Updated model to better support active logging

controls/model/loggingAnalysis/logAnalysis.m

@@ -40,7 +40,7 @@ stairs(time_model_40ms, pitch_setpoint_model_data, '.-'); hold off;
 title('Lateral Controller Output');
 xlabel('Time (s)');
 ylabel('\theta (rad)');
-legend('Log', 'Model');
+legend('Log', 'Model', 'location', 'northwest');
 
 % Plot pitch controller output
 subplot(2, 2, 2);
@@ -49,7 +49,7 @@ stairs(time_model_40ms, pitchrate_setpoint_model_data, '.-'); hold off;
 title('Pitch Controller Output');
 xlabel('Time (s)');
 ylabel('d\theta/dt (rad/s)');
-legend('Log', 'Model');
+legend('Log', 'Model', 'location', 'northwest');
 
 % Plot x controller command
 subplot(2, 2, 3);
@@ -58,7 +58,7 @@ stairs(time_model_5ms, x_command_model_data, '.-'); hold off;
 title('X Command');
 xlabel('Time (s)');
 ylabel('Command');
-legend('Log', 'Model');
+legend('Log', 'Model', 'location', 'northwest');
 
 % Plot x position
 subplot(2, 2, 4);
@@ -67,7 +67,7 @@ stairs(time_model_40ms, x_position_model_data, '.-'); hold off;
 title('X Position');
 xlabel('Time (s)');
 ylabel('Position (m)');
-legend('Log', 'Model');
+legend('Log', 'Model', 'location', 'northwest');
 
 %% Plot y control structure
 
@@ -78,7 +78,7 @@ stairs(time_model_40ms, pitch_setpoint_model_data, '.-'); hold off;
 title('Longitude Controller Output ');
 xlabel('Time (s)');
 ylabel('\phi (rad)');
-legend('Log', 'Model');
+legend('Log', 'Model', 'location', 'northwest');
 
 % Plot roll controller output
 subplot(2, 2, 2);
@@ -87,7 +87,7 @@ stairs(time_model_40ms, rollrate_setpoint_model_data, '.-'); hold off;
 title('Roll Controller Output');
 xlabel('Time (s)');
 ylabel('d\phi/dt (rad/s)');
-legend('Log', 'Model'); 
+legend('Log', 'Model', 'location', 'northwest');
 
 % Plot y controller command
 subplot(2, 2, 3);
@@ -96,7 +96,7 @@ stairs(time_model_5ms, y_command_model_data, '.-'); hold off;
 title('Y Command');
 xlabel('Time (s)');
 ylabel('Command');
-legend('Log', 'Model');
+legend('Log', 'Model', 'location', 'northwest');
  
 % Plot y position
 subplot(2, 2, 4);
@@ -105,7 +105,7 @@ stairs(time_model_40ms, y_position_model_data, '.-'); hold off;
 title('Y Position');
 xlabel('Time (s)');
 ylabel('Position (m)');
-legend('Log', 'Model');
+legend('Log', 'Model', 'location', 'northwest');
 
 %% Plot z control structure
 
@@ -116,7 +116,7 @@ stairs(time_model_40ms, z_command_model_data, '.-'); hold off;
 title('Z Command');
 xlabel('Time (s)');
 ylabel('Command');
-legend('Log', 'Model');
+legend('Log', 'Model', 'location', 'northwest');
 
 % Plot z position
 subplot(2, 1, 2);
@@ -125,7 +125,7 @@ stairs(time_model_40ms, z_position_model_data, '.-'); hold off;
 title('Z Position');
 xlabel('Time (s)');
 ylabel('Position (m)');
-legend('Log', 'Model');
+legend('Log', 'Model', 'location', 'northwest');
 
 %% Plot yaw control structure
 
@@ -136,7 +136,7 @@ stairs(time_model_40ms, yawrate_setpoint_model_data, '.-'); hold off;
 title('Yaw Controller Output');
 xlabel('Time (s)');
 ylabel('d\psi/dt (rad/s)');
-legend('Log', 'Model');
+legend('Log', 'Model', 'location', 'northwest');
 
 % Plot yaw controller command
 subplot(2, 2, 2);
@@ -145,7 +145,7 @@ stairs(time_model_40ms, yaw_command_model_data, '.-'); hold off;
 title('Yaw Command');
 xlabel('Time (s)');
 ylabel('Command');
-legend('Log', 'Model');
+legend('Log', 'Model', 'location', 'northwest');
 
 % Plot yaw position
 subplot(2, 2, 3);
@@ -154,4 +154,4 @@ stairs(time_model_40ms, yaw_value_model_data, '.-'); hold off;
 title('Yaw Position');
 xlabel('Time (s)');
 ylabel('Value (rad)');
-legend('Log', 'Model');
\ No newline at end of file
+legend('Log', 'Model', 'location', 'northwest');
\ No newline at end of file

controls/model/modelParameters.m

 % Log Analysis Toggle    
     logAnalysisToggle = 1;          % 1 for log analysis, 0 for normal operation
     
+% Define Simulink Runtime (if logAnalysisToggle is selected, this will be
+% automatically set based on the log files time)
+    runtime = 20;
+    
 % Model Parameters
     m = 1.244;                      % Quadrotor + battery mass
     g = 9.81;                       % Acceleration of gravity
@@ -37,12 +41,12 @@
 
 % Import Data and determine errors
 if logAnalysisToggle == 1
-    
     % Import Data to Workspace
     data = importdata('loggingAnalysis/logFiles/logData.csv');
 
     % Set up time vector
     time = data.data(:, 1);
+    runtime = max(time);
 
     % Determine x position error
     x_setpoint = data.data(:, 25);