Hotfix: Copy a current version of the log conversion tools to each log directory

2 files changed, 0 insertions, 586 deletions

diff --git a/ROMFS/px4fmu_common/logging/log_converter.zip b/ROMFS/px4fmu_common/logging/log_converter.zip
new file mode 100644
index 000000000..2641e6710
--- /dev/null
+++ b/ROMFS/px4fmu_common/logging/log_converter.zip
diff --git a/ROMFS/px4fmu_common/logging/logconv.m b/ROMFS/px4fmu_common/logging/logconv.m
deleted file mode 100644
index 3750ddae2..000000000
--- a/ROMFS/px4fmu_common/logging/logconv.m
+++ /dev/null
@@ -1,586 +0,0 @@
-% This Matlab Script can be used to import the binary logged values of the

-% PX4FMU into data that can be plotted and analyzed.

-

-%% ************************************************************************

-% PX4LOG_PLOTSCRIPT: Main function

-% ************************************************************************

-function PX4Log_Plotscript

-

-% Clear everything

-clc

-clear all

-close all

-

-% ************************************************************************

-% SETTINGS

-% ************************************************************************

-

-% Set the path to your sysvector.bin file here

-filePath = 'sysvector.bin';

-

-% Set the minimum and maximum times to plot here [in seconds]

-mintime=0;        %The minimum time/timestamp to display, as set by the user [0 for first element / start]

-maxtime=0;        %The maximum time/timestamp to display, as set by the user [0 for last element / end]

-

-%Determine which data to plot. Not completely implemented yet.

-bDisplayGPS=true;

-

-%conversion factors

-fconv_gpsalt=1E-3; %[mm] to [m]

-fconv_gpslatlong=1E-7; %[gps_raw_position_unit] to [deg]

-fconv_timestamp=1E-6; % [microseconds] to [seconds]

-

-% ************************************************************************

-% Import the PX4 logs

-% ************************************************************************

-ImportPX4LogData();

-

-%Translate min and max plot times to indices

-time=double(sysvector.timestamp) .*fconv_timestamp;

-mintime_log=time(1);        %The minimum time/timestamp found in the log

-maxtime_log=time(end);      %The maximum time/timestamp found in the log

-CurTime=mintime_log;        %The current time at which to draw the aircraft position

-

-[imintime,imaxtime]=FindMinMaxTimeIndices();

-

-% ************************************************************************

-% PLOT & GUI SETUP

-% ************************************************************************

-NrFigures=5;

-NrAxes=10;

-h.figures(1:NrFigures)=0.0;  % Temporary initialization of figure handle array - these are numbered consecutively

-h.axes(1:NrAxes)=0.0;        % Temporary initialization of axes handle array - these are numbered consecutively

-h.pathpoints=[];             % Temporary initiliazation of path points

-

-% Setup the GUI to control the plots

-InitControlGUI();

-% Setup the plotting-GUI (figures, axes) itself.

-InitPlotGUI();

-

-% ************************************************************************

-% DRAW EVERYTHING

-% ************************************************************************

-DrawRawData();

-DrawCurrentAircraftState();

-

-%% ************************************************************************

-%  *** END OF MAIN SCRIPT ***

-%  NESTED FUNCTION DEFINTIONS FROM HERE ON

-%  ************************************************************************

-

-

-%% ************************************************************************

-%  IMPORTPX4LOGDATA (nested function)

-%  ************************************************************************

-%  Attention:  This is the import routine for firmware from ca. 03/2013.

-%              Other firmware versions might require different import 

-%              routines.

-

-function ImportPX4LogData()

-    % Work around a Matlab bug (not related to PX4)

-    % where timestamps from 1.1.1970 do not allow to

-    % read the file's size

-    if ismac

-        system('touch -t 201212121212.12 sysvector.bin');

-    end

-

-    % ************************************************************************

-    % RETRIEVE SYSTEM VECTOR

-    % *************************************************************************

-    % //All measurements in NED frame

-    %

-    % uint64_t timestamp; //[us]

-    % float gyro[3]; //[rad/s]

-    % float accel[3]; //[m/s^2]

-    % float mag[3]; //[gauss] 

-    % float baro; //pressure [millibar]

-    % float baro_alt; //altitude above MSL [meter]

-    % float baro_temp; //[degree celcius]

-    % float control[4]; //roll, pitch, yaw [-1..1], thrust [0..1]

-    % float actuators[8]; //motor 1-8, in motor units (PWM: 1000-2000,AR.Drone: 0-512)

-    % float vbat; //battery voltage in [volt]

-    % float bat_current - current drawn from battery at this time instant

-    % float bat_discharged - discharged energy in mAh

-    % float adc[4]; //remaining auxiliary ADC ports [volt]

-    % float local_position[3]; //tangent plane mapping into x,y,z [m]

-    % int32_t gps_raw_position[3]; //latitude [degrees] north, longitude [degrees] east, altitude above MSL [millimeter]

-    % float attitude[3]; //pitch, roll, yaw [rad]

-    % float rotMatrix[9]; //unitvectors

-    % float actuator_control[4]; //unitvector

-    % float optical_flow[4]; //roll, pitch, yaw [-1..1], thrust [0..1]

-    % float diff_pressure; - pressure difference in millibar

-    % float ind_airspeed;

-    % float true_airspeed;

-

-    % Definition of the logged values

-    logFormat{1} = struct('name', 'timestamp',             'bytes', 8, 'array', 1, 'precision', 'uint64',  'machineformat', 'ieee-le.l64');

-    logFormat{2} = struct('name', 'gyro',                  'bytes', 4, 'array', 3, 'precision', 'float',   'machineformat', 'ieee-le');

-    logFormat{3} = struct('name', 'accel',                 'bytes', 4, 'array', 3, 'precision', 'float',   'machineformat', 'ieee-le');

-    logFormat{4} = struct('name', 'mag',                   'bytes', 4, 'array', 3, 'precision', 'float',   'machineformat', 'ieee-le');

-    logFormat{5} = struct('name', 'baro',                  'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');

-    logFormat{6} = struct('name', 'baro_alt',              'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');

-    logFormat{7} = struct('name', 'baro_temp',             'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');

-    logFormat{8} = struct('name', 'control',               'bytes', 4, 'array', 4, 'precision', 'float',   'machineformat', 'ieee-le');

-    logFormat{9} = struct('name', 'actuators',             'bytes', 4, 'array', 8, 'precision', 'float',   'machineformat', 'ieee-le');

-    logFormat{10} = struct('name', 'vbat',                 'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');

-    logFormat{11} = struct('name', 'bat_current',          'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');

-    logFormat{12} = struct('name', 'bat_discharged',       'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');

-    logFormat{13} = struct('name', 'adc',                  'bytes', 4, 'array', 4, 'precision', 'float',   'machineformat', 'ieee-le');

-    logFormat{14} = struct('name', 'local_position',       'bytes', 4, 'array', 3, 'precision', 'float',   'machineformat', 'ieee-le');

-    logFormat{15} = struct('name', 'gps_raw_position',     'bytes', 4, 'array', 3, 'precision', 'uint32',  'machineformat', 'ieee-le');

-    logFormat{16} = struct('name', 'attitude',             'bytes', 4, 'array', 3, 'precision', 'float',   'machineformat', 'ieee-le');

-    logFormat{17} = struct('name', 'rot_matrix',           'bytes', 4, 'array', 9, 'precision', 'float',   'machineformat', 'ieee-le');

-    logFormat{18} = struct('name', 'vicon_position',       'bytes', 4, 'array', 6, 'precision', 'float',   'machineformat', 'ieee-le');

-    logFormat{19} = struct('name', 'actuator_control',     'bytes', 4, 'array', 4, 'precision', 'float',   'machineformat', 'ieee-le');

-    logFormat{20} = struct('name', 'optical_flow',         'bytes', 4, 'array', 6, 'precision', 'float',   'machineformat', 'ieee-le');

-    logFormat{21} = struct('name', 'diff_pressure',        'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');

-    logFormat{22} = struct('name', 'ind_airspeed',         'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');

-    logFormat{23} = struct('name', 'true_airspeed',        'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');

-

-    % First get length of one line

-    columns = length(logFormat);

-    lineLength = 0;

-

-    for i=1:columns

-        lineLength = lineLength + logFormat{i}.bytes * logFormat{i}.array;

-    end

-

-

-    if exist(filePath, 'file')

-

-        fileInfo = dir(filePath);

-        fileSize = fileInfo.bytes;

-

-        elements = int64(fileSize./(lineLength));

-

-        fid = fopen(filePath, 'r');

-        offset = 0;

-        for i=1:columns

-            % using fread with a skip speeds up the import drastically, do not

-            % import the values one after the other

-            sysvector.(genvarname(logFormat{i}.name)) = transpose(fread(...

-                fid, ...

-                [logFormat{i}.array, elements], [num2str(logFormat{i}.array),'*',logFormat{i}.precision,'=>',logFormat{i}.precision], ...

-                lineLength - logFormat{i}.bytes*logFormat{i}.array, ...

-                logFormat{i}.machineformat) ...

-            );

-            offset = offset + logFormat{i}.bytes*logFormat{i}.array;

-            fseek(fid, offset,'bof');

-        end

-

-        % shot the flight time

-        time_us = sysvector.timestamp(end) - sysvector.timestamp(1);

-        time_s = time_us*1e-6;

-        time_m = time_s/60;

-

-        % close the logfile

-        fclose(fid);

-

-        disp(['end log2matlab conversion' char(10)]);

-    else

-        disp(['file: ' filePath ' does not exist' char(10)]);

-    end

-end

-

-%% ************************************************************************

-%  INITCONTROLGUI (nested function)

-%  ************************************************************************

-%Setup central control GUI components to control current time where data is shown

-function InitControlGUI()

-    %**********************************************************************

-    % GUI size definitions

-    %**********************************************************************

-    dxy=5; %margins

-    %Panel: Plotctrl

-    dlabels=120;

-    dsliders=200;

-    dedits=80;

-    hslider=20;

-        

-    hpanel1=40; %panel1

-    hpanel2=220;%panel2

-    hpanel3=3*hslider+4*dxy+3*dxy;%panel3.

-    

-    width=dlabels+dsliders+dedits+4*dxy+2*dxy;  %figure width

-    height=hpanel1+hpanel2+hpanel3+4*dxy;       %figure height

-        

-    %**********************************************************************

-    % Create GUI

-    %**********************************************************************

-    h.figures(1)=figure('Units','pixels','position',[200 200 width height],'Name','Control GUI');

-    h.guistatepanel=uipanel('Title','Current GUI state','Units','pixels','Position',[dxy dxy width-2*dxy hpanel1],'parent',h.figures(1));

-    h.aircraftstatepanel=uipanel('Title','Current aircraft state','Units','pixels','Position',[dxy hpanel1+2*dxy width-2*dxy hpanel2],'parent',h.figures(1));

-    h.plotctrlpanel=uipanel('Title','Plot Control','Units','pixels','Position',[dxy hpanel1+hpanel2+3*dxy width-2*dxy hpanel3],'parent',h.figures(1));

-    

-    %%Control GUI-elements

-    %Slider: Current time

-    h.labels.CurTime=uicontrol(gcf,'style','text','Position',[dxy dxy dlabels hslider],'String','Current time t[s]:','parent',h.plotctrlpanel,'HorizontalAlignment','left');

-    h.sliders.CurTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels dxy dsliders hslider],...

-        'min',mintime,'max',maxtime,'value',mintime,'callback',@curtime_callback,'parent',h.plotctrlpanel);

-    temp=get(h.sliders.CurTime,'Max')-get(h.sliders.CurTime,'Min');

-    set(h.sliders.CurTime,'SliderStep',[1.0/temp 5.0/temp]);

-    h.edits.CurTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders dxy dedits hslider],'String',get(h.sliders.CurTime,'value'),...

-        'BackgroundColor','white','callback',@curtime_callback,'parent',h.plotctrlpanel);

-

-    %Slider: MaxTime

-    h.labels.MaxTime=uicontrol(gcf,'style','text','position',[dxy 2*dxy+hslider dlabels hslider],'String','Max. time t[s] to display:','parent',h.plotctrlpanel,'HorizontalAlignment','left');

-    h.sliders.MaxTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels 2*dxy+hslider dsliders hslider],...

-        'min',mintime_log,'max',maxtime_log,'value',maxtime,'callback',@minmaxtime_callback,'parent',h.plotctrlpanel);

-    h.edits.MaxTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders 2*dxy+hslider dedits hslider],'String',get(h.sliders.MaxTime,'value'),...

-        'BackgroundColor','white','callback',@minmaxtime_callback,'parent',h.plotctrlpanel);

-    

-    %Slider: MinTime

-    h.labels.MinTime=uicontrol(gcf,'style','text','position',[dxy 3*dxy+2*hslider dlabels hslider],'String','Min. time t[s] to dispay :','parent',h.plotctrlpanel,'HorizontalAlignment','left');

-    h.sliders.MinTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels 3*dxy+2*hslider dsliders hslider],...

-        'min',mintime_log,'max',maxtime_log,'value',mintime,'callback',@minmaxtime_callback,'parent',h.plotctrlpanel);

-    h.edits.MinTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders 3*dxy+2*hslider dedits hslider],'String',get(h.sliders.MinTime,'value'),...

-        'BackgroundColor','white','callback',@minmaxtime_callback,'parent',h.plotctrlpanel);

-

-    %%Current data/state GUI-elements (Multiline-edit-box)

-    h.edits.AircraftState=uicontrol(gcf,'style','edit','Units','normalized','position',[.02 .02 0.96 0.96],'Min',1,'Max',10,'String','This shows the current aircraft state',...

-                                    'HorizontalAlignment','left','parent',h.aircraftstatepanel);

-    

-    h.labels.GUIState=uicontrol(gcf,'style','text','Units','pixels','position',[dxy dxy width-4*dxy hslider],'String','Current state of this GUI',...

-                                'HorizontalAlignment','left','parent',h.guistatepanel);

-    

-end

-

-%% ************************************************************************

-%  INITPLOTGUI (nested function)

-%  ************************************************************************

-function InitPlotGUI()

-    

-    % Setup handles to lines and text

-    h.markertext=[];

-    templinehandle=0.0;%line([0 1],[0 5]);   % Just a temporary handle to init array

-    h.markerline(1:NrAxes)=templinehandle;   % the actual handle-array to the lines  - these are numbered consecutively

-    h.markerline(1:NrAxes)=0.0;

-        

-    % Setup all other figures and axes for plotting

-    %  PLOT WINDOW 1: GPS POSITION

-    h.figures(2)=figure('units','normalized','Toolbar','figure', 'Name', 'GPS Position');

-    h.axes(1)=axes();

-    set(h.axes(1),'Parent',h.figures(2));

-

-    %  PLOT WINDOW 2: IMU, baro altitude

-    h.figures(3)=figure('Name', 'IMU / Baro Altitude');

-    h.axes(2)=subplot(4,1,1);

-    h.axes(3)=subplot(4,1,2);

-    h.axes(4)=subplot(4,1,3);

-    h.axes(5)=subplot(4,1,4);

-    set(h.axes(2:5),'Parent',h.figures(3));

-    

-    %  PLOT WINDOW 3: ATTITUDE ESTIMATE, ACTUATORS/CONTROLS, AIRSPEEDS,...

-    h.figures(4)=figure('Name', 'Attitude Estimate / Actuators / Airspeeds');

-    h.axes(6)=subplot(4,1,1);

-    h.axes(7)=subplot(4,1,2);

-    h.axes(8)=subplot(4,1,3);

-    h.axes(9)=subplot(4,1,4);

-    set(h.axes(6:9),'Parent',h.figures(4));

-    

-    %  PLOT WINDOW 4: LOG STATS

-    h.figures(5) = figure('Name', 'Log Statistics');

-    h.axes(10)=subplot(1,1,1);

-    set(h.axes(10:10),'Parent',h.figures(5));

-    

-end

-

-%% ************************************************************************

-%  DRAWRAWDATA (nested function)

-%  ************************************************************************

-%Draws the raw data from the sysvector, but does not add any

-%marker-lines or so

-function DrawRawData() 

-    % ************************************************************************

-    %  PLOT WINDOW 1: GPS POSITION & GUI

-    %  ************************************************************************

-    figure(h.figures(2));

-    % Only plot GPS data if available

-    if (sum(double(sysvector.gps_raw_position(imintime:imaxtime,1)))>0) && (bDisplayGPS)

-        %Draw data

-        plot3(h.axes(1),double(sysvector.gps_raw_position(imintime:imaxtime,1))*fconv_gpslatlong, ...

-                        double(sysvector.gps_raw_position(imintime:imaxtime,2))*fconv_gpslatlong, ...

-                        double(sysvector.gps_raw_position(imintime:imaxtime,3))*fconv_gpsalt,'r.');

-        title(h.axes(1),'GPS Position Data(if available)');

-        xlabel(h.axes(1),'Latitude [deg]');

-        ylabel(h.axes(1),'Longitude [deg]');

-        zlabel(h.axes(1),'Altitude above MSL [m]');

-        grid on

-        

-        %Reset path

-        h.pathpoints=0;

-    end

-

-    % ************************************************************************

-    %  PLOT WINDOW 2: IMU, baro altitude

-    %  ************************************************************************

-    figure(h.figures(3));

-    plot(h.axes(2),time(imintime:imaxtime),sysvector.mag(imintime:imaxtime,:));

-    title(h.axes(2),'Magnetometers [Gauss]');

-    legend(h.axes(2),'x','y','z');

-    plot(h.axes(3),time(imintime:imaxtime),sysvector.accel(imintime:imaxtime,:));

-    title(h.axes(3),'Accelerometers [m/s²]');

-    legend(h.axes(3),'x','y','z');

-    plot(h.axes(4),time(imintime:imaxtime),sysvector.gyro(imintime:imaxtime,:));

-    title(h.axes(4),'Gyroscopes [rad/s]');

-    legend(h.axes(4),'x','y','z');

-    plot(h.axes(5),time(imintime:imaxtime),sysvector.baro_alt(imintime:imaxtime),'color','blue');

-    if(bDisplayGPS)

-        hold on;

-        plot(h.axes(5),time(imintime:imaxtime),double(sysvector.gps_raw_position(imintime:imaxtime,3)).*fconv_gpsalt,'color','red');

-        hold off

-        legend('Barometric Altitude [m]','GPS Altitude [m]');

-    else

-        legend('Barometric Altitude [m]');

-    end

-    title(h.axes(5),'Altitude above MSL [m]');

-

-    % ************************************************************************

-    %  PLOT WINDOW 3: ATTITUDE ESTIMATE, ACTUATORS/CONTROLS, AIRSPEEDS,...

-    % ************************************************************************

-    figure(h.figures(4));

-    %Attitude Estimate

-    plot(h.axes(6),time(imintime:imaxtime), sysvector.attitude(imintime:imaxtime,:).*180./3.14159);

-    title(h.axes(6),'Estimated attitude [deg]');

-    legend(h.axes(6),'roll','pitch','yaw');

-    %Actuator Controls

-    plot(h.axes(7),time(imintime:imaxtime), sysvector.actuator_control(imintime:imaxtime,:));

-    title(h.axes(7),'Actuator control [-]');

-    legend(h.axes(7),'0','1','2','3');

-    %Actuator Controls

-    plot(h.axes(8),time(imintime:imaxtime), sysvector.actuators(imintime:imaxtime,1:8));

-    title(h.axes(8),'Actuator PWM (raw-)outputs [µs]');

-    legend(h.axes(8),'CH1','CH2','CH3','CH4','CH5','CH6','CH7','CH8');

-    set(h.axes(8), 'YLim',[800 2200]);

-    %Airspeeds

-    plot(h.axes(9),time(imintime:imaxtime), sysvector.ind_airspeed(imintime:imaxtime));

-    hold on

-    plot(h.axes(9),time(imintime:imaxtime), sysvector.true_airspeed(imintime:imaxtime));

-    hold off

-    %add GPS total airspeed here

-    title(h.axes(9),'Airspeed [m/s]');

-    legend(h.axes(9),'Indicated Airspeed (IAS)','True Airspeed (TAS)','GPS Airspeed');

-    %calculate time differences and plot them

-    intervals = zeros(0,imaxtime - imintime);

-    for k = imintime+1:imaxtime

-        intervals(k) = time(k) - time(k-1);

-    end

-    plot(h.axes(10), time(imintime:imaxtime), intervals);

-

-    %Set same timescale for all plots

-    for i=2:NrAxes

-        set(h.axes(i),'XLim',[mintime maxtime]);

-    end

-    

-    set(h.labels.GUIState,'String','OK','BackgroundColor',[240/255 240/255 240/255]);

-end

-

-%% ************************************************************************

-%  DRAWCURRENTAIRCRAFTSTATE(nested function)

-%  ************************************************************************

-function DrawCurrentAircraftState()

-    %find current data index        

-    i=find(time>=CurTime,1,'first');

-

-    %**********************************************************************

-    % Current aircraft state label update

-    %**********************************************************************

-    acstate{1,:}=[sprintf('%s \t\t','GPS Pos:'),'[lat=',num2str(double(sysvector.gps_raw_position(i,1))*fconv_gpslatlong),'°, ',...

-                        'lon=',num2str(double(sysvector.gps_raw_position(i,2))*fconv_gpslatlong),'°, ',...

-                        'alt=',num2str(double(sysvector.gps_raw_position(i,3))*fconv_gpsalt),'m]'];

-    acstate{2,:}=[sprintf('%s \t\t','Mags[gauss]'),'[x=',num2str(sysvector.mag(i,1)),...

-                               ', y=',num2str(sysvector.mag(i,2)),...

-                               ', z=',num2str(sysvector.mag(i,3)),']'];

-    acstate{3,:}=[sprintf('%s \t\t','Accels[m/s²]'),'[x=',num2str(sysvector.accel(i,1)),...

-                               ', y=',num2str(sysvector.accel(i,2)),...

-                               ', z=',num2str(sysvector.accel(i,3)),']'];

-    acstate{4,:}=[sprintf('%s \t\t','Gyros[rad/s]'),'[x=',num2str(sysvector.gyro(i,1)),...

-                               ', y=',num2str(sysvector.gyro(i,2)),...

-                               ', z=',num2str(sysvector.gyro(i,3)),']'];

-    acstate{5,:}=[sprintf('%s \t\t','Altitude[m]'),'[Barometric: ',num2str(sysvector.baro_alt(i)),'m, GPS: ',num2str(double(sysvector.gps_raw_position(i,3))*fconv_gpsalt),'m]'];

-    acstate{6,:}=[sprintf('%s \t','Est. attitude[deg]:'),'[Roll=',num2str(sysvector.attitude(i,1).*180./3.14159),...

-                               ', Pitch=',num2str(sysvector.attitude(i,2).*180./3.14159),...

-                               ', Yaw=',num2str(sysvector.attitude(i,3).*180./3.14159),']'];

-    acstate{7,:}=sprintf('%s \t[','Actuator Ctrls [-]:');

-    for j=1:4

-        acstate{7,:}=[acstate{7,:},num2str(sysvector.actuator_control(i,j)),','];

-    end

-    acstate{7,:}=[acstate{7,:},']'];

-    acstate{8,:}=sprintf('%s \t[','Actuator Outputs [PWM/µs]:');

-    for j=1:8

-        acstate{8,:}=[acstate{8,:},num2str(sysvector.actuators(i,j)),','];

-    end

-    acstate{8,:}=[acstate{8,:},']'];

-    acstate{9,:}=[sprintf('%s \t','Airspeed[m/s]:'),'[IAS: ',num2str(sysvector.ind_airspeed(i)),', TAS: ',num2str(sysvector.true_airspeed(i)),']'];

-    

-    set(h.edits.AircraftState,'String',acstate);

-    

-    %**********************************************************************

-    % GPS Plot Update

-    %**********************************************************************

-    %Plot traveled path, and  and time.

-    figure(h.figures(2));

-    hold on;

-    if(CurTime>mintime+1) %the +1 is only a small bugfix

-        h.pathline=plot3(h.axes(1),double(sysvector.gps_raw_position(imintime:i,1))*fconv_gpslatlong, ...

-                                    double(sysvector.gps_raw_position(imintime:i,2))*fconv_gpslatlong, ...

-                                    double(sysvector.gps_raw_position(imintime:i,3))*fconv_gpsalt,'b','LineWidth',2); 

-    end;

-    hold off

-    %Plot current position

-    newpoint=[double(sysvector.gps_raw_position(i,1))*fconv_gpslatlong double(sysvector.gps_raw_position(i,2))*fconv_gpslatlong double(sysvector.gps_raw_position(i,3))*fconv_gpsalt];

-    if(numel(h.pathpoints)<=3) %empty path

-        h.pathpoints(1,1:3)=newpoint;

-    else %Not empty, append new point 

-        h.pathpoints(size(h.pathpoints,1)+1,:)=newpoint;

-    end

-    axes(h.axes(1));    

-    line(h.pathpoints(:,1),h.pathpoints(:,2),h.pathpoints(:,3),'LineStyle','none','Marker','.','MarkerEdge','black','MarkerSize',20);

-    

-    

-    % Plot current time (small label next to current gps position) 

-    textdesc=strcat('  t=',num2str(time(i)),'s');

-    if(isvalidhandle(h.markertext))

-            delete(h.markertext); %delete old text

-    end 

-    h.markertext=text(double(sysvector.gps_raw_position(i,1))*fconv_gpslatlong,double(sysvector.gps_raw_position(i,2))*fconv_gpslatlong,...

-                        double(sysvector.gps_raw_position(i,3))*fconv_gpsalt,textdesc);

-    set(h.edits.CurTime,'String',CurTime);

-        

-    %**********************************************************************

-    % Plot the lines showing the current time in the 2-d plots

-    %**********************************************************************

-    for i=2:NrAxes

-        if(isvalidhandle(h.markerline(i))) delete(h.markerline(i)); end

-        ylims=get(h.axes(i),'YLim');

-        h.markerline(i)=line([CurTime CurTime] ,get(h.axes(i),'YLim'),'Color','black');

-        set(h.markerline(i),'parent',h.axes(i));

-    end

-    

-    set(h.labels.GUIState,'String','OK','BackgroundColor',[240/255 240/255 240/255]);

-end

-

-%% ************************************************************************

-%  MINMAXTIME CALLBACK (nested function)

-%  ************************************************************************

-function minmaxtime_callback(hObj,event) %#ok<INUSL>

-    new_mintime=get(h.sliders.MinTime,'Value');

-    new_maxtime=get(h.sliders.MaxTime,'Value');

-

-    %Safety checks:

-    bErr=false;

-    %1: mintime must be < maxtime

-    if((new_mintime>maxtime) || (new_maxtime<mintime))

-        set(h.labels.GUIState,'String','Error: Mintime cannot be bigger than maxtime! Values were not changed.','BackgroundColor','red');

-        bErr=true;

-    else

-        %2: MinTime must be <=CurTime

-        if(new_mintime>CurTime)

-            set(h.labels.GUIState,'String','Error: Mintime cannot be bigger than CurTime! CurTime set to new mintime.','BackgroundColor','red');

-            mintime=new_mintime;

-            CurTime=mintime;

-            bErr=true;

-        end

-        %3: MaxTime must be >CurTime

-        if(new_maxtime<CurTime)

-            set(h.labels.GUIState,'String','Error: Maxtime cannot be smaller than CurTime! CurTime set to new maxtime.','BackgroundColor','red');

-            maxtime=new_maxtime;

-            CurTime=maxtime;

-            bErr=true;

-        end

-    end

-

-    if(bErr==false)

-        maxtime=new_maxtime;

-        mintime=new_mintime;

-    end

-

-    %Needs to be done in case values were reset above

-    set(h.sliders.MinTime,'Value',mintime);

-    set(h.sliders.MaxTime,'Value',maxtime);

-

-    %Update curtime-slider

-    set(h.sliders.CurTime,'Value',CurTime);

-    set(h.sliders.CurTime,'Max',maxtime);

-    set(h.sliders.CurTime,'Min',mintime);

-    temp=get(h.sliders.CurTime,'Max')-get(h.sliders.CurTime,'Min'); 

-    set(h.sliders.CurTime,'SliderStep',[1.0/temp 5.0/temp]);  %Set Stepsize to constant [in seconds]

-

-    %update edit fields

-    set(h.edits.CurTime,'String',get(h.sliders.CurTime,'Value'));

-    set(h.edits.MinTime,'String',get(h.sliders.MinTime,'Value'));

-    set(h.edits.MaxTime,'String',get(h.sliders.MaxTime,'Value'));

-

-    %Finally, we have to redraw. Update time indices first.

-    [imintime,imaxtime]=FindMinMaxTimeIndices();

-    DrawRawData();                  %Rawdata only

-    DrawCurrentAircraftState();     %path info & markers

-end

-

-

-%% ************************************************************************

-%  CURTIME CALLBACK (nested function)

-%  ************************************************************************

-function curtime_callback(hObj,event) %#ok<INUSL>

-    %find current time

-    if(hObj==h.sliders.CurTime)

-        CurTime=get(h.sliders.CurTime,'Value');

-    elseif (hObj==h.edits.CurTime)

-        temp=str2num(get(h.edits.CurTime,'String'));

-        if(temp<maxtime && temp>mintime)

-            CurTime=temp;

-        else

-            %Error

-            set(h.labels.GUIState,'String','Error: You tried to set an invalid current time! Previous value restored.','BackgroundColor','red');

-        end

-    else

-        %Error

-        set(h.labels.GUIState,'String','Error: curtime_callback','BackgroundColor','red');        

-    end

-    

-    set(h.sliders.CurTime,'Value',CurTime);

-    set(h.edits.CurTime,'String',num2str(CurTime));

-    

-    %Redraw time markers, but don't have to redraw the whole raw data

-    DrawCurrentAircraftState();

-end

-

-%% ************************************************************************

-%  FINDMINMAXINDICES (nested function)

-%  ************************************************************************

-function [idxmin,idxmax] = FindMinMaxTimeIndices()

-    for i=1:size(sysvector.timestamp,1)

-        if time(i)>=mintime; idxmin=i; break; end

-    end

-    for i=1:size(sysvector.timestamp,1)

-        if maxtime==0; idxmax=size(sysvector.timestamp,1); break; end

-        if time(i)>=maxtime; idxmax=i; break; end

-    end

-    mintime=time(idxmin); 

-    maxtime=time(idxmax);

-end

-

-%% ************************************************************************

-%  ISVALIDHANDLE (nested function)

-%  ************************************************************************

-function isvalid = isvalidhandle(handle)

-   if(exist(varname(handle))>0 && length(ishandle(handle))>0) 

-        if(ishandle(handle)>0)

-            if(handle>0.0)

-                isvalid=true;

-                return;

-            end

-        end

-   end

-   isvalid=false;

-end

-

-%% ************************************************************************

-%  JUST SOME SMALL HELPER FUNCTIONS (nested function)

-%  ************************************************************************

-function out = varname(var)

-   out = inputname(1);

-end

-

-%This is the end of the matlab file / the main function

-end