diff --git a/controls/DataAnalysisTool/Tool/DataAnalysis.m b/controls/DataAnalysisTool/Tool/DataAnalysis.m
index 34834d0460e095c21808b0cc26c5d084546a9319..5cd77413d324f07efd498f48265e068b096ef1b3 100644
--- a/controls/DataAnalysisTool/Tool/DataAnalysis.m
+++ b/controls/DataAnalysisTool/Tool/DataAnalysis.m
@@ -8,14 +8,14 @@
% window.
%
%fname = 'sampleLogFileWithMarker.txt';
-fname = 'testies_v2.txt';
+fname = '';
% PLOTTING SWITCHES - set them to 0 or 1 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%
plot = 1; % to choose plotting
separatePlot = 1; % to generate separatePlots
multiPlot = 1; % to generate multiPlot
-subPlot = 0; % to generate subPlots
+subPlot = 1; % to generate subPlots
clearFigs = 0; % to close all the plots (needed only by the GUI)
% DATA TO PLOT %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -25,27 +25,28 @@ clearFigs = 0; % to close all the plots (needed only by the GUI)
% seperatePlots. If this is empty but "plot" switch is 1, all the columns
% will be plotted using seperatePlots.
%
-separateData = {'PID_roll_vel'};
+separateData = {'X pos PID_Correction', 'Altitude PID_Correction'};
% MULTIDATA
% write names of the data headers that you want to plot using multiPlots.
% If this is empty but "plot" switch is 1, the data headers in separateData
% will be plotted using multiPlots.
%
-multiData = {};
+multiData = {'X pos PID_Correction', 'Altitude PID_Correction'};
% SUBDATA
% write names of the data headers that you want to plot using subPlots.
% If this is empty but "plot" switch is 1, the data headers in multiData
% will be plotted using subPlots.
%
-subData = {};
+subData = {'X pos PID_Correction', 'Altitude PID_Correction'};
+
% COLOR FOR PLOTTING %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%
color = 'r'; % one character for color of the plotting line
marker = ''; % one character for the marker of the plotting line
-style = ':'; % one character for the style of the plotting line
+style = '-'; % one character for the style of the plotting line
backgnd = [1 1 1]; % rgb array for background color of the plot
@@ -94,10 +95,9 @@ expData = parse_log(params.file.pathName, params);
% plot the data accoriding to the plotting parameters set
%
plot_data(expData, params.plotting);
-
%% creating the main structure to be stored in the workspace %%%%%%%%%%%%%
%
-main.params = params;
-main.expData = expData;
-clearvars -except main;
-save main main;
\ No newline at end of file
+% main.params = params;
+% main.expData = expData;
+% clearvars -except main;
+% save main main;
\ No newline at end of file
diff --git a/controls/DataAnalysisTool/Tool/main.mat b/controls/DataAnalysisTool/Tool/main.mat
deleted file mode 100644
index 2385f3363d899a77037979f39fda9055a9a94454..0000000000000000000000000000000000000000
Binary files a/controls/DataAnalysisTool/Tool/main.mat and /dev/null differ
diff --git a/controls/DataAnalysisTool/Tool/parse_log.m b/controls/DataAnalysisTool/Tool/parse_log.m
index f265c9c849b881ba8452362518bed7b4106f994d..acdf40e77d7f1294c58d8c2a26c39a741cf382a9 100644
--- a/controls/DataAnalysisTool/Tool/parse_log.m
+++ b/controls/DataAnalysisTool/Tool/parse_log.m
@@ -43,6 +43,7 @@ identifier = string(1);
if (regexp(identifier,'%'))
foundHeaders = 1;
% this is a line of headers; extract headers:
+ string = strrep(string,' ', '_');
headers = strsplit(string);
headers{1} = strrep(headers{1},'%', '');
numOfHeaders = length(headers);
@@ -126,17 +127,20 @@ if exist('params', 'var')
end
else
for i = 1:length(params.plotting.separateData)
+ params.plotting.separateData{i} = strrep(params.plotting.separateData{i},' ', '_');
eval(['loggedData.' params.plotting.separateData{i} '.params.plot = 1;']);
end
end
else
for i = 1:length(params.plotting.multiData)
+ params.plotting.multiData{i} = strrep(params.plotting.multiData{i},' ', '_');
eval(['loggedData.' params.plotting.multiData{i} '.params.plot = 1;']);
end
end
else
for i = 1:length(params.plotting.subData)
+ params.plotting.subData{i} = strrep(params.plotting.subData{i},' ', '_');
eval(['loggedData.' params.plotting.subData{i} '.params.plot = 1;']);
end
end
@@ -150,11 +154,13 @@ if exist('params', 'var')
end
else
for i = 1:length(params.plotting.separateData)
+ params.plotting.separateData{i} = strrep(params.plotting.separateData{i},' ', '_');
eval(['loggedData.' params.plotting.separateData{i} '.params.plot = 1;']);
end
end
else
for i = 1:length(params.plotting.multiData)
+ params.plotting.multiData{i} = strrep(params.plotting.multiData{i},' ', '_');
eval(['loggedData.' params.plotting.multiData{i} '.params.plot = 1;']);
end
end
@@ -167,6 +173,7 @@ if exist('params', 'var')
end
else
for i = 1:length(params.plotting.separateData)
+ params.plotting.separateData{i} = strrep(params.plotting.separateData{i},' ', '_');
eval(['loggedData.' params.plotting.separateData{i} '.params.plot = 1;']);
end
end
diff --git a/controls/DataAnalysisTool/Tool/plot_data.m b/controls/DataAnalysisTool/Tool/plot_data.m
index ea7fd3410c23971dde2515f85c6fb0e0821de0c7..31119a99856a6d0732138d7d2b6b8a1b3943dd8c 100644
--- a/controls/DataAnalysisTool/Tool/plot_data.m
+++ b/controls/DataAnalysisTool/Tool/plot_data.m
@@ -6,6 +6,8 @@ function plot_data(expData, plotParams)
% check plotting switch
if (~plotParams.plot)
disp('No plotting');
+elseif(~plotParams.multiPlot && ~plotParams.subPlot && ~plotParams.separatePlot)
+ disp('No plotting, select a plotting style');
else
%% check separate plotting switch
if(plotParams.separatePlot)
@@ -74,7 +76,7 @@ else
if(isempty(plotParams.subData)) % if none mentioned, use headers mentioned for multi plotting
if(isempty(plotParams.multiData)) % if no headers mentioned for multi plotting, use headers mentioned for separate plotting
if(isempty(plotParams.separateData)) % if no headers mentioned for separate plotting, use all of the headers
- headers = fieldNames(expData);
+ headers = fieldnames(expData);
else
headers = plotParams.separateData;
end
diff --git a/controls/DataAnalysisTool/Tool/plot_multi.m b/controls/DataAnalysisTool/Tool/plot_multi.m
index d63c9df36fddf81cefcee997e480e8ade2c3a38f..15bdcab7a569ffbd1849803bab754c20f73e9dc7 100644
--- a/controls/DataAnalysisTool/Tool/plot_multi.m
+++ b/controls/DataAnalysisTool/Tool/plot_multi.m
@@ -13,6 +13,7 @@ function plot_multi(expData, useMarker, varargin)
numOfHeaders = 0;
headers = {};
for i = 1:length(varargin)
+ varargin{i} = strrep(varargin{i},' ', '_');
if(~isPlotCharString(varargin{i}))
numOfHeaders = numOfHeaders + 1;
headers{numOfHeaders} = varargin{i};
@@ -144,13 +145,15 @@ for i = 1:numOfHeaders
end
end
-ylabel(yAxisLabel);
+ylabel(yAxisLabel,'Interpreter', 'none');
% constructing statement for inserting the legend
-legendString = ['legend('''];
+legendString = ['legend('];
for i = 1:numOfHeaders
if(i == numOfHeaders)
- legendString = strcat(legendString,headers{i},''',''Location'',''NorthWest'');');
+ legendString = strcat(legendString,headers{i},'''}',',''Interpreter'',''none'',''Location'',''NorthWest'');');
+ elseif(i == 1)
+ legendString = strcat(legendString,'{''',headers{i},''',''');
else
legendString = strcat(legendString,headers{i},''',''');
end
diff --git a/controls/DataAnalysisTool/Tool/plot_separate.m b/controls/DataAnalysisTool/Tool/plot_separate.m
index 21258d6dacefad42184b8a649f738b7d9a5ee11a..c429b4ff17362bc559876c67cfb79bf3e2e27ab0 100644
--- a/controls/DataAnalysisTool/Tool/plot_separate.m
+++ b/controls/DataAnalysisTool/Tool/plot_separate.m
@@ -25,6 +25,7 @@ end
% bulding the plot statement that will be executed
for i = 1:length(varargin)
+ varargin{i} = strrep(varargin{i},' ', '_');
dataHeader = varargin{i};
% continue to next iteration if current argument is a plotting character string
@@ -49,19 +50,19 @@ for i = 1:length(varargin)
plotCharString = buildPlotCharString(eval(['expData.' dataHeader '.params']));
plotString = strcat(plotString,',''', plotCharString, ''');');
end
-
+
% plotting data and making it look good
figure;
whitebg(gcf,eval(['expData.' dataHeader '.params.backgnd'])); % setting background
eval(plotString); % plotting
- title(dataHeader); % setting title
+ title(dataHeader, 'Interpreter', 'none'); % setting title
xlabel(['Time (' time.unit ')']); % setting the x-axis label
if(eval(['isempty(expData.' dataHeader '.unit)']))
yAxisLabel = dataHeader;
else
yAxisLabel = [dataHeader ' (' eval(['expData.' dataHeader '.unit']) ')'];
end
- ylabel(yAxisLabel); % setting y-axis label
+ ylabel(yAxisLabel,'Interpreter', 'none'); % setting y-axis label
xlim([0, time.data(end)]); % setting x-axis limits
grid ON; % setting grid lines on the graph
% adding markers
diff --git a/controls/DataAnalysisTool/Tool/plot_sub.m b/controls/DataAnalysisTool/Tool/plot_sub.m
index f91b59e2ff472dc38a39ed3575176a7a6c291f00..e088eb2c4724994f7369281e749a62710c894b76 100644
--- a/controls/DataAnalysisTool/Tool/plot_sub.m
+++ b/controls/DataAnalysisTool/Tool/plot_sub.m
@@ -41,6 +41,8 @@ for i = 1:length(varargin)
continue;
end
+ varargin{i} = strrep(varargin{i},' ', '_');
+
% keeping track of the number of headers
currHeaderIndex = currHeaderIndex + 1;
@@ -75,14 +77,14 @@ for i = 1:length(varargin)
%% plotting data and making it look pretty
eval(plotString);
- title(varargin{i});
+ title(varargin{i},'Interpreter','none');
xlabel(['Time (' time.unit ')']);
if(eval(['isempty(expData.' varargin{i} '.unit)']))
yAxisLabel = varargin{i};
else
yAxisLabel = [varargin{i} ' (' eval(['expData.' varargin{i} '.unit']) ')'];
end
- ylabel(yAxisLabel);
+ ylabel(yAxisLabel,'Interpreter','none');
xlim([0,time.data(end)]);
grid ON;
set(gca,'Color',eval(['expData.' varargin{i} '.params.backgnd']));
diff --git a/controls/model/c_controller.c b/controls/model/c_controller.c
index 6bcee0997d9c72199d6983b738bac881478fdbe6..aff3ffbc6aad17c2751048c88c508d7834d74399 100644
--- a/controls/model/c_controller.c
+++ b/controls/model/c_controller.c
@@ -1,6 +1,6 @@
#include "c_controller.h"
-#include "quad_files/control_algorithm.c"
-#include "quad_files/computation_graph.c"
+#include "control_algorithm.c"
+#include "computation_graph.c"
double c_controller(int vrpn_id, double vrpn_ts, double set_x, double set_y, double set_z, double set_yaw,
double cur_x, double cur_y, double cur_z,
double cur_phi, double cur_theta, double cur_psi,
diff --git a/controls/model/c_controller.h b/controls/model/c_controller.h
index e53b1a508409d70211a99fe6ba6de76e092ae7a5..4cf3a88f751129dd1777898ae599358964d012e5 100644
--- a/controls/model/c_controller.h
+++ b/controls/model/c_controller.h
@@ -1,12 +1,12 @@
#ifndef C_CONTROLLER_H
#define C_CONTROLLER_H
-#include "quad_files/computation_graph.h"
-#include "quad_files/graph_blocks/node_pid.h"
-#include "quad_files/graph_blocks/node_bounds.h"
-#include "quad_files/graph_blocks/node_constant.h"
-#include "quad_files/graph_blocks/node_mixer.h"
-#include "quad_files/PID.h"
-#include "quad_files/control_algorithm.h"
+#include "computation_graph.h"
+#include "node_pid.h"
+#include "node_bounds.h"
+#include "node_constant.h"
+#include "node_mixer.h"
+#include "PID.h"
+#include "control_algorithm.h"
double c_controller(int vrpn_id, double vrpn_ts, double set_x, double set_y, double set_z, double set_yaw,
double cur_x, double cur_y, double cur_z,
diff --git a/controls/model/loggingAnalysis/logAnalysis.m b/controls/model/loggingAnalysis/logAnalysis.m
index ae48f90734c220bf920b8367ca5fca88411d84c7..e1ba18ae230e9a3641771d0879861cb59a09f734 100644
--- a/controls/model/loggingAnalysis/logAnalysis.m
+++ b/controls/model/loggingAnalysis/logAnalysis.m
@@ -32,10 +32,10 @@ yaw_command_model_data = yaw_command_model.signals.values(indices_40ms);
yaw_value_model_data = yaw_value_model.signals.values(indices_40ms);
% Pull duty cycle commands from model
-PWM0_model = motorCommands.signals.values(indices_40ms, 1);
-PWM1_model = motorCommands.signals.values(indices_40ms, 2);
-PWM2_model = motorCommands.signals.values(indices_40ms, 3);
-PWM3_model = motorCommands.signals.values(indices_40ms, 4);
+PWM0_model = motorCommands.signals.values(indices_5ms, 1);
+PWM1_model = motorCommands.signals.values(indices_5ms, 2);
+PWM2_model = motorCommands.signals.values(indices_5ms, 3);
+PWM3_model = motorCommands.signals.values(indices_5ms, 4);
%% Plot x control structure
@@ -165,7 +165,7 @@ legend('Log', 'Model', 'location', 'northwest');
%% Plot PWM Commands
figure(5); subplot(2, 2, 1);
stairs(time, PWM0,'.-'); hold on; grid minor;
-stairs(time_model_40ms, PWM0_model, '.-'); hold off;
+stairs(time_model_5ms, PWM0_model, '.-'); hold off;
title('PWM0 Value');
xlabel('Time (s)');
ylabel('PWM0 Command');
@@ -173,7 +173,7 @@ legend('Log', 'Model', 'location', 'northwest');
subplot(2, 2, 2);
stairs(time, PWM1,'.-'); hold on; grid minor;
-stairs(time_model_40ms, PWM1_model, '.-'); hold off;
+stairs(time_model_5ms, PWM1_model, '.-'); hold off;
title('PWM1 Value');
xlabel('Time (s)');
ylabel('PWM1 Command');
@@ -181,7 +181,7 @@ legend('Log', 'Model', 'location', 'northwest');
subplot(2, 2, 3);
stairs(time, PWM2,'.-'); hold on; grid minor;
-stairs(time_model_40ms, PWM2_model, '.-'); hold off;
+stairs(time_model_5ms, PWM2_model, '.-'); hold off;
title('PWM2 Value');
xlabel('Time (s)');
ylabel('PWM2 Command');
@@ -189,7 +189,7 @@ legend('Log', 'Model', 'location', 'northwest');
subplot(2, 2, 4);
stairs(time, PWM3,'.-'); hold on; grid minor;
-stairs(time_model_40ms, PWM3_model, '.-'); hold off;
+stairs(time_model_5ms, PWM3_model, '.-'); hold off;
title('PWM3 Value');
xlabel('Time (s)');
ylabel('PWM3 Command');
diff --git a/controls/model/modelParameters.m b/controls/model/modelParameters.m
index 97115a7c498158b6e5d7765cb3de075772fee193..bda6e93514a28d95838ee3a62e6ded80d694facf 100644
--- a/controls/model/modelParameters.m
+++ b/controls/model/modelParameters.m
@@ -1,4 +1,4 @@
-temp = 0;
+temp = 1;
% Log Analysis Toggle
logAnalysisToggle = 1; % 1 for log analysis, 0 for normal operation
@@ -181,7 +181,7 @@ elseif logAnalysisToggle == 1 && temp == 1
% window.
%
%fname = 'sampleLogFile.txt';
- fname = 'sampleLogFile.txt';
+ fname = '';
fpath = '';
if(isempty(fname))
@@ -208,8 +208,8 @@ elseif logAnalysisToggle == 1 && temp == 1
y_error = timeseries(y_setpoint - y_position, time);
% Determine z position error
- z_setpoint = dataStruct.Z_Setpoint_Constant.data;
- z_position = dataStruct.VRPN_Z_Constant.data;
+ z_setpoint = dataStruct.Alt_Setpoint_Constant.data;
+ z_position = dataStruct.VRPN_Alt_Constant.data;
z_error = timeseries(z_setpoint - z_position, time);
% Determine pitch error
@@ -243,10 +243,10 @@ elseif logAnalysisToggle == 1 && temp == 1
yawrate_error = timeseries(yawrate_setpoint - yawrate_value, time);
% Pull motor commands from log
- x_command = dataStruct.Pitch_Rate_PID_Correction;
- y_command = dataStruct.Roll_Rate_PID_Correction;
- z_command = dataStruct.Altitude_PID_Correction;
- yaw_command = dataStruct.Yaw_Rate_PID_Correction;
+ x_command = dataStruct.Pitch_Rate_PID_Correction.data;
+ y_command = dataStruct.Roll_Rate_PID_Correction.data;
+ z_command = dataStruct.Altitude_PID_Correction.data;
+ yaw_command = dataStruct.Yaw_Rate_PID_Correction.data;
% Determine signal mix PWM values
PWM0 = dataStruct.Signal_Mixer_PWM_0.data;
diff --git a/controls/model/parse_log_model.m b/controls/model/parse_log_model.m
index 9fba92fa6d0d3d670370b06a035fd9ee802698d2..59aef835bd0d5077e9619b7c02880a8390d95643 100644
--- a/controls/model/parse_log_model.m
+++ b/controls/model/parse_log_model.m
@@ -43,6 +43,7 @@ identifier = string(1);
if (regexp(identifier,'%'))
foundHeaders = 1;
% this is a line of headers; extract headers:
+ string = strrep(string,' ', '_');
headers = strsplit(string);
headers{1} = strrep(headers{1},'%', '');
numOfHeaders = length(headers);
@@ -106,6 +107,5 @@ for i = 1:numOfHeaders
end
-
end
diff --git a/controls/model/quad_files/.gitignore b/controls/model/quad_files/.gitignore
deleted file mode 100644
index 1c4bc674e912af84e9c6bed639cd5780a68b7846..0000000000000000000000000000000000000000
--- a/controls/model/quad_files/.gitignore
+++ /dev/null
@@ -1,3 +0,0 @@
-# Don't track the copied files here
-*.h
-*.c
\ No newline at end of file
diff --git a/controls/model/quad_files/copy_files.bat b/controls/model/quad_files/copy_files.bat
deleted file mode 100644
index bd5f65861b103ddaf3b761a47c9bc584bb35b50b..0000000000000000000000000000000000000000
--- a/controls/model/quad_files/copy_files.bat
+++ /dev/null
@@ -1,27 +0,0 @@
-copy ..\..\..\quad\computation_graph\src\computation_graph.c computation_graph.c
-copy ..\..\..\quad\computation_graph\src\computation_graph.h computation_graph.h
-
-copy ..\..\..\quad\sw\modular_quad_pid\src\control_algorithm.h control_algorithm.h
-copy ..\..\..\quad\sw\modular_quad_pid\src\control_algorithm.c control_algorithm.c
-
-copy ..\..\..\quad\sw\modular_quad_pid\src\PID.h PID.h
-copy ..\..\..\quad\sw\modular_quad_pid\src\type_def.h type_def.h
-copy ..\..\..\quad\sw\modular_quad_pid\src\sensor_processing.h sensor_processing.h
-copy ..\..\..\quad\sw\modular_quad_pid\src\log_data.h log_data.h
-copy ..\..\..\quad\sw\modular_quad_pid\src\quadposition.h quadposition.h
-copy ..\..\..\quad\sw\modular_quad_pid\src\util.h util.h
-copy ..\..\..\quad\sw\modular_quad_pid\src\timer.h timer.h
-copy ..\..\..\groundStation\src\backend\commands.h commands.h
-copy ..\..\..\groundStation\src\backend\callbacks.h callbacks.h
-
-mkdir graph_blocks
-copy ..\..\..\quad\computation_graph\src\graph_blocks\node_constant.h graph_blocks\node_constant.h
-copy ..\..\..\quad\computation_graph\src\graph_blocks\node_constant.c graph_blocks\node_constant.c
-copy ..\..\..\quad\computation_graph\src\graph_blocks\node_add.h graph_blocks\node_add.h
-copy ..\..\..\quad\computation_graph\src\graph_blocks\node_add.c graph_blocks\node_add.c
-copy ..\..\..\quad\sw\modular_quad_pid\src\graph_blocks\node_mixer.c graph_blocks\node_mixer.c
-copy ..\..\..\quad\sw\modular_quad_pid\src\graph_blocks\node_mixer.h graph_blocks\node_mixer.h
-copy ..\..\..\quad\sw\modular_quad_pid\src\graph_blocks\node_pid.c graph_blocks\node_pid.c
-copy ..\..\..\quad\sw\modular_quad_pid\src\graph_blocks\node_pid.h graph_blocks\node_pid.h
-copy ..\..\..\quad\sw\modular_quad_pid\src\graph_blocks\node_bounds.c graph_blocks\node_bounds.c
-copy ..\..\..\quad\sw\modular_quad_pid\src\graph_blocks\node_bounds.h graph_blocks\node_bounds.h
\ No newline at end of file
diff --git a/controls/model/test_model.slx b/controls/model/test_model.slx
index 56975e7eba373b73a005d9451ddcb553bd36f882..93229cbac59b18930c7e4a1158b9e2f6c53bb53c 100644
Binary files a/controls/model/test_model.slx and b/controls/model/test_model.slx differ