Lorenz Meier
12 years ago
17 changed files with 855 additions and 22 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 = 'log_second_flight.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=1; %[mm] to [m] |
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fconv_gpslatlong=1; %[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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% ************************************************************************ |
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% Import the PX4 logs |
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% ************************************************************************ |
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ImportPX4LogData(); |
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|
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%Translate min and max plot times to indices |
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time=double(sysvector.TIME_StartTime) .*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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%% ************************************************************************ |
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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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%% ************************************************************************ |
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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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% ************************************************************************ |
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% RETRIEVE SYSTEM VECTOR |
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% ************************************************************************* |
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% //All measurements in NED frame |
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% Convert to CSV |
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%arg1 = 'log-fx61-20130721-2.bin'; |
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arg1 = filePath; |
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delim = ','; |
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time_field = 'TIME'; |
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data_file = 'data.csv'; |
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csv_null = ''; |
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if not(exist(data_file, 'file')) |
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s = system( sprintf('python sdlog2_dump.py "%s" -f "%s" -t"%s" -d"%s" -n"%s"', arg1, data_file, time_field, delim, csv_null) ); |
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end |
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if exist(data_file, 'file') |
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%data = csvread(data_file); |
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sysvector = tdfread(data_file, ','); |
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% shot the flight time |
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time_us = sysvector.TIME_StartTime(end) - sysvector.TIME_StartTime(1); |
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time_s = uint64(time_us*1e-6); |
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time_m = uint64(time_s/60); |
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disp([sprintf('Flight log duration: %d:%d (minutes:seconds)', time_m, time_s)]); |
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disp(['logfile conversion finished.' char(10)]); |
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else |
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disp(['file: ' data_file ' does not exist' char(10)]); |
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end |
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end |
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|
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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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|
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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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%% ************************************************************************ |
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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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|
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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_Lat(imintime:imaxtime)))>0) && (bDisplayGPS) |
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%Draw data |
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plot3(h.axes(1),double(sysvector.GPS_Lat(imintime:imaxtime))*fconv_gpslatlong, ... |
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double(sysvector.GPS_Lon(imintime:imaxtime))*fconv_gpslatlong, ... |
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double(sysvector.GPS_Alt(imintime:imaxtime))*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.IMU_MagX(imintime:imaxtime), sysvector.IMU_MagY(imintime:imaxtime), sysvector.IMU_MagZ(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.IMU_AccX(imintime:imaxtime), sysvector.IMU_AccY(imintime:imaxtime), sysvector.IMU_AccZ(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.IMU_GyroX(imintime:imaxtime), sysvector.IMU_GyroY(imintime:imaxtime), sysvector.IMU_GyroZ(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.SENS_BaroAlt(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_Alt(imintime:imaxtime)).*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.ATT_Roll(imintime:imaxtime), sysvector.ATT_Pitch(imintime:imaxtime), sysvector.ATT_Yaw(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.ATTC_Roll(imintime:imaxtime), sysvector.ATTC_Pitch(imintime:imaxtime), sysvector.ATTC_Yaw(imintime:imaxtime), sysvector.ATTC_Thrust(imintime:imaxtime)]); |
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title(h.axes(7),'Actuator control [-]'); |
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legend(h.axes(7),'ATT CTRL Roll [-1..+1]','ATT CTRL Pitch [-1..+1]','ATT CTRL Yaw [-1..+1]','ATT CTRL Thrust [0..+1]'); |
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%Actuator Controls |
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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)]); |
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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.AIRS_IndSpeed(imintime:imaxtime)); |
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hold on |
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plot(h.axes(9),time(imintime:imaxtime), sysvector.AIRS_TrueSpeed(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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|
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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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|
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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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%% ************************************************************************ |
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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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%********************************************************************** |
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% Current aircraft state label update |
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%********************************************************************** |
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acstate{1,:}=[sprintf('%s \t\t','GPS Pos:'),'[lat=',num2str(double(sysvector.GPS_Lat(i))*fconv_gpslatlong),'°, ',... |
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'lon=',num2str(double(sysvector.GPS_Lon(i))*fconv_gpslatlong),'°, ',... |
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'alt=',num2str(double(sysvector.GPS_Alt(i))*fconv_gpsalt),'m]']; |
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acstate{2,:}=[sprintf('%s \t\t','Mags[gauss]'),'[x=',num2str(sysvector.IMU_MagX(i)),... |
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', y=',num2str(sysvector.IMU_MagY(i)),... |
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', z=',num2str(sysvector.IMU_MagZ(i)),']']; |
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acstate{3,:}=[sprintf('%s \t\t','Accels[m/s²]'),'[x=',num2str(sysvector.IMU_AccX(i)),... |
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', y=',num2str(sysvector.IMU_AccY(i)),... |
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', z=',num2str(sysvector.IMU_AccZ(i)),']']; |
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acstate{4,:}=[sprintf('%s \t\t','Gyros[rad/s]'),'[x=',num2str(sysvector.IMU_GyroX(i)),... |
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', y=',num2str(sysvector.IMU_GyroY(i)),... |
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', z=',num2str(sysvector.IMU_GyroZ(i)),']']; |
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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]']; |
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acstate{6,:}=[sprintf('%s \t','Est. attitude[deg]:'),'[Roll=',num2str(sysvector.ATT_Roll(i).*180./3.14159),... |
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', Pitch=',num2str(sysvector.ATT_Pitch(i).*180./3.14159),... |
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', Yaw=',num2str(sysvector.ATT_Yaw(i).*180./3.14159),']']; |
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acstate{7,:}=sprintf('%s \t[','Actuator Ctrls [-]:'); |
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%for j=1:4 |
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acstate{7,:}=[acstate{7,:},num2str(sysvector.ATTC_Roll(i)),',']; |
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acstate{7,:}=[acstate{7,:},num2str(sysvector.ATTC_Pitch(i)),',']; |
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acstate{7,:}=[acstate{7,:},num2str(sysvector.ATTC_Yaw(i)),',']; |
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acstate{7,:}=[acstate{7,:},num2str(sysvector.ATTC_Thrust(i)),',']; |
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%end |
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acstate{7,:}=[acstate{7,:},']']; |
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acstate{8,:}=sprintf('%s \t[','Actuator Outputs [PWM/µs]:'); |
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%for j=1:8 |
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acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out0(i)),',']; |
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acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out1(i)),',']; |
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acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out2(i)),',']; |
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acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out3(i)),',']; |
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acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out4(i)),',']; |
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acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out5(i)),',']; |
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acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out6(i)),',']; |
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acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out7(i)),',']; |
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%end |
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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 |
||||
@ -0,0 +1,200 @@
@@ -0,0 +1,200 @@
|
||||
/****************************************************************************
|
||||
* |
||||
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. |
||||
* Author: Lorenz Meier <lm@inf.ethz.ch> |
||||
* |
||||
* Redistribution and use in source and binary forms, with or without |
||||
* modification, are permitted provided that the following conditions |
||||
* are met: |
||||
* |
||||
* 1. Redistributions of source code must retain the above copyright |
||||
* notice, this list of conditions and the following disclaimer. |
||||
* 2. Redistributions in binary form must reproduce the above copyright |
||||
* notice, this list of conditions and the following disclaimer in |
||||
* the documentation and/or other materials provided with the |
||||
* distribution. |
||||
* 3. Neither the name PX4 nor the names of its contributors may be |
||||
* used to endorse or promote products derived from this software |
||||
* without specific prior written permission. |
||||
* |
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
||||
* POSSIBILITY OF SUCH DAMAGE. |
||||
* |
||||
****************************************************************************/ |
||||
|
||||
/**
|
||||
* @file config.c |
||||
* @author Lorenz Meier <lm@inf.ethz.ch> |
||||
* |
||||
* config tool. |
||||
*/ |
||||
|
||||
#include <nuttx/config.h> |
||||
|
||||
#include <stdio.h> |
||||
#include <stdlib.h> |
||||
#include <string.h> |
||||
#include <stdbool.h> |
||||
#include <unistd.h> |
||||
#include <fcntl.h> |
||||
#include <sys/stat.h> |
||||
|
||||
#include <arch/board/board.h> |
||||
|
||||
#include <drivers/drv_gyro.h> |
||||
#include <drivers/drv_accel.h> |
||||
#include <drivers/drv_mag.h> |
||||
|
||||
#include "systemlib/systemlib.h" |
||||
#include "systemlib/err.h" |
||||
|
||||
__EXPORT int config_main(int argc, char *argv[]); |
||||
|
||||
static void do_gyro(int argc, char *argv[]); |
||||
static void do_accel(int argc, char *argv[]); |
||||
static void do_mag(int argc, char *argv[]); |
||||
|
||||
int |
||||
config_main(int argc, char *argv[]) |
||||
{ |
||||
if (argc >= 2) { |
||||
if (!strcmp(argv[1], "gyro")) { |
||||
if (argc >= 3) { |
||||
do_gyro(argc - 2, argv + 2); |
||||
} else { |
||||
errx(1, "not enough parameters."); |
||||
} |
||||
} |
||||
|
||||
if (!strcmp(argv[1], "accel")) { |
||||
if (argc >= 3) { |
||||
do_accel(argc - 2, argv + 2); |
||||
} else { |
||||
errx(1, "not enough parameters."); |
||||
} |
||||
} |
||||
|
||||
if (!strcmp(argv[1], "mag")) { |
||||
if (argc >= 3) { |
||||
do_mag(argc - 2, argv + 2); |
||||
} else { |
||||
errx(1, "not enough parameters."); |
||||
} |
||||
} |
||||
} |
||||
|
||||
errx(1, "expected a command, try 'gyro', 'accel', 'mag'"); |
||||
} |
||||
|
||||
static void |
||||
do_gyro(int argc, char *argv[]) |
||||
{ |
||||
int fd; |
||||
|
||||
fd = open(GYRO_DEVICE_PATH, 0); |
||||
|
||||
if (fd < 0) { |
||||
warn("%s", GYRO_DEVICE_PATH); |
||||
errx(1, "FATAL: no gyro found"); |
||||
|
||||
} else { |
||||
|
||||
if (argc >= 2) { |
||||
|
||||
char* end; |
||||
int i = strtol(argv[1],&end,10); |
||||
|
||||
if (!strcmp(argv[0], "sampling")) { |
||||
|
||||
/* set the accel internal sampling rate up to at leat i Hz */ |
||||
ioctl(fd, GYROIOCSSAMPLERATE, i); |
||||
|
||||
} else if (!strcmp(argv[0], "rate")) { |
||||
|
||||
/* set the driver to poll at i Hz */ |
||||
ioctl(fd, SENSORIOCSPOLLRATE, i); |
||||
} else if (!strcmp(argv[0], "range")) { |
||||
|
||||
/* set the range to i dps */ |
||||
ioctl(fd, GYROIOCSRANGE, i); |
||||
} |
||||
|
||||
} else if (!(argc > 0 && !strcmp(argv[0], "info"))) { |
||||
warnx("no arguments given. Try: \n\n\t'sampling 500' to set sampling to 500 Hz\n\t'rate 500' to set publication rate to 500 Hz\n\t'range 2000' to set measurement range to 2000 dps\n\t"); |
||||
} |
||||
|
||||
int srate = ioctl(fd, GYROIOCGSAMPLERATE, 0); |
||||
int prate = ioctl(fd, SENSORIOCGPOLLRATE, 0); |
||||
int range = ioctl(fd, GYROIOCGRANGE, 0); |
||||
|
||||
warnx("gyro: \n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d dps", srate, prate, range); |
||||
|
||||
close(fd); |
||||
} |
||||
|
||||
exit(0); |
||||
} |
||||
|
||||
static void |
||||
do_mag(int argc, char *argv[]) |
||||
{ |
||||
exit(0); |
||||
} |
||||
|
||||
static void |
||||
do_accel(int argc, char *argv[]) |
||||
{ |
||||
int fd; |
||||
|
||||
fd = open(ACCEL_DEVICE_PATH, 0); |
||||
|
||||
if (fd < 0) { |
||||
warn("%s", ACCEL_DEVICE_PATH); |
||||
errx(1, "FATAL: no accelerometer found"); |
||||
|
||||
} else { |
||||
|
||||
if (argc >= 2) { |
||||
|
||||
char* end; |
||||
int i = strtol(argv[1],&end,10); |
||||
|
||||
if (!strcmp(argv[0], "sampling")) { |
||||
|
||||
/* set the accel internal sampling rate up to at leat i Hz */ |
||||
ioctl(fd, ACCELIOCSSAMPLERATE, i); |
||||
|
||||
} else if (!strcmp(argv[0], "rate")) { |
||||
|
||||
/* set the driver to poll at i Hz */ |
||||
ioctl(fd, SENSORIOCSPOLLRATE, i); |
||||
} else if (!strcmp(argv[0], "range")) { |
||||
|
||||
/* set the range to i dps */ |
||||
ioctl(fd, ACCELIOCSRANGE, i); |
||||
} |
||||
} else if (!(argc > 0 && !strcmp(argv[0], "info"))) { |
||||
warnx("no arguments given. Try: \n\n\t'sampling 500' to set sampling to 500 Hz\n\t'rate 500' to set publication rate to 500 Hz\n\t'range 2' to set measurement range to 2 G\n\t"); |
||||
} |
||||
|
||||
int srate = ioctl(fd, ACCELIOCGSAMPLERATE, 0); |
||||
int prate = ioctl(fd, SENSORIOCGPOLLRATE, 0); |
||||
int range = ioctl(fd, ACCELIOCGRANGE, 0); |
||||
|
||||
warnx("accel: \n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d m/s", srate, prate, range); |
||||
|
||||
close(fd); |
||||
} |
||||
|
||||
exit(0); |
||||
} |
||||
@ -0,0 +1,44 @@
@@ -0,0 +1,44 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# Build the config tool.
|
||||
#
|
||||
|
||||
MODULE_COMMAND = config
|
||||
SRCS = config.c
|
||||
|
||||
MODULE_STACKSIZE = 4096
|
||||
|
||||
MAXOPTIMIZATION = -Os
|
||||
|
||||
Loading…
Reference in new issue