unknown
12 years ago
5 changed files with 37 additions and 598 deletions
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% This Matlab Script can be used to import the binary logged values of the |
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% PX4FMU into data that can be plotted and analyzed. |
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%% ************************************************************************ |
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% PX4LOG_PLOTSCRIPT: Main function |
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% ************************************************************************ |
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function PX4Log_Plotscript |
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% Clear everything |
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clc |
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clear all |
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close all |
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% ************************************************************************ |
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% SETTINGS |
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% ************************************************************************ |
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% Set the path to your sysvector.bin file here |
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filePath = 'sysvector.bin'; |
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% Set the minimum and maximum times to plot here [in seconds] |
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mintime=0; %The minimum time/timestamp to display, as set by the user [0 for first element / start] |
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maxtime=0; %The maximum time/timestamp to display, as set by the user [0 for last element / end] |
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%Determine which data to plot. Not completely implemented yet. |
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bDisplayGPS=true; |
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%conversion factors |
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fconv_gpsalt=1E-3; %[mm] to [m] |
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fconv_gpslatlong=1E-7; %[gps_raw_position_unit] to [deg] |
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fconv_timestamp=1E-6; % [microseconds] to [seconds] |
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% ************************************************************************ |
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% Import the PX4 logs |
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% ************************************************************************ |
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ImportPX4LogData(); |
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%Translate min and max plot times to indices |
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time=double(sysvector.timestamp) .*fconv_timestamp; |
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mintime_log=time(1); %The minimum time/timestamp found in the log |
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maxtime_log=time(end); %The maximum time/timestamp found in the log |
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CurTime=mintime_log; %The current time at which to draw the aircraft position |
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[imintime,imaxtime]=FindMinMaxTimeIndices(); |
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% ************************************************************************ |
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% PLOT & GUI SETUP |
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% ************************************************************************ |
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NrFigures=5; |
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NrAxes=10; |
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h.figures(1:NrFigures)=0.0; % Temporary initialization of figure handle array - these are numbered consecutively |
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h.axes(1:NrAxes)=0.0; % Temporary initialization of axes handle array - these are numbered consecutively |
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h.pathpoints=[]; % Temporary initiliazation of path points |
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% Setup the GUI to control the plots |
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InitControlGUI(); |
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% Setup the plotting-GUI (figures, axes) itself. |
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InitPlotGUI(); |
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% ************************************************************************ |
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% DRAW EVERYTHING |
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% ************************************************************************ |
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DrawRawData(); |
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DrawCurrentAircraftState(); |
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%% ************************************************************************ |
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% *** END OF MAIN SCRIPT *** |
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% NESTED FUNCTION DEFINTIONS FROM HERE ON |
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% ************************************************************************ |
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%% ************************************************************************ |
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% IMPORTPX4LOGDATA (nested function) |
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% ************************************************************************ |
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% Attention: This is the import routine for firmware from ca. 03/2013. |
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% Other firmware versions might require different import |
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% routines. |
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function ImportPX4LogData() |
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% Work around a Matlab bug (not related to PX4) |
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% where timestamps from 1.1.1970 do not allow to |
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% read the file's size |
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if ismac |
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system('touch -t 201212121212.12 sysvector.bin'); |
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end |
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% ************************************************************************ |
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% RETRIEVE SYSTEM VECTOR |
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% ************************************************************************* |
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% //All measurements in NED frame |
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% |
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% uint64_t timestamp; //[us] |
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% float gyro[3]; //[rad/s] |
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% float accel[3]; //[m/s^2] |
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% float mag[3]; //[gauss] |
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% float baro; //pressure [millibar] |
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% float baro_alt; //altitude above MSL [meter] |
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% float baro_temp; //[degree celcius] |
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% float control[4]; //roll, pitch, yaw [-1..1], thrust [0..1] |
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% float actuators[8]; //motor 1-8, in motor units (PWM: 1000-2000,AR.Drone: 0-512) |
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% float vbat; //battery voltage in [volt] |
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% float bat_current - current drawn from battery at this time instant |
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% float bat_discharged - discharged energy in mAh |
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% float adc[4]; //remaining auxiliary ADC ports [volt] |
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% float local_position[3]; //tangent plane mapping into x,y,z [m] |
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% int32_t gps_raw_position[3]; //latitude [degrees] north, longitude [degrees] east, altitude above MSL [millimeter] |
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% float attitude[3]; //pitch, roll, yaw [rad] |
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% float rotMatrix[9]; //unitvectors |
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% float actuator_control[4]; //unitvector |
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% float optical_flow[4]; //roll, pitch, yaw [-1..1], thrust [0..1] |
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% float diff_pressure; - pressure difference in millibar |
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% float ind_airspeed; |
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% float true_airspeed; |
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% Definition of the logged values |
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logFormat{1} = struct('name', 'timestamp', 'bytes', 8, 'array', 1, 'precision', 'uint64', 'machineformat', 'ieee-le.l64'); |
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logFormat{2} = struct('name', 'gyro', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le'); |
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logFormat{3} = struct('name', 'accel', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le'); |
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logFormat{4} = struct('name', 'mag', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le'); |
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logFormat{5} = struct('name', 'baro', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); |
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logFormat{6} = struct('name', 'baro_alt', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); |
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logFormat{7} = struct('name', 'baro_temp', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); |
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logFormat{8} = struct('name', 'control', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le'); |
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logFormat{9} = struct('name', 'actuators', 'bytes', 4, 'array', 8, 'precision', 'float', 'machineformat', 'ieee-le'); |
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logFormat{10} = struct('name', 'vbat', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); |
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logFormat{11} = struct('name', 'bat_current', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); |
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logFormat{12} = struct('name', 'bat_discharged', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); |
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logFormat{13} = struct('name', 'adc', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le'); |
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logFormat{14} = struct('name', 'local_position', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le'); |
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logFormat{15} = struct('name', 'gps_raw_position', 'bytes', 4, 'array', 3, 'precision', 'uint32', 'machineformat', 'ieee-le'); |
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logFormat{16} = struct('name', 'attitude', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le'); |
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logFormat{17} = struct('name', 'rot_matrix', 'bytes', 4, 'array', 9, 'precision', 'float', 'machineformat', 'ieee-le'); |
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logFormat{18} = struct('name', 'vicon_position', 'bytes', 4, 'array', 6, 'precision', 'float', 'machineformat', 'ieee-le'); |
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logFormat{19} = struct('name', 'actuator_control', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le'); |
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logFormat{20} = struct('name', 'optical_flow', 'bytes', 4, 'array', 6, 'precision', 'float', 'machineformat', 'ieee-le'); |
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logFormat{21} = struct('name', 'diff_pressure', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); |
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logFormat{22} = struct('name', 'ind_airspeed', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); |
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logFormat{23} = struct('name', 'true_airspeed', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); |
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% First get length of one line |
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columns = length(logFormat); |
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lineLength = 0; |
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for i=1:columns |
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lineLength = lineLength + logFormat{i}.bytes * logFormat{i}.array; |
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end |
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if exist(filePath, 'file') |
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fileInfo = dir(filePath); |
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fileSize = fileInfo.bytes; |
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elements = int64(fileSize./(lineLength)); |
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fid = fopen(filePath, 'r'); |
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offset = 0; |
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for i=1:columns |
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% using fread with a skip speeds up the import drastically, do not |
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% import the values one after the other |
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sysvector.(genvarname(logFormat{i}.name)) = transpose(fread(... |
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fid, ... |
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[logFormat{i}.array, elements], [num2str(logFormat{i}.array),'*',logFormat{i}.precision,'=>',logFormat{i}.precision], ... |
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lineLength - logFormat{i}.bytes*logFormat{i}.array, ... |
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logFormat{i}.machineformat) ... |
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); |
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offset = offset + logFormat{i}.bytes*logFormat{i}.array; |
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fseek(fid, offset,'bof'); |
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end |
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% shot the flight time |
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time_us = sysvector.timestamp(end) - sysvector.timestamp(1); |
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time_s = time_us*1e-6; |
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time_m = time_s/60; |
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% close the logfile |
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fclose(fid); |
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disp(['end log2matlab conversion' char(10)]); |
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else |
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disp(['file: ' filePath ' does not exist' char(10)]); |
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end |
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end |
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%% ************************************************************************ |
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% INITCONTROLGUI (nested function) |
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% ************************************************************************ |
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%Setup central control GUI components to control current time where data is shown |
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function InitControlGUI() |
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%********************************************************************** |
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% GUI size definitions |
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%********************************************************************** |
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dxy=5; %margins |
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%Panel: Plotctrl |
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dlabels=120; |
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dsliders=200; |
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dedits=80; |
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hslider=20; |
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hpanel1=40; %panel1 |
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hpanel2=220;%panel2 |
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hpanel3=3*hslider+4*dxy+3*dxy;%panel3. |
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width=dlabels+dsliders+dedits+4*dxy+2*dxy; %figure width |
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height=hpanel1+hpanel2+hpanel3+4*dxy; %figure height |
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%********************************************************************** |
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% Create GUI |
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%********************************************************************** |
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h.figures(1)=figure('Units','pixels','position',[200 200 width height],'Name','Control GUI'); |
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h.guistatepanel=uipanel('Title','Current GUI state','Units','pixels','Position',[dxy dxy width-2*dxy hpanel1],'parent',h.figures(1)); |
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h.aircraftstatepanel=uipanel('Title','Current aircraft state','Units','pixels','Position',[dxy hpanel1+2*dxy width-2*dxy hpanel2],'parent',h.figures(1)); |
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h.plotctrlpanel=uipanel('Title','Plot Control','Units','pixels','Position',[dxy hpanel1+hpanel2+3*dxy width-2*dxy hpanel3],'parent',h.figures(1)); |
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%%Control GUI-elements |
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%Slider: Current time |
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h.labels.CurTime=uicontrol(gcf,'style','text','Position',[dxy dxy dlabels hslider],'String','Current time t[s]:','parent',h.plotctrlpanel,'HorizontalAlignment','left'); |
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h.sliders.CurTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels dxy dsliders hslider],... |
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'min',mintime,'max',maxtime,'value',mintime,'callback',@curtime_callback,'parent',h.plotctrlpanel); |
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temp=get(h.sliders.CurTime,'Max')-get(h.sliders.CurTime,'Min'); |
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set(h.sliders.CurTime,'SliderStep',[1.0/temp 5.0/temp]); |
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h.edits.CurTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders dxy dedits hslider],'String',get(h.sliders.CurTime,'value'),... |
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'BackgroundColor','white','callback',@curtime_callback,'parent',h.plotctrlpanel); |
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%Slider: MaxTime |
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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'); |
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h.sliders.MaxTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels 2*dxy+hslider dsliders hslider],... |
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'min',mintime_log,'max',maxtime_log,'value',maxtime,'callback',@minmaxtime_callback,'parent',h.plotctrlpanel); |
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h.edits.MaxTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders 2*dxy+hslider dedits hslider],'String',get(h.sliders.MaxTime,'value'),... |
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'BackgroundColor','white','callback',@minmaxtime_callback,'parent',h.plotctrlpanel); |
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%Slider: MinTime |
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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'); |
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h.sliders.MinTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels 3*dxy+2*hslider dsliders hslider],... |
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'min',mintime_log,'max',maxtime_log,'value',mintime,'callback',@minmaxtime_callback,'parent',h.plotctrlpanel); |
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h.edits.MinTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders 3*dxy+2*hslider dedits hslider],'String',get(h.sliders.MinTime,'value'),... |
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'BackgroundColor','white','callback',@minmaxtime_callback,'parent',h.plotctrlpanel); |
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%%Current data/state GUI-elements (Multiline-edit-box) |
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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',... |
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'HorizontalAlignment','left','parent',h.aircraftstatepanel); |
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h.labels.GUIState=uicontrol(gcf,'style','text','Units','pixels','position',[dxy dxy width-4*dxy hslider],'String','Current state of this GUI',... |
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'HorizontalAlignment','left','parent',h.guistatepanel); |
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end |
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%% ************************************************************************ |
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% INITPLOTGUI (nested function) |
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% ************************************************************************ |
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function InitPlotGUI() |
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% Setup handles to lines and text |
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h.markertext=[]; |
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templinehandle=0.0;%line([0 1],[0 5]); % Just a temporary handle to init array |
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h.markerline(1:NrAxes)=templinehandle; % the actual handle-array to the lines - these are numbered consecutively |
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h.markerline(1:NrAxes)=0.0; |
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% Setup all other figures and axes for plotting |
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% PLOT WINDOW 1: GPS POSITION |
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h.figures(2)=figure('units','normalized','Toolbar','figure', 'Name', 'GPS Position'); |
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h.axes(1)=axes(); |
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set(h.axes(1),'Parent',h.figures(2)); |
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% PLOT WINDOW 2: IMU, baro altitude |
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h.figures(3)=figure('Name', 'IMU / Baro Altitude'); |
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h.axes(2)=subplot(4,1,1); |
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h.axes(3)=subplot(4,1,2); |
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h.axes(4)=subplot(4,1,3); |
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h.axes(5)=subplot(4,1,4); |
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set(h.axes(2:5),'Parent',h.figures(3)); |
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% PLOT WINDOW 3: ATTITUDE ESTIMATE, ACTUATORS/CONTROLS, AIRSPEEDS,... |
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h.figures(4)=figure('Name', 'Attitude Estimate / Actuators / Airspeeds'); |
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h.axes(6)=subplot(4,1,1); |
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h.axes(7)=subplot(4,1,2); |
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h.axes(8)=subplot(4,1,3); |
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h.axes(9)=subplot(4,1,4); |
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set(h.axes(6:9),'Parent',h.figures(4)); |
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% PLOT WINDOW 4: LOG STATS |
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h.figures(5) = figure('Name', 'Log Statistics'); |
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h.axes(10)=subplot(1,1,1); |
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set(h.axes(10:10),'Parent',h.figures(5)); |
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end |
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%% ************************************************************************ |
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% DRAWRAWDATA (nested function) |
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% ************************************************************************ |
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%Draws the raw data from the sysvector, but does not add any |
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%marker-lines or so |
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function DrawRawData() |
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% ************************************************************************ |
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% PLOT WINDOW 1: GPS POSITION & GUI |
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% ************************************************************************ |
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figure(h.figures(2)); |
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% Only plot GPS data if available |
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if (sum(double(sysvector.gps_raw_position(imintime:imaxtime,1)))>0) && (bDisplayGPS) |
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%Draw data |
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plot3(h.axes(1),double(sysvector.gps_raw_position(imintime:imaxtime,1))*fconv_gpslatlong, ... |
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double(sysvector.gps_raw_position(imintime:imaxtime,2))*fconv_gpslatlong, ... |
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double(sysvector.gps_raw_position(imintime:imaxtime,3))*fconv_gpsalt,'r.'); |
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title(h.axes(1),'GPS Position Data(if available)'); |
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xlabel(h.axes(1),'Latitude [deg]'); |
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ylabel(h.axes(1),'Longitude [deg]'); |
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zlabel(h.axes(1),'Altitude above MSL [m]'); |
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grid on |
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%Reset path |
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h.pathpoints=0; |
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end |
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% ************************************************************************ |
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% PLOT WINDOW 2: IMU, baro altitude |
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% ************************************************************************ |
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figure(h.figures(3)); |
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plot(h.axes(2),time(imintime:imaxtime),sysvector.mag(imintime:imaxtime,:)); |
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title(h.axes(2),'Magnetometers [Gauss]'); |
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legend(h.axes(2),'x','y','z'); |
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plot(h.axes(3),time(imintime:imaxtime),sysvector.accel(imintime:imaxtime,:)); |
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title(h.axes(3),'Accelerometers [m/s²]'); |
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legend(h.axes(3),'x','y','z'); |
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plot(h.axes(4),time(imintime:imaxtime),sysvector.gyro(imintime:imaxtime,:)); |
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title(h.axes(4),'Gyroscopes [rad/s]'); |
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legend(h.axes(4),'x','y','z'); |
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plot(h.axes(5),time(imintime:imaxtime),sysvector.baro_alt(imintime:imaxtime),'color','blue'); |
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if(bDisplayGPS) |
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hold on; |
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plot(h.axes(5),time(imintime:imaxtime),double(sysvector.gps_raw_position(imintime:imaxtime,3)).*fconv_gpsalt,'color','red'); |
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hold off |
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legend('Barometric Altitude [m]','GPS Altitude [m]'); |
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else |
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legend('Barometric Altitude [m]'); |
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end |
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title(h.axes(5),'Altitude above MSL [m]'); |
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% ************************************************************************ |
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% PLOT WINDOW 3: ATTITUDE ESTIMATE, ACTUATORS/CONTROLS, AIRSPEEDS,... |
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% ************************************************************************ |
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figure(h.figures(4)); |
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%Attitude Estimate |
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plot(h.axes(6),time(imintime:imaxtime), sysvector.attitude(imintime:imaxtime,:).*180./3.14159); |
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title(h.axes(6),'Estimated attitude [deg]'); |
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legend(h.axes(6),'roll','pitch','yaw'); |
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%Actuator Controls |
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plot(h.axes(7),time(imintime:imaxtime), sysvector.actuator_control(imintime:imaxtime,:)); |
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title(h.axes(7),'Actuator control [-]'); |
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legend(h.axes(7),'0','1','2','3'); |
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%Actuator Controls |
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plot(h.axes(8),time(imintime:imaxtime), sysvector.actuators(imintime:imaxtime,1:8)); |
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title(h.axes(8),'Actuator PWM (raw-)outputs [µs]'); |
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legend(h.axes(8),'CH1','CH2','CH3','CH4','CH5','CH6','CH7','CH8'); |
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set(h.axes(8), 'YLim',[800 2200]); |
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%Airspeeds |
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plot(h.axes(9),time(imintime:imaxtime), sysvector.ind_airspeed(imintime:imaxtime)); |
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hold on |
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plot(h.axes(9),time(imintime:imaxtime), sysvector.true_airspeed(imintime:imaxtime)); |
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hold off |
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%add GPS total airspeed here |
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title(h.axes(9),'Airspeed [m/s]'); |
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legend(h.axes(9),'Indicated Airspeed (IAS)','True Airspeed (TAS)','GPS Airspeed'); |
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%calculate time differences and plot them |
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intervals = zeros(0,imaxtime - imintime); |
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for k = imintime+1:imaxtime |
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intervals(k) = time(k) - time(k-1); |
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end |
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plot(h.axes(10), time(imintime:imaxtime), intervals); |
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%Set same timescale for all plots |
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for i=2:NrAxes |
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set(h.axes(i),'XLim',[mintime maxtime]); |
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end |
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set(h.labels.GUIState,'String','OK','BackgroundColor',[240/255 240/255 240/255]); |
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end |
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%% ************************************************************************ |
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% DRAWCURRENTAIRCRAFTSTATE(nested function) |
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% ************************************************************************ |
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function DrawCurrentAircraftState() |
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%find current data index |
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i=find(time>=CurTime,1,'first'); |
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|
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%********************************************************************** |
||||
% 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 |
||||
Loading…
Reference in new issue