diff options
-rw-r--r-- | ROMFS/px4fmu_common/logging/conv.zip | bin | 10087 -> 9922 bytes | |||
-rw-r--r-- | ROMFS/px4fmu_logging/init.d/rcS | 88 | ||||
-rw-r--r-- | ROMFS/px4fmu_logging/logging/conv.zip | bin | 10087 -> 0 bytes | |||
-rw-r--r-- | Tools/sdlog2/README.txt (renamed from Tools/README.txt) | 0 | ||||
-rw-r--r-- | Tools/sdlog2/logconv.m (renamed from Tools/logconv.m) | 1070 | ||||
-rw-r--r-- | Tools/sdlog2/sdlog2_dump.py (renamed from Tools/sdlog2_dump.py) | 0 | ||||
-rw-r--r-- | src/drivers/mkblctrl/mkblctrl.cpp | 2 |
7 files changed, 536 insertions, 624 deletions
diff --git a/ROMFS/px4fmu_common/logging/conv.zip b/ROMFS/px4fmu_common/logging/conv.zip Binary files differindex 7cb837e56..7f485184c 100644 --- a/ROMFS/px4fmu_common/logging/conv.zip +++ b/ROMFS/px4fmu_common/logging/conv.zip diff --git a/ROMFS/px4fmu_logging/init.d/rcS b/ROMFS/px4fmu_logging/init.d/rcS deleted file mode 100644 index 7b8856719..000000000 --- a/ROMFS/px4fmu_logging/init.d/rcS +++ /dev/null @@ -1,88 +0,0 @@ -#!nsh -# -# PX4FMU startup script for logging purposes -# - -# -# Try to mount the microSD card. -# -echo "[init] looking for microSD..." -if mount -t vfat /dev/mmcsd0 /fs/microsd -then - echo "[init] card mounted at /fs/microsd" - # Start playing the startup tune - tone_alarm start -else - echo "[init] no microSD card found" - # Play SOS - tone_alarm error -fi - -uorb start - -# -# Start sensor drivers here. -# - -ms5611 start -adc start - -# mag might be external -if hmc5883 start -then - echo "using HMC5883" -fi - -if mpu6000 start -then - echo "using MPU6000" -fi - -if l3gd20 start -then - echo "using L3GD20(H)" -fi - -if lsm303d start -then - set BOARD fmuv2 -else - set BOARD fmuv1 -fi - -# Start airspeed sensors -if meas_airspeed start -then - echo "using MEAS airspeed sensor" -else - if ets_airspeed start - then - echo "using ETS airspeed sensor (bus 3)" - else - if ets_airspeed start -b 1 - then - echo "Using ETS airspeed sensor (bus 1)" - fi - fi -fi - -# -# Start the sensor collection task. -# IMPORTANT: this also loads param offsets -# ALWAYS start this task before the -# preflight_check. -# -if sensors start -then - echo "SENSORS STARTED" -fi - -sdlog2 start -r 250 -e -b 16 - -if sercon -then - echo "[init] USB interface connected" - - # Try to get an USB console - nshterm /dev/ttyACM0 & -fi
\ No newline at end of file diff --git a/ROMFS/px4fmu_logging/logging/conv.zip b/ROMFS/px4fmu_logging/logging/conv.zip Binary files differdeleted file mode 100644 index 7cb837e56..000000000 --- a/ROMFS/px4fmu_logging/logging/conv.zip +++ /dev/null diff --git a/Tools/README.txt b/Tools/sdlog2/README.txt index abeb9a4c7..abeb9a4c7 100644 --- a/Tools/README.txt +++ b/Tools/sdlog2/README.txt diff --git a/Tools/logconv.m b/Tools/sdlog2/logconv.m index c416b8095..e19c97fa3 100644 --- a/Tools/logconv.m +++ b/Tools/sdlog2/logconv.m @@ -1,535 +1,535 @@ -% 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 = 'log001.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=1; %[mm] to [m]
-fconv_gpslatlong=1; %[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.TIME_StartTime) .*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.
-
-%% ************************************************************************
-% 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()
-
- % ************************************************************************
- % RETRIEVE SYSTEM VECTOR
- % *************************************************************************
- % //All measurements in NED frame
-
- % Convert to CSV
- %arg1 = 'log-fx61-20130721-2.bin';
- arg1 = filePath;
- delim = ',';
- time_field = 'TIME';
- data_file = 'data.csv';
- csv_null = '';
-
- if not(exist(data_file, 'file'))
- s = system( sprintf('python sdlog2_dump.py "%s" -f "%s" -t"%s" -d"%s" -n"%s"', arg1, data_file, time_field, delim, csv_null) );
- end
-
- if exist(data_file, 'file')
-
- %data = csvread(data_file);
- sysvector = tdfread(data_file, ',');
-
- % shot the flight time
- time_us = sysvector.TIME_StartTime(end) - sysvector.TIME_StartTime(1);
- time_s = uint64(time_us*1e-6);
- time_m = uint64(time_s/60);
- time_s = time_s - time_m * 60;
-
- disp([sprintf('Flight log duration: %d:%d (minutes:seconds)', time_m, time_s) char(10)]);
-
- disp(['logfile conversion finished.' char(10)]);
- else
- disp(['file: ' data_file ' 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_Lat(imintime:imaxtime)))>0) && (bDisplayGPS)
- %Draw data
- plot3(h.axes(1),double(sysvector.GPS_Lat(imintime:imaxtime))*fconv_gpslatlong, ...
- double(sysvector.GPS_Lon(imintime:imaxtime))*fconv_gpslatlong, ...
- double(sysvector.GPS_Alt(imintime:imaxtime))*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.IMU_MagX(imintime:imaxtime), sysvector.IMU_MagY(imintime:imaxtime), sysvector.IMU_MagZ(imintime:imaxtime)]);
- title(h.axes(2),'Magnetometers [Gauss]');
- legend(h.axes(2),'x','y','z');
- plot(h.axes(3),time(imintime:imaxtime),[sysvector.IMU_AccX(imintime:imaxtime), sysvector.IMU_AccY(imintime:imaxtime), sysvector.IMU_AccZ(imintime:imaxtime)]);
- title(h.axes(3),'Accelerometers [m/s²]');
- legend(h.axes(3),'x','y','z');
- plot(h.axes(4),time(imintime:imaxtime),[sysvector.IMU_GyroX(imintime:imaxtime), sysvector.IMU_GyroY(imintime:imaxtime), sysvector.IMU_GyroZ(imintime:imaxtime)]);
- title(h.axes(4),'Gyroscopes [rad/s]');
- legend(h.axes(4),'x','y','z');
- plot(h.axes(5),time(imintime:imaxtime),sysvector.SENS_BaroAlt(imintime:imaxtime),'color','blue');
- if(bDisplayGPS)
- hold on;
- plot(h.axes(5),time(imintime:imaxtime),double(sysvector.GPS_Alt(imintime:imaxtime)).*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.ATT_Roll(imintime:imaxtime), sysvector.ATT_Pitch(imintime:imaxtime), sysvector.ATT_Yaw(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.ATTC_Roll(imintime:imaxtime), sysvector.ATTC_Pitch(imintime:imaxtime), sysvector.ATTC_Yaw(imintime:imaxtime), sysvector.ATTC_Thrust(imintime:imaxtime)]);
- title(h.axes(7),'Actuator control [-]');
- legend(h.axes(7),'ATT CTRL Roll [-1..+1]','ATT CTRL Pitch [-1..+1]','ATT CTRL Yaw [-1..+1]','ATT CTRL Thrust [0..+1]');
- %Actuator Controls
- plot(h.axes(8),time(imintime:imaxtime), [sysvector.OUT0_Out0(imintime:imaxtime), sysvector.OUT0_Out1(imintime:imaxtime), sysvector.OUT0_Out2(imintime:imaxtime), sysvector.OUT0_Out3(imintime:imaxtime), sysvector.OUT0_Out4(imintime:imaxtime), sysvector.OUT0_Out5(imintime:imaxtime), sysvector.OUT0_Out6(imintime:imaxtime), sysvector.OUT0_Out7(imintime:imaxtime)]);
- 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.AIRS_IndSpeed(imintime:imaxtime));
- hold on
- plot(h.axes(9),time(imintime:imaxtime), sysvector.AIRS_TrueSpeed(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_Lat(i))*fconv_gpslatlong),'°, ',...
- 'lon=',num2str(double(sysvector.GPS_Lon(i))*fconv_gpslatlong),'°, ',...
- 'alt=',num2str(double(sysvector.GPS_Alt(i))*fconv_gpsalt),'m]'];
- acstate{2,:}=[sprintf('%s \t\t','Mags[gauss]'),'[x=',num2str(sysvector.IMU_MagX(i)),...
- ', y=',num2str(sysvector.IMU_MagY(i)),...
- ', z=',num2str(sysvector.IMU_MagZ(i)),']'];
- acstate{3,:}=[sprintf('%s \t\t','Accels[m/s²]'),'[x=',num2str(sysvector.IMU_AccX(i)),...
- ', y=',num2str(sysvector.IMU_AccY(i)),...
- ', z=',num2str(sysvector.IMU_AccZ(i)),']'];
- acstate{4,:}=[sprintf('%s \t\t','Gyros[rad/s]'),'[x=',num2str(sysvector.IMU_GyroX(i)),...
- ', y=',num2str(sysvector.IMU_GyroY(i)),...
- ', z=',num2str(sysvector.IMU_GyroZ(i)),']'];
- acstate{5,:}=[sprintf('%s \t\t','Altitude[m]'),'[Barometric: ',num2str(sysvector.SENS_BaroAlt(i)),'m, GPS: ',num2str(double(sysvector.GPS_Alt(i))*fconv_gpsalt),'m]'];
- acstate{6,:}=[sprintf('%s \t','Est. attitude[deg]:'),'[Roll=',num2str(sysvector.ATT_Roll(i).*180./3.14159),...
- ', Pitch=',num2str(sysvector.ATT_Pitch(i).*180./3.14159),...
- ', Yaw=',num2str(sysvector.ATT_Yaw(i).*180./3.14159),']'];
- acstate{7,:}=sprintf('%s \t[','Actuator Ctrls [-]:');
- %for j=1:4
- acstate{7,:}=[acstate{7,:},num2str(sysvector.ATTC_Roll(i)),','];
- acstate{7,:}=[acstate{7,:},num2str(sysvector.ATTC_Pitch(i)),','];
- acstate{7,:}=[acstate{7,:},num2str(sysvector.ATTC_Yaw(i)),','];
- acstate{7,:}=[acstate{7,:},num2str(sysvector.ATTC_Thrust(i)),','];
- %end
- acstate{7,:}=[acstate{7,:},']'];
- acstate{8,:}=sprintf('%s \t[','Actuator Outputs [PWM/µs]:');
- %for j=1:8
- acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out0(i)),','];
- acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out1(i)),','];
- acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out2(i)),','];
- acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out3(i)),','];
- acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out4(i)),','];
- acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out5(i)),','];
- acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out6(i)),','];
- acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out7(i)),','];
- %end
- acstate{8,:}=[acstate{8,:},']'];
- acstate{9,:}=[sprintf('%s \t','Airspeed[m/s]:'),'[IAS: ',num2str(sysvector.AIRS_IndSpeed(i)),', TAS: ',num2str(sysvector.AIRS_TrueSpeed(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_Lat(imintime:i))*fconv_gpslatlong, ...
- double(sysvector.GPS_Lon(imintime:i))*fconv_gpslatlong, ...
- double(sysvector.GPS_Alt(imintime:i))*fconv_gpsalt,'b','LineWidth',2);
- end;
- hold off
- %Plot current position
- newpoint=[double(sysvector.GPS_Lat(i))*fconv_gpslatlong double(sysvector.GPS_Lat(i))*fconv_gpslatlong double(sysvector.GPS_Alt(i))*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_Lat(i))*fconv_gpslatlong,double(sysvector.GPS_Lon(i))*fconv_gpslatlong,...
- double(sysvector.GPS_Alt(i))*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.TIME_StartTime,1)
- if time(i)>=mintime; idxmin=i; break; end
- end
- for i=1:size(sysvector.TIME_StartTime,1)
- if maxtime==0; idxmax=size(sysvector.TIME_StartTime,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
+% 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 = 'log001.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=1; %[mm] to [m] +fconv_gpslatlong=1; %[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.TIME_StartTime) .*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. + +%% ************************************************************************ +% 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() + + % ************************************************************************ + % RETRIEVE SYSTEM VECTOR + % ************************************************************************* + % //All measurements in NED frame + + % Convert to CSV + %arg1 = 'log-fx61-20130721-2.bin'; + arg1 = filePath; + delim = ','; + time_field = 'TIME'; + data_file = 'data.csv'; + csv_null = ''; + + if not(exist(data_file, 'file')) + s = system( sprintf('python sdlog2_dump.py "%s" -f "%s" -t"%s" -d"%s" -n"%s"', arg1, data_file, time_field, delim, csv_null) ); + end + + if exist(data_file, 'file') + + %data = csvread(data_file); + sysvector = tdfread(data_file, ','); + + % shot the flight time + time_us = sysvector.TIME_StartTime(end) - sysvector.TIME_StartTime(1); + time_s = uint64(time_us*1e-6); + time_m = uint64(time_s/60); + time_s = time_s - time_m * 60; + + disp([sprintf('Flight log duration: %d:%d (minutes:seconds)', time_m, time_s) char(10)]); + + disp(['logfile conversion finished.' char(10)]); + else + disp(['file: ' data_file ' 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_Lat(imintime:imaxtime)))>0) && (bDisplayGPS) + %Draw data + plot3(h.axes(1),double(sysvector.GPS_Lat(imintime:imaxtime))*fconv_gpslatlong, ... + double(sysvector.GPS_Lon(imintime:imaxtime))*fconv_gpslatlong, ... + double(sysvector.GPS_Alt(imintime:imaxtime))*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.IMU_MagX(imintime:imaxtime), sysvector.IMU_MagY(imintime:imaxtime), sysvector.IMU_MagZ(imintime:imaxtime)]); + title(h.axes(2),'Magnetometers [Gauss]'); + legend(h.axes(2),'x','y','z'); + plot(h.axes(3),time(imintime:imaxtime),[sysvector.IMU_AccX(imintime:imaxtime), sysvector.IMU_AccY(imintime:imaxtime), sysvector.IMU_AccZ(imintime:imaxtime)]); + title(h.axes(3),'Accelerometers [m/s²]'); + legend(h.axes(3),'x','y','z'); + plot(h.axes(4),time(imintime:imaxtime),[sysvector.IMU_GyroX(imintime:imaxtime), sysvector.IMU_GyroY(imintime:imaxtime), sysvector.IMU_GyroZ(imintime:imaxtime)]); + title(h.axes(4),'Gyroscopes [rad/s]'); + legend(h.axes(4),'x','y','z'); + plot(h.axes(5),time(imintime:imaxtime),sysvector.SENS_BaroAlt(imintime:imaxtime),'color','blue'); + if(bDisplayGPS) + hold on; + plot(h.axes(5),time(imintime:imaxtime),double(sysvector.GPS_Alt(imintime:imaxtime)).*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.ATT_Roll(imintime:imaxtime), sysvector.ATT_Pitch(imintime:imaxtime), sysvector.ATT_Yaw(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.ATTC_Roll(imintime:imaxtime), sysvector.ATTC_Pitch(imintime:imaxtime), sysvector.ATTC_Yaw(imintime:imaxtime), sysvector.ATTC_Thrust(imintime:imaxtime)]); + title(h.axes(7),'Actuator control [-]'); + legend(h.axes(7),'ATT CTRL Roll [-1..+1]','ATT CTRL Pitch [-1..+1]','ATT CTRL Yaw [-1..+1]','ATT CTRL Thrust [0..+1]'); + %Actuator Controls + plot(h.axes(8),time(imintime:imaxtime), [sysvector.OUT0_Out0(imintime:imaxtime), sysvector.OUT0_Out1(imintime:imaxtime), sysvector.OUT0_Out2(imintime:imaxtime), sysvector.OUT0_Out3(imintime:imaxtime), sysvector.OUT0_Out4(imintime:imaxtime), sysvector.OUT0_Out5(imintime:imaxtime), sysvector.OUT0_Out6(imintime:imaxtime), sysvector.OUT0_Out7(imintime:imaxtime)]); + 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.AIRS_IndSpeed(imintime:imaxtime)); + hold on + plot(h.axes(9),time(imintime:imaxtime), sysvector.AIRS_TrueSpeed(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_Lat(i))*fconv_gpslatlong),'°, ',... + 'lon=',num2str(double(sysvector.GPS_Lon(i))*fconv_gpslatlong),'°, ',... + 'alt=',num2str(double(sysvector.GPS_Alt(i))*fconv_gpsalt),'m]']; + acstate{2,:}=[sprintf('%s \t\t','Mags[gauss]'),'[x=',num2str(sysvector.IMU_MagX(i)),... + ', y=',num2str(sysvector.IMU_MagY(i)),... + ', z=',num2str(sysvector.IMU_MagZ(i)),']']; + acstate{3,:}=[sprintf('%s \t\t','Accels[m/s²]'),'[x=',num2str(sysvector.IMU_AccX(i)),... + ', y=',num2str(sysvector.IMU_AccY(i)),... + ', z=',num2str(sysvector.IMU_AccZ(i)),']']; + acstate{4,:}=[sprintf('%s \t\t','Gyros[rad/s]'),'[x=',num2str(sysvector.IMU_GyroX(i)),... + ', y=',num2str(sysvector.IMU_GyroY(i)),... + ', z=',num2str(sysvector.IMU_GyroZ(i)),']']; + acstate{5,:}=[sprintf('%s \t\t','Altitude[m]'),'[Barometric: ',num2str(sysvector.SENS_BaroAlt(i)),'m, GPS: ',num2str(double(sysvector.GPS_Alt(i))*fconv_gpsalt),'m]']; + acstate{6,:}=[sprintf('%s \t','Est. attitude[deg]:'),'[Roll=',num2str(sysvector.ATT_Roll(i).*180./3.14159),... + ', Pitch=',num2str(sysvector.ATT_Pitch(i).*180./3.14159),... + ', Yaw=',num2str(sysvector.ATT_Yaw(i).*180./3.14159),']']; + acstate{7,:}=sprintf('%s \t[','Actuator Ctrls [-]:'); + %for j=1:4 + acstate{7,:}=[acstate{7,:},num2str(sysvector.ATTC_Roll(i)),',']; + acstate{7,:}=[acstate{7,:},num2str(sysvector.ATTC_Pitch(i)),',']; + acstate{7,:}=[acstate{7,:},num2str(sysvector.ATTC_Yaw(i)),',']; + acstate{7,:}=[acstate{7,:},num2str(sysvector.ATTC_Thrust(i)),',']; + %end + acstate{7,:}=[acstate{7,:},']']; + acstate{8,:}=sprintf('%s \t[','Actuator Outputs [PWM/µs]:'); + %for j=1:8 + acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out0(i)),',']; + acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out1(i)),',']; + acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out2(i)),',']; + acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out3(i)),',']; + acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out4(i)),',']; + acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out5(i)),',']; + acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out6(i)),',']; + acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out7(i)),',']; + %end + acstate{8,:}=[acstate{8,:},']']; + acstate{9,:}=[sprintf('%s \t','Airspeed[m/s]:'),'[IAS: ',num2str(sysvector.AIRS_IndSpeed(i)),', TAS: ',num2str(sysvector.AIRS_TrueSpeed(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_Lat(imintime:i))*fconv_gpslatlong, ... + double(sysvector.GPS_Lon(imintime:i))*fconv_gpslatlong, ... + double(sysvector.GPS_Alt(imintime:i))*fconv_gpsalt,'b','LineWidth',2); + end; + hold off + %Plot current position + newpoint=[double(sysvector.GPS_Lat(i))*fconv_gpslatlong double(sysvector.GPS_Lat(i))*fconv_gpslatlong double(sysvector.GPS_Alt(i))*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_Lat(i))*fconv_gpslatlong,double(sysvector.GPS_Lon(i))*fconv_gpslatlong,... + double(sysvector.GPS_Alt(i))*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.TIME_StartTime,1) + if time(i)>=mintime; idxmin=i; break; end + end + for i=1:size(sysvector.TIME_StartTime,1) + if maxtime==0; idxmax=size(sysvector.TIME_StartTime,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 diff --git a/Tools/sdlog2_dump.py b/Tools/sdlog2/sdlog2_dump.py index 5b1e55e22..5b1e55e22 100644 --- a/Tools/sdlog2_dump.py +++ b/Tools/sdlog2/sdlog2_dump.py diff --git a/src/drivers/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp index ec5f77d74..705e98eea 100644 --- a/src/drivers/mkblctrl/mkblctrl.cpp +++ b/src/drivers/mkblctrl/mkblctrl.cpp @@ -705,7 +705,7 @@ MK::mk_check_for_blctrl(unsigned int count, bool showOutput, bool initI2C) Motor[i].State |= MOTOR_STATE_PRESENT_MASK; // set present bit; foundMotorCount++; - if (Motor[i].MaxPWM == 250) { + if ((Motor[i].MaxPWM & 252) == 248) { Motor[i].Version = BLCTRL_NEW; } else { |