diff options
Diffstat (limited to 'ROMFS/logging/logconv.m')
-rw-r--r--[-rwxr-xr-x] | ROMFS/logging/logconv.m | 810 |
1 files changed, 586 insertions, 224 deletions
diff --git a/ROMFS/logging/logconv.m b/ROMFS/logging/logconv.m index 92ee01413..3750ddae2 100755..100644 --- a/ROMFS/logging/logconv.m +++ b/ROMFS/logging/logconv.m @@ -1,224 +1,586 @@ -% This Matlab Script can be used to import the binary logged values of the -% PX4FMU into data that can be plotted and analyzed. - -% Clear everything -clc -clear all -close all - -% Set the path to your sysvector.bin file here -filePath = 'sysvector.bin'; - -% 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 - -%%%%%%%%%%%%%%%%%%%%%%% -% 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]; //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 - -%% Plot GPS RAW measurements - -% Only plot GPS data if available -if cumsum(double(sysvector.gps_raw_position(200:end,1))) > 0 - figure('units','normalized','outerposition',[0 0 1 1]) - plot3(sysvector.gps_raw_position(200:end,1), sysvector.gps_raw_position(200:end,2), sysvector.gps_raw_position(200:end,3)); -end - - -%% Plot optical flow trajectory - -flow_sz = size(sysvector.timestamp); -flow_elements = flow_sz(1); - -xt(1:flow_elements,1) = sysvector.timestamp(:,1); % time column [ms] - - -%calc dt -dt = zeros(flow_elements,1); -for i = 1:flow_elements-1 - dt(i+1,1) = double(xt(i+1,1)-xt(i,1)) * 10^(-6); % timestep [s] -end -dt(1,1) = mean(dt); - - -global_speed = zeros(flow_elements,3); - -%calc global speed (with rot matrix) -for i = 1:flow_elements - rotM = [sysvector.rot_matrix(i,1:3);sysvector.rot_matrix(i,4:6);sysvector.rot_matrix(i,7:9)]'; - speedX = sysvector.optical_flow(i,3); - speedY = sysvector.optical_flow(i,4); - - relSpeed = [-speedY,speedX,0]; - global_speed(i,:) = relSpeed * rotM; -end - - - -px = zeros(flow_elements,1); -py = zeros(flow_elements,1); -distance = 0; - -last_vx = 0; -last_vy = 0; -elem_cnt = 0; - -% Very basic accumulation, stops on bad flow quality -for i = 1:flow_elements - if sysvector.optical_flow(i,6) > 5 - px(i,1) = global_speed(i,1)*dt(i,1); - py(i,1) = global_speed(i,2)*dt(i,1); - distance = distance + norm([px(i,1) py(i,1)]); - last_vx = px(i,1); - last_vy = py(i,1); - else - px(i,1) = last_vx; - py(i,1) = last_vy; - last_vx = last_vx*0.95; - last_vy = last_vy*0.95; - end -end - -px_sum = cumsum(px); -py_sum = cumsum(py); -time = cumsum(dt); - -figure() -set(gca, 'Units','normal'); - -plot(py_sum, px_sum, '-blue', 'LineWidth',2); -axis equal; -% set title and axis captions -xlabel('X position (meters)','fontsize',14) -ylabel('Y position (meters)','fontsize',14) -% mark begin and end -hold on -plot(py_sum(1,1),px_sum(1,1),'ks','LineWidth',2,... -'MarkerEdgeColor','k',... -'MarkerFaceColor','g',... -'MarkerSize',10) -hold on -plot(py_sum(end,1),px_sum(end,1),'kv','LineWidth',2,... -'MarkerEdgeColor','k',... -'MarkerFaceColor','b',... -'MarkerSize',10) -% add total length as annotation -set(gca,'fontsize',13); -legend('Trajectory', 'START', sprintf('END\n(%.2f m, %.0f:%.0f s)', distance, time_m, time_s - time_m*60)); -title('Optical Flow Position Integration', 'fontsize', 15); - -figure() -plot(time, sysvector.optical_flow(:,5), 'blue'); -axis([time(1,1) time(end,1) 0 (max(sysvector.optical_flow(i,5))+0.2)]); -xlabel('seconds','fontsize',14); -ylabel('m','fontsize',14); -set(gca,'fontsize',13); -title('Ultrasound Altitude', 'fontsize', 15); - - -figure() -plot(time, global_speed(:,2), 'red'); -hold on; -plot(time, global_speed(:,1), 'blue'); -legend('y velocity (m/s)', 'x velocity (m/s)'); -xlabel('seconds','fontsize',14); -ylabel('m/s','fontsize',14); -set(gca,'fontsize',13); -title('Optical Flow Velocity', 'fontsize', 15); +% 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
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