Merge branch 'master' into virt_quad

controls/model/loggingAnalysis/logAnalysis.m

@@ -5,20 +5,20 @@ sim('test_model.slx');
 
 % Determine model time for various sampling times and scale it according to
 % logged data timescale
-indices_40ms = find(pitch_setpoint_model.time > time(1));
-indices_5ms = find(x_command_model.time > time(1));
+indices_40ms = find(pitch_setpoint_model.time >= time(1));
+indices_5ms = find(x_command_model.time >= time(1));
 time_model_40ms = pitch_setpoint_model.time(indices_40ms);
 time_model_5ms = x_command_model.time(indices_5ms);
 
 % Pull x control structure data
 pitch_setpoint_model_data = pitch_setpoint_model.signals.values(indices_40ms);
-pitchrate_setpoint_model_data = pitchrate_setpoint_model.signals.values(indices_40ms);
+pitchrate_setpoint_model_data = pitchrate_setpoint_model.signals.values(indices_5ms);
 x_command_model_data = x_command_model.signals.values(indices_5ms);
 x_position_model_data = x_position_model.signals.values(indices_40ms);
 
 % Pull y control structure data
 roll_setpoint_model_data = roll_setpoint_model.signals.values(indices_40ms);
-rollrate_setpoint_model_data = rollrate_setpoint_model.signals.values(indices_40ms);
+rollrate_setpoint_model_data = rollrate_setpoint_model.signals.values(indices_5ms);
 y_command_model_data = y_command_model.signals.values(indices_5ms);
 y_position_model_data = y_position_model.signals.values(indices_40ms);
 
@@ -28,7 +28,7 @@ z_position_model_data = z_position_model.signals.values(indices_40ms);
 
 % Pull yaw control structure data
 yawrate_setpoint_model_data = yawrate_setpoint_model.signals.values(indices_40ms);
-yaw_command_model_data = yaw_command_model.signals.values(indices_40ms);
+yaw_command_model_data = yaw_command_model.signals.values(indices_5ms);
 yaw_value_model_data = yaw_value_model.signals.values(indices_40ms);
 
 % Pull duty cycle commands from model
@@ -59,7 +59,7 @@ legend('Log', 'Model', 'location', 'northwest');
 % Plot pitch controller output
 subplot(2, 2, 2);
 stairs(time, pitchrate_setpoint,'.-'); hold on; grid minor;
-stairs(time_model_40ms, pitchrate_setpoint_model_data, '.-'); hold off;
+stairs(time_model_5ms, pitchrate_setpoint_model_data, '.-'); hold off;
 title('Pitch Controller Output');
 xlabel('Time (s)');
 ylabel('d\theta/dt (rad/s)');
@@ -97,7 +97,7 @@ legend('Log', 'Model', 'location', 'northwest');
 % Plot roll controller output
 subplot(2, 2, 2);
 stairs(time, rollrate_setpoint,'.-'); hold on; grid minor;
-stairs(time_model_40ms, rollrate_setpoint_model_data, '.-'); hold off;
+stairs(time_model_5ms, rollrate_setpoint_model_data, '.-'); hold off;
 title('Roll Controller Output');
 xlabel('Time (s)');
 ylabel('d\phi/dt (rad/s)');
@@ -143,7 +143,7 @@ legend('Log', 'Model', 'location', 'northwest');
 
 %% Plot yaw control structure
 
-% Plot roll controller output
+% Plot yaw controller output
 figure(4); subplot(2, 2, 1);
 stairs(time, yawrate_setpoint,'.-'); hold on; grid minor;
 stairs(time_model_40ms, yawrate_setpoint_model_data, '.-'); hold off;
@@ -155,7 +155,7 @@ legend('Log', 'Model', 'location', 'northwest');
 % Plot yaw controller command
 subplot(2, 2, 2);
 stairs(time, yaw_command, '.-'); hold on; grid minor;
-stairs(time_model_40ms, yaw_command_model_data, '.-'); hold off;
+stairs(time_model_5ms, yaw_command_model_data, '.-'); hold off;
 title('Yaw Command');
 xlabel('Time (s)');
 ylabel('Command');

controls/model/modelParameters.m

@@ -216,7 +216,8 @@ elseif logAnalysisToggle == 1 && temp == 1
     [dataStruct, headers] = parse_log_model(params.file.pathName);
     
     time = dataStruct.Time.data;
-    %time = dataStruct.time.data;
+    time = time - time(1);
+    
     runtime = max(time);
  
     % Determine x position error
@@ -236,12 +237,12 @@ elseif logAnalysisToggle == 1 && temp == 1
 
     % Determine pitch error
     pitch_setpoint = dataStruct.X_pos_PID_Correction.data;
-    pitch_value = dataStruct.VRPN_Pitch_Constant.data;
+    pitch_value = dataStruct.Pitch_Constant.data;
     pitch_error = timeseries(pitch_setpoint - pitch_value, time);
 
     % Determine roll error
     roll_setpoint = dataStruct.Y_pos_PID_Correction.data;
-    roll_value = dataStruct.VRPN_Roll_Constant.data;
+    roll_value = dataStruct.Roll_Constant.data;
     roll_error = timeseries(roll_setpoint - roll_value, time);
 
     % Determine yaw error
@@ -293,7 +294,7 @@ elseif logAnalysisToggle == 1 && temp == 1
     raw_gyro_data = timeseries( raw_gyro_data_arr , time );
     
     %Create time series object for z command
-    throttle_command = timeseries(z_command, time);
+    throttle_command = timeseries(dataStruct.RC_Throttle_Constant.data, time);
     
     %Pull the measurements from the complimentary filter
     pitch_measured_IMU = dataStruct.Pitch_Constant.data;