The src/drone_sim folder contains Octave code for simulating a vehicle.
The src/imp_resp folder contains Octave code for blackbox impulse response estimation.
imp_resp/Impulse_response.m estimates impulse response functions (angle, angular rate, angular acceleration) from PX4 logfiles in the .ulg format. Script src/preprocess/ulog2octave.sh runs ulog2csv and ulog_params on the .ulg file supplied as its first argument. Once that is done you can run Impulse_response.m on the log by selecting the folder containing the logfile as input.
The sample_ulogs folder contains some sample logs which have been preprocessed using pyulog tool ulog2csv.py and ulog_params.py and may be used to test Impulse-response.m by selecting example 1 or 2 at the prompts.