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Commit 7f855e01 authored by ucart's avatar ucart
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changes to scripts and simpleplots

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controls/DataAnalysisTool/Tool/DataAnalysis.m
+ 5
− 3
View file @ 7f855e01
......@@ -51,9 +51,9 @@ backgnd = [1 1 1]; % rgb array for background color of the plot
%% DO NOT MODIFY %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
fpath = '';
fpath = '/local/ucart/Documents/MicroCART_17-18/groundStation/logs/';
if(isempty(fname))
[fname, fpath] = uigetfile('.txt','Select log file');
[fname, fpath] = uigetfile('.txt','Select log file', fpath);
end
% storing file options in the structure
......@@ -100,4 +100,6 @@ plot_data(expData, params.plotting);
% main.params = params;
% main.expData = expData;
% clearvars -except main;
% save main main;
\ No newline at end of file
% save main main;
clear plot;
\ No newline at end of file
controls/DataAnalysisTool/Tool/simplePlots.m
+ 147
− 21
View file @ 7f855e01
......@@ -97,7 +97,7 @@ all_motors = expData.Signal_Mixer_MOTOR_0.data + expData.Signal_Mixer_MOTOR_1.da
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;
%plot(expData.Time.data, expData.RC_Throttle_Constant.data); hold on;
plot(expData.Time.data, expData.Pitch_Rate_PID_Correction.data); hold on;
plot(expData.Time.data, expData.Roll_Rate_PID_Correction.data); hold on;
plot(expData.Time.data, expData.Yaw_Rate_PID_Correction.data);
......@@ -109,11 +109,11 @@ linkaxes([ax1, ax2], 'x');
%%
ax1 = subplot(1, 2, 1);
plot(expData.Time.data, expData.Pitch_Constant.data .* (180 / pi)); hold on; grid minor
%plot(expData.Time.data, expData.Pitch_Constant.data .* (180 / pi)); hold on; grid minor
plot(expData.Time.data, expData.VRPN_Pitch_Constant.data .* (180 / pi));
legend('imu', 'vrpn');
ax2 = subplot(1, 2, 2);
plot(expData.Time.data, expData.Roll_Constant.data .* (180 / pi)); hold on; grid minor
%plot(expData.Time.data, expData.Roll_Constant.data .* (180 / pi)); hold on; grid minor
plot(expData.Time.data, expData.VRPN_Roll_Constant.data .* (180 / pi));
legend('imu', 'vrpn');
linkaxes([ax1, ax2], 'x');
......@@ -163,8 +163,8 @@ linkaxes([ax1, ax2, ax3, ax4], 'x');
%% vel flow
figure;
ax2 = subplot(2,2,1);
plot(expData.Time.data, expData.OF_Offset_Angle_Rotated_X.data - expData.RC_Pitch_Constant.data); hold on;
plot(expData.Time.data, expData.OF_Offset_Angle_Rotated_X.data); hold on;
%plot(expData.Time.data, expData.OF_Offset_Angle_Rotated_X.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');
......@@ -187,6 +187,7 @@ title('pitch rate output');
linkaxes([ax1, ax2, ax3, ax4], 'x');
%%
figure;
ax1 = subplot(2, 1, 1);
plot(expData.Time.data, expData.Alt_Setpoint_Constant.data - expData.VRPN_Alt_Constant.data); hold on;
plot(expData.Time.data, expData.Alt_Setpoint_Constant.data); hold on;
......@@ -222,12 +223,12 @@ figure;
plot(expData.Time.data, expData.Lidar_Constant.data); hold on;
plot(expData.Time.data, expData.VRPN_Alt_Constant.data);
angle = sqrt(expData.Roll_Constant.data.^2 + expData.VRPN_Pitch_Constant.data.^2);
corrected = expData.Lidar_Constant.data .* cos(angle);
%angle = sqrt(expData.Roll_Constant.data.^2 + expData.VRPN_Pitch_Constant.data.^2);
%corrected = expData.Lidar_Constant.data .* cos(angle);
%plot(expData.Time.data, corrected);
legend('lidar', 'vrpn', 'angle corrected');
legend('lidar', 'vrpn');
linkaxes([ax1, ax2], 'x');
%linkaxes([ax1, ax2], 'x');
%% Sonar
filtered_sonar = [];
......@@ -246,33 +247,158 @@ plot(expData.Time.data, -expData.Flow_Distance_Constant.data + alt_offset); hold
plot(expData.Time.data, expData.VRPN_Alt_Constant.data);
plot(expData.Time.data, -filtered_sonar + alt_offset);
legend('sonar', 'vrpn', 'dumb filter');
%%
%% THE ONE
figure;
offsetX = -expData.OF_Integrate_X_Integrated.data(1) - expData.VRPN_X_Constant.data(1);
offsetY = -expData.OF_Integrate_Y_Integrated.data(1) - expData.VRPN_Y_Constant.data(1);
% offsetX = -expData.OF_Integrate_X_Integrated.data(1) - expData.VRPN_X_Constant.data(1);
% offsetY = -expData.OF_Integrate_Y_Integrated.data(1) - expData.VRPN_Y_Constant.data(1);
offsetX = 0;
offsetY = 0;
ax1 = subplot(2, 1, 1);
plot(expData.Time.data, -expData.OF_Integrate_X_Integrated.data - offsetX); hold on;
ax1 = subplot(3, 1, 1);
plot(expData.Time.data, expData.OF_Integrate_X_Integrated.data - offsetX); hold on; grid minor
plot(expData.Time.data, expData.VRPN_X_Constant.data);
legend('OF X Position', 'VRPN X Position');
plot(expData.Time.data, expData.X_Setpoint_Constant.data);
legend('OF X Position', 'VRPN X Position', 'X setpoint');
xlabel('Time (s)');
ylabel('Displacement (m)');
hold off;
ax2 = subplot(2, 1, 2);
plot(expData.Time.data, -expData.OF_Integrate_Y_Integrated.data - offsetY); hold on;
ax2 = subplot(3, 1, 2);
plot(expData.Time.data, expData.OF_Integrate_Y_Integrated.data - offsetY); hold on; grid minor
plot(expData.Time.data, expData.VRPN_Y_Constant.data);
legend('OF Y Position', 'VRPN Y Position');
plot(expData.Time.data, expData.Y_Setpoint_Constant.data);
legend('OF Y Position', 'VRPN Y Position', 'Y setpoint');
xlabel('Time (s)');
ylabel('Displacement (m)');
hold off;
ax3 = subplot(3, 1, 3);
plot(expData.Time.data, expData.Lidar_Constant.data); hold on; grid minor
plot(expData.Time.data, expData.VRPN_Alt_Constant.data);
plot(expData.Time.data, expData.Alt_Setpoint_Constant.data);
legend('Lidar Z Position', 'VRPN Z Position', 'Z setpoint');
xlabel('Time (s)');
ylabel('Displacement (m)');
hold off;
linkaxes([ax1, ax2]);
%% Integarted gyro yaw
linkaxes([ax1, ax2, ax3], 'x');
%% Error Graphs
figure;
plot(expData.Time.data, cumtrapz(expData.gyro_z.data + 0.0088)); hold on;
plot(expData.Time.data, expData.Yaw_Constant.data); hold on;
ax1 = subplot(2,1,1);
plot(expData.Time.data, expData.X_Setpoint_Constant.data - expData.OF_Integrate_X_Integrated.data);
title('X error');
ax2 = subplot(2,1,2);
plot(expData.Time.data, expData.Y_Setpoint_Constant.data - expData.OF_Integrate_Y_Integrated.data);
title('Y error');
%% Integarted gyro0.55 yaw
figure;
gyro_yaw = 0.005 * cumtrapz(expData.gyro_z.data + 0.0073);
plot(expData.Time.data, (180/pi) * gyro_yaw); hold on;
plot(expData.Time.data, expData.Yaw_Constant.data * 180/pi); hold on;
legend('Integrated gyro z', 'actual yaw');
ylabel('Yaw (degrees)');
xlabel('Time (s)');
%%
figure;
angleOffset = 0.62204 + gyro_yaw;
FlowVelX = expData.Flow_Vel_X_Constant.data.*cos(angleOffset) - expData.Flow_Vel_Y_Constant.data.*sin(angleOffset);
FlowVelY = expData.Flow_Vel_X_Constant.data.*sin(angleOffset) + expData.Flow_Vel_Y_Constant.data.*cos(angleOffset);
fc = 10;
FlowVelX = BiquadFilter(FlowVelX, 200, fc);
FlowVelY = BiquadFilter(FlowVelY, 200, fc);
flowX = zeros(1, length(expData.Time.data));
driftX = 0;
driftY = 0;
flowX(1) = expData.VRPN_X_Constant.data(1);
for n = 2:length(flowX)
flowX(n) = flowX(n-1) + 0.005*(FlowVelX(n) - driftX);
end
flowY = zeros(1, length(expData.Time.data));
flowY(1) = expData.VRPN_Y_Constant.data(1);
for n = 2:length(flowY)
flowY(n) = flowY(n-1) + 0.005*(FlowVelY(n) - driftY);
end
ax1 = subplot(2, 1, 1);
plot(expData.Time.data, flowX); hold on;
plot(expData.Time.data, expData.VRPN_X_Constant.data);
%legend('OF Integrated X Position');
legend('OF Integrated X', 'VRPN X');
%legend('OF Integrated X Position', 'Approximate Max X Position (measured with tape measure)');
xlabel('Time (s)');
ylabel('Position (m)');
hold off;
ax2 = subplot(2, 1, 2);
plot(expData.Time.data, flowY); hold on;
plot(expData.Time.data, expData.VRPN_Y_Constant.data);
%legend('OF Integrated Y Position');
legend('OF Integrated Y', 'VRPN Y');
%legend('OF Integrated Y Position', 'Approximate Max Y Position (measured with tape measure)');
xlabel('Time (s)');
ylabel('Position (m)');
hold off;
linkaxes([ax1 ax2]);
%%
figure;
ax1 = subplot(2, 1, 1);
plot(expData.Time.data, expData.Flow_Quality_Constant.data);
ax2 = subplot(2, 1, 2);
plot(expData.Time.data, expData.Lidar_Constant.data); hold on;
plot(expData.Time.data, expData.VRPN_Alt_Constant.data);
linkaxes([ax1 ax2], 'x');
%%
figure;
ax1 = subplot(3, 1, 1);
plot(expData.Time.data, expData.mag_x.data);
ax2 = subplot(3, 1, 2);
plot(expData.Time.data, expData.mag_y.data);
ax3 = subplot(3, 1, 3);
plot(expData.Time.data, expData.mag_z.data);
linkaxes([ax1 ax2 ax3], 'x');
%%
figure;
filtX = BiquadFilter(expData.mag_x.data+33.9844, 200, 1);
filtY = BiquadFilter(expData.mag_y.data-40.4922, 200, 1);
magYaw = atan2(-filtY, -filtX);
gyroYaw = cumtrapz(expData.gyro_z.data - 0.008) * 0.005;
ax1 = subplot(3, 1, 1);
plot(expData.Time.data, magYaw*180/pi);
ax2 = subplot(3, 1, 2);
plot(expData.Time.data, gyroYaw*180/pi);
ax3 = subplot(3, 1, 3);
plot(expData.Time.data, expData.Mag_Yaw_Constant.data*180/pi);
linkaxes([ax1 ax2 ax3], 'x');
%%
mag = expData.mag_z.data;
count = 0;
for n = 2:length(mag)
if mag(n) == mag(n-1)
count = count + 1;
if count >= 10
disp(['Stall detected at index ' num2str(n)]);
end
else
count = 0;
end
end
\ No newline at end of file
groundStation/scripts/parameterize.sh
+ 8
− 9
View file @ 7f855e01
cd ..
./addnode 0 "Zero"
./setparam "zero" 0 0
./setsource "signal mixer" "pitch" "zero" 0
./setsource "signal mixer" "roll" "zero" 0
./setsource "signal mixer" "yaw" "zero" 0
./addnode 0 "PWM_VAL"
./setparam "pwm_val" 0 100000
./setsource "signal mixer" "throttle" "pwm_val" 0
./setparam 'x pos pid' 0 -0.015
./setparam 'x pos pid' 1 -0.0075
./setparam 'x pos pid' 2 -0.08
./setparam 'x pos pid' 3 0.94
./setparam 'y pos pid' 0 0.015
./setparam 'y pos pid' 1 0.0075
./setparam 'y pos pid' 2 0.08
./setparam 'y pos pid' 3 0.94
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