From 395b1a62eda747198e3cb965615103b0d452e9a4 Mon Sep 17 00:00:00 2001
From: ucart <ucart_groundstation@iastate.edu>
Date: Thu, 20 Apr 2017 20:00:38 -0500
Subject: [PATCH] added plots for of
---
controls/DataAnalysisTool/Tool/simplePlots.m | 23 ++++++++++++++++++++
1 file changed, 23 insertions(+)
diff --git a/controls/DataAnalysisTool/Tool/simplePlots.m b/controls/DataAnalysisTool/Tool/simplePlots.m
index 90bef7420..f5a273a87 100644
--- a/controls/DataAnalysisTool/Tool/simplePlots.m
+++ b/controls/DataAnalysisTool/Tool/simplePlots.m
@@ -225,6 +225,24 @@ ax2 = subplot(2, 1, 2);
plot(expData.Time.data, expData.Altitude_PID_Correction.data);
linkaxes([ax1, ax2], 'x');
+
+%% Sonar
+filtered_sonar = [];
+last_sonar = expData.Flow_Distance_Constant.data(1);
+for i = [1 : length(expData.Flow_Distance_Constant.data)]
+ this_sonar = expData.Flow_Distance_Constant.data(i);
+ if (abs(this_sonar - last_sonar) < 0.4)
+ filtered_sonar(i) = this_sonar;
+ last_sonar = this_sonar;
+ else
+ filtered_sonar(i) = last_sonar;
+ end
+end
+alt_offset = -0.04;
+plot(expData.Time.data, -expData.Flow_Distance_Constant.data + alt_offset); hold on;
+plot(expData.Time.data, expData.VRPN_Alt_Constant.data);
+plot(expData.Time.data, -filtered_sonar + alt_offset);
+legend('sonar', 'vrpn', 'dumb filter');
%%
figure;
ax1 = subplot(2, 1, 1);
@@ -245,3 +263,8 @@ hold off;
linkaxes([ax1, ax2]);
+%% Integarted gyro yaw
+figure;
+plot(expData.Time.data, cumtrapz(expData.gyro_z.data + 0.0088)); hold on;
+plot(expData.Time.data, expData.Yaw_Constant.data); hold on;
+legend('Integrated gyro z', 'actual yaw');
--
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