
			FlightTelemetryStats= ReadFlightTelemetryStatsObject(fid, timestamp, checkCRC, FlightTelemetryStats, flighttelemetrystatsIdx);
			if flighttelemetrystatsIdx >= length(FlightTelemetryStats.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(FlightTelemetryStats);
				for i=1:length(FieldNames) %Grow structure
					FlightTelemetryStats.(FieldNames{i})(:,flighttelemetrystatsIdx*2+1) = 0;
				end;
			end
		case GCSRECEIVER_OBJID
			gcsreceiverIdx = gcsreceiverIdx + 1;
			GCSReceiver= ReadGCSReceiverObject(fid, timestamp, checkCRC, GCSReceiver, gcsreceiverIdx);
			if gcsreceiverIdx >= length(GCSReceiver.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(GCSReceiver);
				for i=1:length(FieldNames) %Grow structure
					GCSReceiver.(FieldNames{i})(:,gcsreceiverIdx*2+1) = 0;
				end;
			end
		case GCSTELEMETRYSTATS_OBJID
			gcstelemetrystatsIdx = gcstelemetrystatsIdx + 1;
			GCSTelemetryStats= ReadGCSTelemetryStatsObject(fid, timestamp, checkCRC, GCSTelemetryStats, gcstelemetrystatsIdx);
			if gcstelemetrystatsIdx >= length(GCSTelemetryStats.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(GCSTelemetryStats);
				for i=1:length(FieldNames) %Grow structure
					GCSTelemetryStats.(FieldNames{i})(:,gcstelemetrystatsIdx*2+1) = 0;
				end;
			end
		case GPSPOSITION_OBJID
			gpspositionIdx = gpspositionIdx + 1;
			GPSPosition= ReadGPSPositionObject(fid, timestamp, checkCRC, GPSPosition, gpspositionIdx);
			if gpspositionIdx >= length(GPSPosition.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(GPSPosition);
				for i=1:length(FieldNames) %Grow structure
					GPSPosition.(FieldNames{i})(:,gpspositionIdx*2+1) = 0;
				end;
			end
		case GPSSATELLITES_OBJID
			gpssatellitesIdx = gpssatellitesIdx + 1;
			GPSSatellites= ReadGPSSatellitesObject(fid, timestamp, checkCRC, GPSSatellites, gpssatellitesIdx);
			if gpssatellitesIdx >= length(GPSSatellites.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(GPSSatellites);
				for i=1:length(FieldNames) %Grow structure
					GPSSatellites.(FieldNames{i})(:,gpssatellitesIdx*2+1) = 0;
				end;
			end
		case GPSTIME_OBJID
			gpstimeIdx = gpstimeIdx + 1;
			GPSTime= ReadGPSTimeObject(fid, timestamp, checkCRC, GPSTime, gpstimeIdx);
			if gpstimeIdx >= length(GPSTime.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(GPSTime);
				for i=1:length(FieldNames) %Grow structure
					GPSTime.(FieldNames{i})(:,gpstimeIdx*2+1) = 0;
				end;
			end
		case GUIDANCESETTINGS_OBJID
			guidancesettingsIdx = guidancesettingsIdx + 1;
			GuidanceSettings= ReadGuidanceSettingsObject(fid, timestamp, checkCRC, GuidanceSettings, guidancesettingsIdx);
			if guidancesettingsIdx >= length(GuidanceSettings.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(GuidanceSettings);
				for i=1:length(FieldNames) %Grow structure
					GuidanceSettings.(FieldNames{i})(:,guidancesettingsIdx*2+1) = 0;
				end;
			end
		case GYROS_OBJID
			gyrosIdx = gyrosIdx + 1;
			Gyros= ReadGyrosObject(fid, timestamp, checkCRC, Gyros, gyrosIdx);
			if gyrosIdx >= length(Gyros.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(Gyros);
				for i=1:length(FieldNames) %Grow structure
					Gyros.(FieldNames{i})(:,gyrosIdx*2+1) = 0;
				end;
			end
		case GYROSBIAS_OBJID
			gyrosbiasIdx = gyrosbiasIdx + 1;
			GyrosBias= ReadGyrosBiasObject(fid, timestamp, checkCRC, GyrosBias, gyrosbiasIdx);
			if gyrosbiasIdx >= length(GyrosBias.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(GyrosBias);
				for i=1:length(FieldNames) %Grow structure
					GyrosBias.(FieldNames{i})(:,gyrosbiasIdx*2+1) = 0;
				end;
			end
		case HOMELOCATION_OBJID
			homelocationIdx = homelocationIdx + 1;
			HomeLocation= ReadHomeLocationObject(fid, timestamp, checkCRC, HomeLocation, homelocationIdx);
			if homelocationIdx >= length(HomeLocation.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(HomeLocation);
				for i=1:length(FieldNames) %Grow structure
					HomeLocation.(FieldNames{i})(:,homelocationIdx*2+1) = 0;
				end;
			end
		case HWSETTINGS_OBJID
			hwsettingsIdx = hwsettingsIdx + 1;
			HwSettings= ReadHwSettingsObject(fid, timestamp, checkCRC, HwSettings, hwsettingsIdx);
			if hwsettingsIdx >= length(HwSettings.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(HwSettings);
				for i=1:length(FieldNames) %Grow structure
					HwSettings.(FieldNames{i})(:,hwsettingsIdx*2+1) = 0;
				end;
			end
		case I2CSTATS_OBJID
			i2cstatsIdx = i2cstatsIdx + 1;
			I2CStats= ReadI2CStatsObject(fid, timestamp, checkCRC, I2CStats, i2cstatsIdx);
			if i2cstatsIdx >= length(I2CStats.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(I2CStats);
				for i=1:length(FieldNames) %Grow structure
					I2CStats.(FieldNames{i})(:,i2cstatsIdx*2+1) = 0;
				end;
			end
		case MAGNETOMETER_OBJID
			magnetometerIdx = magnetometerIdx + 1;
			Magnetometer= ReadMagnetometerObject(fid, timestamp, checkCRC, Magnetometer, magnetometerIdx);
			if magnetometerIdx >= length(Magnetometer.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(Magnetometer);
				for i=1:length(FieldNames) %Grow structure
					Magnetometer.(FieldNames{i})(:,magnetometerIdx*2+1) = 0;
				end;
			end
		case MANUALCONTROLCOMMAND_OBJID
			manualcontrolcommandIdx = manualcontrolcommandIdx + 1;
			ManualControlCommand= ReadManualControlCommandObject(fid, timestamp, checkCRC, ManualControlCommand, manualcontrolcommandIdx);
			if manualcontrolcommandIdx >= length(ManualControlCommand.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(ManualControlCommand);
				for i=1:length(FieldNames) %Grow structure
					ManualControlCommand.(FieldNames{i})(:,manualcontrolcommandIdx*2+1) = 0;
				end;
			end
		case MANUALCONTROLSETTINGS_OBJID
			manualcontrolsettingsIdx = manualcontrolsettingsIdx + 1;
			ManualControlSettings= ReadManualControlSettingsObject(fid, timestamp, checkCRC, ManualControlSettings, manualcontrolsettingsIdx);
			if manualcontrolsettingsIdx >= length(ManualControlSettings.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(ManualControlSettings);
				for i=1:length(FieldNames) %Grow structure
					ManualControlSettings.(FieldNames{i})(:,manualcontrolsettingsIdx*2+1) = 0;
				end;
			end
		case MIXERSETTINGS_OBJID
			mixersettingsIdx = mixersettingsIdx + 1;
			MixerSettings= ReadMixerSettingsObject(fid, timestamp, checkCRC, MixerSettings, mixersettingsIdx);
			if mixersettingsIdx >= length(MixerSettings.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(MixerSettings);
				for i=1:length(FieldNames) %Grow structure
					MixerSettings.(FieldNames{i})(:,mixersettingsIdx*2+1) = 0;
				end;
			end
		case MIXERSTATUS_OBJID
			mixerstatusIdx = mixerstatusIdx + 1;
			MixerStatus= ReadMixerStatusObject(fid, timestamp, checkCRC, MixerStatus, mixerstatusIdx);
			if mixerstatusIdx >= length(MixerStatus.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(MixerStatus);
				for i=1:length(FieldNames) %Grow structure
					MixerStatus.(FieldNames{i})(:,mixerstatusIdx*2+1) = 0;
				end;
			end
		case NEDACCEL_OBJID
			nedaccelIdx = nedaccelIdx + 1;
			NedAccel= ReadNedAccelObject(fid, timestamp, checkCRC, NedAccel, nedaccelIdx);
			if nedaccelIdx >= length(NedAccel.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(NedAccel);
				for i=1:length(FieldNames) %Grow structure
					NedAccel.(FieldNames{i})(:,nedaccelIdx*2+1) = 0;
				end;
			end
		case OBJECTPERSISTENCE_OBJID
			objectpersistenceIdx = objectpersistenceIdx + 1;
			ObjectPersistence= ReadObjectPersistenceObject(fid, timestamp, checkCRC, ObjectPersistence, objectpersistenceIdx);
			if objectpersistenceIdx >= length(ObjectPersistence.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(ObjectPersistence);
				for i=1:length(FieldNames) %Grow structure
					ObjectPersistence.(FieldNames{i})(:,objectpersistenceIdx*2+1) = 0;
				end;
			end
		case OVEROSYNCSTATS_OBJID
			overosyncstatsIdx = overosyncstatsIdx + 1;
			OveroSyncStats= ReadOveroSyncStatsObject(fid, timestamp, checkCRC, OveroSyncStats, overosyncstatsIdx);
			if overosyncstatsIdx >= length(OveroSyncStats.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(OveroSyncStats);
				for i=1:length(FieldNames) %Grow structure
					OveroSyncStats.(FieldNames{i})(:,overosyncstatsIdx*2+1) = 0;
				end;
			end
		case POSITIONACTUAL_OBJID
			positionactualIdx = positionactualIdx + 1;
			PositionActual= ReadPositionActualObject(fid, timestamp, checkCRC, PositionActual, positionactualIdx);
			if positionactualIdx >= length(PositionActual.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(PositionActual);
				for i=1:length(FieldNames) %Grow structure
					PositionActual.(FieldNames{i})(:,positionactualIdx*2+1) = 0;
				end;
			end
		case POSITIONDESIRED_OBJID
			positiondesiredIdx = positiondesiredIdx + 1;
			PositionDesired= ReadPositionDesiredObject(fid, timestamp, checkCRC, PositionDesired, positiondesiredIdx);
			if positiondesiredIdx >= length(PositionDesired.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(PositionDesired);
				for i=1:length(FieldNames) %Grow structure
					PositionDesired.(FieldNames{i})(:,positiondesiredIdx*2+1) = 0;
				end;
			end
		case RATEDESIRED_OBJID
			ratedesiredIdx = ratedesiredIdx + 1;
			RateDesired= ReadRateDesiredObject(fid, timestamp, checkCRC, RateDesired, ratedesiredIdx);
			if ratedesiredIdx >= length(RateDesired.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(RateDesired);
				for i=1:length(FieldNames) %Grow structure
					RateDesired.(FieldNames{i})(:,ratedesiredIdx*2+1) = 0;
				end;
			end
		case RECEIVERACTIVITY_OBJID
			receiveractivityIdx = receiveractivityIdx + 1;
			ReceiverActivity= ReadReceiverActivityObject(fid, timestamp, checkCRC, ReceiverActivity, receiveractivityIdx);
			if receiveractivityIdx >= length(ReceiverActivity.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(ReceiverActivity);
				for i=1:length(FieldNames) %Grow structure
					ReceiverActivity.(FieldNames{i})(:,receiveractivityIdx*2+1) = 0;
				end;
			end
		case REVOCALIBRATION_OBJID
			revocalibrationIdx = revocalibrationIdx + 1;
			RevoCalibration= ReadRevoCalibrationObject(fid, timestamp, checkCRC, RevoCalibration, revocalibrationIdx);
			if revocalibrationIdx >= length(RevoCalibration.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(RevoCalibration);
				for i=1:length(FieldNames) %Grow structure
					RevoCalibration.(FieldNames{i})(:,revocalibrationIdx*2+1) = 0;
				end;
			end
		case SONARALTITUDE_OBJID
			sonaraltitudeIdx = sonaraltitudeIdx + 1;
			SonarAltitude= ReadSonarAltitudeObject(fid, timestamp, checkCRC, SonarAltitude, sonaraltitudeIdx);
			if sonaraltitudeIdx >= length(SonarAltitude.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(SonarAltitude);
				for i=1:length(FieldNames) %Grow structure
					SonarAltitude.(FieldNames{i})(:,sonaraltitudeIdx*2+1) = 0;
				end;
			end
		case STABILIZATIONDESIRED_OBJID
			stabilizationdesiredIdx = stabilizationdesiredIdx + 1;
			StabilizationDesired= ReadStabilizationDesiredObject(fid, timestamp, checkCRC, StabilizationDesired, stabilizationdesiredIdx);
			if stabilizationdesiredIdx >= length(StabilizationDesired.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(StabilizationDesired);
				for i=1:length(FieldNames) %Grow structure
					StabilizationDesired.(FieldNames{i})(:,stabilizationdesiredIdx*2+1) = 0;
				end;
			end
		case STABILIZATIONSETTINGS_OBJID
			stabilizationsettingsIdx = stabilizationsettingsIdx + 1;
			StabilizationSettings= ReadStabilizationSettingsObject(fid, timestamp, checkCRC, StabilizationSettings, stabilizationsettingsIdx);
			if stabilizationsettingsIdx >= length(StabilizationSettings.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(StabilizationSettings);
				for i=1:length(FieldNames) %Grow structure
					StabilizationSettings.(FieldNames{i})(:,stabilizationsettingsIdx*2+1) = 0;
				end;
			end
		case SYSTEMALARMS_OBJID
			systemalarmsIdx = systemalarmsIdx + 1;
			SystemAlarms= ReadSystemAlarmsObject(fid, timestamp, checkCRC, SystemAlarms, systemalarmsIdx);
			if systemalarmsIdx >= length(SystemAlarms.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(SystemAlarms);
				for i=1:length(FieldNames) %Grow structure
					SystemAlarms.(FieldNames{i})(:,systemalarmsIdx*2+1) = 0;
				end;
			end
		case SYSTEMSETTINGS_OBJID
			systemsettingsIdx = systemsettingsIdx + 1;
			SystemSettings= ReadSystemSettingsObject(fid, timestamp, checkCRC, SystemSettings, systemsettingsIdx);
			if systemsettingsIdx >= length(SystemSettings.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(SystemSettings);
				for i=1:length(FieldNames) %Grow structure
					SystemSettings.(FieldNames{i})(:,systemsettingsIdx*2+1) = 0;
				end;
			end
		case SYSTEMSTATS_OBJID
			systemstatsIdx = systemstatsIdx + 1;
			SystemStats= ReadSystemStatsObject(fid, timestamp, checkCRC, SystemStats, systemstatsIdx);
			if systemstatsIdx >= length(SystemStats.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(SystemStats);
				for i=1:length(FieldNames) %Grow structure
					SystemStats.(FieldNames{i})(:,systemstatsIdx*2+1) = 0;
				end;
			end
		case TASKINFO_OBJID
			taskinfoIdx = taskinfoIdx + 1;
			TaskInfo= ReadTaskInfoObject(fid, timestamp, checkCRC, TaskInfo, taskinfoIdx);
			if taskinfoIdx >= length(TaskInfo.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(TaskInfo);
				for i=1:length(FieldNames) %Grow structure
					TaskInfo.(FieldNames{i})(:,taskinfoIdx*2+1) = 0;
				end;
			end
		case VELOCITYACTUAL_OBJID
			velocityactualIdx = velocityactualIdx + 1;
			VelocityActual= ReadVelocityActualObject(fid, timestamp, checkCRC, VelocityActual, velocityactualIdx);
			if velocityactualIdx >= length(VelocityActual.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(VelocityActual);
				for i=1:length(FieldNames) %Grow structure
					VelocityActual.(FieldNames{i})(:,velocityactualIdx*2+1) = 0;
				end;
			end
		case VELOCITYDESIRED_OBJID
			velocitydesiredIdx = velocitydesiredIdx + 1;
			VelocityDesired= ReadVelocityDesiredObject(fid, timestamp, checkCRC, VelocityDesired, velocitydesiredIdx);
			if velocitydesiredIdx >= length(VelocityDesired.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(VelocityDesired);
				for i=1:length(FieldNames) %Grow structure
					VelocityDesired.(FieldNames{i})(:,velocitydesiredIdx*2+1) = 0;
				end;
			end
		case WATCHDOGSTATUS_OBJID
			watchdogstatusIdx = watchdogstatusIdx + 1;
			WatchdogStatus= ReadWatchdogStatusObject(fid, timestamp, checkCRC, WatchdogStatus, watchdogstatusIdx);
			if watchdogstatusIdx >= length(WatchdogStatus.timestamp) %Check to see if pre-allocated memory is exhausted
				FieldNames= fieldnames(WatchdogStatus);
				for i=1:length(FieldNames) %Grow structure
					WatchdogStatus.(FieldNames{i})(:,watchdogstatusIdx*2+1) = 0;
				end;
			end

		otherwise
%   			disp(['Unknown object ID: 0x' dec2hex(objID)]);
			msgBytesLeft = datasize - 1 - 1 - 2 - 4;
			if msgBytesLeft > 255
				msgBytesLeft = 0;
			end
			fread(fid, msgBytesLeft, 'uint8');
	end
	catch ME %#ok<NASGU>
		% One of the reads failed - indicates EOF
		break;
	end

	if 1 && (wrongSyncByte ~= lastWrongSyncByte || wrongMessageByte~=lastWrongMessageByte ) ||...
			(ftell(fid) / log_size - last_print) > 0.01

		lastWrongSyncByte=wrongSyncByte;
		lastWrongMessageByte=wrongMessageByte;

		str1=[];
		for i=1:length([str2 str3 str4 str5]);
			str1=[str1 sprintf('\b')];
		end
		str2=sprintf('wrongSyncByte instances:    % 10d\n', wrongSyncByte );
		str3=sprintf('wrongMessageByte instances: % 10d\n\n', wrongMessageByte );

		str4=sprintf('Completed bytes: % 9d of % 9d\n', ftell(fid), log_size);


		estTimeRemaining=(log_size-ftell(fid))/(ftell(fid)/etime(clock,startTime));
		h=floor(estTimeRemaining/3600);
		m=floor((estTimeRemaining-h*3600)/60);
		s=ceil(estTimeRemaining-h*3600-m*60);

		str5=sprintf('Est. time remaining, %02dh:%02dm:%02ds \n', h,m,s);

		last_print = ftell(fid) / log_size;

		fprintf([str1 str2 str3 str4 str5]);

% 		if etime(clock,startTime) > 5
% 			break;
% 		end

% 	else
% 		toc
% 		tic
	end




	prebuf = fread(fid, 12, 'uint8');
end

fprintf('%d records in %0.2f seconds.\n', ftell(fid), etime(clock,startTime))

%% Clean Up and Save mat file
fclose(fid);

% Trim output structs
Accels=PruneStructOfArrays(Accels,accelsIdx);
AccessoryDesired=PruneStructOfArrays(AccessoryDesired,accessorydesiredIdx);
ActuatorCommand=PruneStructOfArrays(ActuatorCommand,actuatorcommandIdx);
ActuatorDesired=PruneStructOfArrays(ActuatorDesired,actuatordesiredIdx);
ActuatorSettings=PruneStructOfArrays(ActuatorSettings,actuatorsettingsIdx);
AltHoldSmoothed=PruneStructOfArrays(AltHoldSmoothed,altholdsmoothedIdx);
AltitudeHoldDesired=PruneStructOfArrays(AltitudeHoldDesired,altitudeholddesiredIdx);
AltitudeHoldSettings=PruneStructOfArrays(AltitudeHoldSettings,altitudeholdsettingsIdx);
AttitudeActual=PruneStructOfArrays(AttitudeActual,attitudeactualIdx);
AttitudeSettings=PruneStructOfArrays(AttitudeSettings,attitudesettingsIdx);
BaroAltitude=PruneStructOfArrays(BaroAltitude,baroaltitudeIdx);
CameraDesired=PruneStructOfArrays(CameraDesired,cameradesiredIdx);
CameraStabSettings=PruneStructOfArrays(CameraStabSettings,camerastabsettingsIdx);
FaultSettings=PruneStructOfArrays(FaultSettings,faultsettingsIdx);
FirmwareIAPObj=PruneStructOfArrays(FirmwareIAPObj,firmwareiapobjIdx);
FlightBatterySettings=PruneStructOfArrays(FlightBatterySettings,flightbatterysettingsIdx);
FlightBatteryState=PruneStructOfArrays(FlightBatteryState,flightbatterystateIdx);
FlightPlanControl=PruneStructOfArrays(FlightPlanControl,flightplancontrolIdx);
FlightPlanSettings=PruneStructOfArrays(FlightPlanSettings,flightplansettingsIdx);
FlightPlanStatus=PruneStructOfArrays(FlightPlanStatus,flightplanstatusIdx);
FlightStatus=PruneStructOfArrays(FlightStatus,flightstatusIdx);
FlightTelemetryStats=PruneStructOfArrays(FlightTelemetryStats,flighttelemetrystatsIdx);
GCSReceiver=PruneStructOfArrays(GCSReceiver,gcsreceiverIdx);
GCSTelemetryStats=PruneStructOfArrays(GCSTelemetryStats,gcstelemetrystatsIdx);
GPSPosition=PruneStructOfArrays(GPSPosition,gpspositionIdx);
GPSSatellites=PruneStructOfArrays(GPSSatellites,gpssatellitesIdx);
GPSTime=PruneStructOfArrays(GPSTime,gpstimeIdx);
GuidanceSettings=PruneStructOfArrays(GuidanceSettings,guidancesettingsIdx);
Gyros=PruneStructOfArrays(Gyros,gyrosIdx);
GyrosBias=PruneStructOfArrays(GyrosBias,gyrosbiasIdx);
HomeLocation=PruneStructOfArrays(HomeLocation,homelocationIdx);
HwSettings=PruneStructOfArrays(HwSettings,hwsettingsIdx);
I2CStats=PruneStructOfArrays(I2CStats,i2cstatsIdx);
Magnetometer=PruneStructOfArrays(Magnetometer,magnetometerIdx);
ManualControlCommand=PruneStructOfArrays(ManualControlCommand,manualcontrolcommandIdx);
ManualControlSettings=PruneStructOfArrays(ManualControlSettings,manualcontrolsettingsIdx);
MixerSettings=PruneStructOfArrays(MixerSettings,mixersettingsIdx);
MixerStatus=PruneStructOfArrays(MixerStatus,mixerstatusIdx);
NedAccel=PruneStructOfArrays(NedAccel,nedaccelIdx);
ObjectPersistence=PruneStructOfArrays(ObjectPersistence,objectpersistenceIdx);
OveroSyncStats=PruneStructOfArrays(OveroSyncStats,overosyncstatsIdx);
PositionActual=PruneStructOfArrays(PositionActual,positionactualIdx);
PositionDesired=PruneStructOfArrays(PositionDesired,positiondesiredIdx);
RateDesired=PruneStructOfArrays(RateDesired,ratedesiredIdx);
ReceiverActivity=PruneStructOfArrays(ReceiverActivity,receiveractivityIdx);
RevoCalibration=PruneStructOfArrays(RevoCalibration,revocalibrationIdx);
SonarAltitude=PruneStructOfArrays(SonarAltitude,sonaraltitudeIdx);
StabilizationDesired=PruneStructOfArrays(StabilizationDesired,stabilizationdesiredIdx);
StabilizationSettings=PruneStructOfArrays(StabilizationSettings,stabilizationsettingsIdx);
SystemAlarms=PruneStructOfArrays(SystemAlarms,systemalarmsIdx);
SystemSettings=PruneStructOfArrays(SystemSettings,systemsettingsIdx);
SystemStats=PruneStructOfArrays(SystemStats,systemstatsIdx);
TaskInfo=PruneStructOfArrays(TaskInfo,taskinfoIdx);
VelocityActual=PruneStructOfArrays(VelocityActual,velocityactualIdx);
VelocityDesired=PruneStructOfArrays(VelocityDesired,velocitydesiredIdx);
WatchdogStatus=PruneStructOfArrays(WatchdogStatus,watchdogstatusIdx);


if strcmpi(outputType,'mat')
	matfile = strrep(logfile,'opl','mat');
	save(matfile ,'Accels','AccessoryDesired','ActuatorCommand','ActuatorDesired','ActuatorSettings','AltHoldSmoothed','AltitudeHoldDesired','AltitudeHoldSettings','AttitudeActual','AttitudeSettings','BaroAltitude','CameraDesired','CameraStabSettings','FaultSettings','FirmwareIAPObj','FlightBatterySettings','FlightBatteryState','FlightPlanControl','FlightPlanSettings','FlightPlanStatus','FlightStatus','FlightTelemetryStats','GCSReceiver','GCSTelemetryStats','GPSPosition','GPSSatellites','GPSTime','GuidanceSettings','Gyros','GyrosBias','HomeLocation','HwSettings','I2CStats','Magnetometer','ManualControlCommand','ManualControlSettings','MixerSettings','MixerStatus','NedAccel','ObjectPersistence','OveroSyncStats','PositionActual','PositionDesired','RateDesired','ReceiverActivity','RevoCalibration','SonarAltitude','StabilizationDesired','StabilizationSettings','SystemAlarms','SystemSettings','SystemStats','TaskInfo','VelocityActual','VelocityDesired','WatchdogStatus');
else
	OPLog2csv(Accels, 'Accels', logfile);
	OPLog2csv(AccessoryDesired, 'AccessoryDesired', logfile);
	OPLog2csv(ActuatorCommand, 'ActuatorCommand', logfile);
	OPLog2csv(ActuatorDesired, 'ActuatorDesired', logfile);
	OPLog2csv(ActuatorSettings, 'ActuatorSettings', logfile);
	OPLog2csv(AltHoldSmoothed, 'AltHoldSmoothed', logfile);
	OPLog2csv(AltitudeHoldDesired, 'AltitudeHoldDesired', logfile);
	OPLog2csv(AltitudeHoldSettings, 'AltitudeHoldSettings', logfile);
	OPLog2csv(AttitudeActual, 'AttitudeActual', logfile);
	OPLog2csv(AttitudeSettings, 'AttitudeSettings', logfile);
	OPLog2csv(BaroAltitude, 'BaroAltitude', logfile);
	OPLog2csv(CameraDesired, 'CameraDesired', logfile);
	OPLog2csv(CameraStabSettings, 'CameraStabSettings', logfile);
	OPLog2csv(FaultSettings, 'FaultSettings', logfile);
	OPLog2csv(FirmwareIAPObj, 'FirmwareIAPObj', logfile);
	OPLog2csv(FlightBatterySettings, 'FlightBatterySettings', logfile);
	OPLog2csv(FlightBatteryState, 'FlightBatteryState', logfile);
	OPLog2csv(FlightPlanControl, 'FlightPlanControl', logfile);
	OPLog2csv(FlightPlanSettings, 'FlightPlanSettings', logfile);
	OPLog2csv(FlightPlanStatus, 'FlightPlanStatus', logfile);
	OPLog2csv(FlightStatus, 'FlightStatus', logfile);
	OPLog2csv(FlightTelemetryStats, 'FlightTelemetryStats', logfile);
	OPLog2csv(GCSReceiver, 'GCSReceiver', logfile);
	OPLog2csv(GCSTelemetryStats, 'GCSTelemetryStats', logfile);
	OPLog2csv(GPSPosition, 'GPSPosition', logfile);
	OPLog2csv(GPSSatellites, 'GPSSatellites', logfile);
	OPLog2csv(GPSTime, 'GPSTime', logfile);
	OPLog2csv(GuidanceSettings, 'GuidanceSettings', logfile);
	OPLog2csv(Gyros, 'Gyros', logfile);
	OPLog2csv(GyrosBias, 'GyrosBias', logfile);
	OPLog2csv(HomeLocation, 'HomeLocation', logfile);
	OPLog2csv(HwSettings, 'HwSettings', logfile);
	OPLog2csv(I2CStats, 'I2CStats', logfile);
	OPLog2csv(Magnetometer, 'Magnetometer', logfile);
	OPLog2csv(ManualControlCommand, 'ManualControlCommand', logfile);
	OPLog2csv(ManualControlSettings, 'ManualControlSettings', logfile);
	OPLog2csv(MixerSettings, 'MixerSettings', logfile);
	OPLog2csv(MixerStatus, 'MixerStatus', logfile);
	OPLog2csv(NedAccel, 'NedAccel', logfile);
	OPLog2csv(ObjectPersistence, 'ObjectPersistence', logfile);
	OPLog2csv(OveroSyncStats, 'OveroSyncStats', logfile);
	OPLog2csv(PositionActual, 'PositionActual', logfile);
	OPLog2csv(PositionDesired, 'PositionDesired', logfile);
	OPLog2csv(RateDesired, 'RateDesired', logfile);
	OPLog2csv(ReceiverActivity, 'ReceiverActivity', logfile);
	OPLog2csv(RevoCalibration, 'RevoCalibration', logfile);
	OPLog2csv(SonarAltitude, 'SonarAltitude', logfile);
	OPLog2csv(StabilizationDesired, 'StabilizationDesired', logfile);
	OPLog2csv(StabilizationSettings, 'StabilizationSettings', logfile);
	OPLog2csv(SystemAlarms, 'SystemAlarms', logfile);
	OPLog2csv(SystemSettings, 'SystemSettings', logfile);
	OPLog2csv(SystemStats, 'SystemStats', logfile);
	OPLog2csv(TaskInfo, 'TaskInfo', logfile);
	OPLog2csv(VelocityActual, 'VelocityActual', logfile);
	OPLog2csv(VelocityDesired, 'VelocityDesired', logfile);
	OPLog2csv(WatchdogStatus, 'WatchdogStatus', logfile);
end



%% Object reading functions
%%
% Accels read function
function [Accels] = ReadAccelsObject(fid, timestamp, checkCRC, Accels, accelsIdx)
	Accels.timestamp(accelsIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		Accels.instanceID(accelsIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	Accels.x(accelsIdx) = double(fread(fid, 1, 'float32'));
	Accels.y(accelsIdx) = double(fread(fid, 1, 'float32'));
	Accels.z(accelsIdx) = double(fread(fid, 1, 'float32'));
	Accels.temperature(accelsIdx) = double(fread(fid, 1, 'float32'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			accelsIdx = accelsIdx - 1;
		end
	end


%%
% AccessoryDesired read function
function [AccessoryDesired] = ReadAccessoryDesiredObject(fid, timestamp, checkCRC, AccessoryDesired, accessorydesiredIdx)
	AccessoryDesired.timestamp(accessorydesiredIdx)= timestamp;
	if 0
		headerSize = 8;
	else
		AccessoryDesired.instanceID(accessorydesiredIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	AccessoryDesired.AccessoryVal(accessorydesiredIdx) = double(fread(fid, 1, 'float32'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			accessorydesiredIdx = accessorydesiredIdx - 1;
		end
	end


%%
% ActuatorCommand read function
function [ActuatorCommand] = ReadActuatorCommandObject(fid, timestamp, checkCRC, ActuatorCommand, actuatorcommandIdx)
	ActuatorCommand.timestamp(actuatorcommandIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		ActuatorCommand.instanceID(actuatorcommandIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	ActuatorCommand.Channel(:,actuatorcommandIdx) = double(fread(fid, 10, 'int16'));
	ActuatorCommand.MaxUpdateTime(actuatorcommandIdx) = double(fread(fid, 1, 'uint16'));
	ActuatorCommand.UpdateTime(actuatorcommandIdx) = double(fread(fid, 1, 'uint8'));
	ActuatorCommand.NumFailedUpdates(actuatorcommandIdx) = double(fread(fid, 1, 'uint8'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			actuatorcommandIdx = actuatorcommandIdx - 1;
		end
	end


%%
% ActuatorDesired read function
function [ActuatorDesired] = ReadActuatorDesiredObject(fid, timestamp, checkCRC, ActuatorDesired, actuatordesiredIdx)
	ActuatorDesired.timestamp(actuatordesiredIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		ActuatorDesired.instanceID(actuatordesiredIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	ActuatorDesired.Roll(actuatordesiredIdx) = double(fread(fid, 1, 'float32'));
	ActuatorDesired.Pitch(actuatordesiredIdx) = double(fread(fid, 1, 'float32'));
	ActuatorDesired.Yaw(actuatordesiredIdx) = double(fread(fid, 1, 'float32'));
	ActuatorDesired.Throttle(actuatordesiredIdx) = double(fread(fid, 1, 'float32'));
	ActuatorDesired.UpdateTime(actuatordesiredIdx) = double(fread(fid, 1, 'float32'));
	ActuatorDesired.NumLongUpdates(actuatordesiredIdx) = double(fread(fid, 1, 'float32'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			actuatordesiredIdx = actuatordesiredIdx - 1;
		end
	end


%%
% ActuatorSettings read function
function [ActuatorSettings] = ReadActuatorSettingsObject(fid, timestamp, checkCRC, ActuatorSettings, actuatorsettingsIdx)
	ActuatorSettings.timestamp(actuatorsettingsIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		ActuatorSettings.instanceID(actuatorsettingsIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	ActuatorSettings.ChannelUpdateFreq(:,actuatorsettingsIdx) = double(fread(fid, 4, 'uint16'));
	ActuatorSettings.ChannelMax(:,actuatorsettingsIdx) = double(fread(fid, 10, 'int16'));
	ActuatorSettings.ChannelNeutral(:,actuatorsettingsIdx) = double(fread(fid, 10, 'int16'));
	ActuatorSettings.ChannelMin(:,actuatorsettingsIdx) = double(fread(fid, 10, 'int16'));
	ActuatorSettings.FixedWingRoll1(actuatorsettingsIdx) = double(fread(fid, 1, 'uint8'));
	ActuatorSettings.FixedWingRoll2(actuatorsettingsIdx) = double(fread(fid, 1, 'uint8'));
	ActuatorSettings.FixedWingPitch1(actuatorsettingsIdx) = double(fread(fid, 1, 'uint8'));
	ActuatorSettings.FixedWingPitch2(actuatorsettingsIdx) = double(fread(fid, 1, 'uint8'));
	ActuatorSettings.FixedWingYaw1(actuatorsettingsIdx) = double(fread(fid, 1, 'uint8'));
	ActuatorSettings.FixedWingYaw2(actuatorsettingsIdx) = double(fread(fid, 1, 'uint8'));
	ActuatorSettings.FixedWingThrottle(actuatorsettingsIdx) = double(fread(fid, 1, 'uint8'));
	ActuatorSettings.VTOLMotorN(actuatorsettingsIdx) = double(fread(fid, 1, 'uint8'));
	ActuatorSettings.VTOLMotorNE(actuatorsettingsIdx) = double(fread(fid, 1, 'uint8'));
	ActuatorSettings.VTOLMotorE(actuatorsettingsIdx) = double(fread(fid, 1, 'uint8'));
	ActuatorSettings.VTOLMotorSE(actuatorsettingsIdx) = double(fread(fid, 1, 'uint8'));
	ActuatorSettings.VTOLMotorS(actuatorsettingsIdx) = double(fread(fid, 1, 'uint8'));
	ActuatorSettings.VTOLMotorSW(actuatorsettingsIdx) = double(fread(fid, 1, 'uint8'));
	ActuatorSettings.VTOLMotorW(actuatorsettingsIdx) = double(fread(fid, 1, 'uint8'));
	ActuatorSettings.VTOLMotorNW(actuatorsettingsIdx) = double(fread(fid, 1, 'uint8'));
	ActuatorSettings.ChannelType(:,actuatorsettingsIdx) = double(fread(fid, 10, 'uint8'));
	ActuatorSettings.ChannelAddr(:,actuatorsettingsIdx) = double(fread(fid, 10, 'uint8'));
	ActuatorSettings.MotorsSpinWhileArmed(actuatorsettingsIdx) = double(fread(fid, 1, 'uint8'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			actuatorsettingsIdx = actuatorsettingsIdx - 1;
		end
	end


%%
% AltHoldSmoothed read function
function [AltHoldSmoothed] = ReadAltHoldSmoothedObject(fid, timestamp, checkCRC, AltHoldSmoothed, altholdsmoothedIdx)
	AltHoldSmoothed.timestamp(altholdsmoothedIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		AltHoldSmoothed.instanceID(altholdsmoothedIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	AltHoldSmoothed.Altitude(altholdsmoothedIdx) = double(fread(fid, 1, 'float32'));
	AltHoldSmoothed.Velocity(altholdsmoothedIdx) = double(fread(fid, 1, 'float32'));
	AltHoldSmoothed.Accel(altholdsmoothedIdx) = double(fread(fid, 1, 'float32'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			altholdsmoothedIdx = altholdsmoothedIdx - 1;
		end
	end


%%
% AltitudeHoldDesired read function
function [AltitudeHoldDesired] = ReadAltitudeHoldDesiredObject(fid, timestamp, checkCRC, AltitudeHoldDesired, altitudeholddesiredIdx)
	AltitudeHoldDesired.timestamp(altitudeholddesiredIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		AltitudeHoldDesired.instanceID(altitudeholddesiredIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	AltitudeHoldDesired.Altitude(altitudeholddesiredIdx) = double(fread(fid, 1, 'float32'));
	AltitudeHoldDesired.Roll(altitudeholddesiredIdx) = double(fread(fid, 1, 'float32'));
	AltitudeHoldDesired.Pitch(altitudeholddesiredIdx) = double(fread(fid, 1, 'float32'));
	AltitudeHoldDesired.Yaw(altitudeholddesiredIdx) = double(fread(fid, 1, 'float32'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			altitudeholddesiredIdx = altitudeholddesiredIdx - 1;
		end
	end


%%
% AltitudeHoldSettings read function
function [AltitudeHoldSettings] = ReadAltitudeHoldSettingsObject(fid, timestamp, checkCRC, AltitudeHoldSettings, altitudeholdsettingsIdx)
	AltitudeHoldSettings.timestamp(altitudeholdsettingsIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		AltitudeHoldSettings.instanceID(altitudeholdsettingsIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	AltitudeHoldSettings.Kp(altitudeholdsettingsIdx) = double(fread(fid, 1, 'float32'));
	AltitudeHoldSettings.Ki(altitudeholdsettingsIdx) = double(fread(fid, 1, 'float32'));
	AltitudeHoldSettings.Kd(altitudeholdsettingsIdx) = double(fread(fid, 1, 'float32'));
	AltitudeHoldSettings.Ka(altitudeholdsettingsIdx) = double(fread(fid, 1, 'float32'));
	AltitudeHoldSettings.PressureNoise(altitudeholdsettingsIdx) = double(fread(fid, 1, 'float32'));
	AltitudeHoldSettings.AccelNoise(altitudeholdsettingsIdx) = double(fread(fid, 1, 'float32'));
	AltitudeHoldSettings.AccelDrift(altitudeholdsettingsIdx) = double(fread(fid, 1, 'float32'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			altitudeholdsettingsIdx = altitudeholdsettingsIdx - 1;
		end
	end


%%
% AttitudeActual read function
function [AttitudeActual] = ReadAttitudeActualObject(fid, timestamp, checkCRC, AttitudeActual, attitudeactualIdx)
	AttitudeActual.timestamp(attitudeactualIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		AttitudeActual.instanceID(attitudeactualIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	AttitudeActual.q1(attitudeactualIdx) = double(fread(fid, 1, 'float32'));
	AttitudeActual.q2(attitudeactualIdx) = double(fread(fid, 1, 'float32'));
	AttitudeActual.q3(attitudeactualIdx) = double(fread(fid, 1, 'float32'));
	AttitudeActual.q4(attitudeactualIdx) = double(fread(fid, 1, 'float32'));
	AttitudeActual.Roll(attitudeactualIdx) = double(fread(fid, 1, 'float32'));
	AttitudeActual.Pitch(attitudeactualIdx) = double(fread(fid, 1, 'float32'));
	AttitudeActual.Yaw(attitudeactualIdx) = double(fread(fid, 1, 'float32'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			attitudeactualIdx = attitudeactualIdx - 1;
		end
	end


%%
% AttitudeSettings read function
function [AttitudeSettings] = ReadAttitudeSettingsObject(fid, timestamp, checkCRC, AttitudeSettings, attitudesettingsIdx)
	AttitudeSettings.timestamp(attitudesettingsIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		AttitudeSettings.instanceID(attitudesettingsIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	AttitudeSettings.GyroGain(attitudesettingsIdx) = double(fread(fid, 1, 'float32'));
	AttitudeSettings.AccelKp(attitudesettingsIdx) = double(fread(fid, 1, 'float32'));
	AttitudeSettings.AccelKi(attitudesettingsIdx) = double(fread(fid, 1, 'float32'));
	AttitudeSettings.YawBiasRate(attitudesettingsIdx) = double(fread(fid, 1, 'float32'));
	AttitudeSettings.AccelBias(:,attitudesettingsIdx) = double(fread(fid, 3, 'int16'));
	AttitudeSettings.GyroBias(:,attitudesettingsIdx) = double(fread(fid, 3, 'int16'));
	AttitudeSettings.BoardRotation(:,attitudesettingsIdx) = double(fread(fid, 3, 'int16'));
	AttitudeSettings.ZeroDuringArming(attitudesettingsIdx) = double(fread(fid, 1, 'uint8'));
	AttitudeSettings.BiasCorrectGyro(attitudesettingsIdx) = double(fread(fid, 1, 'uint8'));
	AttitudeSettings.TrimFlight(attitudesettingsIdx) = double(fread(fid, 1, 'uint8'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			attitudesettingsIdx = attitudesettingsIdx - 1;
		end
	end


%%
% BaroAltitude read function
function [BaroAltitude] = ReadBaroAltitudeObject(fid, timestamp, checkCRC, BaroAltitude, baroaltitudeIdx)
	BaroAltitude.timestamp(baroaltitudeIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		BaroAltitude.instanceID(baroaltitudeIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	BaroAltitude.Altitude(baroaltitudeIdx) = double(fread(fid, 1, 'float32'));
	BaroAltitude.Temperature(baroaltitudeIdx) = double(fread(fid, 1, 'float32'));
	BaroAltitude.Pressure(baroaltitudeIdx) = double(fread(fid, 1, 'float32'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			baroaltitudeIdx = baroaltitudeIdx - 1;
		end
	end


%%
% CameraDesired read function
function [CameraDesired] = ReadCameraDesiredObject(fid, timestamp, checkCRC, CameraDesired, cameradesiredIdx)
	CameraDesired.timestamp(cameradesiredIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		CameraDesired.instanceID(cameradesiredIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	CameraDesired.Roll(cameradesiredIdx) = double(fread(fid, 1, 'float32'));
	CameraDesired.Pitch(cameradesiredIdx) = double(fread(fid, 1, 'float32'));
	CameraDesired.Yaw(cameradesiredIdx) = double(fread(fid, 1, 'float32'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			cameradesiredIdx = cameradesiredIdx - 1;
		end
	end


%%
% CameraStabSettings read function
function [CameraStabSettings] = ReadCameraStabSettingsObject(fid, timestamp, checkCRC, CameraStabSettings, camerastabsettingsIdx)
	CameraStabSettings.timestamp(camerastabsettingsIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		CameraStabSettings.instanceID(camerastabsettingsIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	CameraStabSettings.MaxAxisLockRate(camerastabsettingsIdx) = double(fread(fid, 1, 'float32'));
	CameraStabSettings.ResponseTime(:,camerastabsettingsIdx) = double(fread(fid, 3, 'uint16'));
	CameraStabSettings.Input(:,camerastabsettingsIdx) = double(fread(fid, 3, 'uint8'));
	CameraStabSettings.InputRange(:,camerastabsettingsIdx) = double(fread(fid, 3, 'uint8'));
	CameraStabSettings.InputRate(:,camerastabsettingsIdx) = double(fread(fid, 3, 'uint8'));
	CameraStabSettings.StabilizationMode(:,camerastabsettingsIdx) = double(fread(fid, 3, 'uint8'));
	CameraStabSettings.OutputRange(:,camerastabsettingsIdx) = double(fread(fid, 3, 'uint8'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			camerastabsettingsIdx = camerastabsettingsIdx - 1;
		end
	end


%%
% FaultSettings read function
function [FaultSettings] = ReadFaultSettingsObject(fid, timestamp, checkCRC, FaultSettings, faultsettingsIdx)
	FaultSettings.timestamp(faultsettingsIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		FaultSettings.instanceID(faultsettingsIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	FaultSettings.ActivateFault(faultsettingsIdx) = double(fread(fid, 1, 'uint8'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			faultsettingsIdx = faultsettingsIdx - 1;
		end
	end


%%
% FirmwareIAPObj read function
function [FirmwareIAPObj] = ReadFirmwareIAPObjObject(fid, timestamp, checkCRC, FirmwareIAPObj, firmwareiapobjIdx)
	FirmwareIAPObj.timestamp(firmwareiapobjIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		FirmwareIAPObj.instanceID(firmwareiapobjIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	FirmwareIAPObj.crc(firmwareiapobjIdx) = double(fread(fid, 1, 'uint32'));
	FirmwareIAPObj.Command(firmwareiapobjIdx) = double(fread(fid, 1, 'uint16'));
	FirmwareIAPObj.BoardRevision(firmwareiapobjIdx) = double(fread(fid, 1, 'uint16'));
	FirmwareIAPObj.Description(:,firmwareiapobjIdx) = double(fread(fid, 40, 'uint8'));
	FirmwareIAPObj.CPUSerial(:,firmwareiapobjIdx) = double(fread(fid, 12, 'uint8'));
	FirmwareIAPObj.BoardType(firmwareiapobjIdx) = double(fread(fid, 1, 'uint8'));
	FirmwareIAPObj.ArmReset(firmwareiapobjIdx) = double(fread(fid, 1, 'uint8'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			firmwareiapobjIdx = firmwareiapobjIdx - 1;
		end
	end


%%
% FlightBatterySettings read function
function [FlightBatterySettings] = ReadFlightBatterySettingsObject(fid, timestamp, checkCRC, FlightBatterySettings, flightbatterysettingsIdx)
	FlightBatterySettings.timestamp(flightbatterysettingsIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		FlightBatterySettings.instanceID(flightbatterysettingsIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	FlightBatterySettings.Capacity(flightbatterysettingsIdx) = double(fread(fid, 1, 'uint32'));
	FlightBatterySettings.VoltageThresholds(:,flightbatterysettingsIdx) = double(fread(fid, 2, 'float32'));
	FlightBatterySettings.SensorCalibrations(:,flightbatterysettingsIdx) = double(fread(fid, 2, 'float32'));
	FlightBatterySettings.Type(flightbatterysettingsIdx) = double(fread(fid, 1, 'uint8'));
	FlightBatterySettings.NbCells(flightbatterysettingsIdx) = double(fread(fid, 1, 'uint8'));
	FlightBatterySettings.SensorType(flightbatterysettingsIdx) = double(fread(fid, 1, 'uint8'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			flightbatterysettingsIdx = flightbatterysettingsIdx - 1;
		end
	end


%%
% FlightBatteryState read function
function [FlightBatteryState] = ReadFlightBatteryStateObject(fid, timestamp, checkCRC, FlightBatteryState, flightbatterystateIdx)
	FlightBatteryState.timestamp(flightbatterystateIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		FlightBatteryState.instanceID(flightbatterystateIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	FlightBatteryState.Voltage(flightbatterystateIdx) = double(fread(fid, 1, 'float32'));
	FlightBatteryState.Current(flightbatterystateIdx) = double(fread(fid, 1, 'float32'));
	FlightBatteryState.PeakCurrent(flightbatterystateIdx) = double(fread(fid, 1, 'float32'));
	FlightBatteryState.AvgCurrent(flightbatterystateIdx) = double(fread(fid, 1, 'float32'));
	FlightBatteryState.ConsumedEnergy(flightbatterystateIdx) = double(fread(fid, 1, 'float32'));
	FlightBatteryState.EstimatedFlightTime(flightbatterystateIdx) = double(fread(fid, 1, 'float32'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			flightbatterystateIdx = flightbatterystateIdx - 1;
		end
	end


%%
% FlightPlanControl read function
function [FlightPlanControl] = ReadFlightPlanControlObject(fid, timestamp, checkCRC, FlightPlanControl, flightplancontrolIdx)
	FlightPlanControl.timestamp(flightplancontrolIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		FlightPlanControl.instanceID(flightplancontrolIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	FlightPlanControl.Command(flightplancontrolIdx) = double(fread(fid, 1, 'uint8'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			flightplancontrolIdx = flightplancontrolIdx - 1;
		end
	end


%%
% FlightPlanSettings read function
function [FlightPlanSettings] = ReadFlightPlanSettingsObject(fid, timestamp, checkCRC, FlightPlanSettings, flightplansettingsIdx)
	FlightPlanSettings.timestamp(flightplansettingsIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		FlightPlanSettings.instanceID(flightplansettingsIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	FlightPlanSettings.Test(flightplansettingsIdx) = double(fread(fid, 1, 'float32'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			flightplansettingsIdx = flightplansettingsIdx - 1;
		end
	end


%%
% FlightPlanStatus read function
function [FlightPlanStatus] = ReadFlightPlanStatusObject(fid, timestamp, checkCRC, FlightPlanStatus, flightplanstatusIdx)
	FlightPlanStatus.timestamp(flightplanstatusIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		FlightPlanStatus.instanceID(flightplanstatusIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	FlightPlanStatus.ErrorFileID(flightplanstatusIdx) = double(fread(fid, 1, 'uint32'));
	FlightPlanStatus.ErrorLineNum(flightplanstatusIdx) = double(fread(fid, 1, 'uint32'));
	FlightPlanStatus.Debug(:,flightplanstatusIdx) = double(fread(fid, 2, 'float32'));
	FlightPlanStatus.Status(flightplanstatusIdx) = double(fread(fid, 1, 'uint8'));
	FlightPlanStatus.ErrorType(flightplanstatusIdx) = double(fread(fid, 1, 'uint8'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			flightplanstatusIdx = flightplanstatusIdx - 1;
		end
	end


%%
% FlightStatus read function
function [FlightStatus] = ReadFlightStatusObject(fid, timestamp, checkCRC, FlightStatus, flightstatusIdx)
	FlightStatus.timestamp(flightstatusIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		FlightStatus.instanceID(flightstatusIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	FlightStatus.Armed(flightstatusIdx) = double(fread(fid, 1, 'uint8'));
	FlightStatus.FlightMode(flightstatusIdx) = double(fread(fid, 1, 'uint8'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			flightstatusIdx = flightstatusIdx - 1;
		end
	end


%%
% FlightTelemetryStats read function
function [FlightTelemetryStats] = ReadFlightTelemetryStatsObject(fid, timestamp, checkCRC, FlightTelemetryStats, flighttelemetrystatsIdx)
	FlightTelemetryStats.timestamp(flighttelemetrystatsIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		FlightTelemetryStats.instanceID(flighttelemetrystatsIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	FlightTelemetryStats.TxDataRate(flighttelemetrystatsIdx) = double(fread(fid, 1, 'float32'));
	FlightTelemetryStats.RxDataRate(flighttelemetrystatsIdx) = double(fread(fid, 1, 'float32'));
	FlightTelemetryStats.TxFailures(flighttelemetrystatsIdx) = double(fread(fid, 1, 'uint32'));
	FlightTelemetryStats.RxFailures(flighttelemetrystatsIdx) = double(fread(fid, 1, 'uint32'));
	FlightTelemetryStats.TxRetries(flighttelemetrystatsIdx) = double(fread(fid, 1, 'uint32'));
	FlightTelemetryStats.Status(flighttelemetrystatsIdx) = double(fread(fid, 1, 'uint8'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			flighttelemetrystatsIdx = flighttelemetrystatsIdx - 1;
		end
	end


%%
% GCSReceiver read function
function [GCSReceiver] = ReadGCSReceiverObject(fid, timestamp, checkCRC, GCSReceiver, gcsreceiverIdx)
	GCSReceiver.timestamp(gcsreceiverIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		GCSReceiver.instanceID(gcsreceiverIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	GCSReceiver.Channel(:,gcsreceiverIdx) = double(fread(fid, 6, 'uint16'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			gcsreceiverIdx = gcsreceiverIdx - 1;
		end
	end


%%
% GCSTelemetryStats read function
function [GCSTelemetryStats] = ReadGCSTelemetryStatsObject(fid, timestamp, checkCRC, GCSTelemetryStats, gcstelemetrystatsIdx)
	GCSTelemetryStats.timestamp(gcstelemetrystatsIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		GCSTelemetryStats.instanceID(gcstelemetrystatsIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	GCSTelemetryStats.TxDataRate(gcstelemetrystatsIdx) = double(fread(fid, 1, 'float32'));
	GCSTelemetryStats.RxDataRate(gcstelemetrystatsIdx) = double(fread(fid, 1, 'float32'));
	GCSTelemetryStats.TxFailures(gcstelemetrystatsIdx) = double(fread(fid, 1, 'uint32'));
	GCSTelemetryStats.RxFailures(gcstelemetrystatsIdx) = double(fread(fid, 1, 'uint32'));
	GCSTelemetryStats.TxRetries(gcstelemetrystatsIdx) = double(fread(fid, 1, 'uint32'));
	GCSTelemetryStats.Status(gcstelemetrystatsIdx) = double(fread(fid, 1, 'uint8'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			gcstelemetrystatsIdx = gcstelemetrystatsIdx - 1;
		end
	end


%%
% GPSPosition read function
function [GPSPosition] = ReadGPSPositionObject(fid, timestamp, checkCRC, GPSPosition, gpspositionIdx)
	GPSPosition.timestamp(gpspositionIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		GPSPosition.instanceID(gpspositionIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	GPSPosition.Latitude(gpspositionIdx) = double(fread(fid, 1, 'int32'));
	GPSPosition.Longitude(gpspositionIdx) = double(fread(fid, 1, 'int32'));
	GPSPosition.Altitude(gpspositionIdx) = double(fread(fid, 1, 'float32'));
	GPSPosition.GeoidSeparation(gpspositionIdx) = double(fread(fid, 1, 'float32'));
	GPSPosition.Heading(gpspositionIdx) = double(fread(fid, 1, 'float32'));
	GPSPosition.Groundspeed(gpspositionIdx) = double(fread(fid, 1, 'float32'));
	GPSPosition.PDOP(gpspositionIdx) = double(fread(fid, 1, 'float32'));
	GPSPosition.HDOP(gpspositionIdx) = double(fread(fid, 1, 'float32'));
	GPSPosition.VDOP(gpspositionIdx) = double(fread(fid, 1, 'float32'));
	GPSPosition.Status(gpspositionIdx) = double(fread(fid, 1, 'uint8'));
	GPSPosition.Satellites(gpspositionIdx) = double(fread(fid, 1, 'int8'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			gpspositionIdx = gpspositionIdx - 1;
		end
	end


%%
% GPSSatellites read function
function [GPSSatellites] = ReadGPSSatellitesObject(fid, timestamp, checkCRC, GPSSatellites, gpssatellitesIdx)
	GPSSatellites.timestamp(gpssatellitesIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		GPSSatellites.instanceID(gpssatellitesIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	GPSSatellites.Elevation(:,gpssatellitesIdx) = double(fread(fid, 16, 'float32'));
	GPSSatellites.Azimuth(:,gpssatellitesIdx) = double(fread(fid, 16, 'float32'));
	GPSSatellites.SatsInView(gpssatellitesIdx) = double(fread(fid, 1, 'int8'));
	GPSSatellites.PRN(:,gpssatellitesIdx) = double(fread(fid, 16, 'int8'));
	GPSSatellites.SNR(:,gpssatellitesIdx) = double(fread(fid, 16, 'int8'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			gpssatellitesIdx = gpssatellitesIdx - 1;
		end
	end


%%
% GPSTime read function
function [GPSTime] = ReadGPSTimeObject(fid, timestamp, checkCRC, GPSTime, gpstimeIdx)
	GPSTime.timestamp(gpstimeIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		GPSTime.instanceID(gpstimeIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	GPSTime.Year(gpstimeIdx) = double(fread(fid, 1, 'int16'));
	GPSTime.Month(gpstimeIdx) = double(fread(fid, 1, 'int8'));
	GPSTime.Day(gpstimeIdx) = double(fread(fid, 1, 'int8'));
	GPSTime.Hour(gpstimeIdx) = double(fread(fid, 1, 'int8'));
	GPSTime.Minute(gpstimeIdx) = double(fread(fid, 1, 'int8'));
	GPSTime.Second(gpstimeIdx) = double(fread(fid, 1, 'int8'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			gpstimeIdx = gpstimeIdx - 1;
		end
	end


%%
% GuidanceSettings read function
function [GuidanceSettings] = ReadGuidanceSettingsObject(fid, timestamp, checkCRC, GuidanceSettings, guidancesettingsIdx)
	GuidanceSettings.timestamp(guidancesettingsIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		GuidanceSettings.instanceID(guidancesettingsIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	GuidanceSettings.HorizontalPosPI(:,guidancesettingsIdx) = double(fread(fid, 3, 'float32'));
	GuidanceSettings.HorizontalVelPID(:,guidancesettingsIdx) = double(fread(fid, 4, 'float32'));
	GuidanceSettings.VerticalPosPI(:,guidancesettingsIdx) = double(fread(fid, 3, 'float32'));
	GuidanceSettings.VerticalVelPID(:,guidancesettingsIdx) = double(fread(fid, 4, 'float32'));
	GuidanceSettings.MaxRollPitch(guidancesettingsIdx) = double(fread(fid, 1, 'float32'));
	GuidanceSettings.UpdatePeriod(guidancesettingsIdx) = double(fread(fid, 1, 'int32'));
	GuidanceSettings.HorizontalVelMax(guidancesettingsIdx) = double(fread(fid, 1, 'uint16'));
	GuidanceSettings.VerticalVelMax(guidancesettingsIdx) = double(fread(fid, 1, 'uint16'));
	GuidanceSettings.GuidanceMode(guidancesettingsIdx) = double(fread(fid, 1, 'uint8'));
	GuidanceSettings.ThrottleControl(guidancesettingsIdx) = double(fread(fid, 1, 'uint8'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			guidancesettingsIdx = guidancesettingsIdx - 1;
		end
	end


%%
% Gyros read function
function [Gyros] = ReadGyrosObject(fid, timestamp, checkCRC, Gyros, gyrosIdx)
	Gyros.timestamp(gyrosIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		Gyros.instanceID(gyrosIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	Gyros.x(gyrosIdx) = double(fread(fid, 1, 'float32'));
	Gyros.y(gyrosIdx) = double(fread(fid, 1, 'float32'));
	Gyros.z(gyrosIdx) = double(fread(fid, 1, 'float32'));
	Gyros.temperature(gyrosIdx) = double(fread(fid, 1, 'float32'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			gyrosIdx = gyrosIdx - 1;
		end
	end


%%
% GyrosBias read function
function [GyrosBias] = ReadGyrosBiasObject(fid, timestamp, checkCRC, GyrosBias, gyrosbiasIdx)
	GyrosBias.timestamp(gyrosbiasIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		GyrosBias.instanceID(gyrosbiasIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	GyrosBias.x(gyrosbiasIdx) = double(fread(fid, 1, 'float32'));
	GyrosBias.y(gyrosbiasIdx) = double(fread(fid, 1, 'float32'));
	GyrosBias.z(gyrosbiasIdx) = double(fread(fid, 1, 'float32'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			gyrosbiasIdx = gyrosbiasIdx - 1;
		end
	end


%%
% HomeLocation read function
function [HomeLocation] = ReadHomeLocationObject(fid, timestamp, checkCRC, HomeLocation, homelocationIdx)
	HomeLocation.timestamp(homelocationIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		HomeLocation.instanceID(homelocationIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	HomeLocation.Latitude(homelocationIdx) = double(fread(fid, 1, 'int32'));
	HomeLocation.Longitude(homelocationIdx) = double(fread(fid, 1, 'int32'));
	HomeLocation.Altitude(homelocationIdx) = double(fread(fid, 1, 'float32'));
	HomeLocation.ECEF(:,homelocationIdx) = double(fread(fid, 3, 'int32'));
	HomeLocation.RNE(:,homelocationIdx) = double(fread(fid, 9, 'float32'));
	HomeLocation.Be(:,homelocationIdx) = double(fread(fid, 3, 'float32'));
	HomeLocation.g_e(homelocationIdx) = double(fread(fid, 1, 'float32'));
	HomeLocation.Set(homelocationIdx) = double(fread(fid, 1, 'uint8'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			homelocationIdx = homelocationIdx - 1;
		end
	end


%%
% HwSettings read function
function [HwSettings] = ReadHwSettingsObject(fid, timestamp, checkCRC, HwSettings, hwsettingsIdx)
	HwSettings.timestamp(hwsettingsIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		HwSettings.instanceID(hwsettingsIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	HwSettings.CC_RcvrPort(hwsettingsIdx) = double(fread(fid, 1, 'uint8'));
	HwSettings.CC_MainPort(hwsettingsIdx) = double(fread(fid, 1, 'uint8'));
	HwSettings.CC_FlexiPort(hwsettingsIdx) = double(fread(fid, 1, 'uint8'));
	HwSettings.OP_RcvrPort(hwsettingsIdx) = double(fread(fid, 1, 'uint8'));
	HwSettings.OP_MainPort(hwsettingsIdx) = double(fread(fid, 1, 'uint8'));
	HwSettings.OP_FlexiPort(hwsettingsIdx) = double(fread(fid, 1, 'uint8'));
	HwSettings.TelemetrySpeed(hwsettingsIdx) = double(fread(fid, 1, 'uint8'));
	HwSettings.GPSSpeed(hwsettingsIdx) = double(fread(fid, 1, 'uint8'));
	HwSettings.ComUsbBridgeSpeed(hwsettingsIdx) = double(fread(fid, 1, 'uint8'));
	HwSettings.USB_DeviceType(hwsettingsIdx) = double(fread(fid, 1, 'uint8'));
	HwSettings.USB_HIDPort(hwsettingsIdx) = double(fread(fid, 1, 'uint8'));
	HwSettings.USB_VCPPort(hwsettingsIdx) = double(fread(fid, 1, 'uint8'));
	HwSettings.OptionalModules(:,hwsettingsIdx) = double(fread(fid, 5, 'uint8'));
	HwSettings.DSMxBind(hwsettingsIdx) = double(fread(fid, 1, 'uint8'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			hwsettingsIdx = hwsettingsIdx - 1;
		end
	end


%%
% I2CStats read function
function [I2CStats] = ReadI2CStatsObject(fid, timestamp, checkCRC, I2CStats, i2cstatsIdx)
	I2CStats.timestamp(i2cstatsIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		I2CStats.instanceID(i2cstatsIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	I2CStats.evirq_log(:,i2cstatsIdx) = double(fread(fid, 5, 'uint32'));
	I2CStats.erirq_log(:,i2cstatsIdx) = double(fread(fid, 5, 'uint32'));
	I2CStats.event_errors(i2cstatsIdx) = double(fread(fid, 1, 'uint8'));
	I2CStats.fsm_errors(i2cstatsIdx) = double(fread(fid, 1, 'uint8'));
	I2CStats.irq_errors(i2cstatsIdx) = double(fread(fid, 1, 'uint8'));
	I2CStats.nacks(i2cstatsIdx) = double(fread(fid, 1, 'uint8'));
	I2CStats.timeouts(i2cstatsIdx) = double(fread(fid, 1, 'uint8'));
	I2CStats.last_error_type(i2cstatsIdx) = double(fread(fid, 1, 'uint8'));
	I2CStats.event_log(:,i2cstatsIdx) = double(fread(fid, 5, 'uint8'));
	I2CStats.state_log(:,i2cstatsIdx) = double(fread(fid, 5, 'uint8'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			i2cstatsIdx = i2cstatsIdx - 1;
		end
	end


%%
% Magnetometer read function
function [Magnetometer] = ReadMagnetometerObject(fid, timestamp, checkCRC, Magnetometer, magnetometerIdx)
	Magnetometer.timestamp(magnetometerIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		Magnetometer.instanceID(magnetometerIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	Magnetometer.x(magnetometerIdx) = double(fread(fid, 1, 'float32'));
	Magnetometer.y(magnetometerIdx) = double(fread(fid, 1, 'float32'));
	Magnetometer.z(magnetometerIdx) = double(fread(fid, 1, 'float32'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			magnetometerIdx = magnetometerIdx - 1;
		end
	end


%%
% ManualControlCommand read function
function [ManualControlCommand] = ReadManualControlCommandObject(fid, timestamp, checkCRC, ManualControlCommand, manualcontrolcommandIdx)
	ManualControlCommand.timestamp(manualcontrolcommandIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		ManualControlCommand.instanceID(manualcontrolcommandIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	ManualControlCommand.Throttle(manualcontrolcommandIdx) = double(fread(fid, 1, 'float32'));
	ManualControlCommand.Roll(manualcontrolcommandIdx) = double(fread(fid, 1, 'float32'));
	ManualControlCommand.Pitch(manualcontrolcommandIdx) = double(fread(fid, 1, 'float32'));
	ManualControlCommand.Yaw(manualcontrolcommandIdx) = double(fread(fid, 1, 'float32'));
	ManualControlCommand.Collective(manualcontrolcommandIdx) = double(fread(fid, 1, 'float32'));
	ManualControlCommand.Channel(:,manualcontrolcommandIdx) = double(fread(fid, 9, 'uint16'));
	ManualControlCommand.Connected(manualcontrolcommandIdx) = double(fread(fid, 1, 'uint8'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			manualcontrolcommandIdx = manualcontrolcommandIdx - 1;
		end
	end


%%
% ManualControlSettings read function
function [ManualControlSettings] = ReadManualControlSettingsObject(fid, timestamp, checkCRC, ManualControlSettings, manualcontrolsettingsIdx)
	ManualControlSettings.timestamp(manualcontrolsettingsIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		ManualControlSettings.instanceID(manualcontrolsettingsIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	ManualControlSettings.ChannelMin(:,manualcontrolsettingsIdx) = double(fread(fid, 9, 'int16'));
	ManualControlSettings.ChannelNeutral(:,manualcontrolsettingsIdx) = double(fread(fid, 9, 'int16'));
	ManualControlSettings.ChannelMax(:,manualcontrolsettingsIdx) = double(fread(fid, 9, 'int16'));
	ManualControlSettings.ArmedTimeout(manualcontrolsettingsIdx) = double(fread(fid, 1, 'uint16'));
	ManualControlSettings.ChannelGroups(:,manualcontrolsettingsIdx) = double(fread(fid, 9, 'uint8'));
	ManualControlSettings.ChannelNumber(:,manualcontrolsettingsIdx) = double(fread(fid, 9, 'uint8'));
	ManualControlSettings.Arming(manualcontrolsettingsIdx) = double(fread(fid, 1, 'uint8'));
	ManualControlSettings.Stabilization1Settings(:,manualcontrolsettingsIdx) = double(fread(fid, 3, 'uint8'));
	ManualControlSettings.Stabilization2Settings(:,manualcontrolsettingsIdx) = double(fread(fid, 3, 'uint8'));
	ManualControlSettings.Stabilization3Settings(:,manualcontrolsettingsIdx) = double(fread(fid, 3, 'uint8'));
	ManualControlSettings.FlightModePosition(:,manualcontrolsettingsIdx) = double(fread(fid, 3, 'uint8'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			manualcontrolsettingsIdx = manualcontrolsettingsIdx - 1;
		end
	end


%%
% MixerSettings read function
function [MixerSettings] = ReadMixerSettingsObject(fid, timestamp, checkCRC, MixerSettings, mixersettingsIdx)
	MixerSettings.timestamp(mixersettingsIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		MixerSettings.instanceID(mixersettingsIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	MixerSettings.MaxAccel(mixersettingsIdx) = double(fread(fid, 1, 'float32'));
	MixerSettings.FeedForward(mixersettingsIdx) = double(fread(fid, 1, 'float32'));
	MixerSettings.AccelTime(mixersettingsIdx) = double(fread(fid, 1, 'float32'));
	MixerSettings.DecelTime(mixersettingsIdx) = double(fread(fid, 1, 'float32'));
	MixerSettings.ThrottleCurve1(:,mixersettingsIdx) = double(fread(fid, 5, 'float32'));
	MixerSettings.ThrottleCurve2(:,mixersettingsIdx) = double(fread(fid, 5, 'float32'));
	MixerSettings.Curve2Source(mixersettingsIdx) = double(fread(fid, 1, 'uint8'));
	MixerSettings.Mixer1Type(mixersettingsIdx) = double(fread(fid, 1, 'uint8'));
	MixerSettings.Mixer1Vector(:,mixersettingsIdx) = double(fread(fid, 5, 'int8'));
	MixerSettings.Mixer2Type(mixersettingsIdx) = double(fread(fid, 1, 'uint8'));
	MixerSettings.Mixer2Vector(:,mixersettingsIdx) = double(fread(fid, 5, 'int8'));
	MixerSettings.Mixer3Type(mixersettingsIdx) = double(fread(fid, 1, 'uint8'));
	MixerSettings.Mixer3Vector(:,mixersettingsIdx) = double(fread(fid, 5, 'int8'));
	MixerSettings.Mixer4Type(mixersettingsIdx) = double(fread(fid, 1, 'uint8'));
	MixerSettings.Mixer4Vector(:,mixersettingsIdx) = double(fread(fid, 5, 'int8'));
	MixerSettings.Mixer5Type(mixersettingsIdx) = double(fread(fid, 1, 'uint8'));
	MixerSettings.Mixer5Vector(:,mixersettingsIdx) = double(fread(fid, 5, 'int8'));
	MixerSettings.Mixer6Type(mixersettingsIdx) = double(fread(fid, 1, 'uint8'));
	MixerSettings.Mixer6Vector(:,mixersettingsIdx) = double(fread(fid, 5, 'int8'));
	MixerSettings.Mixer7Type(mixersettingsIdx) = double(fread(fid, 1, 'uint8'));
	MixerSettings.Mixer7Vector(:,mixersettingsIdx) = double(fread(fid, 5, 'int8'));
	MixerSettings.Mixer8Type(mixersettingsIdx) = double(fread(fid, 1, 'uint8'));
	MixerSettings.Mixer8Vector(:,mixersettingsIdx) = double(fread(fid, 5, 'int8'));
	MixerSettings.Mixer9Type(mixersettingsIdx) = double(fread(fid, 1, 'uint8'));
	MixerSettings.Mixer9Vector(:,mixersettingsIdx) = double(fread(fid, 5, 'int8'));
	MixerSettings.Mixer10Type(mixersettingsIdx) = double(fread(fid, 1, 'uint8'));
	MixerSettings.Mixer10Vector(:,mixersettingsIdx) = double(fread(fid, 5, 'int8'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			mixersettingsIdx = mixersettingsIdx - 1;
		end
	end


%%
% MixerStatus read function
function [MixerStatus] = ReadMixerStatusObject(fid, timestamp, checkCRC, MixerStatus, mixerstatusIdx)
	MixerStatus.timestamp(mixerstatusIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		MixerStatus.instanceID(mixerstatusIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	MixerStatus.Mixer1(mixerstatusIdx) = double(fread(fid, 1, 'float32'));
	MixerStatus.Mixer2(mixerstatusIdx) = double(fread(fid, 1, 'float32'));
	MixerStatus.Mixer3(mixerstatusIdx) = double(fread(fid, 1, 'float32'));
	MixerStatus.Mixer4(mixerstatusIdx) = double(fread(fid, 1, 'float32'));
	MixerStatus.Mixer5(mixerstatusIdx) = double(fread(fid, 1, 'float32'));
	MixerStatus.Mixer6(mixerstatusIdx) = double(fread(fid, 1, 'float32'));
	MixerStatus.Mixer7(mixerstatusIdx) = double(fread(fid, 1, 'float32'));
	MixerStatus.Mixer8(mixerstatusIdx) = double(fread(fid, 1, 'float32'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			mixerstatusIdx = mixerstatusIdx - 1;
		end
	end


%%
% NedAccel read function
function [NedAccel] = ReadNedAccelObject(fid, timestamp, checkCRC, NedAccel, nedaccelIdx)
	NedAccel.timestamp(nedaccelIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		NedAccel.instanceID(nedaccelIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	NedAccel.North(nedaccelIdx) = double(fread(fid, 1, 'float32'));
	NedAccel.East(nedaccelIdx) = double(fread(fid, 1, 'float32'));
	NedAccel.Down(nedaccelIdx) = double(fread(fid, 1, 'float32'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			nedaccelIdx = nedaccelIdx - 1;
		end
	end


%%
% ObjectPersistence read function
function [ObjectPersistence] = ReadObjectPersistenceObject(fid, timestamp, checkCRC, ObjectPersistence, objectpersistenceIdx)
	ObjectPersistence.timestamp(objectpersistenceIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		ObjectPersistence.instanceID(objectpersistenceIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	ObjectPersistence.ObjectID(objectpersistenceIdx) = double(fread(fid, 1, 'uint32'));
	ObjectPersistence.InstanceID(objectpersistenceIdx) = double(fread(fid, 1, 'uint32'));
	ObjectPersistence.Operation(objectpersistenceIdx) = double(fread(fid, 1, 'uint8'));
	ObjectPersistence.Selection(objectpersistenceIdx) = double(fread(fid, 1, 'uint8'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			objectpersistenceIdx = objectpersistenceIdx - 1;
		end
	end


%%
% OveroSyncStats read function
function [OveroSyncStats] = ReadOveroSyncStatsObject(fid, timestamp, checkCRC, OveroSyncStats, overosyncstatsIdx)
	OveroSyncStats.timestamp(overosyncstatsIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		OveroSyncStats.instanceID(overosyncstatsIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	OveroSyncStats.Send(overosyncstatsIdx) = double(fread(fid, 1, 'uint32'));
	OveroSyncStats.Received(overosyncstatsIdx) = double(fread(fid, 1, 'uint32'));
	OveroSyncStats.DroppedUpdates(overosyncstatsIdx) = double(fread(fid, 1, 'uint32'));
	OveroSyncStats.Connected(overosyncstatsIdx) = double(fread(fid, 1, 'uint8'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			overosyncstatsIdx = overosyncstatsIdx - 1;
		end
	end


%%
% PositionActual read function
function [PositionActual] = ReadPositionActualObject(fid, timestamp, checkCRC, PositionActual, positionactualIdx)
	PositionActual.timestamp(positionactualIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		PositionActual.instanceID(positionactualIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	PositionActual.North(positionactualIdx) = double(fread(fid, 1, 'float32'));
	PositionActual.East(positionactualIdx) = double(fread(fid, 1, 'float32'));
	PositionActual.Down(positionactualIdx) = double(fread(fid, 1, 'float32'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			positionactualIdx = positionactualIdx - 1;
		end
	end


%%
% PositionDesired read function
function [PositionDesired] = ReadPositionDesiredObject(fid, timestamp, checkCRC, PositionDesired, positiondesiredIdx)
	PositionDesired.timestamp(positiondesiredIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		PositionDesired.instanceID(positiondesiredIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	PositionDesired.North(positiondesiredIdx) = double(fread(fid, 1, 'float32'));
	PositionDesired.East(positiondesiredIdx) = double(fread(fid, 1, 'float32'));
	PositionDesired.Down(positiondesiredIdx) = double(fread(fid, 1, 'float32'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			positiondesiredIdx = positiondesiredIdx - 1;
		end
	end


%%
% RateDesired read function
function [RateDesired] = ReadRateDesiredObject(fid, timestamp, checkCRC, RateDesired, ratedesiredIdx)
	RateDesired.timestamp(ratedesiredIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		RateDesired.instanceID(ratedesiredIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	RateDesired.Roll(ratedesiredIdx) = double(fread(fid, 1, 'float32'));
	RateDesired.Pitch(ratedesiredIdx) = double(fread(fid, 1, 'float32'));
	RateDesired.Yaw(ratedesiredIdx) = double(fread(fid, 1, 'float32'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			ratedesiredIdx = ratedesiredIdx - 1;
		end
	end


%%
% ReceiverActivity read function
function [ReceiverActivity] = ReadReceiverActivityObject(fid, timestamp, checkCRC, ReceiverActivity, receiveractivityIdx)
	ReceiverActivity.timestamp(receiveractivityIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		ReceiverActivity.instanceID(receiveractivityIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	ReceiverActivity.ActiveGroup(receiveractivityIdx) = double(fread(fid, 1, 'uint8'));
	ReceiverActivity.ActiveChannel(receiveractivityIdx) = double(fread(fid, 1, 'uint8'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			receiveractivityIdx = receiveractivityIdx - 1;
		end
	end


%%
% RevoCalibration read function
function [RevoCalibration] = ReadRevoCalibrationObject(fid, timestamp, checkCRC, RevoCalibration, revocalibrationIdx)
	RevoCalibration.timestamp(revocalibrationIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		RevoCalibration.instanceID(revocalibrationIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	RevoCalibration.accel_bias(:,revocalibrationIdx) = double(fread(fid, 3, 'float32'));
	RevoCalibration.accel_scale(:,revocalibrationIdx) = double(fread(fid, 3, 'float32'));
	RevoCalibration.accel_var(:,revocalibrationIdx) = double(fread(fid, 3, 'float32'));
	RevoCalibration.gyro_bias(:,revocalibrationIdx) = double(fread(fid, 3, 'float32'));
	RevoCalibration.gyro_scale(:,revocalibrationIdx) = double(fread(fid, 3, 'float32'));
	RevoCalibration.gyro_var(:,revocalibrationIdx) = double(fread(fid, 3, 'float32'));
	RevoCalibration.gyro_tempcoeff(:,revocalibrationIdx) = double(fread(fid, 3, 'float32'));
	RevoCalibration.mag_bias(:,revocalibrationIdx) = double(fread(fid, 3, 'float32'));
	RevoCalibration.mag_scale(:,revocalibrationIdx) = double(fread(fid, 3, 'float32'));
	RevoCalibration.mag_var(:,revocalibrationIdx) = double(fread(fid, 3, 'float32'));
	RevoCalibration.BiasCorrectedRaw(revocalibrationIdx) = double(fread(fid, 1, 'uint8'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			revocalibrationIdx = revocalibrationIdx - 1;
		end
	end


%%
% SonarAltitude read function
function [SonarAltitude] = ReadSonarAltitudeObject(fid, timestamp, checkCRC, SonarAltitude, sonaraltitudeIdx)
	SonarAltitude.timestamp(sonaraltitudeIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		SonarAltitude.instanceID(sonaraltitudeIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	SonarAltitude.Altitude(sonaraltitudeIdx) = double(fread(fid, 1, 'float32'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			sonaraltitudeIdx = sonaraltitudeIdx - 1;
		end
	end


%%
% StabilizationDesired read function
function [StabilizationDesired] = ReadStabilizationDesiredObject(fid, timestamp, checkCRC, StabilizationDesired, stabilizationdesiredIdx)
	StabilizationDesired.timestamp(stabilizationdesiredIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		StabilizationDesired.instanceID(stabilizationdesiredIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	StabilizationDesired.Roll(stabilizationdesiredIdx) = double(fread(fid, 1, 'float32'));
	StabilizationDesired.Pitch(stabilizationdesiredIdx) = double(fread(fid, 1, 'float32'));
	StabilizationDesired.Yaw(stabilizationdesiredIdx) = double(fread(fid, 1, 'float32'));
	StabilizationDesired.Throttle(stabilizationdesiredIdx) = double(fread(fid, 1, 'float32'));
	StabilizationDesired.StabilizationMode(:,stabilizationdesiredIdx) = double(fread(fid, 3, 'uint8'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			stabilizationdesiredIdx = stabilizationdesiredIdx - 1;
		end
	end


%%
% StabilizationSettings read function
function [StabilizationSettings] = ReadStabilizationSettingsObject(fid, timestamp, checkCRC, StabilizationSettings, stabilizationsettingsIdx)
	StabilizationSettings.timestamp(stabilizationsettingsIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		StabilizationSettings.instanceID(stabilizationsettingsIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	StabilizationSettings.ManualRate(:,stabilizationsettingsIdx) = double(fread(fid, 3, 'float32'));
	StabilizationSettings.MaximumRate(:,stabilizationsettingsIdx) = double(fread(fid, 3, 'float32'));
	StabilizationSettings.RollRatePID(:,stabilizationsettingsIdx) = double(fread(fid, 4, 'float32'));
	StabilizationSettings.PitchRatePID(:,stabilizationsettingsIdx) = double(fread(fid, 4, 'float32'));
	StabilizationSettings.YawRatePID(:,stabilizationsettingsIdx) = double(fread(fid, 4, 'float32'));
	StabilizationSettings.RollPI(:,stabilizationsettingsIdx) = double(fread(fid, 3, 'float32'));
	StabilizationSettings.PitchPI(:,stabilizationsettingsIdx) = double(fread(fid, 3, 'float32'));
	StabilizationSettings.YawPI(:,stabilizationsettingsIdx) = double(fread(fid, 3, 'float32'));
	StabilizationSettings.GyroTau(stabilizationsettingsIdx) = double(fread(fid, 1, 'float32'));
	StabilizationSettings.WeakLevelingKp(stabilizationsettingsIdx) = double(fread(fid, 1, 'float32'));
	StabilizationSettings.RollMax(stabilizationsettingsIdx) = double(fread(fid, 1, 'uint8'));
	StabilizationSettings.PitchMax(stabilizationsettingsIdx) = double(fread(fid, 1, 'uint8'));
	StabilizationSettings.YawMax(stabilizationsettingsIdx) = double(fread(fid, 1, 'uint8'));
	StabilizationSettings.MaxAxisLock(stabilizationsettingsIdx) = double(fread(fid, 1, 'uint8'));
	StabilizationSettings.MaxAxisLockRate(stabilizationsettingsIdx) = double(fread(fid, 1, 'uint8'));
	StabilizationSettings.MaxWeakLevelingRate(stabilizationsettingsIdx) = double(fread(fid, 1, 'uint8'));
	StabilizationSettings.LowThrottleZeroIntegral(stabilizationsettingsIdx) = double(fread(fid, 1, 'uint8'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			stabilizationsettingsIdx = stabilizationsettingsIdx - 1;
		end
	end


%%
% SystemAlarms read function
function [SystemAlarms] = ReadSystemAlarmsObject(fid, timestamp, checkCRC, SystemAlarms, systemalarmsIdx)
	SystemAlarms.timestamp(systemalarmsIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		SystemAlarms.instanceID(systemalarmsIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	SystemAlarms.Alarm(:,systemalarmsIdx) = double(fread(fid, 18, 'uint8'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			systemalarmsIdx = systemalarmsIdx - 1;
		end
	end


%%
% SystemSettings read function
function [SystemSettings] = ReadSystemSettingsObject(fid, timestamp, checkCRC, SystemSettings, systemsettingsIdx)
	SystemSettings.timestamp(systemsettingsIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		SystemSettings.instanceID(systemsettingsIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	SystemSettings.GUIConfigData(:,systemsettingsIdx) = double(fread(fid, 2, 'uint32'));
	SystemSettings.AirframeType(systemsettingsIdx) = double(fread(fid, 1, 'uint8'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			systemsettingsIdx = systemsettingsIdx - 1;
		end
	end


%%
% SystemStats read function
function [SystemStats] = ReadSystemStatsObject(fid, timestamp, checkCRC, SystemStats, systemstatsIdx)
	SystemStats.timestamp(systemstatsIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		SystemStats.instanceID(systemstatsIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	SystemStats.FlightTime(systemstatsIdx) = double(fread(fid, 1, 'uint32'));
	SystemStats.HeapRemaining(systemstatsIdx) = double(fread(fid, 1, 'uint16'));
	SystemStats.IRQStackRemaining(systemstatsIdx) = double(fread(fid, 1, 'uint16'));
	SystemStats.CPULoad(systemstatsIdx) = double(fread(fid, 1, 'uint8'));
	SystemStats.CPUTemp(systemstatsIdx) = double(fread(fid, 1, 'int8'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			systemstatsIdx = systemstatsIdx - 1;
		end
	end


%%
% TaskInfo read function
function [TaskInfo] = ReadTaskInfoObject(fid, timestamp, checkCRC, TaskInfo, taskinfoIdx)
	TaskInfo.timestamp(taskinfoIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		TaskInfo.instanceID(taskinfoIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	TaskInfo.StackRemaining(:,taskinfoIdx) = double(fread(fid, 17, 'uint16'));
	TaskInfo.Running(:,taskinfoIdx) = double(fread(fid, 17, 'uint8'));
	TaskInfo.RunningTime(:,taskinfoIdx) = double(fread(fid, 17, 'uint8'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			taskinfoIdx = taskinfoIdx - 1;
		end
	end


%%
% VelocityActual read function
function [VelocityActual] = ReadVelocityActualObject(fid, timestamp, checkCRC, VelocityActual, velocityactualIdx)
	VelocityActual.timestamp(velocityactualIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		VelocityActual.instanceID(velocityactualIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	VelocityActual.North(velocityactualIdx) = double(fread(fid, 1, 'float32'));
	VelocityActual.East(velocityactualIdx) = double(fread(fid, 1, 'float32'));
	VelocityActual.Down(velocityactualIdx) = double(fread(fid, 1, 'float32'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			velocityactualIdx = velocityactualIdx - 1;
		end
	end


%%
% VelocityDesired read function
function [VelocityDesired] = ReadVelocityDesiredObject(fid, timestamp, checkCRC, VelocityDesired, velocitydesiredIdx)
	VelocityDesired.timestamp(velocitydesiredIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		VelocityDesired.instanceID(velocitydesiredIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	VelocityDesired.North(velocitydesiredIdx) = double(fread(fid, 1, 'float32'));
	VelocityDesired.East(velocitydesiredIdx) = double(fread(fid, 1, 'float32'));
	VelocityDesired.Down(velocitydesiredIdx) = double(fread(fid, 1, 'float32'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			velocitydesiredIdx = velocitydesiredIdx - 1;
		end
	end


%%
% WatchdogStatus read function
function [WatchdogStatus] = ReadWatchdogStatusObject(fid, timestamp, checkCRC, WatchdogStatus, watchdogstatusIdx)
	WatchdogStatus.timestamp(watchdogstatusIdx)= timestamp;
	if 1
		headerSize = 8;
	else
		WatchdogStatus.instanceID(watchdogstatusIdx) = (fread(fid, 1, 'uint16'));
		headerSize = 10;
	end

	startPos = ftell(fid) - headerSize;
	WatchdogStatus.BootupFlags(watchdogstatusIdx) = double(fread(fid, 1, 'uint16'));
	WatchdogStatus.ActiveFlags(watchdogstatusIdx) = double(fread(fid, 1, 'uint16'));
	objLen = ftell(fid) - startPos;
	% read CRC
	crc_read = fread(fid, 1, '*uint8');
	if checkCRC
		fseek(fid, startPos, 'bof');
		crc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));
		fread(fid,1,'uint8');
		if (crc_calc ~= crc_read)
			disp('CRC Error')
			watchdogstatusIdx = watchdogstatusIdx - 1;
		end
	end




% This function prunes the excess pre-allocated space
function [structOut]=PruneStructOfArrays(structIn, lastIndex)

	fieldNames = fieldnames(structIn);
	for i=1:length(fieldNames)
		structOut.(fieldNames{i})=structIn.(fieldNames{i})(1:lastIndex);
	end


function	OPLog2csv(structIn, structName, logfile)
	%Get each field name from the structure
	fieldNames = fieldnames(structIn);

	%Create a text string with the field names
	headerOut=sprintf('%s,',fieldNames{:});
	headerOut=headerOut(1:end-1); %Trim off last `,` and `\t`

	%Assign the structure arrays to a matrix.
	matOut=zeros(max(size(structIn.(fieldNames{1}))), length(fieldNames));

	if	isempty(structIn.(fieldNames{1}));
		matOut=[];
	else
		for i=1:length(fieldNames)
			matOut(:,i)=structIn.(fieldNames{i});
		end
	end
	% Create filename by replacing opl by csv
	[path, name] = fileparts(logfile);
	csvDirName=[name '_csv'];
	[dummyA, dummyB]=mkdir(fullfile(path, csvDirName)); %Dummy outputs so the program doens't throw warnings about "Directory already exists"
	csvfile=fullfile(path, csvDirName , [name '.csv']);

	%Write to csv.
	dlmwrite(csvfile, headerOut, '');
	dlmwrite(csvfile, matOut, '-append');

function crc = compute_crc(data)
    global crc_table;
    crc = 0;
    for i = 1:length(data)
        crc = crc_table(1+bitxor(data(i),crc));
    end