adding alpha to log, updating matlab scripts

controls/DataAnalysisTool/Tool/DataAnalysis.m

@@ -12,7 +12,7 @@ fname = '';
 
 % PLOTTING SWITCHES - set them to 0 or 1 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 %
-plot            = 1;    % to choose plotting
+plot            = 0;    % to choose plotting
 separatePlot    = 1;    % to generate separatePlots
 multiPlot       = 1;    % to generate multiPlot
 subPlot         = 1;    % to generate subPlots

controls/DataAnalysisTool/Tool/simplePlots.m

@@ -57,6 +57,29 @@ plot(expData.Time.data, expData.gyro_y.data .* 100000);
 legend('output', 'Pitch rate x100000');
 title('pitch rate output');
 
+linkaxes([ax1, ax2, ax3, ax4], 'x');
+%% X pos controller flow
+figure;
+ax2 = subplot(2,2,1);
+plot(expData.Time.data, expData.X_Setpoint_Constant.data - expData.OF_Integrate_X_Integrated.data);
+title('X error');
+
+ax1 = subplot(2,2,2);
+plot(expData.Time.data, expData.X_pos_PID_Correction.data);
+title('x output');
+
+ax3 = subplot(2,2,3);
+plot(expData.Time.data, expData.Pitch_PID_Correction.data); hold on;
+plot(expData.Time.data, expData.VRPN_Pitch_Constant.data .* 10);
+title('pitch output');
+legend('output', 'Pitch x10');
+
+ax4 = subplot(2,2,4);
+plot(expData.Time.data, expData.Pitch_Rate_PID_Correction.data); hold on;
+plot(expData.Time.data, expData.gyro_y.data);
+legend('output', 'Pitch rate');
+title('pitch rate output');
+
 linkaxes([ax1, ax2, ax3, ax4], 'x');
 %%
 plot(time, 1044.26 .* (PitchPIDCorrection - gyro_y));hold on;
@@ -70,8 +93,8 @@ plot(time, YawRatePIDCorrection);
 linkaxes([ax1, ax2], 'x');
 
 %%
-all_motors = expData.Signal_Mixer_PWM_0.data + expData.Signal_Mixer_PWM_1.data + ...
-    expData.Signal_Mixer_PWM_2.data + expData.Signal_Mixer_PWM_3.data;
+all_motors = expData.Signal_Mixer_MOTOR_0.data + expData.Signal_Mixer_MOTOR_1.data + ...
+    expData.Signal_Mixer_MOTOR_2.data + expData.Signal_Mixer_MOTOR_3.data;
 ax1 = subplot(1, 2, 1);
 plot(expData.Time.data, all_motors ./ 4); hold on;
 plot(expData.Time.data, expData.RC_Throttle_Constant.data); hold on;
@@ -112,6 +135,7 @@ ax3 = subplot(3, 1, 3);
 plot(expData.Time.data, expData.gyro_z.data);
 linkaxes([ax1, ax2, ax3], 'x');
 %%
+figure;
 ax2 = subplot(2,2,1);
 raw_derivative = -diff(expData.VRPN_X_Constant.data) / 0.04;
 plot(expData.Time.data, expData.X_Vel_Correction.data - (expData.RC_Pitch_Constant.data * 5)); hold on;
@@ -136,7 +160,31 @@ legend('output', 'Pitch rate x100000');
 title('pitch rate output');
 
 linkaxes([ax1, ax2, ax3, ax4], 'x');
+%% vel flow
+figure;
+ax2 = subplot(2,2,1);
+plot(expData.Time.data, expData.OF_Integrate_X_Integrated.data - expData.X_pos_PID_Correction.data); hold on;
+%plot(expData.Time.data, expData.X_Vel_Correction.data); hold on;
+%plot(expData.Time.data, [0; raw_derivative]);
+title('X velocity error');
+
+ax1 = subplot(2,2,2);
+plot(expData.Time.data, expData.X_Vel_PID_Correction.data);
+title('x vel output');
+
+ax3 = subplot(2,2,3);
+plot(expData.Time.data, expData.Pitch_PID_Correction.data); hold on;
+plot(expData.Time.data, expData.VRPN_Pitch_Constant.data .* 10);
+title('pitch output');
+legend('output', 'Pitch x10');
+
+ax4 = subplot(2,2,4);
+plot(expData.Time.data, expData.Pitch_Rate_PID_Correction.data); hold on;
+plot(expData.Time.data, expData.gyro_y.data .* 100000);
+legend('output', 'Pitch rate x100000');
+title('pitch rate output');
 
+linkaxes([ax1, ax2, ax3, ax4], 'x');
 %%
 ax1 = subplot(2, 1, 1);
 plot(expData.Time.data, expData.Alt_Setpoint_Constant.data - expData.VRPN_Alt_Constant.data); hold on;
@@ -178,3 +226,22 @@ plot(expData.Time.data, expData.Altitude_PID_Correction.data);
 
 linkaxes([ax1, ax2], 'x');
 %%
+figure;
+ax1 = subplot(2, 1, 1);
+plot(expData.Time.data, expData.OF_Integrate_X_Integrated.data); hold on;
+plot(expData.Time.data, expData.VRPN_X_Constant.data);
+legend('OF X Position', 'VRPN X Position');
+xlabel('Time (s)');
+ylabel('Displacement (m)');
+hold off;
+
+ax2 = subplot(2, 1, 2);
+plot(expData.Time.data, expData.OF_Integrate_Y_Integrated.data); hold on;
+plot(expData.Time.data, expData.VRPN_Y_Constant.data);
+legend('OF Y Position', 'VRPN Y Position');
+xlabel('Time (s)');
+ylabel('Displacement (m)');
+hold off;
+
+linkaxes([ax1, ax2]);
+

quad/src/quad_app/log_data.c

@@ -199,11 +199,12 @@ void printLogging(hardware_t *hardware_struct, log_t* log_struct, parameter_t* p
 	for (i = 0; i < ps->graph->n_nodes; ++i) {
 		struct graph_node* node = &ps->graph->nodes[i];
 		if (node->type->type_id == BLOCK_PID) {
-			double kp, ki, kd;
+			double kp, ki, kd, alpha;
 			kp = graph_get_param_val(ps->graph, i, 0);
 			ki = graph_get_param_val(ps->graph, i, 1);
 			kd = graph_get_param_val(ps->graph, i, 2);
-			safe_sprintf_cat(&buf, "# %s :\tKp = %lf Ki = %lf Kd = %lf\n", node->name, kp, ki, kd);
+			alpha = graph_get_param_val(ps->graph, i, 3);
+			safe_sprintf_cat(&buf, "# %s :\tKp = %lf Ki = %lf Kd = %lf Alpha = %lf\n", node->name, kp, ki, kd, alpha);
 
 		}
 	}