# ardupilot-binlog
Parser for ArduPilot DataFlash BIN log files.
Reads `.bin` / `.BIN` files produced by ArduPilot's onboard DataFlash logger. The format is self-describing — message schemas are discovered from FMT messages within each file, so this crate works with any ArduPilot version without hardcoded message definitions.
## Usage
```toml
[dependencies]
ardupilot-binlog = "0.1"
```
### Parse all entries
```rust
use ardupilot_binlog::File;
let file = File::open("flight.bin")?;
let mut reader = file.entries()?;
for result in &mut reader {
let entry = result?;
if entry.name == "ATT" {
let roll = entry.get_f64("Roll").unwrap_or(0.0);
let pitch = entry.get_f64("Pitch").unwrap_or(0.0);
println!("ATT: roll={roll}, pitch={pitch}");
}
}
```
### Collect into a Vec
```rust
use ardupilot_binlog::File;
let file = File::open("flight.bin")?;
let entries: Vec<_> = file.entries()?.collect::<Result<Vec<_>, _>>()?;
let gps_entries: Vec<_> = entries.iter()
.filter(|e| e.name == "GPS")
.collect();
for entry in gps_entries {
let lat = entry.get_f64("Lat").unwrap_or(0.0) / 1e7;
let lng = entry.get_f64("Lng").unwrap_or(0.0) / 1e7;
println!("GPS: {lat}, {lng}");
}
```
### Get time range
```rust
use ardupilot_binlog::File;
let file = File::open("flight.bin")?;
if let Some((first, last)) = file.time_range()? {
let duration_secs = (last - first) as f64 / 1_000_000.0;
println!("Flight duration: {duration_secs:.1}s");
}
```
### Read from any `Read` source
```rust
use ardupilot_binlog::Reader;
use std::io::Cursor;
let data: Vec<u8> = /* BIN data from network, embedded resource, etc. */
# vec![];
let mut reader = Reader::new(Cursor::new(data));
for result in &mut reader {
let entry = result?;
println!("{}: {} fields", entry.name, entry.len());
}
# Ok::<(), ardupilot_binlog::BinlogError>(())
```
### Inspect discovered formats
```rust
use ardupilot_binlog::File;
let file = File::open("flight.bin")?;
let mut reader = file.entries()?;
for result in reader.by_ref() { result?; }
for (_, fmt) in reader.formats() {
println!("{}: format='{}', labels={:?}", fmt.name, fmt.format, fmt.labels);
}
```
## Design
- **Synchronous API** — file parsing is CPU-bound sequential work; consumers call from `spawn_blocking()` if needed
- **Minimal dependencies** — only `thiserror`
- **Error recovery** — on corrupted data, scans forward for the next valid message header
- **No hardcoded message types** — all schemas discovered from FMT messages at runtime
## License
MIT OR Apache-2.0