diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
new file mode 100644
index 0000000000000000000000000000000000000000..eab7b9165e2d8f45dab2bcc436224e03f7bf2795
--- /dev/null
+++ b/.gitlab-ci.yml
@@ -0,0 +1,16 @@
+# This file is a template, and might need editing before it works on your project.
+# use the official gcc image, based on debian
+# can use verions as well, like gcc:5.2
+# see https://hub.docker.com/_/gcc/
+image: gcc
+
+build:
+ stage: build
+ script:
+ - echo "It works."
+
+# run tests using the binary built before
+test:
+ stage: test
+ script:
+ - echo "Running tests."
diff --git a/controls/DataAnalysisTool/SupportFiles/Data_Analysis_Tool_Overview.pdf b/controls/DataAnalysisTool/SupportFiles/Data_Analysis_Tool_Overview.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..786cf9f166eb1969e41152e8304db8bc4ebac168
Binary files /dev/null and b/controls/DataAnalysisTool/SupportFiles/Data_Analysis_Tool_Overview.pdf differ
diff --git a/controls/DataAnalysisTool/SupportFiles/GUI_Guide.pdf b/controls/DataAnalysisTool/SupportFiles/GUI_Guide.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..8e7c74c5e6968f5ee9ff32a260506b9ff1c466ab
Binary files /dev/null and b/controls/DataAnalysisTool/SupportFiles/GUI_Guide.pdf differ
diff --git a/controls/DataAnalysisTool/SupportFiles/cam_sys_data_load.m b/controls/DataAnalysisTool/SupportFiles/cam_sys_data_load.m
new file mode 100644
index 0000000000000000000000000000000000000000..1e63c772c52921f5d35e34843c43ffec06403fdd
--- /dev/null
+++ b/controls/DataAnalysisTool/SupportFiles/cam_sys_data_load.m
@@ -0,0 +1,79 @@
+function [] = cam_sys_data_load( varargin )
+%cam_sys_data_load(...)
+%
+% USE:
+%
+% Produces a structure containing the time data, x axis position, y axis
+% position, z axis position, roll Euler angle, pitch Euler angle, and yaw
+% Euler angle for each CSV file produced by Optitrack Tracking Tools
+% contained in a given directory.
+%
+% SYNTAX:
+%
+% cam_sys_data_load( path )
+%
+% Optional Inputs:
+%
+% path is a string containing the name of the directory containing the
+% CSV files to be read in. If this argument is not included, the user
+% will be prompted to choose a director through a GUI menu.
+%
+% Outputs:
+%
+% One or more instances of a structure containing vectors for time,
+% position and orientation. For an output structure called data:
+% data.t (time stamp vector)
+% data.x (x axis position vector)
+% data.y (y axis position vector)
+% data.z (z axis position vector)
+% data.phi (roll Euler angle vector)
+% data.theta (pitch Euler angle vector)
+% data.psi (yaw Euler angle vector)
+%
+% ***The structure names will generally be the same as the CSV file
+% names, unless the file name is not a valid MATLAB variable name in
+% which case it will be renamed data#, where # will be the index
+% where the file would appear in the result of a dir or ls command.
+%
+% AUTHOR(s):
+%
+% Matt Rich
+% Graduate Student
+% Electrical and Computer Engineering Department
+% Iowa State University
+% m87rich@iastate.edu
+%
+% LAST MODIFIED:
+%
+% 13-Mar-2012 (Matt Rich) : initial creation
+%
+%
+
+if isempty(varargin)
+ path = uigetdir('.','Choose a directory containing the Optitrack CSV files you want to load.');
+else
+ path = varargin{end};
+end
+
+files = dir(path);
+
+fileIndex = find(~[files.isdir]);
+
+for k = 1:length(fileIndex)
+ fileName = files(fileIndex(k)).name;
+
+ if strcmpi('.csv',fileName(end-3:end))
+ if isvarname(fileName(1:end-4))
+ assignin('base',fileName(1:end-4),cam_sys_data_read([path,'\',fileName]));
+ else
+ assignin('base',['data',num2str(k)],cam_sys_data_read([path,'\',fileName]));
+ disp([fileName(1:end-4),' has been renamed data',num2str(k),...
+ ' in order to be a valid MATLAB variable name.']);
+ end
+ else
+ disp([fileName,' not loaded since it is not a CSV file.']);
+ end
+end
+
+end
+
diff --git a/controls/DataAnalysisTool/SupportFiles/cam_sys_data_read.m b/controls/DataAnalysisTool/SupportFiles/cam_sys_data_read.m
new file mode 100644
index 0000000000000000000000000000000000000000..a576e71c17a6e32631eaaf0ee097a4e7afd7dce5
--- /dev/null
+++ b/controls/DataAnalysisTool/SupportFiles/cam_sys_data_read.m
@@ -0,0 +1,75 @@
+function data = cam_sys_data_read(filename)
+%cam_sys_data_read(...)
+%
+% USE:
+%
+% Produces a structure containing the time data, x axis position, y axis
+% position, z axis position, roll Euler angle, pitch Euler angle, and yaw
+% Euler angle from a CSV file produced by Optitrack Tracking Tools.
+%
+% SYNTAX:
+%
+% data = cam_sys_data_read(filename)
+%
+% Inputs:
+%
+% filename is a string containing the name of the CSV file to be read in
+%
+% Outputs:
+%
+% data is a structure containing vectors for time, position and
+% orientation:
+% data.t (time stamp)
+% data.x (x axis position)
+% data.y (y axis position)
+% data.z (z axis position)
+% data.phi (roll Euler angle *(as reported by Tracking Tools))
+% data.theta (pitch Euler angle *(as reported by Tracking Tools))
+% data.psi (yaw Euler angle *(as reported by Tracking Tools))
+% data.qx = 1st quaternion component
+% data.qy = 1st quaternion component
+% data.qz = 1st quaternion component
+% data.qw = 1st quaternion component
+%
+% *The Euler Angles reported by Tracking Tools may be incorrect
+% depending on the setup of the axes. As of 3-14-13, they are
+% incorrect since the axes are set up to provide the correct
+% information for the VRPN decoding of the MicroCART base station
+% software, which assumes a Yaw-Pitch-Roll sequence of rotations.
+% The quaternions can be used to obtain the correct Euler angles if
+% the rotation sequence is known.
+%
+%
+% AUTHOR(s):
+%
+% Matt Rich
+% Graduate Student
+% Electrical and Computer Engineering Department
+% Iowa State University
+% m87rich@iastate.edu
+%
+% LAST MODIFIED:
+%
+% 13-Mar-2012 (Matt Rich) : initial creation
+% 14-Mar-2013 (Matt Rich) : added quaternion extraction
+%
+%
+
+[num,txt,raw] = xlsread(filename);
+
+data.t = raw(45:end,3); data.t = [data.t{1:2:end}];
+
+data.x = raw(45:end,6); data.x = [data.x{1:2:end}];
+data.y = raw(45:end,7); data.y = [data.y{1:2:end}];
+data.z = raw(45:end,8); data.z = [data.z{1:2:end}];
+
+data.psi = raw(45:end,13); data.psi = [data.psi{1:2:end}];
+data.theta = raw(45:end,14); data.theta = [data.theta{1:2:end}];
+data.phi = raw(45:end,15); data.phi = [data.phi{1:2:end}];
+
+data.qx = raw(45:end,9); data.qx = [data.qx{1:2:end}];
+data.qy = raw(45:end,10); data.qy = [data.qy{1:2:end}];
+data.qz = raw(45:end,11); data.qz = [data.qz{1:2:end}];
+data.qw = raw(45:end,12); data.qw = [data.qw{1:2:end}];
+
+end
diff --git a/controls/DataAnalysisTool/SupportFiles/sampleLogFile.txt b/controls/DataAnalysisTool/SupportFiles/sampleLogFile.txt
new file mode 100644
index 0000000000000000000000000000000000000000..01145fe05140eff19ea7565ef62be84a56f6553e
--- /dev/null
+++ b/controls/DataAnalysisTool/SupportFiles/sampleLogFile.txt
@@ -0,0 +1,745 @@
+#
+#**********************************************
+#Custom Header:::::
+#Settings: x y z
+#Constants: 1 2 3
+#Contents will be printed to MATLAB terminal
+#**********************************************
+#
+#▼▼▼▼ - Time must be included for parser to work properly needs to be exactly the following string: 'Time'
+%Time Lat Lon Alt Roll Pitch Yaw PIDpitchIn PIDpitchOut setThrottle matrixInPitch Motor_1 Motor_3
+&ms m1/1300 m2/1300 m3/1300 m4/1300 degrees degrees degrees degrees dM/13 dM/13 dM/13 dM/13
+ 0 +0.1306 +0.3377 +1.4709 +0.28 +3.48 -0.03 0.00 2606.05 0.00 434.34 0 1300
+ 7 +0.1306 +0.3377 +1.4709 +0.28 +3.48 -0.03 0.00 2606.05 0.00 434.34 0 1300
+ 11 +0.1303 +0.3380 +1.4709 +0.30 +3.53 +0.00 0.00 155.69 0.00 25.95 0 325
+ 15 +0.1303 +0.3380 +1.4709 +0.30 +3.53 +0.00 0.00 155.69 0.00 25.95 0 325
+ 20 +0.1299 +0.3383 +1.4709 +0.32 +3.58 +0.02 0.00 161.83 0.00 26.97 0 338
+ 25 +0.1299 +0.3383 +1.4709 +0.32 +3.58 +0.02 0.00 161.83 0.00 26.97 0 338
+ 30 +0.1296 +0.3387 +1.4709 +0.41 +3.65 +0.01 0.00 170.86 0.00 28.48 0 364
+ 35 +0.1296 +0.3387 +1.4709 +0.41 +3.65 +0.01 0.00 170.86 0.00 28.48 0 364
+ 40 +0.1292 +0.3389 +1.4709 +0.42 +3.69 +0.02 0.00 160.27 0.00 26.71 0 338
+ 45 +0.1292 +0.3389 +1.4709 +0.42 +3.69 +0.02 0.00 160.27 0.00 26.71 0 338
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+ 90 +0.1271 +0.3390 +1.4707 +0.38 +3.91 +0.02 0.00 166.78 0.00 27.80 0 351
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diff --git a/controls/DataAnalysisTool/SupportFiles/sampleLogFile2.txt b/controls/DataAnalysisTool/SupportFiles/sampleLogFile2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c1aecf1afc77cad49123e9c90610c2efbc533e20
--- /dev/null
+++ b/controls/DataAnalysisTool/SupportFiles/sampleLogFile2.txt
@@ -0,0 +1,16 @@
+#
+#**********************************************
+#Custom Header:::::
+#Settings: x y z
+#Constants: 1 2 3
+#Contents will be printed to MATLAB terminal
+#**********************************************
+#
+#▼▼▼▼ - Time must be included for parser to work properly needs to be exactly the following string: 'Time'
+%Time Header1 Header2 Header3 Header4 b
+&sec Unit1 Unit2 Unit3 Unit4 b
+1 1 1 100 0 0
+2 1 2 80 .5 -1
+3 1 3 60 1 1
+4 1 4 40 .5 -.5
+5 1 5 20 0 0
diff --git a/controls/DataAnalysisTool/SupportFiles/sampleLogFileMarkers.txt b/controls/DataAnalysisTool/SupportFiles/sampleLogFileMarkers.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6978517106b050406f8b3a47582216fff4c35152
--- /dev/null
+++ b/controls/DataAnalysisTool/SupportFiles/sampleLogFileMarkers.txt
@@ -0,0 +1,1558 @@
+#Constants pitch_P pitch_I pitch_D
+#PIDValues 1650 3 550
+#Constants roll_P roll_I roll_D
+#PIDValues 1650 3 550
+%Time Marker Motor_1 Motor_2 Motor_3 Motor_4 Pitch Pitch_err Pitch_pid_p Pitch_pid_d Roll Roll_err Roll_pid_p Roll_pid_d
+&sec Marker %thrust %thrust %thrust %thrust degrees degrees degrees degrees degrees degrees degrees degrees
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+7446.860169 17 56000 56000 26000 26000 -7.734453 7.734453 222.736265 -18.964708 -76.057831 76.057831 2190.308297 152.130723
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+7446.980190 17 56000 56000 26000 26000 -7.677668 7.677668 221.100964 58.495551 -76.774400 76.774400 2210.943997 81.281066
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+7447.000183 17 56000 56000 26000 26000 -7.599085 7.599085 218.837935 -19.946545 -76.897022 76.897022 2214.475268 64.830780
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+7447.020112 17 56000 56000 26000 26000 -7.596239 7.596239 218.755987 17.032176 -76.928933 76.928933 2215.394229 -16.896129
+7447.030188 17 56000 56000 26000 26000 -7.613742 7.613742 219.260044 16.801879 -76.971055 76.971055 2216.607249 40.434003
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+7447.710420 17 56000 56000 26000 26000 -7.470272 7.470272 215.128385 -68.991706 -81.270877 81.270877 2340.433252 84.441304
+7447.720336 17 56000 56000 26000 26000 -20.659176 20.659176 594.941555 12660.439014 -78.186822 78.186822 2251.618820 -2960.481048
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+7447.740367 17 56000 56000 26000 26000 -7.340605 7.340605 211.394247 -441.960469 -81.645739 81.645739 2351.228482 257.264376
diff --git a/controls/DataAnalysisTool/SupportFiles/sampleLogFileWunits.txt b/controls/DataAnalysisTool/SupportFiles/sampleLogFileWunits.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0a911b6111d75835b4eb6510c55bdfd4e04be88a
--- /dev/null
+++ b/controls/DataAnalysisTool/SupportFiles/sampleLogFileWunits.txt
@@ -0,0 +1,518 @@
+#Constants pitch_P pitch_I pitch_D
+#PIDValues 1500 0 50
+#Constants roll_P roll_I roll_D
+#PIDValues 0 0 0
+&ms m1/1300 m2/1300 m3/1300 m4/1300 degrees degrees degrees degrees dM/13 dM/13 dM/13 dM/13
+%Time Motor_1 Motor_2 Motor_3 Motor_4 Pitch Roll pit_err rol_err pPID_p dPID_p pPID_r dPID_r
+0 0 0 0 0 0 0 0 0 0 0 0 0
+1 0 0 0 0 180 90 0 0 0 0 0 0
+2 0 0 0 0 45 108 0 0 0 0 0 0
+3 1300 650 1300 650 45 108 0 0 0 0 0 0
+4 910 910 910 910 -68.7173 -6.58024 0 0 0 0 0 0
+5 910 910 910 910 -68.7145 -6.57418 0 0 0 0 0 0
+6 910 910 910 910 -68.7136 -6.55742 0 0 0 0 0 0
+7 910 910 910 910 -68.7104 -6.57143 0 0 0 0 0 0
+8 910 910 910 910 -68.7173 -6.58513 0 0 0 0 0 0
+9 910 910 910 910 -68.7105 -6.59821 0 0 0 0 0 0
+10 910 910 910 910 -68.7093 -6.58017 0 0 0 0 0 0
+11 910 910 910 910 -68.7156 -6.57196 0 0 0 0 0 0
+12 910 910 910 910 -68.7112 -6.60286 0 0 0 0 0 0
+13 910 910 910 910 -68.7201 -6.5617 0 0 0 0 0 0
+14 910 910 910 910 -68.7108 -6.58283 0 0 0 0 0 0
+15 910 910 910 910 -68.7195 -6.5686 0 0 0 0 0 0
+16 910 910 910 910 -68.7142 -6.56762 0 0 0 0 0 0
+17 910 910 910 910 -68.7143 -6.57921 0 0 0 0 0 0
+18 910 910 910 910 -68.717 -6.58228 0 0 0 0 0 0
+19 910 910 910 910 -68.7133 -6.56944 0 0 0 0 0 0
+20 910 910 910 910 -68.7122 -6.59382 0 0 0 0 0 0
+21 910 910 910 910 -68.7156 -6.56864 0 0 0 0 0 0
+22 910 910 910 910 -68.7165 -6.57375 0 0 0 0 0 0
+23 910 910 910 910 -68.7064 -6.58956 0 0 0 0 0 0
+24 910 910 910 910 -68.7106 -6.57736 0 0 0 0 0 0
+25 910 910 910 910 -68.7102 -6.57218 0 0 0 0 0 0
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diff --git a/controls/DataAnalysisTool/Tool/DataAnalysis.m b/controls/DataAnalysisTool/Tool/DataAnalysis.m
new file mode 100644
index 0000000000000000000000000000000000000000..34834d0460e095c21808b0cc26c5d084546a9319
--- /dev/null
+++ b/controls/DataAnalysisTool/Tool/DataAnalysis.m
@@ -0,0 +1,103 @@
+%% ANALYSIS CONFIGURATION OPTIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% Modify your analysis configuration options here
+
+% FNAME %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% if you know the name of the log file that you want to parse, set the it
+% here only if it is in the working directory. Otherwise, you may leave it
+% blank. You will be able to choose the file to parse through an explorer
+% window.
+%
+%fname = 'sampleLogFileWithMarker.txt';
+fname = 'testies_v2.txt';
+
+% 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
+clearFigs = 0; % to close all the plots (needed only by the GUI)
+
+% DATA TO PLOT %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+%
+% SEPARATEDATA
+% write names of the data headers that you want to plot using
+% seperatePlots. If this is empty but "plot" switch is 1, all the columns
+% will be plotted using seperatePlots.
+%
+separateData = {'PID_roll_vel'};
+
+% 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 = {};
+
+% 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 = {};
+
+% 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
+backgnd = [1 1 1]; % rgb array for background color of the plot
+
+
+%% DO NOT MODIFY %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+fpath = '';
+if(isempty(fname))
+ [fname, fpath] = uigetfile('.txt','Select log file');
+end
+
+% storing file options in the structure
+params.file.name = fname; % file name only
+params.file.path = fpath; % file path only
+params.file.pathName = [fpath fname]; % file path with file name
+
+
+% storing plotting parameters in the structure
+params.plotting.plot = plot;
+params.plotting.separatePlot = separatePlot;
+params.plotting.multiPlot = multiPlot;
+params.plotting.subPlot = subPlot;
+params.plotting.clearFigs = clearFigs;
+
+% storing plotting data in the structure
+params.plotting.separateData = separateData;
+params.plotting.multiData = multiData;
+params.plotting.subData = subData;
+
+% storing colors for plotting in the struture
+params.plotting.color = color;
+params.plotting.marker = marker;
+params.plotting.style = style;
+params.plotting.backgnd = backgnd;
+
+% saving params into a file
+%save params params;
+
+% DO NOT MODIFY - END
+%% parsing the log file specified %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% parse the log and instantiate the data structure, expData
+%
+expData = parse_log(params.file.pathName, params);
+
+%save expData expData;
+
+%% plotting routines %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% 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
diff --git a/controls/DataAnalysisTool/Tool/GUI.fig b/controls/DataAnalysisTool/Tool/GUI.fig
new file mode 100644
index 0000000000000000000000000000000000000000..0e62ff281260cd9f294eff1374daa9c160bab03e
Binary files /dev/null and b/controls/DataAnalysisTool/Tool/GUI.fig differ
diff --git a/controls/DataAnalysisTool/Tool/GUI.m b/controls/DataAnalysisTool/Tool/GUI.m
new file mode 100644
index 0000000000000000000000000000000000000000..3794047e00cc08f8ad91d60cbe691a2839368fa4
--- /dev/null
+++ b/controls/DataAnalysisTool/Tool/GUI.m
@@ -0,0 +1,771 @@
+function varargout = GUI(varargin)
+% GUI MATLAB code for GUI.fig
+% GUI, by itself, creates a new GUI or raises the existing
+% singleton*.
+%
+% H = GUI returns the handle to a new GUI or the handle to
+% the existing singleton*.
+%
+% GUI('CALLBACK',hObject,eventData,handles,...) calls the local
+% function named CALLBACK in GUI.M with the given input arguments.
+%
+% GUI('Property','Value',...) creates a new GUI or raises the
+% existing singleton*. Starting from the left, property value pairs are
+% applied to the GUI before GUI_OpeningFcn gets called. An
+% unrecognized property name or invalid value makes property application
+% stop. All inputs are passed to GUI_OpeningFcn via varargin.
+%
+% *See GUI Options on GUIDE's Tools menu. Choose "GUI allows only one
+% instance to run (singleton)".
+%
+% See also: GUIDE, GUIDATA, GUIHANDLES
+
+% Edit the above text to modify the response to help GUI
+
+% Last Modified by GUIDE v2.5 24-Mar-2015 21:23:27
+
+% Begin initialization code - DO NOT EDIT
+gui_Singleton = 1;
+gui_State = struct('gui_Name', mfilename, ...
+ 'gui_Singleton', gui_Singleton, ...
+ 'gui_OpeningFcn', @GUI_OpeningFcn, ...
+ 'gui_OutputFcn', @GUI_OutputFcn, ...
+ 'gui_LayoutFcn', [] , ...
+ 'gui_Callback', []);
+if nargin && ischar(varargin{1})
+ gui_State.gui_Callback = str2func(varargin{1});
+end
+
+if nargout
+ [varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:});
+else
+ gui_mainfcn(gui_State, varargin{:});
+end
+% End initialization code - DO NOT EDIT
+
+
+% --- Executes just before GUI is made visible.
+function GUI_OpeningFcn(hObject, eventdata, handles, varargin)
+% This function has no output args, see OutputFcn.
+% hObject handle to figure
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+% varargin command line arguments to GUI (see VARARGIN)
+
+% Choose default command line output for GUI
+handles.output = hObject;
+
+handles.filepath = hObject;
+handles.filepath = mfilename('fullpath');
+handles.filepath = strrep(handles.filepath, 'GUI', '');
+addpath(handles.filepath);
+cd(handles.filepath);
+if (~exist(handles.filepath,'file'))
+ error(strcat(handles.filepath, ' does not exist'))
+end
+
+if(~isfield(handles, 'axes'))
+ for i = 1:12
+ eval(['handles.axes{' num2str(i) '} = handles.axes' num2str(i) ';']);
+ eval(['handles = rmfield(handles,''axes' num2str(i) ''');']);
+ eval(['handles.togglebuttons{' num2str(i) '} = handles.togglebutton' num2str(i) ';']);
+ eval(['handles = rmfield(handles,''togglebutton' num2str(i) ''');']);
+ eval(['handles.radiobutton{' num2str(i) '} = handles.radiobutton' num2str(i) ';']);
+ eval(['handles = rmfield(handles,''radiobutton' num2str(i) ''');']);
+ end
+ for i = 13:16
+ eval(['handles.radiobutton{' num2str(i) '} = handles.radiobutton' num2str(i) ';']);
+ eval(['handles = rmfield(handles,''radiobutton' num2str(i) ''');']);
+ end
+end
+handles.main = hObject;
+handles.main = struct();
+
+if(evalin('base','exist(''main'')'))
+ handles.main = importData(hObject, eventdata, handles);
+ handles = loadOptions(hObject, eventdata, handles);
+ previewPlot(hObject, eventdata, handles);
+ if(~isfield(handles.main.params.file,'pathName'))
+ handles.main.params.file.name = '';
+ handles.main.params.file.path = handles.filepath;
+ handles.main.params.file.pathName = handles.filepath;
+ end
+else
+ handles.main.params.file.name = '';
+ handles.main.params.file.path = handles.filepath;
+ handles.main.params.file.pathName = handles.filepath;
+end
+cd(handles.main.params.file.path);
+load_listbox(hObject, eventdata, handles)
+guidata(hObject, handles);
+% Update handles structure
+%findobj('tag', 'figure\*');
+
+
+% UIWAIT makes GUI wait for user response (see UIRESUME)
+% uiwait(handles.figure1);
+
+
+% --- Outputs from this function are returned to the command line.
+function varargout = GUI_OutputFcn(hObject, eventdata, handles)
+% varargout cell array for returning output args (see VARARGOUT);
+% hObject handle to figure
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+
+% Get default command line output from handles structure
+varargout{1} = handles.output;
+
+% --- Executes when user attempts to close figure1.
+function figure1_CloseRequestFcn(hObject, eventdata, handles)
+% hObject handle to figure1 (see GCBO)
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+
+cd(handles.filepath);
+% Hint: delete(hObject) closes the figure
+delete(hObject);
+
+
+function uipanel1_SelectionChangeFcn(hObject, eventdata, handles)
+if(isfield(handles.main,'expData'))
+previewPlot(hObject, eventdata, handles)
+end
+
+
+% --- Executes when selected object is changed in uipanel3.
+function uipanel3_SelectionChangeFcn(hObject, eventdata, handles)
+% hObject handle to the selected object in uipanel3
+% eventdata structure with the following fields (see UIBUTTONGROUP)
+% EventName: string 'SelectionChanged' (read only)
+% OldValue: handle of the previously selected object or empty if none was selected
+% NewValue: handle of the currently selected object
+% handles structure with handles and user data (see GUIDATA)
+handles = guidata(hObject);
+
+handles.main.params.plotting.separatePlot = 0; % to generate separate plots
+handles.main.params.plotting.multiPlot = 0; % to super impose multiple quantities on the same plot
+handles.main.params.plotting.subPlot = 0;
+
+switch get(get(handles.uipanel3,'SelectedObject'),'Tag')
+case 'radiobutton14', handles.main.params.plotting.separatePlot = 1;
+case 'radiobutton15', handles.main.params.plotting.subPlot = 1;
+case 'radiobutton16', handles.main.params.plotting.multiPlot = 1;
+ otherwise
+ error('You must select a radio button to indicate what field''s options you are changing.')
+end
+exportData(hObject, eventdata, handles);
+previewPlot(hObject, eventdata, handles);
+guidata(hObject,handles);
+
+
+% --- Executes on button press in pushbutton2.
+function pushbutton2_Callback(hObject, eventdata, handles)
+% hObject handle to pushbutton2 (see GCBO)
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+handles = guidata(hObject);
+
+handles = updateOptions(hObject, eventdata, handles);;
+
+if(handles.main.params.plotting.clearFigs)
+ set(handles.figure1, 'HandleVisibility', 'off');
+ close all;
+ set(handles.figure1, 'HandleVisibility', 'on');
+end
+handles.main.params.plotting.toPlot = handles.main.params.plotting.toPlot(~cellfun('isempty',handles.main.params.plotting.toPlot));
+if(~isempty(handles.main.params.plotting.toPlot))
+ if(handles.main.params.plotting.subPlot) %% plot on one figure using multiple subplots
+ counter = 1;
+ x = ceil(sqrt(length(handles.main.params.plotting.toPlot)));
+ y = x - floor((x ^ 2 - length(handles.main.params.plotting.toPlot))/x);
+ figure_handle = figure;
+ else if(handles.main.params.plotting.multiPlot)
+ figure_handle = figure;
+ end
+ end
+
+ tempData{1} = handles.main.expData.data{1};
+ tempParams{1} = handles.main.expData.params{1};
+ tempUnit{1} = handles.main.expData.unit{1};
+ tempName{1} = handles.main.expData.datafields{1};
+ if(isfield(handles.main.params.plotting,'toPlot'))
+ for m = 1:length(handles.main.params.plotting.toPlot)
+ for n = 1:length(handles.main.expData.datafields)
+ if(strcmp(handles.main.expData.datafields{n},handles.main.params.plotting.toPlot{m}))
+ tempData{m+1} = handles.main.expData.data{n};
+ tempParams{m+1} = handles.main.expData.params{n};
+ tempUnit{m+1} = handles.main.expData.unit{n};
+ tempName{m+1} = handles.main.expData.datafields{n};
+ end
+ end
+ end
+ end
+
+
+ for i=1:length(handles.main.params.plotting.toPlot)
+ if(strcmp(tempName{i},'Marker'))
+
+ else
+ if(handles.main.params.plotting.subPlot)
+ subplot(x,y,counter);
+ counter = counter + 1;
+
+ else if(handles.main.params.plotting.separatePlot)
+ figure_handle = figure;
+ whitebg(tempParams{1}.backgnd);
+ else
+ hold on;
+ end
+ whitebg('white');
+ end
+
+
+ if(strcmp(get(get(handles.uipanel1,'SelectedObject'),'Tag'), 'radiobutton13'))
+ whitebg(tempParams{1}.backgnd);
+ plot(tempData{1},tempData{i+1},'LineStyle',tempParams{1}.style,'Marker',tempParams{1}.marker,'Color',tempParams{1}.color);
+ set(gca,'Color',tempParams{1}.backgnd);
+ set(gcf,'Color',tempParams{1}.backgnd);
+ grid ON;
+ title(tempName{i+1})
+ xlabel(strcat(tempName{1},'(', tempUnit{1},')'));
+ ylabel(tempUnit{i+1});
+ else
+ plot(tempData{1},tempData{i+1},'LineStyle',tempParams{i+1}.style,'Marker',tempParams{i+1}.marker,'Color',tempParams{i+1}.color);
+ if(handles.main.params.plotting.subPlot||handles.main.params.plotting.separatePlot)
+ set(gca,'Color',tempParams{i+1}.backgnd);
+ end
+ grid ON;
+ xlabel(strcat(tempName{1},'(', tempUnit{1},')'));
+ if(~handles.main.params.plotting.multiPlot)
+ ylabel(tempUnit{i+1});
+ title(tempName{i+1})
+ else
+ hold off;
+ end
+
+ end
+
+ if(isfield(handles.main.expData,'Marker'))
+ marks = find(handles.main.expData.Marker.data);
+ l = length(marks);
+ for n = 1:l
+ x = handles.main.expData.data{1}(marks(n));
+ line([x x], get(gca,'YLim'),'Color',[rand(1) rand(1) rand(1)]);
+ y = get(gca,'YLim');
+ y = y(1)+(1/l)*n*(y(2)-y(1));
+ text('String',strcat('M',num2str(n),'>'),'Position',[x,y],'HorizontalAlignment','right')
+ end
+ end
+ end
+ end
+ all_ha = findobj( figure_handle, 'type', 'axes', 'tag', '' );
+ linkaxes( all_ha, 'x' );
+else
+ error('You must select fields to plot first.')
+end
+guidata(hObject,handles);
+
+% --- Executes on button press in checkbox1.
+function checkbox1_Callback(hObject, eventdata, handles)
+% hObject handle to checkbox1 (see GCBO)
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+
+% Hint: get(hObject,'Value') returns toggle state of checkbox1
+handles = guidata(hObject);
+
+button_state = get(hObject,'Value');
+if button_state == get(hObject,'Max')
+ handles.main.params.plotting.clearFigs = 1;
+elseif button_state == get(hObject,'Min')
+ handles.main.params.plotting.clearFigs = 0;
+end
+handles = updateOptions(hObject, eventdata, handles);
+guidata(hObject,handles);
+
+
+
+% --- Executes on button press in pushbutton3.
+function pushbutton3_Callback(hObject, eventdata, handles)
+% hObject handle to pushbutton3 (see GCBO)
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+handles = guidata(hObject);
+switch get(get(handles.uipanel1,'SelectedObject'),'Tag')
+case 'radiobutton1', i = 2;
+case 'radiobutton2', i = 3;
+case 'radiobutton3', i = 4;
+case 'radiobutton4', i = 5;
+case 'radiobutton5', i = 6;
+case 'radiobutton6', i = 7;
+case 'radiobutton7', i = 8;
+case 'radiobutton8', i = 9;
+case 'radiobutton9', i = 10;
+case 'radiobutton10', i = 11;
+case 'radiobutton11', i = 12;
+case 'radiobutton12', i = 13;
+case 'radiobutton13', i = 1;
+ otherwise
+ error('You must select a radio button to indicate what field''s options you are changing before pressing this button.')
+end
+
+color = get(handles.listbox1,'String');
+color = color{get(handles.listbox1,'Value')};
+style = get(handles.listbox2,'String');
+style = style{get(handles.listbox2,'Value')};
+marker = get(handles.listbox3,'String');
+marker = marker{get(handles.listbox3,'Value')};
+bg = get(handles.listbox4,'String');
+bg = bg{get(handles.listbox4,'Value')};
+handles.main.expData.params{i}.color = color;
+handles.main.expData.params{i}.style = style;
+handles.main.expData.params{i}.marker = marker;
+handles.main.expData.params{i}.backgnd = bg;
+exportData(hObject, eventdata, handles);
+previewPlot(hObject, eventdata, handles);
+handles = updateOptions(hObject, eventdata, handles);
+guidata(hObject,handles);
+
+% --- Executes on button press in pushbutton4.
+function pushbutton4_Callback(hObject, eventdata, handles)
+% hObject handle to pushbutton4 (see GCBO)
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+if isdir(handles.main.params.file.pathName)
+ cd (handles.main.params.file.pathName);
+ handles.main.params.file.path = cd;
+ handles.main.params.file.pathName = cd;
+ addpath(cd);
+ load_listbox(hObject, eventdata, handles);
+end
+
+% --- Executes on selection change in listbox5.
+function listbox5_Callback(hObject, eventdata, handles)
+% hObject handle to listbox5 (see GCBO)
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+
+% Hints: contents = cellstr(get(hObject,'String')) returns listbox5 contents as cell array
+% contents{get(hObject,'Value')} returns selected item from listbox5
+handles = guidata(hObject);
+get(handles.figure1,'SelectionType');
+if strcmp(get(handles.figure1,'SelectionType'),'open')
+ index_selected = get(handles.listbox5,'Value');
+ file_list = get(handles.listbox5,'String');
+ [path, handles.main.params.file.name, ext] = fileparts(file_list{index_selected});
+ handles.main.params.file.name = strcat(handles.main.params.file.name,ext);
+ handles.main.params.file.pathName = strcat(handles.main.params.file.path,'/', handles.main.params.file.name);
+ if isdir(handles.main.params.file.pathName)
+ cd (handles.main.params.file.pathName);
+ handles.main.params.file.path = cd;
+ handles.main.params.file.pathName = cd;
+ addpath(cd);
+ load_listbox(hObject, eventdata, handles);
+ else
+ cd(handles.main.params.file.path);
+ switch ext
+ case '.txt'
+
+ if(isfield(handles.main.params,'plotting'))
+ if(isfield(handles.main,'expData'))
+ handles.main.expData = parse_log(handles.main.params.file.pathName,handles.main.params,handles.main.expData);
+ else
+ handles.main.expData = parse_log(handles.main.params.file.pathName,handles.main.params);
+ end
+ else
+ handles.main.params = set_params(hObject, eventdata, handles);
+ handles.main.expData = parse_log(handles.main.params.file.pathName,handles.main.params);
+ end
+ handles.main = generateGuiData(hObject, eventdata, handles);
+ exportData(hObject, eventdata, handles);
+ handles.main = importData(hObject, eventdata, handles);
+ handles = updateOptions(hObject, eventdata, handles);
+ handles = loadOptions(hObject, eventdata, handles);
+ set(handles.text5,'string',strcat('Current Log:', handles.main.params.file.pathName));
+ previewPlot(hObject, eventdata, handles);
+
+ case '.mat'
+ handles.main = importData(hObject, eventdata, handles);
+ handles = updateOptions(hObject, eventdata, handles);
+ handles = loadOptions(hObject, eventdata, handles);
+ set(handles.text5,'string',strcat('Current Log:', handles.main.params.file.pathName));
+ previewPlot(hObject, eventdata, handles);
+
+ otherwise
+ try
+ open(handles.main.params.file.pathName,handles.main.params);
+ catch ex
+ errordlg(ex.getReport('basic'),'File Type Error','modal');
+ end
+
+ end
+ end
+end
+
+guidata(hObject,handles);
+
+
+
+
+%% Extra Functions
+% Used by above
+
+
+function previewPlot(hObject, eventdata, handles)
+%handles.datafields = fieldnames(handles.main.expData);
+if(~isnan(handles.main.expData.Time.data))
+ if(strcmp(get(get(handles.uipanel1,'SelectedObject'),'Tag'), 'radiobutton13'))
+ whitebg(handles.main.expData.params{1}.backgnd);
+ for i = 1:length(handles.main.expData.data)-1
+ if(~isnan(handles.main.expData.data{i}(1,1)) && i<=12)
+ plot(handles.axes{i},handles.main.expData.data{1},handles.main.expData.data{i+1},'LineStyle',handles.main.expData.params{1}.style,'Marker',handles.main.expData.params{1}.marker,'Color',handles.main.expData.params{1}.color);
+ set(handles.axes{i},'Color',handles.main.expData.params{1}.backgnd);
+ set(handles.togglebuttons{i},'string',handles.main.expData.datafields{i+1},'enable','on');
+ grid(handles.axes{i}, 'on');
+ xlabel(handles.axes{i},strcat(handles.main.expData.datafields{1},'(', handles.main.expData.unit{1},')'));
+ ylabel(handles.axes{i},handles.main.expData.unit{i+1});
+ if(isfield(handles.main.expData,'Marker'))
+ marks = find(handles.main.expData.Marker.data);
+ for j = 1:length(marks)
+ line([handles.main.expData.data{1}(marks(j)) handles.main.expData.data{1}(marks(j))], get(handles.axes{i},'YLim'),'Color','red','Parent',handles.axes{i})
+ end
+
+ end
+ end
+ end
+ else
+ whitebg('white');
+ for i = 1:length(handles.main.expData.data)-1
+ if(~isnan(handles.main.expData.data{i}(1,1)) && (i<=12))
+ plot(handles.axes{i},handles.main.expData.data{1},handles.main.expData.data{i+1},'LineStyle',handles.main.expData.params{i+1}.style,'Marker',handles.main.expData.params{i+1}.marker,'Color',handles.main.expData.params{i+1}.color);
+ if(~handles.main.params.plotting.multiPlot)
+ set(handles.axes{i},'Color',handles.main.expData.params{i+1}.backgnd);
+ end
+ set(handles.togglebuttons{i},'string',handles.main.expData.datafields{i+1},'enable','on');
+ grid(handles.axes{i}, 'on');
+ xlabel(handles.axes{i},strcat(handles.main.expData.datafields{1},'(', handles.main.expData.unit{1},')'));
+ ylabel(handles.axes{i},handles.main.expData.unit{i+1});
+ if(isfield(handles.main.expData,'Marker'))
+ marks = find(handles.main.expData.Marker.data);
+ for j = 1:length(marks)
+ line([handles.main.expData.data{1}(marks(j)) handles.main.expData.data{1}(marks(j))], get(handles.axes{i},'YLim'),'Color','red','Parent',handles.axes{i})
+ end
+
+ end
+ end
+ end
+ end
+ for i = length(handles.main.expData.data):12
+ plot(handles.axes{i},0,0);
+ set(handles.axes{i},'Color','white');
+ grid(handles.axes{i}, 'off');
+ set(handles.togglebuttons{i},'string','no data','enable','off');
+ set(handles.togglebuttons{i},'value',0);
+ handles.main.params.plotting.toPlot{i} = [];
+ end
+ setbgcolor(hObject, eventdata, handles);
+end
+guidata(hObject, handles);
+
+
+
+function main = importData(hObject, eventdata, handles)
+
+main = evalin('base' , 'main');
+handles.main = main;
+handles.main = generateGuiData(hObject, eventdata, handles);
+
+if(~isfield(handles.main.params,'plotting'))
+ handles.main.params = set_params(hObject, eventdata, handles);
+end
+if(~isfield(handles.main.params.plotting,'separatePlot'))
+ handles.main.params.plotting.separatePlot = 1; % to generate separate plots
+end
+if(~isfield(handles.main.params.plotting,'multiPlot'))
+ handles.main.params.plotting.multiPlot = 0; % to super impose multiple quantities on the same plot
+end
+if(~isfield(handles.main.params.plotting,'subPlot'))
+ handles.main.params.plotting.subPlot = 0; % to generate sub plots for multiple quantities
+end
+if(~isfield(handles.main.params.plotting,'clearFigs'))
+ handles.main.params.plotting.clearFigs = 1;
+end
+main = handles.main;
+guidata(hObject, handles);
+
+
+
+function main = generateGuiData(hObject, eventdata, handles)
+n = length(fieldnames(handles.main.expData));
+handles.main.expData.datafields = fieldnames(handles.main.expData);
+for i = 1:n
+eval(['handles.main.expData.data{i} = handles.main.expData.', handles.main.expData.datafields{i}, '.data;']); %%
+eval(['handles.main.expData.unit{i} = handles.main.expData.', handles.main.expData.datafields{i}, '.unit;']); %%
+eval(['handles.main.expData.params{i} = handles.main.expData.', handles.main.expData.datafields{i}, '.params;']);
+end
+main = handles.main;
+guidata(hObject, handles);
+
+
+
+function exportData(hObject, eventdata, handles)
+
+handles.main.expData.datafields = fieldnames(handles.main.expData);
+for i = 1:length(handles.main.expData.data)
+eval(['handles.main.expData.', handles.main.expData.datafields{i}, '.data = handles.main.expData.data{i};']); %%
+eval(['handles.main.expData.', handles.main.expData.datafields{i}, '.unit = handles.main.expData.unit{i};']); %%
+eval(['handles.main.expData.', handles.main.expData.datafields{i}, '.params = handles.main.expData.params{i};']);
+end
+handles.main.expData = rmfield(handles.main.expData, 'datafields');
+handles.main.expData = rmfield(handles.main.expData, 'data');
+handles.main.expData = rmfield(handles.main.expData, 'unit');
+handles.main.expData = rmfield(handles.main.expData, 'params');
+
+assignin('base', 'main', handles.main);
+
+
+
+function setbgcolor(hObject, eventdata, handles)
+
+bgcolor = get(handles.figure1,'color');
+set(handles.uipanel1,'BackgroundColor', bgcolor);
+set(handles.uipanel2,'BackgroundColor', bgcolor);
+set(handles.uipanel3,'BackgroundColor', bgcolor);
+for i = 1:16
+ set(handles.radiobutton{i},'BackgroundColor', bgcolor);
+end
+for i = 1:6
+ eval(['set(handles.text', num2str(i) , ',''BackgroundColor'', bgcolor);'])
+end
+set(handles.checkbox1,'BackgroundColor', bgcolor);
+guidata(hObject, handles);
+
+
+
+function load_listbox(hObject, eventdata, handles)
+dir_struct = dir(cd);
+[sorted_names,sorted_index] = sortrows({dir_struct.name}');
+handles.file_names = sorted_names;
+handles.is_dir = [dir_struct.isdir];
+handles.sorted_index = sorted_index;
+guidata(handles.figure1,handles)
+set(handles.listbox5,'String',handles.file_names,'Value',1)
+set(handles.text5,'string',strcat('Current Log:', handles.main.params.file.pathName))
+cd(handles.filepath);
+guidata(hObject, handles);
+
+
+
+function params = set_params(hObject, eventdata, handles)
+handles.main.params.plotting.plot = 1; % switch to choose plotting
+handles.main.params.plotting.separatePlot = 1; % to generate separate plots
+handles.main.params.plotting.multiPlot = 0; % to super impose multiple quantities on the same plot
+handles.main.params.plotting.subPlot = 0; % to generate sub plots for multiple quantities
+handles.main.params.plotting.clearFigs = 1;
+handles.main.params.plotting.separateData = {}; % column numbers to plot on separate figures
+handles.main.params.plotting.toPlot = {};
+ % if empty & plot = 1, all the columns will be plotted
+handles.main.params.plotting.multiData = {}; % if empty but switch is on, use separateData values
+handles.main.params.plotting.subData = {}; % if empty but switch is on, use multiData values
+handles.main.params.plotting.color = 'black'; % one character for color of the plotting line
+handles.main.params.plotting.marker = 'none'; % one character for the maker of the plotting line
+handles.main.params.plotting.style = '-'; % one character for the style of the plotting line
+handles.main.params.plotting.backgnd = 'white'; % rgb array for background color of the plot
+params = handles.main.params;
+
+
+
+function handles = loadOptions(hObject, eventdata, handles)
+handles = guidata(hObject);
+set(handles.radiobutton{14},'Value',0)
+set(handles.radiobutton{15},'Value',0)
+set(handles.radiobutton{16},'Value',0)
+if(handles.main.params.plotting.separatePlot)
+ set(handles.radiobutton{14},'Value',1)
+else if(handles.main.params.plotting.subPlot)
+ set(handles.radiobutton{15},'Value',1)
+ else if(handles.main.params.plotting.multiPlot)
+ set(handles.radiobutton{16},'Value',1)
+ else
+ set(handles.radiobutton{14},'Value',1);
+ handles.main.params.plotting.separatePlot = 1;
+ end
+ end
+end
+if(handles.main.params.plotting.clearFigs)
+ set(handles.checkbox1,'Value',1)
+else
+ set(handles.checkbox1,'Value',0)
+end
+
+for n = 2:length(handles.main.expData.datafields)
+ if(n<=13)
+ set(handles.togglebuttons{n-1}, 'Value', 0);
+ end
+end
+if(isfield(handles.main.params.plotting,'toPlot'))
+ for m = 1:length(handles.main.params.plotting.toPlot)
+ for n = 2:length(handles.main.expData.datafields)
+ if(strcmp(handles.main.expData.datafields{n},handles.main.params.plotting.toPlot{m}))
+ set(handles.togglebuttons{n-1}, 'Value', 1);
+ end
+ end
+ end
+end
+exportData(hObject, eventdata, handles);
+guidata(hObject, handles);
+
+
+
+function handles = updateOptions(hObject, eventdata, handles)
+
+handles = guidata(hObject);
+
+uipanel3_SelectionChangeFcn(hObject, eventdata, handles);
+
+if(get(handles.checkbox1,'Value'))
+ handles.main.params.plotting.clearFigs = 1;
+else
+ handles.main.params.plotting.clearFigs = 0;
+end
+
+handles.main.params.plotting.toPlot = {};
+for i = 1:length(handles.main.expData.datafields)-1
+ if(i<=12)
+ button_state = get(handles.togglebuttons{i},'Value');
+ end
+ if button_state == 1
+ handles.main.params.plotting.toPlot = {handles.main.params.plotting.toPlot{:}, handles.main.expData.datafields{i+1}};
+ else
+ handles.main.params.plotting.toPlot(strcmp(handles.main.expData.datafields{i+1},handles.main.params.plotting.toPlot)) = [];
+ end
+end
+handles.main.params.plotting.toPlot = handles.main.params.plotting.toPlot(~cellfun('isempty',handles.main.params.plotting.toPlot));
+
+exportData(hObject, eventdata, handles);
+guidata(hObject, handles);
+
+
+
+%% unused functions
+function uipanel1_ButtonDownFcn(hObject, eventdata, handles)
+function togglebutton7_CreateFcn(hObject, eventdata, handles)
+function listbox5_CreateFcn(hObject, eventdata, handles)
+function listbox1_Callback(hObject, eventdata, handles)
+function listbox1_CreateFcn(hObject, eventdata, handles)
+if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
+ set(hObject,'BackgroundColor','white');
+end
+function listbox2_Callback(hObject, eventdata, handles)
+function listbox2_CreateFcn(hObject, eventdata, handles)
+function listbox3_Callback(hObject, eventdata, handles)
+function listbox3_CreateFcn(hObject, eventdata, handles)
+if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
+ set(hObject,'BackgroundColor','white');
+end
+function listbox4_Callback(hObject, eventdata, handles)
+function listbox4_CreateFcn(hObject, eventdata, handles)
+if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
+ set(hObject,'BackgroundColor','white');
+end
+
+
+%% bulky functions (repetative)
+
+%--- Executes on button press in togglebutton1.
+function togglebutton1_Callback(hObject, eventdata, handles)
+% hObject handle to togglebutton1 (see GCBO)
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+handles = guidata(hObject);
+handles = updateOptions(hObject, eventdata, handles);
+guidata(hObject,handles);
+% --- Executes on button press in togglebutton2.
+function togglebutton2_Callback(hObject, eventdata, handles)
+% hObject handle to togglebutton2 (see GCBO)
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+handles = guidata(hObject);
+handles = updateOptions(hObject, eventdata, handles);
+guidata(hObject,handles);
+% --- Executes on button press in togglebutton3.
+function togglebutton3_Callback(hObject, eventdata, handles)
+% hObject handle to togglebutton3 (see GCBO)
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+handles = guidata(hObject);
+handles = updateOptions(hObject, eventdata, handles);
+guidata(hObject,handles);
+% --- Executes on button press in togglebutton4.
+function togglebutton4_Callback(hObject, eventdata, handles)
+% hObject handle to togglebutton4 (see GCBO)
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+handles = guidata(hObject);
+handles = updateOptions(hObject, eventdata, handles);
+guidata(hObject,handles);
+% --- Executes on button press in togglebutton5.
+function togglebutton5_Callback(hObject, eventdata, handles)
+% hObject handle to togglebutton5 (see GCBO)
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+handles = guidata(hObject);
+handles = updateOptions(hObject, eventdata, handles);
+guidata(hObject,handles);
+% --- Executes on button press in togglebutton6.
+function togglebutton6_Callback(hObject, eventdata, handles)
+% hObject handle to togglebutton6 (see GCBO)
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+handles = guidata(hObject);
+handles = updateOptions(hObject, eventdata, handles);
+guidata(hObject,handles);
+% --- Executes on button press in togglebutton7.
+function togglebutton7_Callback(hObject, eventdata, handles)
+% hObject handle to togglebutton7 (see GCBO)
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+handles = guidata(hObject);
+handles = updateOptions(hObject, eventdata, handles);
+guidata(hObject,handles);
+% --- Executes on button press in togglebutton8.
+function togglebutton8_Callback(hObject, eventdata, handles)
+% hObject handle to togglebutton8 (see GCBO)
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)clc
+handles = guidata(hObject);
+handles = updateOptions(hObject, eventdata, handles);
+guidata(hObject,handles);
+% --- Executes on button press in togglebutton9.
+function togglebutton9_Callback(hObject, eventdata, handles)
+% hObject handle to togglebutton9 (see GCBO)
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+handles = guidata(hObject);
+handles = updateOptions(hObject, eventdata, handles);
+guidata(hObject,handles);
+% --- Executes on button press in togglebutton10.
+function togglebutton10_Callback(hObject, eventdata, handles)
+% hObject handle to togglebutton10 (see GCBO)
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+handles = guidata(hObject);
+handles = updateOptions(hObject, eventdata, handles);
+guidata(hObject,handles);
+% --- Executes on button press in togglebutton11.
+function togglebutton11_Callback(hObject, eventdata, handles)
+% hObject handle to togglebutton11 (see GCBO)
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+handles = guidata(hObject);
+handles = updateOptions(hObject, eventdata, handles);
+guidata(hObject,handles);
+% --- Executes on button press in togglebutton12.
+function togglebutton12_Callback(hObject, eventdata, handles)
+% hObject handle to togglebutton12 (see GCBO)
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+handles = guidata(hObject);
+handles = updateOptions(hObject, eventdata, handles);
+guidata(hObject,handles);
diff --git a/controls/DataAnalysisTool/Tool/buildPlotCharString.m b/controls/DataAnalysisTool/Tool/buildPlotCharString.m
new file mode 100644
index 0000000000000000000000000000000000000000..efb0e8b03e643fbaaacaa52d2a90f7de26453bc4
--- /dev/null
+++ b/controls/DataAnalysisTool/Tool/buildPlotCharString.m
@@ -0,0 +1,40 @@
+function plotCharStr = buildPlotCharString(plotParams)
+%buildPlotCharString builds a character string for plotting using the
+%plotParams input structure
+% plotParams : structure that contains the plotting style parameters.
+% fields of plotParams:
+% plotParams.plot
+% plotParams.style
+% plotParams.color
+% plotParams.marker
+% plotParams.backgnd
+%
+
+% keeps track of the index in the string
+i = 1;
+
+% color
+if(~isempty(plotParams.color))
+ plotCharStr(i) = plotParams.color;
+ i = i + 1;
+end
+
+% marker
+if(~isempty(plotParams.marker))
+ plotCharStr(i) = plotParams.marker;
+ i = i + 1;
+end
+
+% style
+if(~isempty(plotParams.style))
+ plotCharStr(i) = plotParams.style;
+ i = i + 1;
+end
+
+% sanity check for the string
+if(~isPlotCharString(plotCharStr))
+ error('Wrong plot style formatting options, please use allowed values only');
+end
+
+end
+
diff --git a/controls/DataAnalysisTool/Tool/haveDiffPlotStyles.m b/controls/DataAnalysisTool/Tool/haveDiffPlotStyles.m
new file mode 100644
index 0000000000000000000000000000000000000000..0ed77912805176c9fc6e3c2896d2670283691ad3
--- /dev/null
+++ b/controls/DataAnalysisTool/Tool/haveDiffPlotStyles.m
@@ -0,0 +1,70 @@
+function y = haveDiffPlotStyles(data,headers)
+% haveDiffPlotStyles checks to see if the headers in the data structure
+% have different plotting parameters
+%
+% This function ONLY compares the color, marker and style fields of the
+% params structure.
+
+% initialize to true
+y = 1;
+
+% return 1 if only one
+if(length(headers) == 1)
+ y = 1;
+ return
+end
+
+% obtaining the plotting params structure from each header
+j = 0;
+for i = 1:length(headers)
+
+ entity = headers{i};
+ headerPlotParams(i) = eval(['data.' entity '.params']);
+
+end
+
+% check if there are more than two defaults
+numOfDefaults = 0;
+for i = 1:length(headerPlotParams)
+ if(isDefaultPlotCharString(headerPlotParams(i)))
+ numOfDefaults = numOfDefaults + 1;
+ if(numOfDefaults >= 2)
+ y = 0;
+ return
+ end
+ else
+ end
+end
+
+% checking for equality between the plotting parameters
+colorEqual = 0;
+markerEqual = 0;
+styleEqual = 0;
+for i = 1:length(headerPlotParams)
+ for j = 1:length(headerPlotParams)
+ if(i == j)
+ continue;
+ else
+ if(strcmp(headerPlotParams(i).color, headerPlotParams(j).color) == 1)
+ colorEqual = 1;
+ end
+ if(strcmp(headerPlotParams(i).marker, headerPlotParams(j).marker) == 1)
+ markerEqual = 1;
+ end
+ if(strcmp(headerPlotParams(i).marker, headerPlotParams(j).marker) == 1)
+ styleEqual = 1;
+ end
+
+ if(colorEqual && markerEqual && styleEqual)
+ y = 0;
+ return;
+ end
+ colorEqual = 0;
+ markerEqual = 0;
+ styleEqual = 0;
+ end
+ end
+end
+
+end
+
diff --git a/controls/DataAnalysisTool/Tool/isDefaultPlotCharString.m b/controls/DataAnalysisTool/Tool/isDefaultPlotCharString.m
new file mode 100644
index 0000000000000000000000000000000000000000..d2f5ae964b4f13bf101b6e8dc459fa6d816c5217
--- /dev/null
+++ b/controls/DataAnalysisTool/Tool/isDefaultPlotCharString.m
@@ -0,0 +1,36 @@
+function y = isDefaultPlotCharString(plotParams)
+%isDefaultPlotCharString Compares the input plotParams structure to the
+%default plotting format:
+% color b
+% marker (none)
+% style -
+% Return 1 if it is the default plotting style. Returns 0 otherwise
+
+defaultColor = 0;
+defaultMarker = 0;
+defaultStyle = 0;
+
+% checking plotting color
+if(plotParams.color == 'b' || isempty(plotParams.color))
+ defaultColor = 1;
+end
+
+% checking plotting marker
+if(isempty(plotParams.marker))
+ defaultMarker = 1;
+end
+
+% checking plotting style
+if(plotParams.style == '-' || isempty(plotParams.style))
+ defaultStyle = 1;
+end
+
+% final check
+if(defaultColor && defaultMarker && defaultStyle)
+ y = 1;
+else
+ y = 0;
+end
+
+end
+
diff --git a/controls/DataAnalysisTool/Tool/isPlotCharString.m b/controls/DataAnalysisTool/Tool/isPlotCharString.m
new file mode 100644
index 0000000000000000000000000000000000000000..036883c6594023b89aa07ed798c4cdbb6cfcb9ed
--- /dev/null
+++ b/controls/DataAnalysisTool/Tool/isPlotCharString.m
@@ -0,0 +1,32 @@
+function y = isPlotCharString(str)
+% isPlotCharString sees if the str is composed of characeters that are used
+% in making up a plot formatting string.
+% str - string to check
+
+if (length(str) <= 4)
+
+ % if the input string is empty, it is a valid plot formatting character
+ % string
+ if(length(str) == 0)
+ y = 1;
+ return
+ end
+
+ % list of possible characters allowed in the string
+ plotTypeChars = ['bgrcmykw.ox+*sdv^<>ph-:.'];
+
+ for i = 1:length(str)
+ if (ismember(str(i),plotTypeChars))
+ y = 1;
+ continue
+ else
+ y = 0;
+ break;
+ end
+ end
+
+else
+ y = 0;
+end
+
+end
\ No newline at end of file
diff --git a/controls/DataAnalysisTool/Tool/main.mat b/controls/DataAnalysisTool/Tool/main.mat
new file mode 100644
index 0000000000000000000000000000000000000000..2385f3363d899a77037979f39fda9055a9a94454
Binary files /dev/null and b/controls/DataAnalysisTool/Tool/main.mat differ
diff --git a/controls/DataAnalysisTool/Tool/parse_camera_log.m b/controls/DataAnalysisTool/Tool/parse_camera_log.m
new file mode 100644
index 0000000000000000000000000000000000000000..5f8fba2ba5c8191ad27ae67a5c752da0953dc238
--- /dev/null
+++ b/controls/DataAnalysisTool/Tool/parse_camera_log.m
@@ -0,0 +1,126 @@
+function trackableData = parse_camera_log(filepath)
+%loads position, quaternion orientation and euler angles from rigidbody
+%trajectories exported to csv in Motive 1.5.1 and returns them in the
+%array of structs
+%tested for one and three rigid bodies
+%license: GPL, author Frieder Wittmann, email frieder.wittmann@gmail.com
+
+openedFile = fopen(filepath,'r');
+
+currentLineNo = 0;
+
+%go through the first lines which dont contain data of interest
+for lineIndex = 1:41 % edited by RZ: to match the OptiTrack Tools software used by the Controls Lab at Iowa State University
+ readNextLine(openedFile);
+ currentLineNo = currentLineNo +1;
+end
+
+commaSeperatedValues = csvStringFromOpenedFile(openedFile);
+numberOfFrames = str2num(commaSeperatedValues{3})
+
+commaSeperatedValues = csvStringFromOpenedFile(openedFile);
+numberOfRidgidBodies = str2num(commaSeperatedValues{3})
+
+%create container of size numberOfRidgidBodies for the output data
+RigidBodies = repmat(struct(...
+ 'Name', 'empty_name', ... % added by RZ: name of the trackable
+ 'T', NaN(numberOfFrames,1), ...
+ 'P', NaN(numberOfFrames,3), ...
+ 'Q', NaN(numberOfFrames,4), ...
+ 'Euler', NaN(numberOfFrames,3)),numberOfRidgidBodies,1);
+
+%the next lines contain information about the markerpositions on the ridigd bodies. we ignore this infrmation
+for i = 1:numberOfRidgidBodies
+ commaSeparatedValues = csvStringFromOpenedFile(openedFile);
+ name = commaSeparatedValues{2};
+ if(isequal(name(1),'"')) % taking care of this issue. Occurs sometimes only.
+ name(1) = '';
+ name(end) = '';
+ end
+ RigidBodies(i).Name = name;
+end
+
+
+frameIndex = 0; %every nth (numberOfRidgidBodies+1) contains the ridgidbody information of a frame/timestamp
+numberOfLinesUntilNextFrameLine = numberOfRidgidBodies+1;
+
+for lineIndex = 1:numberOfFrames*numberOfLinesUntilNextFrameLine
+%there is always a frame line and then one line per rigid body with details which are not of interest to us here
+
+ currentLineContent = readNextLine(openedFile);
+
+ %if current line is a line with frame information
+ if( mod(lineIndex,numberOfLinesUntilNextFrameLine) == 1)
+ frameIndex = frameIndex+1; %we're at the next frame
+ frameLine = currentLineContent;
+ commaSeperatedValues = regexp(frameLine, ',', 'split');
+
+ frameIndexFromFile = str2num(commaSeperatedValues{2});
+ timestamp = str2num(commaSeperatedValues{3});
+ %check how many ridig bodies were tracked, sometimes so are out of
+ %sight and hence not tracked
+ numberOFTrackedRidigdBodiesInThisFrame = str2num(commaSeperatedValues{4});
+ currentCSVIndex = 4;
+
+ if (numberOFTrackedRidigdBodiesInThisFrame > 0)
+ currentCSVIndex = currentCSVIndex+1;
+ currentRidgidBodyID = str2num(commaSeperatedValues{currentCSVIndex});
+
+ for(expectedRidigbBodyID = 1:numberOfRidgidBodies + 1)
+ if (expectedRidigbBodyID ~= currentRidgidBodyID)
+ break %go to next
+ end
+ currentCSVIndex = currentCSVIndex+1;
+ [p, q, euler ] = readPQEulerStartingAtIndex(currentCSVIndex, commaSeperatedValues);
+ RigidBodies(currentRidgidBodyID).T(frameIndex,:) = timestamp;
+ RigidBodies(currentRidgidBodyID).P(frameIndex,:) = p;
+ RigidBodies(currentRidgidBodyID).Q(frameIndex,:) = q;
+ RigidBodies(currentRidgidBodyID).Euler(frameIndex,:) = euler;
+ currentCSVIndex = currentCSVIndex+10; %the ten values are p(3),q(4)euler(3)=10
+ if (currentCSVIndex + 11 < length(commaSeperatedValues))
+ currentRidgidBodyID = str2num(commaSeperatedValues{currentCSVIndex}); %get next ridgid body id
+ else
+ break;
+ end
+ end
+ end
+ end
+end
+
+% added by RZ: to output the structure in readable format
+trackableData.numOfTrackables = length(RigidBodies);
+for i=1:trackableData.numOfTrackables
+ eval(['trackableData.' RigidBodies(i).Name ' = RigidBodies(i);']);
+end
+
+end
+
+function lineContent = readNextLine(openedFile)
+ lineContent = fgetl(openedFile);
+end
+
+function csvString = csvStringFromOpenedFile(openedFile)
+ lineContent = readNextLine(openedFile);
+ csvString = regexp(lineContent, ',', 'split');
+end
+
+function [p, q, euler] = readPQEulerStartingAtIndex(index, commaSeperatedValues)
+ positionX = str2double(commaSeperatedValues{index});
+ positionY = str2double(commaSeperatedValues{index+1});
+ positionZ = str2double(commaSeperatedValues{index+2});
+
+ p = [positionX, positionY, positionZ];
+
+ QuaternionX = str2double(commaSeperatedValues{index+3});
+ QuaternionY = str2double(commaSeperatedValues{index+4});
+ QuaternionZ = str2double(commaSeperatedValues{index+5});
+ QuaternionW = str2double(commaSeperatedValues{index+6});
+
+ q = [QuaternionX, QuaternionY, QuaternionZ, QuaternionW];
+
+ EulerX = str2double(commaSeperatedValues{index+7});
+ EulerY = str2double(commaSeperatedValues{index+8});
+ EulerZ = str2double(commaSeperatedValues{index+9});
+
+ euler = [EulerX, EulerY, EulerZ];
+end
\ No newline at end of file
diff --git a/controls/DataAnalysisTool/Tool/parse_log.m b/controls/DataAnalysisTool/Tool/parse_log.m
new file mode 100644
index 0000000000000000000000000000000000000000..f265c9c849b881ba8452362518bed7b4106f994d
--- /dev/null
+++ b/controls/DataAnalysisTool/Tool/parse_log.m
@@ -0,0 +1,230 @@
+function [loggedData] = parse_log(filename, params, expData)
+%parse_log This independent function parses the data stored in the file and
+%returns a structure containing the data
+% filename - this is the complete path of the file with the filename
+% params - this is the params structure which holds the analysis
+% configuration options
+
+% Check if file exists
+if (~exist(filename,'file'))
+ error(strcat(filename, ' does not exist'));
+end
+
+% Open file
+FileID = fopen(filename, 'r');
+
+% Gets the first line of the file
+string = fgetl(FileID);
+
+% Test first line, if not formatted correctly, reject
+if(size(regexp(string, '^#')) == 0)
+ error(strcat(filename, ' is not properly formatted, and does not contain "#" headers'));
+end
+
+% Loop through header lines
+while( regexp(string, '^#') == 1 )
+
+ %Print out string and move on
+ disp(string)
+ old = string;
+ string = fgetl(FileID);
+
+end
+
+% Two possibilities for the next two lines:
+% 1) line of headers
+% 2) line of units
+foundHeaders = 0;
+foundUnits = 0;
+
+% Checking current line's type:
+identifier = string(1);
+
+if (regexp(identifier,'%'))
+ foundHeaders = 1;
+ % this is a line of headers; extract headers:
+ headers = strsplit(string);
+ headers{1} = strrep(headers{1},'%', '');
+ numOfHeaders = length(headers);
+else
+ if (regexp(identifier,'&'))
+ foundUnits = 1;
+ % this is a line of units; extract units:
+ units = strsplit(string);
+ units{1} = strrep(units{1},'&','');
+ else
+ error(strcat(filename, ' is not properly formatted, contains undefined line identifier.'));
+ end
+end
+
+% Obtaining the next line
+string = fgetl(FileID);
+identifier = string(1);
+
+if(foundHeaders)
+ if(regexp(identifier,'&'))
+ foundUnits = 1;
+ % this is a line of units; extract units:
+ units = strsplit(string);
+ units{1} = strrep(units{1},'&','');
+ else
+ error(strcat(filename, ' is not properly formatted, contains or undefined/excessive line identifiers.'));
+ end
+else
+ if(foundUnits)
+ if(regexp(identifier,'%'))
+ % this is a line of headers; extract headers:
+ headers = strsplit(string);
+ headers{1} = strrep(headers{1},'%', '');
+ numOfHeaders = length(headers);
+ end
+ else
+ error('Should never be able to get here');
+ end
+end
+
+% sanity check and clean up
+if(numOfHeaders ~= length(units))
+ error(strcat(filename, ' is not properly formatted, contains unmatched number of units and headers'));
+end
+clear foundHeaders foundUnits;
+
+% Get all data into a single matrix called "log"
+log = [];
+line = zeros(1,numOfHeaders);
+while ~feof(FileID)
+ line = textscan(FileID, '%f', numOfHeaders);
+ line = transpose(cell2mat(line));
+ log = [log;line];
+end
+
+% Converting the log matrix into a expData structure.
+for i = 1:numOfHeaders
+
+ eval(['loggedData.' headers{i} '.data = log(:,i);']); % adding data
+ eval(['loggedData.' headers{i} '.unit = cell2mat(units(i));']); % adding unit
+ eval(['loggedData.' headers{i} '.params.plot = 0;']); % adding params.plot
+ eval(['loggedData.' headers{i} '.params.style = ''-'';']); % adding params.style
+ eval(['loggedData.' headers{i} '.params.color = ''b'';']); % adding params.color
+ eval(['loggedData.' headers{i} '.params.marker = '''';']); % adding params.marker
+ eval(['loggedData.' headers{i} '.params.backgnd = [1 1 1];']); % adding params.backgnd
+
+end
+
+% data types are set
+if exist('params', 'var')
+
+ % setting the value of <header-name>.params.plot value
+ if(params.plotting.plot == 1)
+
+ if(params.plotting.subPlot == 1)
+ if(isempty(params.plotting.subData))
+ if(isempty(params.plotting.multiData))
+ if(isempty(params.plotting.separateData))
+ for i = 1:numOfHeaders
+ eval(['loggedData.' headers{i} '.params.plot = 1;']);
+ end
+ else
+ for i = 1:length(params.plotting.separateData)
+ eval(['loggedData.' params.plotting.separateData{i} '.params.plot = 1;']);
+ end
+ end
+
+ else
+ for i = 1:length(params.plotting.multiData)
+ eval(['loggedData.' params.plotting.multiData{i} '.params.plot = 1;']);
+ end
+ end
+ else
+ for i = 1:length(params.plotting.subData)
+ eval(['loggedData.' params.plotting.subData{i} '.params.plot = 1;']);
+ end
+ end
+ end
+
+ if(params.plotting.multiPlot == 1)
+ if(isempty(params.plotting.multiData))
+ if(isempty(params.plotting.separateData))
+ for i = 1:numOfHeaders
+ eval(['loggedData.' headers{i} '.params.plot = 1;']);
+ end
+ else
+ for i = 1:length(params.plotting.separateData)
+ eval(['loggedData.' params.plotting.separateData{i} '.params.plot = 1;']);
+ end
+ end
+ else
+ for i = 1:length(params.plotting.multiData)
+ eval(['loggedData.' params.plotting.multiData{i} '.params.plot = 1;']);
+ end
+ end
+ end
+
+ if(params.plotting.separatePlot == 1)
+ if(isempty(params.plotting.separateData))
+ for i = 1:numOfHeaders
+ eval(['loggedData.' headers{i} '.params.plot = 1;']);
+ end
+ else
+ for i = 1:length(params.plotting.separateData)
+ eval(['loggedData.' params.plotting.separateData{i} '.params.plot = 1;']);
+ end
+ end
+ end
+
+
+ else
+ % nothing really needed to do here since the default value of
+ % <header-name>.params.plot is 0
+ end
+
+ % setting the following values to those set in DataAnalysis.m
+ % 1) <header-name>.params.style
+ % 2) <header-name>.params.color
+ % 3) <header-name>.params.marker
+ % 4) <header-name>.params.backgnd
+ for i = 1:numOfHeaders
+
+ eval(['loggedData.' headers{i} '.params.style = params.plotting.style;']);
+ eval(['loggedData.' headers{i} '.params.color = params.plotting.color;']);
+ eval(['loggedData.' headers{i} '.params.marker = params.plotting.marker;']);
+ eval(['loggedData.' headers{i} '.params.backgnd = params.plotting.backgnd;']);
+
+ end
+end
+
+% converting time to relative time
+loggedData.Time.data = loggedData.Time.data - loggedData.Time.data(1);
+
+% this is to parse the Marker field, if it exists
+if (isfield(loggedData,'Marker'))
+
+ c = zeros(numel(loggedData.Marker.data),1);
+
+ for i = 2: numel(loggedData.Marker.data)
+ if (loggedData.Marker.data(i)>loggedData.Marker.data(i-1))
+ c(i) = loggedData.Marker.data(i);
+ end
+ end
+
+ loggedData.Marker.data = c;
+
+end
+
+% if expData was sent in as a variable, then update the plotting parameters
+% of loggedData to be the same as that in the existing data structure
+if (exist('expData','var'))
+ if(isempty(setdiff(headers,expData.datafields)))
+ for i = 1:numOfHeaders
+
+ eval(['loggedData.' headers{i} '.params.style = expData.' headers{i} '.params.style;']);
+ eval(['loggedData.' headers{i} '.params.color = expData.' headers{i} '.params.color;']);
+ eval(['loggedData.' headers{i} '.params.marker = expData.' headers{i} '.params.marker;']);
+ eval(['loggedData.' headers{i} '.params.backgnd = expData.' headers{i} '.params.backgnd;']);
+
+ end
+ end
+end
+
+end
+
diff --git a/controls/DataAnalysisTool/Tool/plot_data.m b/controls/DataAnalysisTool/Tool/plot_data.m
new file mode 100644
index 0000000000000000000000000000000000000000..ea7fd3410c23971dde2515f85c6fb0e0821de0c7
--- /dev/null
+++ b/controls/DataAnalysisTool/Tool/plot_data.m
@@ -0,0 +1,105 @@
+function plot_data(expData, plotParams)
+%PLOT_DATA This function plots the data according to the parameters mentioned in params
+% expData - structure that contains the data to be plotted
+% plotParams - structure that contains the plotting options
+
+% check plotting switch
+if (~plotParams.plot)
+ disp('No plotting');
+else
+ %% check separate plotting switch
+ if(plotParams.separatePlot)
+
+ % bulding the plot_separate statement that will be executed
+ plot_separateString = 'plot_separate(expData,0,''';
+
+ % extracting data headers to plot
+ if(isempty(plotParams.separateData))
+ headers = fieldnames(expData); % if none mentioned, use all of the headers
+ headers = headers(2:end); % except Time :)
+ else
+ headers = plotParams.separateData;
+ end
+
+ % adding the headers to the plot_separate statement
+ for i = 1:length(headers)
+ if(i==length(headers))
+ plot_separateString = strcat(plot_separateString,headers{i},''');');
+ else
+ plot_separateString = strcat(plot_separateString,headers{i},''',''');
+ end
+ end
+
+ % executing the plot_separate statement
+ eval(plot_separateString);
+ end
+
+ %% check multi plotting switch
+ if(plotParams.multiPlot)
+
+ % building the plot_multi statement that will be executed
+ plot_multiString = 'plot_multi(expData,0,''';
+
+ % extracting data headers to plot
+ if(isempty(plotParams.multiData)) % if none mentioned, use headers for separate plotting
+ if(isempty(plotParams.separateData))
+ headers = fieldnames(expData); % if no headers mentioned for separate plotting, use all of the headers
+ else
+ headers = plotParams.separateData;
+ end
+ else
+ headers = plotParams.multiData;
+ end
+
+ % adding the headers to the plot_multi statement
+ for i = 1:length(headers)
+ if(i==length(headers))
+ plot_multiString = strcat(plot_multiString,headers{i},''');');
+ else
+ plot_multiString = strcat(plot_multiString,headers{i},''',''');
+ end
+ end
+
+ % executing the plot_multi statement
+ eval(plot_multiString);
+ end
+
+ %% check sub plotting switch
+ if(plotParams.subPlot)
+
+ % building the plot_sub statement that will be executed
+ plot_subString = 'plot_sub(expData,0,''';
+
+ % extracting data headers to plot
+ 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);
+ else
+ headers = plotParams.separateData;
+ end
+ else
+ headers = plotParams.multiData;
+ end
+ else
+ headers = plotParams.subData;
+ end
+
+ % adding the headers to the plot_sub statement
+ for i = 1:length(headers)
+ if(i==length(headers))
+ plot_subString = strcat(plot_subString,headers{i},''');');
+ else
+ plot_subString = strcat(plot_subString,headers{i},''',''');
+ end
+ end
+
+ % executing the plot_sub statement
+ eval(plot_subString);
+ end
+
+end
+
+
+end
+
diff --git a/controls/DataAnalysisTool/Tool/plot_multi.m b/controls/DataAnalysisTool/Tool/plot_multi.m
new file mode 100644
index 0000000000000000000000000000000000000000..d63c9df36fddf81cefcee997e480e8ade2c3a38f
--- /dev/null
+++ b/controls/DataAnalysisTool/Tool/plot_multi.m
@@ -0,0 +1,169 @@
+function plot_multi(expData, useMarker, varargin)
+%PLOT_MULTI This function is used to plot multiple headers on the same plot
+% expData - structure that stores all of the data
+% useMarker - flag to indicated whether or not to plot vertical lines
+% at the marker locations
+% varargin - the header names and corresponding plotting parameters
+%
+% Example of varargin: 'Pitch','r-','Roll','Yaw','go'
+% This means that Pitch will be plotted in red solids, Roll with no
+% special formatting and Yaw in green circles.
+
+% calculating number of headers
+numOfHeaders = 0;
+headers = {};
+for i = 1:length(varargin)
+ if(~isPlotCharString(varargin{i}))
+ numOfHeaders = numOfHeaders + 1;
+ headers{numOfHeaders} = varargin{i};
+ end
+end
+
+% checking to see validity of varargin
+if (length(varargin) > (numOfHeaders*2))
+ error('Too many arguments entered');
+end
+
+% if the plotting style params for each header are different, diffPlotStyles = 1
+diffPlotStyles = haveDiffPlotStyles(expData,headers);
+
+% extracting time structure
+time = expData.Time;
+
+% extract markerlocations, if any
+markerLocations = [];
+if(useMarker)
+ if(~isfield(expData,'Marker'))
+ error('Error! Attempting to plot markers without Marker field');
+ else
+ markerLocations = find(expData.Marker.data);
+ end
+end
+
+% initiliazing final plot statement to be executed
+plotString = ['plot(time.data,expData.'];
+
+% building the plot statement to be executed
+for i = 1:length(varargin)
+ entity = varargin{i};
+
+ plotString = strcat(plotString,entity);
+
+ if (i~=length(varargin))
+ % adding plot style character string
+ if (isPlotCharString(entity))
+ % entity is a plot character string here
+ plotString = strcat(plotString,''',time.data,expData.');
+ else
+ % entity is a header here
+
+ plotString = strcat(plotString,'.data,');
+
+ % extracting next entity
+ nextEntity = varargin{i+1};
+
+ % checking to see if next entity is a plot character string
+ if (isPlotCharString(nextEntity))
+ % if yes, add the required inverted commas
+ plotString = strcat(plotString,'''');
+ else
+ % if not, add the plot character string from header's params
+ if(diffPlotStyles)
+ % if the headers have different plotting style params
+ if(isDefaultPlotCharString(eval(['expData.' entity '.params'])))
+ % if the plotting params are default, don't bother
+ plotString = strcat(plotString,'time.data,expData.');
+ else
+ % else, construct a plot char string and append
+ plotCharString = buildPlotCharString(eval(['expData.' entity '.params']));
+ plotString = strcat(plotString,'''');
+ plotString = strcat(plotString,plotCharString);
+ plotString = strcat(plotString,''',');
+ plotString = strcat(plotString,'time.data,expData.');
+ end
+ else
+ % if two or more headers have the same plotting style
+ % params, don't construct their plot char strings
+ plotString = strcat(plotString,'time.data,expData.');
+ end
+ end
+
+ end
+ else
+ % this is the last entity in the varargin cell array
+
+ if(isPlotCharString(entity))
+ % if a plot character string, add the ending inverted comma
+ plotString = strcat(plotString,''');');
+ else
+ % if not, add the header's data to the plotString
+ plotString = strcat(plotString,'.data');
+ % and also add the plot character string from its params
+ if(diffPlotStyles)
+ % if the headers have different plotting style params
+ if (isDefaultPlotCharString(eval(['expData.' entity '.params'])))
+ % if the plotting params are default, don't worry
+ plotString = strcat(plotString,');');
+ else
+ % else, construct a plot char string and append
+ plotCharString = buildPlotCharString(eval(['expData.' entity '.params']));
+ plotString = strcat(plotString,',''');
+ plotString = strcat(plotString,plotCharString);
+ plotString = strcat(plotString,''');');
+ end
+ else
+ % if two or more headers have the same plotting style
+ % params, don't construct their plot char strings
+ plotString = strcat(plotString,');');
+ end
+ end
+ end
+
+end
+
+%% plotting stuff
+figure; % opening a new figure
+whitebg(gcf,[1 1 1]); % making sure the background is set to white
+eval(plotString); % plotting
+grid ON; % plotting grid lines
+xlim([0,time.data(end)]); % setting x-axis limits
+xlabel(['Time (' time.unit ')']); % setting x-axis label
+
+%constructing yAxisLabel
+yAxisLabel = [];
+for i = 1:numOfHeaders
+ if i == numOfHeaders
+ yAxisLabel = strcat(yAxisLabel,headers{i});
+ if(eval(['isempty(expData.' headers{1} '.unit)']))
+ break;
+ else
+ yAxisLabel = strcat(yAxisLabel,'(', eval(['expData.' headers{1} '.unit']),')');
+ end
+ else
+ yAxisLabel = strcat(yAxisLabel,headers{i},',');
+ end
+end
+
+ylabel(yAxisLabel);
+
+% constructing statement for inserting the legend
+legendString = ['legend('''];
+for i = 1:numOfHeaders
+ if(i == numOfHeaders)
+ legendString = strcat(legendString,headers{i},''',''Location'',''NorthWest'');');
+ else
+ legendString = strcat(legendString,headers{i},''',''');
+ end
+end
+
+eval(legendString);
+
+% plotting markers, if any
+for i = 1:numel(markerLocations)
+ %hx = graph2d.constantline(time.data(markerLocations(i)),'Linestyle','--', 'Color', [0.7 0.7 0.7]);
+ %changedependvar(hx,'x');
+ text(time.data(markerLocations(i)),(min(ylim)+max(ylim))/2,num2str(i));
+end
+
+end
+
diff --git a/controls/DataAnalysisTool/Tool/plot_multi_vectors.m b/controls/DataAnalysisTool/Tool/plot_multi_vectors.m
new file mode 100644
index 0000000000000000000000000000000000000000..431f92ba15dd56685cff65f4732bb95f268c3064
--- /dev/null
+++ b/controls/DataAnalysisTool/Tool/plot_multi_vectors.m
@@ -0,0 +1,56 @@
+function plot_multi_vectors(xval, varargin)
+%PLOT_MULTI_VECTORS This function plots multiple vectors on the same plot.
+%The vectors are plotted against time.
+% xval - the vector to be plotted against
+% varargin - the vectors to be plotted (with optional formatting)
+
+vectorNames = cell(length(varargin),1);
+numOfVectors = 0;
+
+for i = 1:length(varargin)
+
+ dataHeader = varargin{i};
+
+ if(isPlotCharString(dataHeader))
+ continue;
+ end
+
+ % track the number of vectors to be used for legend creation
+ numOfVectors = numOfVectors + 1;
+ vectorNames{numOfVectors} = inputname(i+1);
+
+ % plotting the individual vectors (with formatting)
+ if(i ~= length(varargin))
+ if(isPlotCharString(varargin{i+1}))
+ plot(xval,dataHeader,varargin{i+1});
+ else
+ plot(xval,dataHeader);
+ end
+ else
+ plot(xval,dataHeader);
+ end
+
+ % hold the plot for the next vectors
+ if (numOfVectors == 1)
+ hold all;
+ end
+
+end
+
+grid ON;
+xlabel(inputname(1));
+xlim([0,xval(length(xval))]);
+
+% constructing statement for inserting the legend
+legendString = ['legend('''];
+for i = 1:numOfVectors
+ if(i == numOfVectors)
+ legendString = strcat(legendString,vectorNames{i,1},''',''Location'',''NorthWest'');');
+ else
+ legendString = strcat(legendString,vectorNames{i,1},''',''');
+ end
+end
+eval(legendString);
+
+end
+
diff --git a/controls/DataAnalysisTool/Tool/plot_separate.m b/controls/DataAnalysisTool/Tool/plot_separate.m
new file mode 100644
index 0000000000000000000000000000000000000000..21258d6dacefad42184b8a649f738b7d9a5ee11a
--- /dev/null
+++ b/controls/DataAnalysisTool/Tool/plot_separate.m
@@ -0,0 +1,77 @@
+function plot_separate(expData, useMarker, varargin)
+%PLOT_SEPARATE This function plots separate plots for the data-headers
+%passed to the function
+% expData - structure that contains all the data
+% useMarker - flag to indicated whether or not to plot vertical lines
+% at the marker locations
+% varargin - the headers of the data to be plotted
+%
+% Example of varargin: 'Pitch','r-','Roll','Yaw','go'
+% This means that Pitch will be plotted in red solids, Roll with default
+% formatting and Yaw in green circles.
+
+time = expData.Time; % extracting time structure
+markerLocations = [];
+
+% extract markerlocations, if any
+if(useMarker)
+ if(~isfield(expData,'Marker'))
+ error('Error! Attempting to plot markers without Marker field');
+ else
+ markerLocations = find(expData.Marker.data);
+ end
+end
+
+% bulding the plot statement that will be executed
+for i = 1:length(varargin)
+
+ dataHeader = varargin{i};
+
+ % continue to next iteration if current argument is a plotting character string
+ if(isPlotCharString(dataHeader))
+ continue;
+ end
+
+ % adding the header to the plot statment to be executed
+ plotString = strcat('plot(time.data,expData.',dataHeader,'.data');
+
+ % adding plot formatting string, if it exists
+ if(i ~= length(varargin))
+ if(isPlotCharString(varargin{i+1}))
+ plotString = strcat(plotString,',''',varargin{i+1},''');');
+ else
+ % use the plotting parameters set for this header
+ plotCharString = buildPlotCharString(eval(['expData.' dataHeader '.params']));
+ plotString = strcat(plotString,',''', plotCharString, ''');');
+ end
+ else
+ % use the plotting parameters set for this header
+ 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
+ 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
+ xlim([0, time.data(end)]); % setting x-axis limits
+ grid ON; % setting grid lines on the graph
+ % adding markers
+ for i = 1:numel(markerLocations)
+ %hx = graph2d.constantline(time.data(markerLocations(i)), 'LineStyle', '--', 'Color',[0.7 0.7 0.7]);
+ %changedependvar(hx,'x');
+ text(time.data(markerLocations(i)),(min(ylim)+max(ylim))/2, num2str(i));
+ end
+
+end
+
+end
+
diff --git a/controls/DataAnalysisTool/Tool/plot_sub.m b/controls/DataAnalysisTool/Tool/plot_sub.m
new file mode 100644
index 0000000000000000000000000000000000000000..f91b59e2ff472dc38a39ed3575176a7a6c291f00
--- /dev/null
+++ b/controls/DataAnalysisTool/Tool/plot_sub.m
@@ -0,0 +1,99 @@
+function plot_sub(expData, useMarker, varargin)
+%PLOT_SUB This function make sub 2x1 subplots of data headers mentioned
+% expData - structure that holds all of the data
+% useMarker - flag to indicated whether or not to plot vertical lines
+% at the marker locations
+% varargin - the data headers to be plotted along with optional
+% formatting parameters
+%
+% Example of varargin: 'Pitch','r-','Roll','Yaw','go'
+% This means that Pitch will be plotted in red solids, Roll with no
+% special formatting and Yaw in green circles.
+
+% extracting the Time structure
+time = expData.Time;
+currHeaderIndex = 0;
+
+% extract markerlocations, if any
+markerLocations = [];
+if(useMarker)
+ if(~isfield(expData,'Marker'))
+ error('Error! Attempting to plot markers without Marker field');
+ else
+ markerLocations = find(expData.Marker.data);
+ end
+end
+
+% calculating number of headers
+numOfHeaders = 0;
+for i = 1:length(varargin)
+ if(~isPlotCharString(varargin{i}))
+ numOfHeaders = numOfHeaders + 1;
+ end
+end
+
+% building the plot statement to be executed
+for i = 1:length(varargin)
+
+ % continue to next argument if the current argument is a plot
+ % formatting string
+ if(isPlotCharString(varargin{i}))
+ continue;
+ end
+
+ % keeping track of the number of headers
+ currHeaderIndex = currHeaderIndex + 1;
+
+ % adding header name to the plot statment
+ plotString = strcat('plot(time.data,expData.',varargin{i},'.data');
+
+ % adding the plot formatting string if it exists
+ if(i ~= length(varargin))
+ if(isPlotCharString(varargin{i+1}))
+ plotString = strcat(plotString,',''',varargin{i+1},''');');
+ else
+ % use the plotting style parameters set for this header
+ plotCharString = buildPlotCharString(eval(['expData.' varargin{i} '.params']));
+ plotString = strcat(plotString,',''', plotCharString, ''');');
+ end
+ else
+ % use the plotting parameters set for this header
+ plotCharString = buildPlotCharString(eval(['expData.' varargin{i} '.params']));
+ plotString = strcat(plotString,',''', plotCharString, ''');');
+ end
+
+
+ % checking to see if a new figure needs to be created
+ if(mod(currHeaderIndex,2) == 1)
+ figure;
+ if(currHeaderIndex ~= numOfHeaders)
+ subplot(2,1,1);
+ end
+ else
+ subplot(2,1,2);
+ end
+
+ %% plotting data and making it look pretty
+ eval(plotString);
+ title(varargin{i});
+ 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);
+ xlim([0,time.data(end)]);
+ grid ON;
+ set(gca,'Color',eval(['expData.' varargin{i} '.params.backgnd']));
+ % plotting markers, if any
+ for i = 1:numel(markerLocations)
+ %hx = graph2d.constantline(time.data(markerLocations(i)),'Linestyle', '--','Color', [0.7 0.7 0.7]);
+ %changedependvar(hx,'x');
+ text(time.data(markerLocations(i)),(min(ylim)+max(ylim))/2, num2str(i));
+ end
+
+end
+
+end
+
diff --git a/controls/DataAnalysisTool/Tool/plot_sub_vectors.m b/controls/DataAnalysisTool/Tool/plot_sub_vectors.m
new file mode 100644
index 0000000000000000000000000000000000000000..ba9c5345c64436cb90d613f275bd572a62a09f75
--- /dev/null
+++ b/controls/DataAnalysisTool/Tool/plot_sub_vectors.m
@@ -0,0 +1,52 @@
+function plot_sub_vectors(xval,varargin)
+%PLOT_SUB_VECTORS This function plots 2x1 sub plots for the vectors
+%passed to the function. The vectors are plotted against time.
+% xval - the vector to be plotted against
+% varargin - the vectors to be plotted (with optional formatting)
+
+numOfVectors = 0;
+
+for i = 1:length(varargin)
+
+ % continue to the next iteration if the current argument is a plot
+ % formatting string
+ if(isPlotCharString(varargin{i}))
+ continue;
+ end
+
+ % keeping track of the number of vectors to check for creation of new
+ % figures
+ numOfVectors = numOfVectors + 1;
+
+ % creating new figure, if needed, and choosing the right axes
+ if(mod(numOfVectors,2) == 1)
+ figure;
+ if(~(i == length(varargin)))
+ subplot(2,1,1);
+ end
+ else
+ subplot(2,1,2);
+ end
+
+ % plotting the vector
+ if(i ~= length(varargin))
+ if(isPlotCharString(varargin{i+1}))
+ plot(xval,varargin{i},varargin{i+1});
+ else
+ plot(xval,varargin{i});
+ end
+ else
+ plot(xval,varargin{i});
+ end
+
+ % labelling the plot
+ title(inputname(i+1));
+ xlabel(inputname(1));
+ ylabel(inputname(i+1));
+ xlim([0,xval(length(xval))]);
+ grid ON;
+
+end
+
+end
+
diff --git a/controls/DataAnalysisTool/Tool/sampleLogFile.txt b/controls/DataAnalysisTool/Tool/sampleLogFile.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cc44c06061525668b6f80c4606fe854ea75aab3b
--- /dev/null
+++ b/controls/DataAnalysisTool/Tool/sampleLogFile.txt
@@ -0,0 +1,1551 @@
+#Constants pitch_P pitch_I pitch_D
+#PIDValues 1900 0 409
+#Constants roll_P roll_I roll_D
+#PIDValues 1900 0 409
+#Orientation: OptiTrack-VRPN
+#Position: OptiTrack-VRPN
+#Direction: OptiTrack-VRPN
+#Communication: 6-Channel Trainer
+%Time Motor_1 Motor_2 Motor_3 Motor_4 Pitch Pitch_err Pitch_pid_p Pitch_pid_d Roll Roll_err Roll_pid_p Roll_pid_d Yaw qx qy qz qw
+&sec %thrust %thrust %thrust %thrust degrees degrees degrees degrees degrees degrees degrees degrees degrees val val val val
+0.000000 0 1300 1300 0 -70.274537 110.266991 3656.591901 787128.732663 3.211985 -3.211985 -106.513447 -22928.398073 -0.013742 0.022850 -0.575314 0.016032 0.817456
+0.009998 0 1300 1300 0 -70.289314 110.281768 3657.081910 71579.767689 3.345764 -3.345764 -110.949748 -2171.610511 -0.153569 0.023100 -0.575429 0.015709 0.817375
+0.019967 0 1300 1300 351 -70.208934 110.201388 3654.416407 6473.332408 3.262608 -3.262608 -108.192181 -143.860681 -0.104210 0.022767 -0.574857 0.015627 0.817788
+0.029999 0 1274 1300 533 -70.283457 110.275911 3656.887680 634.998760 3.335543 -3.335543 -110.610785 -60.233595 -0.137640 0.023108 -0.575385 0.015770 0.817404
+0.039999 0 1144 1300 663 -70.284388 110.276843 3656.918583 58.331924 3.331540 -3.331540 -110.478066 -2.878567 -0.132351 0.023106 -0.575391 0.015788 0.817399
+0.049992 0 936 1300 871 -70.192202 110.184656 3653.861570 -54.555671 3.193062 -3.193062 -105.885941 89.660412 -0.030716 0.022642 -0.574732 0.015800 0.817876
+0.059989 0 1287 1300 520 -70.280506 110.272960 3656.789838 52.359069 3.305900 -3.305900 -109.627802 -65.092699 -0.103849 0.023067 -0.575362 0.015862 0.817420
+0.069992 0 1014 1300 793 -70.192930 110.185384 3653.885697 -52.058129 3.207658 -3.207658 -106.369983 57.820201 -0.043584 0.022681 -0.574738 0.015781 0.817871
+0.079991 0 1300 1300 507 -70.282666 110.275120 3656.861458 53.506102 3.331386 -3.331386 -110.472945 -75.042854 -0.133559 0.023099 -0.575379 0.015779 0.817408
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diff --git a/controls/DataAnalysisTool/Tool/sampleLogFileWithMarker.txt b/controls/DataAnalysisTool/Tool/sampleLogFileWithMarker.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6978517106b050406f8b3a47582216fff4c35152
--- /dev/null
+++ b/controls/DataAnalysisTool/Tool/sampleLogFileWithMarker.txt
@@ -0,0 +1,1558 @@
+#Constants pitch_P pitch_I pitch_D
+#PIDValues 1650 3 550
+#Constants roll_P roll_I roll_D
+#PIDValues 1650 3 550
+%Time Marker Motor_1 Motor_2 Motor_3 Motor_4 Pitch Pitch_err Pitch_pid_p Pitch_pid_d Roll Roll_err Roll_pid_p Roll_pid_d
+&sec Marker %thrust %thrust %thrust %thrust degrees degrees degrees degrees degrees degrees degrees degrees
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+7432.445988 0 48615 55555 33385 26445 -2.375358 2.375358 68.405386 184.961427 -10.160889 10.160889 292.612600 182.730779
+7432.455841 0 48312 54994 33688 27006 -2.552077 2.552077 73.494552 169.638861 -10.326233 10.326233 297.374175 158.719197
+7432.465940 0 48791 55646 33209 26354 -2.739654 2.739654 78.896383 180.061050 -10.508171 10.508171 302.613598 174.647421
+7432.475817 0 48398 55649 33602 26351 -2.908351 2.908351 83.754506 161.937419 -10.684351 10.684351 307.687207 169.120282
+7432.485938 0 47879 55305 34121 26695 -3.054477 3.054477 87.962636 140.271019 -10.843217 10.843217 312.262242 152.501166
+7432.495807 0 51147 56000 30853 26000 -3.306360 3.306360 95.216323 241.789576 -11.027699 11.027699 317.574933 177.089721
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+7432.515948 0 50565 56000 31435 26000 -3.763143 3.763143 108.370741 208.850075 -11.387999 11.387999 327.950833 178.599358
+7432.525831 0 49552 56000 32448 26000 -3.940020 3.940020 113.464437 169.789866 -11.566197 11.566197 333.082565 171.057731
+7432.535943 0 52633 56000 29367 26000 -4.215377 4.215377 121.394136 264.323279 -11.746103 11.746103 338.263495 172.697678
+7432.545848 0 52507 55974 29493 26026 -4.478217 4.478217 128.963402 252.308883 -11.892955 11.892955 342.492519 140.967444
+7432.555921 0 49072 56000 32928 26000 -4.617351 4.617351 132.970160 133.558586 -12.059023 12.059023 347.274920 159.413368
+7432.565869 0 52345 56000 29655 26000 -4.862534 4.862534 140.030920 235.358663 -12.225464 12.225464 352.068090 159.772336
+7432.575946 0 52872 56000 29128 26000 -5.118076 5.118076 147.390017 245.303251 -12.420504 12.420504 357.684848 187.225267
+7432.585992 0 52780 56000 29220 26000 -5.362767 5.362767 154.436603 234.886184 -12.589226 12.589226 362.543689 161.961392
+7432.595940 0 51714 56000 30286 26000 -5.564101 5.564101 160.234603 193.266682 -12.746678 12.746678 367.077984 151.143149
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+7432.666038 0 53521 56000 28479 26000 -7.178190 7.178190 206.717028 204.637721 -13.824571 13.824571 398.119064 109.506845
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+7432.685975 0 54863 56000 27137 26000 -7.633688 7.633688 219.834443 235.460699 -14.095690 14.095690 405.926737 125.459656
+7432.695924 0 55075 56000 26925 26000 -7.878576 7.878576 226.886708 235.075504 -14.225209 14.225209 409.656622 124.329478
+7432.706048 0 55585 56000 26415 26000 -8.133085 8.133085 234.216043 244.311169 -14.397815 14.397815 414.627309 165.689588
+7432.716034 0 54585 56000 27415 26000 -8.346040 8.346040 240.348709 204.422176 -14.508529 14.508529 417.815642 106.277764
+7432.725956 0 55830 56000 26170 26000 -8.594286 8.594286 247.497674 238.298848 -14.607727 14.607727 420.672347 95.223486
+7432.735989 0 55648 56000 26352 26000 -8.828714 8.828714 254.248725 225.035027 -14.709804 14.709804 423.611958 97.987056
+7432.746044 0 54862 56000 27138 26000 -9.029341 9.029341 260.026355 192.587674 -14.826428 14.826428 426.970482 111.950785
+7432.756007 0 56000 56000 26000 26000 -9.283802 9.283802 267.354313 244.265273 -14.910977 14.910977 429.405324 81.161410
+7432.766046 0 55267 54165 26733 27835 -9.483818 9.483818 273.114339 192.000866 -14.888726 14.888726 428.764540 -21.359473
+7432.775921 0 55676 56000 26324 26000 -9.691284 9.691284 279.088935 199.153200 -15.003014 15.003014 432.055794 109.708458
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diff --git a/controls/MATLAB/thrustAndDragConstant/calcDragConstant.m b/controls/MATLAB/thrustAndDragConstant/calcDragConstant.m
index 1a888d4f683e4fee08aba806366e258a91a1617e..3ebd0135780ff85931e33adb536c3dc14ecc285a 100644
--- a/controls/MATLAB/thrustAndDragConstant/calcDragConstant.m
+++ b/controls/MATLAB/thrustAndDragConstant/calcDragConstant.m
@@ -30,22 +30,23 @@ rotor_speed_3 = data.(5) * (pi/30);
% done by stacking the data of each motor in a single array and performing
% a least squares approximation of all of the data.
%
-% u: Defined in section 4.2.5
-% omega: vector of each rotors speed in rad/s
-% A: column vector of each rotors speed squared
-% b: Defined in section 5.5.4.1
-% Kd_vector: Vector containing all experimental Kd values
-% Vb: Battery voltage
-u1 = ((data.(1)/100) - Pmin)/(Pmax - Pmin);
-u2 = ((data.(1)/100) - Pmin)/(Pmax - Pmin);
-u3 = ((data.(1)/100) - Pmin)/(Pmax - Pmin);
-u4 = ((data.(1)/100) - Pmin)/(Pmax - Pmin);
+% u: Defined in section 4.2.5
+% omega: vector of each rotors speed in rad/s
+% A: column vector of each rotors speed squared
+% b: Defined in section 5.5.4.1
+% Kd_vector: Vector containing all experimental Kd values
+% Vb: Battery voltage
+
+u1 = ((data.(1)) - Pmin)/(Pmax - Pmin);
+u2 = ((data.(1)) - Pmin)/(Pmax - Pmin);
+u3 = ((data.(1)) - Pmin)/(Pmax - Pmin);
+u4 = ((data.(1)) - Pmin)/(Pmax - Pmin);
u = [u1; u2; u3; u4];
Vb = [data.(6); data.(6); data.(6); data.(6)];
omega = [rotor_speed_0; rotor_speed_1; rotor_speed_2; rotor_speed_3];
A = omega.^2;
b = ((u.*Vb)/(Rm*Kq))-omega./(Rm*Kq*Kv)-If/Kq;
-Kd = ((A'*A)^-1)*A'*b
+Kd = ((A'*A)^-1)*A'*b;
end
diff --git a/controls/MATLAB/thrustAndDragConstant/calcThrustConstant.m b/controls/MATLAB/thrustAndDragConstant/calcThrustConstant.m
index c69b9fe88f1fb5775e384733d3e4ffc02cac2208..91e8e7618bae382a640791dec7340c84db3369d4 100644
--- a/controls/MATLAB/thrustAndDragConstant/calcThrustConstant.m
+++ b/controls/MATLAB/thrustAndDragConstant/calcThrustConstant.m
@@ -21,11 +21,11 @@ A = (rotor_speed_0.^2 + rotor_speed_1.^2 + rotor_speed_2.^2 + rotor_speed_3.^2);
% multiplying by the acceleration of gravity.
T = (data.Scale_g_/1000)*9.8;
-% Calculate the thrust constant (Kt) through the following
-% equation: Kt = (A'A)^-1.*A'.*T as defined on page 65 of "Model
+% Calculate the thrust constant (Kt) through least squares approximation
+% Kt = (A'A)^-1.*A'.*T as defined on page 65 of "Model
% development, system identification, and control of a quadrotor
% helicopter" (Matt Rich's Thesis).
-Kt = ((A'*A)^(-1))*(A'*T)
+Kt = ((A'*A)^(-1))*(A'*T);
end
diff --git a/controls/MATLAB/thrustAndDragConstant/thrustDragConstantCalculations.m b/controls/MATLAB/thrustAndDragConstant/thrustDragConstantCalculations.m
index 1ef35479243d2f50a2f1e4b015a50bcff2650a3d..827ae3c87799d2b781fec882baa4cb24acaa780a 100644
--- a/controls/MATLAB/thrustAndDragConstant/thrustDragConstantCalculations.m
+++ b/controls/MATLAB/thrustAndDragConstant/thrustDragConstantCalculations.m
@@ -2,9 +2,9 @@
addpath('C:\Users\Andy\Documents\School\MicroCART\GitRepo\MicroCART_17-18\controls\MATLAB\zeroLoadCurrent')
% Import data as a table.
-data = readtable('C:\Users\Andy\Documents\MATLAB\MicroCART\Thrust and Drag Constant\Thrust and Drag Constant Data.xlsx');
+data = readtable('C:\Users\Andy\Documents\School\MicroCART\GitRepo\MicroCART_17-18\controls\dataCollection\Thrust and Drag Constant Data v2.xlsx');
-filePath_noLoadCurrentData = 'C:\Users\Andy\Documents\MATLAB\MicroCART\Zero Load Current\No Load Friction Current.csv';
+filePath_noLoadCurrentData = 'C:\Users\Andy\Documents\School\MicroCART\GitRepo\MicroCART_17-18\controls\dataCollection\No Load Friction Current.xlsx';
[I_0, I_1, I_2] = zeroLoadCurrent(filePath_noLoadCurrentData);
@@ -14,8 +14,8 @@ rotor_speed_2 = data.(4) * (pi/30);
rotor_speed_3 = data.(5) * (pi/30);
% Define Pmin and Pmax, as well as the motor parameters Rm, Kv, Kq, and If
-Pmin = 0.40;
-Pmax = 0.8;
+Pmin = 1e5;
+Pmax = 2e5;
Rm = 0.2308;
Kv = 96.3422;
Kq = 96.3422;
@@ -26,8 +26,8 @@ If3 = I_0 * sign(rotor_speed_3) + I_1 * rotor_speed_3 + I_2 * rotor_speed_3.^2;
If = [If0; If1; If2; If3];
% Call the calc_thrust_constant() function.
-Kt = calcThrustConstant(data);
+Kt = calcThrustConstant(data)
% Call the calc_drift_constant() function.
-Kd = calcDragConstant(data, Pmin, Pmax, Rm, Kv, Kq, If );
+Kd = calcDragConstant(data, Pmin, Pmax, Rm, Kv, Kq, If)
diff --git a/controls/MATLAB/zeroLoadCurrent/Kd_error.m b/controls/MATLAB/zeroLoadCurrent/Kd_error.m
index 9e087f5394d289bce2eba3bc3b920af917d8ef2f..d6589a8c08f806c69e4b8517c0fc7c79b1174fe9 100644
--- a/controls/MATLAB/zeroLoadCurrent/Kd_error.m
+++ b/controls/MATLAB/zeroLoadCurrent/Kd_error.m
@@ -1,15 +1,16 @@
% Read in data
-data = readtable('C:\Users\Andy\Documents\MATLAB\MicroCART\Thrust and Drag Constant\Thrust and Drag Constant Data.xlsx');
+data = readtable('C:\Users\Andy\Documents\School\MicroCART\GitRepo\MicroCART_17-18\controls\dataCollection\Thrust and Drag Constant Data v2.xlsx');
-filePath_noLoadCurrentData = 'C:\Users\Andy\Documents\MATLAB\MicroCART\Zero Load Current\No Load Friction Current.csv';
+filePath_noLoadCurrentData = 'C:\Users\Andy\Documents\School\MicroCART\GitRepo\MicroCART_17-18\controls\dataCollection\noLoadCurrentv2.xlsx';
-[I_0, I_1, I_2, dutyCycle_error, error, residual_error, residual_error_ConstantIf] = zeroLoadCurrent(filePath_noLoadCurrentData);
+[I_0, I_1, I_2, motorCommand_error, error, residual_error, residual_error_ConstantIf] = zeroLoadCurrent(filePath_noLoadCurrentData);
-Pmin = 0.40;
-Pmax = 0.8;
+Pmin = 1e5;
+Pmax = 2e5;
Rm = 0.2308;
Kv = 96.3422;
Kq = 96.3422;
+Kd = 1.0317e-7;
% Convert RPM to angular speed of each rotor.
rotor_speed_0 = data.(2) * (pi/30);
@@ -17,10 +18,10 @@ rotor_speed_1 = data.(3) * (pi/30);
rotor_speed_2 = data.(4) * (pi/30);
rotor_speed_3 = data.(5) * (pi/30);
-duty_cycle_percentage = data.(1);
+motorCommand = data.(1);
Vb = data.(6);
-u = ((data.(1)/100) - Pmin)/(Pmax - Pmin);
+u = ((data.(1)) - Pmin)/(Pmax - Pmin);
If = I_0 * sign(rotor_speed_0) + I_1 * rotor_speed_0 + I_2 * rotor_speed_0.^2;
w_num = -1 + sqrt( 1 - 4*Rm*Kv*Kq*Kd*(Kv*Rm*If - Kv*u.*Vb));
@@ -29,13 +30,10 @@ w = w_num / w_den;
figure()
hold on
-plot(duty_cycle_percentage, w); grid()
-plot(duty_cycle_percentage, rotor_speed_0);
-%plot(duty_cycle_percentage, rotor_speed_1);
-%plot(duty_cycle_percentage, rotor_speed_2);
-%plot(duty_cycle_percentage, rotor_speed_3);
+plot(motorCommand, w); grid()
+plot(motorCommand, rotor_speed_0);
-xlabel('Duty Cycle Percentage');
+xlabel('Motor Command');
ylabel('Rotor Speed (rad/s)')
residual_error
diff --git a/controls/MATLAB/zeroLoadCurrent/zeroLoadCurrent.m b/controls/MATLAB/zeroLoadCurrent/zeroLoadCurrent.m
index 5ce2636122b937a2396a507ad8acb374a07d73cd..d8cffe27289fcd65e955a9f3e4f23e61c7d8d9fb 100644
--- a/controls/MATLAB/zeroLoadCurrent/zeroLoadCurrent.m
+++ b/controls/MATLAB/zeroLoadCurrent/zeroLoadCurrent.m
@@ -1,4 +1,4 @@
-function [I_0, I_1, I_2, dutyCycle, error, residual_error, residual_error_constantIf] = zeroLoadCurrent(absoluteFilePath)
+function [I_0, I_1, I_2, motorCommand, error, residual_error, residual_error_constantIf] = zeroLoadCurrent(absoluteFilePath)
%This function takes in an absolute file path to a .csv or Excel file with
%the following format:
% Second column should be the motor speed in revolutions per minute
@@ -9,7 +9,7 @@ function [I_0, I_1, I_2, dutyCycle, error, residual_error, residual_error_consta
data = readtable(absoluteFilePath);
%Extract the motor speed column and convert it to radians per second
- dutyCycle = data.(1);
+ motorCommand = data.(1);
motorSpeed_rpm = data.(2);
motorSpeed_radPerSec = motorSpeed_rpm * pi/30;
diff --git a/controls/dataCollection/Thrust and Drag Constant Data v2.xlsx b/controls/dataCollection/Thrust and Drag Constant Data v2.xlsx
new file mode 100644
index 0000000000000000000000000000000000000000..5e843501691b72708b7b7b2f0c36d2e62330cdbb
Binary files /dev/null and b/controls/dataCollection/Thrust and Drag Constant Data v2.xlsx differ
diff --git a/controls/dataCollection/loadCurrent.xlsx b/controls/dataCollection/loadCurrent.xlsx
new file mode 100644
index 0000000000000000000000000000000000000000..b78e545f9ad9355d2b21e4fe4e12f4836e2f2907
Binary files /dev/null and b/controls/dataCollection/loadCurrent.xlsx differ
diff --git a/controls/dataCollection/noLoadCurrentv2.xlsx b/controls/dataCollection/noLoadCurrentv2.xlsx
new file mode 100644
index 0000000000000000000000000000000000000000..534d60c7578211010d56526a64eee9aa91db1898
Binary files /dev/null and b/controls/dataCollection/noLoadCurrentv2.xlsx differ
diff --git a/controls/model/Quadcopter_Model_R2016_B.slx b/controls/model/Quadcopter_Model_R2016_B.slx
index 4a522c3598e05d090a69937f4321bbae2bff06ee..5845d44124f35d4a571cc0f9319c8dc54f693804 100644
Binary files a/controls/model/Quadcopter_Model_R2016_B.slx and b/controls/model/Quadcopter_Model_R2016_B.slx differ
diff --git a/controls/model/modelParameters.m b/controls/model/modelParameters.m
index 4d04f572601179be83af8d527a862e4873c026a3..37f6b9b12cf17c951f9f626c0c895fd39687b4c2 100644
--- a/controls/model/modelParameters.m
+++ b/controls/model/modelParameters.m
@@ -1,32 +1,34 @@
% Model Parameters
m = 1.19; % Quadrotor + battery mass
g = 9.81; % Acceleration of gravity
- Jxx = 0.0218; % Quadrotor and battery motor of inertia around bx (pitch)
- Jyy = 0.0277; % Quadrotor and battery motor of inertia around by (roll)
+ %Jxx = 0.0218; % Quadrotor and battery motor of inertia around bx (pitch)
+ %Jyy = 0.0277; % Quadrotor and battery motor of inertia around by (roll)
+ Jxx = 0.0277;
+ Jyy = 0.0218;
Jzz = 0.0332; % Quadrotor and battery motor of inertia around bz (yaw)
- Jreq = 4.2012e-05; % Rotor and motor moment of inertia around axis of rotation
- Kt = 8.1558*10^-6; % Rotor thrust constant
+ Jreq = 4.2012e-05; % Rotor and motor moment of inertia around axis of rotation
+ Kt = 8.6519e-6; % Rotor thrust constant
Kh = 0; % Rotor in-plane drag constant
- Kd = 1.8087e-07; % Rotor drag constant
- rhx = 0.016; % X-axis distance from center of mass to a rotor hub
- rhy = 0.016; % Y-axis distance from center of mass to a rotor hub
- rhz = 0.003; % Z-axis distance from center of mass to a rotor hub
+ Kd = 1.0317e-7; % Rotor drag constant
+ rhx = 0.16; % X-axis distance from center of mass to a rotor hub
+ rhy = 0.16; % Y-axis distance from center of mass to a rotor hub
+ rhz = 0.03; % Z-axis distance from center of mass to a rotor hub
Rm = 0.2308; % Motor resistance
Kq = 96.3422; % Motor torque constant
Kv = 96.3422; % Motor back emf constant
If = 0.511; % Motor internal friction current
- Pmin = 0.40; % Minimum zybo output duty cycle command
- Pmax = 0.80; % Maximum zybo output duty cycle command
+ Pmin = 1e5; % Minimum zybo output duty cycle command
+ Pmax = 2e5; % Maximum zybo output duty cycle command
Tc = 0.01; % Camera system sampling period
tau_c = 0; % Camera system total latency
Vb = 11.1; % Nominal battery voltage (V)
- omega_o = 598.088; % Equilibrium Rotor Speed
x_controlled_o = 0; % Equilibrium lateral controller output
y_controlled_o = 0; % Equilibrium longitudinal controller output
yaw_controlled_o = 0; % Equilibrium yaw controller output
+ omega_o = sqrt((m*g)/(4*Kt)); % Equilibrium Rotor Speed
% Equilibrium height controller output
height_controlled_o = (((Rm*If + ...
+ (((omega_o * 2 * Rm * Kv * Kq ...
* Kd + 1)^2) - 1)/(4* Rm*Kv^2*Kq ...
- *Kd))/Vb)*(Pmax- Pmin)+Pmin)*100;
\ No newline at end of file
+ *Kd))/Vb)*(Pmax- Pmin)+Pmin);
\ No newline at end of file
diff --git a/controls/model/test_model.slx b/controls/model/test_model.slx
index 39a3e32d6af42371f6da1d27a0c2472428ff38ef..be2883e34aa7f17edaecefb7ed49cbc539bfa55e 100644
Binary files a/controls/model/test_model.slx and b/controls/model/test_model.slx differ
diff --git a/controls/model/test_model_R2015A.mdl b/controls/model/test_model_R2015A.mdl
new file mode 100644
index 0000000000000000000000000000000000000000..bdec86fe72075d99163046fc48e26d1eb4ad7931
--- /dev/null
+++ b/controls/model/test_model_R2015A.mdl
@@ -0,0 +1,12335 @@
+Model {
+ Name "test_model_R2015A"
+ Version 8.5
+ SavedCharacterEncoding "windows-1252"
+ GraphicalInterface {
+ NumRootInports 0
+ NumRootOutports 0
+ ParameterArgumentNames ""
+ ComputedModelVersion "1.1926"
+ NumModelReferences 0
+ NumTestPointedSignals 0
+ }
+ ScopeRefreshTime 0.035000
+ OverrideScopeRefreshTime on
+ DisableAllScopes off
+ DataTypeOverride "UseLocalSettings"
+ DataTypeOverrideAppliesTo "AllNumericTypes"
+ MinMaxOverflowLogging "UseLocalSettings"
+ MinMaxOverflowArchiveMode "Overwrite"
+ FPTRunName "Run 1"
+ MaxMDLFileLineLength 120
+ Object {
+ $PropName "BdWindowsInfo"
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+ Object {
+ $PropName "WindowsInfo"
+ $ObjectID 2
+ $ClassName "Simulink.WindowInfo"
+ IsActive [1]
+ Location [-8.0, -8.0, 1936.0, 1056.0]
+ Object {
+ $PropName "ModelBrowserInfo"
+ $ObjectID 3
+ $ClassName "Simulink.ModelBrowserInfo"
+ Visible [0]
+ DockPosition "Left"
+ Width [50]
+ Height [50]
+ Filter [9]
+ }
+ Object {
+ $PropName "ExplorerBarInfo"
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+ PropName "EditorsInfo"
+ }
+ }
+ }
+ Created "Thu Nov 03 18:34:52 2016"
+ Creator "Andy"
+ UpdateHistory "UpdateHistoryNever"
+ ModifiedByFormat "%<Auto>"
+ LastModifiedBy "Andy"
+ ModifiedDateFormat "%<Auto>"
+ LastModifiedDate "Wed Feb 08 12:06:59 2017"
+ RTWModifiedTimeStamp 408456418
+ ModelVersionFormat "1.%<AutoIncrement:1926>"
+ ConfigurationManager "none"
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+ SampleTimeAnnotations off
+ LibraryLinkDisplay "disabled"
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+ AccelSystemTargetFile "accel.tlc"
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+ Object {
+ $PropName "DataLoggingOverride"
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+ model_ "test_model_R2015A"
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+ Cell "test_model_R2015A"
+ PropName "logAsSpecifiedByModels_"
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+ Array {
+ Type "Cell"
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+ PropName "logAsSpecifiedByModelsSSIDs_"
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+ }
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+ }
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+ LockScale off
+ RndMeth "Floor"
+ SaturateOnIntegerOverflow off
+ LimitOutput off
+ UpperSaturationLimit "inf"
+ LowerSaturationLimit "-inf"
+ ShowSaturationPort off
+ ShowStatePort off
+ IgnoreLimit off
+ StateMustResolveToSignalObject off
+ RTWStateStorageClass "Auto"
+ }
+ Block {
+ BlockType Gain
+ Gain "1"
+ Multiplication "Element-wise(K.*u)"
+ ParamMin "[]"
+ ParamMax "[]"
+ ParamDataTypeStr "Inherit: Same as input"
+ OutMin "[]"
+ OutMax "[]"
+ OutDataTypeStr "Inherit: Same as input"
+ LockScale off
+ RndMeth "Floor"
+ SaturateOnIntegerOverflow on
+ SampleTime "-1"
+ }
+ Block {
+ BlockType Ground
+ }
+ Block {
+ BlockType Inport
+ Port "1"
+ OutputFunctionCall off
+ OutMin "[]"
+ OutMax "[]"
+ OutDataTypeStr "Inherit: auto"
+ LockScale off
+ BusOutputAsStruct off
+ PortDimensions "-1"
+ VarSizeSig "Inherit"
+ SampleTime "-1"
+ SignalType "auto"
+ SamplingMode "auto"
+ LatchByDelayingOutsideSignal off
+ LatchInputForFeedbackSignals off
+ Interpolate on
+ }
+ Block {
+ BlockType Integrator
+ ExternalReset "none"
+ InitialConditionSource "internal"
+ InitialCondition "0"
+ LimitOutput off
+ UpperSaturationLimit "inf"
+ LowerSaturationLimit "-inf"
+ WrapState off
+ WrappedStateUpperValue "pi"
+ WrappedStateLowerValue "-pi"
+ ShowSaturationPort off
+ ShowStatePort off
+ AbsoluteTolerance "auto"
+ IgnoreLimit off
+ ZeroCross on
+ ContinuousStateAttributes "''"
+ }
+ Block {
+ BlockType Mux
+ Inputs "4"
+ DisplayOption "none"
+ UseBusObject off
+ BusObject "BusObject"
+ NonVirtualBus off
+ }
+ Block {
+ BlockType Outport
+ Port "1"
+ OutMin "[]"
+ OutMax "[]"
+ OutDataTypeStr "Inherit: auto"
+ LockScale off
+ BusOutputAsStruct off
+ PortDimensions "-1"
+ VarSizeSig "Inherit"
+ SampleTime "-1"
+ SignalType "auto"
+ SamplingMode "auto"
+ SourceOfInitialOutputValue "Dialog"
+ OutputWhenDisabled "held"
+ InitialOutput "[]"
+ }
+ Block {
+ BlockType Quantizer
+ QuantizationInterval "0.5"
+ LinearizeAsGain on
+ SampleTime "-1"
+ }
+ Block {
+ BlockType RandomNumber
+ Mean "0"
+ Variance "1"
+ Seed "0"
+ SampleTime "-1"
+ VectorParams1D on
+ }
+ Block {
+ BlockType RateTransition
+ Integrity on
+ Deterministic on
+ X0 "0"
+ OutPortSampleTimeOpt "Specify"
+ OutPortSampleTimeMultiple "1"
+ OutPortSampleTime "-1"
+ }
+ Block {
+ BlockType S-Function
+ FunctionName "system"
+ SFunctionModules "''"
+ PortCounts "[]"
+ }
+ Block {
+ BlockType Saturate
+ UpperLimitSource "Dialog"
+ UpperLimit "0.5"
+ LowerLimitSource "Dialog"
+ LowerLimit "-0.5"
+ LinearizeAsGain on
+ ZeroCross on
+ SampleTime "-1"
+ OutMin "[]"
+ OutMax "[]"
+ OutDataTypeStr "Inherit: Same as input"
+ LockScale off
+ RndMeth "Floor"
+ }
+ Block {
+ BlockType Scope
+ Floating off
+ }
+ Block {
+ BlockType Step
+ Time "1"
+ Before "0"
+ After "1"
+ SampleTime "-1"
+ VectorParams1D on
+ ZeroCross on
+ }
+ Block {
+ BlockType SubSystem
+ ShowPortLabels "FromPortIcon"
+ Permissions "ReadWrite"
+ PermitHierarchicalResolution "All"
+ TreatAsAtomicUnit off
+ MinAlgLoopOccurrences off
+ PropExecContextOutsideSubsystem off
+ SystemSampleTime "-1"
+ RTWSystemCode "Auto"
+ RTWFcnNameOpts "Auto"
+ RTWFileNameOpts "Auto"
+ FunctionInterfaceSpec "void_void"
+ FunctionWithSeparateData off
+ RTWMemSecFuncInitTerm "Inherit from model"
+ RTWMemSecFuncExecute "Inherit from model"
+ RTWMemSecDataConstants "Inherit from model"
+ RTWMemSecDataInternal "Inherit from model"
+ RTWMemSecDataParameters "Inherit from model"
+ SimViewingDevice off
+ DataTypeOverride "UseLocalSettings"
+ DataTypeOverrideAppliesTo "AllNumericTypes"
+ MinMaxOverflowLogging "UseLocalSettings"
+ Opaque off
+ MaskHideContents off
+ SFBlockType "NONE"
+ GeneratePreprocessorConditionals off
+ PropagateVariantConditions off
+ TreatAsGroupedWhenPropagatingVariantConditions on
+ ContentPreviewEnabled off
+ IsWebBlock off
+ }
+ Block {
+ BlockType Sum
+ IconShape "rectangular"
+ Inputs "++"
+ CollapseMode "All dimensions"
+ CollapseDim "1"
+ InputSameDT on
+ AccumDataTypeStr "Inherit: Inherit via internal rule"
+ OutMin "[]"
+ OutMax "[]"
+ OutDataTypeStr "Inherit: Same as first input"
+ LockScale off
+ RndMeth "Floor"
+ SaturateOnIntegerOverflow on
+ SampleTime "-1"
+ }
+ Block {
+ BlockType Terminator
+ }
+ Block {
+ BlockType ZeroOrderHold
+ SampleTime "1"
+ }
+ }
+ System {
+ Name "test_model_R2015A"
+ Location [-8, -8, 1928, 1048]
+ Open off
+ ModelBrowserVisibility off
+ ModelBrowserWidth 200
+ ScreenColor "white"
+ PaperOrientation "landscape"
+ PaperPositionMode "auto"
+ PaperType "usletter"
+ PaperUnits "inches"
+ TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
+ TiledPageScale 1
+ ShowPageBoundaries off
+ ZoomFactor "125"
+ ReportName "simulink-default.rpt"
+ SIDHighWatermark "864"
+ Block {
+ BlockType SubSystem
+ Name " Sensors "
+ SID "650"
+ Ports [6, 3]
+ Position [1300, 422, 1520, 658]
+ ZOrder 73
+ ShowName off
+ Commented "on"
+ RequestExecContextInheritance off
+ Variant off
+ Object {
+ $PropName "MaskObject"
+ $ObjectID 22
+ $ClassName "Simulink.Mask"
+ Display "port_label('input', 1, '^{B}Omega', 'texmode', 'on');\nport_label('input', 2, '\\Theta', 'texmode', 'on');"
+ "\nport_label('input', 3, '^{B}v_o', 'texmode', 'on');\nport_label('input', 4, '^{E}r_o', 'texmode', 'on');\nport_labe"
+ "l('input', 5, '^{B}dv_o/dt', 'texmode', 'on');\nport_label('input', 6, '^{B}g', 'texmode', 'on');\nport_label('output"
+ "', 1, '\\Theta_{filtered}', 'texmode', 'on');\nport_label('output', 2, 'd\\Theta_{gyro}/dt', 'texmode', 'on');\nport_"
+ "label('output', 3, '^{E}r_o', 'texmode', 'on');\ndisp('Sensors', 'texmode', 'on'); "
+ }
+ System {
+ Name " Sensors "
+ Location [-8, -8, 1928, 1048]
+ Open off
+ ModelBrowserVisibility off
+ ModelBrowserWidth 200
+ ScreenColor "white"
+ PaperOrientation "landscape"
+ PaperPositionMode "auto"
+ PaperType "usletter"
+ PaperUnits "inches"
+ TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
+ TiledPageScale 1
+ ShowPageBoundaries off
+ ZoomFactor "100"
+ Block {
+ BlockType Inport
+ Name "B_Omega"
+ SID "651"
+ Position [1015, 678, 1045, 692]
+ ZOrder 265
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "euler_angles"
+ SID "652"
+ Position [1720, 1043, 1750, 1057]
+ ZOrder 266
+ Port "2"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "B_vo"
+ SID "653"
+ Position [1015, 613, 1045, 627]
+ ZOrder 267
+ Port "3"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "E_ro"
+ SID "654"
+ Position [1720, 963, 1750, 977]
+ ZOrder 268
+ Port "4"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "B_vo_dot"
+ SID "655"
+ Position [1015, 548, 1045, 562]
+ ZOrder 269
+ Port "5"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "B_g"
+ SID "656"
+ Position [1015, 743, 1045, 757]
+ ZOrder 273
+ Port "6"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType SubSystem
+ Name "3D Graphical Simulation"
+ SID "698"
+ Ports [2]
+ Position [2005, 1075, 2155, 1135]
+ ZOrder 287
+ Commented "on"
+ RequestExecContextInheritance off
+ Variant off
+ Object {
+ $PropName "MaskObject"
+ $ObjectID 23
+ $ClassName "Simulink.Mask"
+ Display "port_label('input',1,'r_{o}','texmode','on')\nport_label('input',2,'\\Theta','texmode','on')"
+ }
+ System {
+ Name "3D Graphical Simulation"
+ Location [-8, -8, 1928, 1048]
+ Open off
+ ModelBrowserVisibility off
+ ModelBrowserWidth 200
+ ScreenColor "white"
+ PaperOrientation "landscape"
+ PaperPositionMode "auto"
+ PaperType "usletter"
+ PaperUnits "inches"
+ TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
+ TiledPageScale 1
+ ShowPageBoundaries off
+ ZoomFactor "100"
+ Block {
+ BlockType Inport
+ Name "Displacement"
+ SID "699"
+ Position [110, 218, 140, 232]
+ ZOrder -1
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "Euler Angles"
+ SID "700"
+ Position [125, 108, 155, 122]
+ ZOrder -2
+ Port "2"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType BusCreator
+ Name "Bus\nCreator"
+ SID "701"
+ Ports [3, 1]
+ Position [600, 76, 610, 154]
+ ZOrder -3
+ ShowName off
+ Inputs "3"
+ DisplayOption "bar"
+ InheritFromInputs on
+ }
+ Block {
+ BlockType BusCreator
+ Name "Bus\nCreator1"
+ SID "702"
+ Ports [3, 1]
+ Position [630, 191, 640, 269]
+ ZOrder -4
+ ShowName off
+ Inputs "3"
+ DisplayOption "bar"
+ InheritFromInputs on
+ }
+ Block {
+ BlockType BusCreator
+ Name "Bus\nCreator2"
+ SID "703"
+ Ports [3, 1]
+ Position [385, 75, 390, 155]
+ ZOrder -5
+ ShowName off
+ Inputs "3"
+ DisplayOption "bar"
+ InheritFromInputs on
+ }
+ Block {
+ BlockType BusSelector
+ Name "Bus\nSelector"
+ SID "704"
+ Ports [1, 3]
+ Position [500, 77, 505, 153]
+ ZOrder -6
+ ShowName off
+ OutputSignals "phi,theta,psi"
+ Port {
+ PortNumber 1
+ Name "<phi>"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ Port {
+ PortNumber 2
+ Name "<theta>"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ Port {
+ PortNumber 3
+ Name "<psi>"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ }
+ Block {
+ BlockType Demux
+ Name "Demux"
+ SID "705"
+ Ports [1, 3]
+ Position [440, 183, 450, 267]
+ ZOrder -7
+ BackgroundColor "black"
+ ShowName off
+ Outputs "3"
+ DisplayOption "bar"
+ }
+ Block {
+ BlockType Demux
+ Name "Demux1"
+ SID "706"
+ Ports [1, 3]
+ Position [290, 75, 295, 155]
+ ZOrder -8
+ ShowName off
+ Outputs "3"
+ DisplayOption "bar"
+ Port {
+ PortNumber 1
+ Name "phi"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ Port {
+ PortNumber 2
+ Name "theta"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ Port {
+ PortNumber 3
+ Name "psi"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ }
+ Block {
+ BlockType Gain
+ Name "Gain"
+ SID "707"
+ Position [550, 240, 580, 270]
+ ZOrder -10
+ Gain "-1"
+ ParamDataTypeStr "Inherit: Inherit via internal rule"
+ OutDataTypeStr "Inherit: Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType Gain
+ Name "Gain1"
+ SID "708"
+ Position [670, 208, 710, 252]
+ ZOrder -11
+ Gain "eye(3)*1"
+ Multiplication "Matrix(K*u)"
+ ParamDataTypeStr "Inherit: Inherit via internal rule"
+ OutDataTypeStr "Inherit: Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType Gain
+ Name "Gain2"
+ SID "709"
+ Position [550, 190, 580, 220]
+ ZOrder -12
+ Gain "-1"
+ ParamDataTypeStr "Inherit: Inherit via internal rule"
+ OutDataTypeStr "Inherit: Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType SubSystem
+ Name "MATLAB Function"
+ SID "710"
+ Ports [1, 1]
+ Position [655, 92, 725, 138]
+ ZOrder 5
+ ErrorFcn "Stateflow.Translate.translate"
+ PermitHierarchicalResolution "ParametersOnly"
+ TreatAsAtomicUnit on
+ RequestExecContextInheritance off
+ SFBlockType "MATLAB Function"
+ Variant off
+ System {
+ Name "MATLAB Function"
+ Location [223, 338, 826, 833]
+ Open off
+ ModelBrowserVisibility off
+ ModelBrowserWidth 200
+ ScreenColor "white"
+ PaperOrientation "landscape"
+ PaperPositionMode "auto"
+ PaperType "usletter"
+ PaperUnits "inches"
+ TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
+ TiledPageScale 1
+ ShowPageBoundaries off
+ ZoomFactor "100"
+ SIDHighWatermark "21"
+ Block {
+ BlockType Inport
+ Name "u"
+ SID "710::1"
+ Position [20, 101, 40, 119]
+ ZOrder -1
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Demux
+ Name " Demux "
+ SID "710::20"
+ Ports [1, 1]
+ Position [270, 230, 320, 270]
+ ZOrder 11
+ Outputs "1"
+ }
+ Block {
+ BlockType S-Function
+ Name " SFunction "
+ SID "710::19"
+ Tag "Stateflow S-Function test_model_R2015A 11"
+ Ports [1, 2]
+ Position [180, 100, 230, 160]
+ ZOrder 10
+ FunctionName "sf_sfun"
+ PortCounts "[1 2]"
+ SFunctionDeploymentMode off
+ EnableBusSupport on
+ Port {
+ PortNumber 2
+ Name "y"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ }
+ Block {
+ BlockType Terminator
+ Name " Terminator "
+ SID "710::21"
+ Position [460, 241, 480, 259]
+ ZOrder 12
+ }
+ Block {
+ BlockType Outport
+ Name "y"
+ SID "710::5"
+ Position [460, 101, 480, 119]
+ ZOrder -5
+ IconDisplay "Port number"
+ }
+ Line {
+ ZOrder 1
+ SrcBlock "u"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 1
+ }
+ Line {
+ Name "y"
+ ZOrder 2
+ Labels [0, 0]
+ SrcBlock " SFunction "
+ SrcPort 2
+ DstBlock "y"
+ DstPort 1
+ }
+ Line {
+ ZOrder 3
+ SrcBlock " Demux "
+ SrcPort 1
+ DstBlock " Terminator "
+ DstPort 1
+ }
+ Line {
+ ZOrder 4
+ SrcBlock " SFunction "
+ SrcPort 1
+ DstBlock " Demux "
+ DstPort 1
+ }
+ }
+ }
+ Block {
+ BlockType RateTransition
+ Name "Rate Transition"
+ SID "711"
+ Position [755, 94, 795, 136]
+ ZOrder -13
+ NamePlacement "alternate"
+ OutPortSampleTime "0.06"
+ }
+ Block {
+ BlockType RateTransition
+ Name "Rate Transition1"
+ SID "712"
+ Position [735, 210, 770, 250]
+ ZOrder -14
+ OutPortSampleTime "0.06"
+ }
+ Block {
+ BlockType Reference
+ Name "VR Sink"
+ SID "713"
+ Ports [2]
+ Position [865, 76, 1055, 234]
+ ZOrder -15
+ LibraryVersion "1.36"
+ SourceBlock "vrlib/VR Sink"
+ SourceType "Virtual Reality Sink"
+ InstantiateOnLoad on
+ SampleTime "-1"
+ ViewEnable on
+ RemoteChange off
+ RemoteView off
+ FieldsWritten "Helicopter.rotation.4.1.1.double#Helicopter.translation.3.1.1.double"
+ WorldFileName "quadrotor_world_ucart.wrl"
+ AutoView on
+ VideoDimensions "[]"
+ AllowVariableSize off
+ }
+ Line {
+ ZOrder 1
+ SrcBlock "Displacement"
+ SrcPort 1
+ DstBlock "Demux"
+ DstPort 1
+ }
+ Line {
+ ZOrder 2
+ SrcBlock "Bus\nCreator2"
+ SrcPort 1
+ DstBlock "Bus\nSelector"
+ DstPort 1
+ }
+ Line {
+ ZOrder 3
+ SrcBlock "Demux"
+ SrcPort 1
+ Points [40, 0; 0, 40; 120, 0]
+ DstBlock "Bus\nCreator1"
+ DstPort 3
+ }
+ Line {
+ ZOrder 4
+ SrcBlock "Gain"
+ SrcPort 1
+ Points [5, 0; 0, -25]
+ DstBlock "Bus\nCreator1"
+ DstPort 2
+ }
+ Line {
+ ZOrder 5
+ SrcBlock "Gain2"
+ SrcPort 1
+ DstBlock "Bus\nCreator1"
+ DstPort 1
+ }
+ Line {
+ ZOrder 6
+ SrcBlock "Rate Transition1"
+ SrcPort 1
+ Points [35, 0; 0, -35]
+ DstBlock "VR Sink"
+ DstPort 2
+ }
+ Line {
+ ZOrder 7
+ SrcBlock "Rate Transition"
+ SrcPort 1
+ DstBlock "VR Sink"
+ DstPort 1
+ }
+ Line {
+ ZOrder 8
+ SrcBlock "Demux"
+ SrcPort 3
+ DstBlock "Gain"
+ DstPort 1
+ }
+ Line {
+ ZOrder 9
+ SrcBlock "Demux"
+ SrcPort 2
+ Points [80, 0]
+ DstBlock "Gain2"
+ DstPort 1
+ }
+ Line {
+ ZOrder 10
+ SrcBlock "Bus\nCreator1"
+ SrcPort 1
+ DstBlock "Gain1"
+ DstPort 1
+ }
+ Line {
+ Name "<phi>"
+ ZOrder 11
+ Labels [0, 0]
+ SrcBlock "Bus\nSelector"
+ SrcPort 1
+ Points [0, -10; 45, 0; 0, 60]
+ DstBlock "Bus\nCreator"
+ DstPort 3
+ }
+ Line {
+ Name "<psi>"
+ ZOrder 12
+ Labels [0, 0]
+ SrcBlock "Bus\nSelector"
+ SrcPort 3
+ Points [0, -10; 75, 0]
+ DstBlock "Bus\nCreator"
+ DstPort 2
+ }
+ Line {
+ Name "<theta>"
+ ZOrder 13
+ Labels [0, 0]
+ SrcBlock "Bus\nSelector"
+ SrcPort 2
+ Points [30, 0; 0, -25]
+ DstBlock "Bus\nCreator"
+ DstPort 1
+ }
+ Line {
+ ZOrder 14
+ SrcBlock "Gain1"
+ SrcPort 1
+ DstBlock "Rate Transition1"
+ DstPort 1
+ }
+ Line {
+ Name "psi"
+ ZOrder 15
+ Labels [0, 0]
+ SrcBlock "Demux1"
+ SrcPort 3
+ DstBlock "Bus\nCreator2"
+ DstPort 3
+ }
+ Line {
+ Name "theta"
+ ZOrder 16
+ Labels [0, 0]
+ SrcBlock "Demux1"
+ SrcPort 2
+ DstBlock "Bus\nCreator2"
+ DstPort 2
+ }
+ Line {
+ Name "phi"
+ ZOrder 17
+ Labels [0, 0]
+ SrcBlock "Demux1"
+ SrcPort 1
+ DstBlock "Bus\nCreator2"
+ DstPort 1
+ }
+ Line {
+ ZOrder 18
+ SrcBlock "Euler Angles"
+ SrcPort 1
+ DstBlock "Demux1"
+ DstPort 1
+ }
+ Line {
+ ZOrder 19
+ SrcBlock "Bus\nCreator"
+ SrcPort 1
+ DstBlock "MATLAB Function"
+ DstPort 1
+ }
+ Line {
+ ZOrder 20
+ SrcBlock "MATLAB Function"
+ SrcPort 1
+ DstBlock "Rate Transition"
+ DstPort 1
+ }
+ }
+ }
+ Block {
+ BlockType SubSystem
+ Name "3D Graphical Simulation1"
+ SID "714"
+ Ports [2]
+ Position [2635, 815, 2785, 875]
+ ZOrder 290
+ RequestExecContextInheritance off
+ Variant off
+ Object {
+ $PropName "MaskObject"
+ $ObjectID 24
+ $ClassName "Simulink.Mask"
+ Display "port_label('input',1, '\\Theta','texmode','on')\nport_label('input',2,'r_{o}','texmode','on')"
+ }
+ System {
+ Name "3D Graphical Simulation1"
+ Location [-8, -8, 1928, 1048]
+ Open off
+ ModelBrowserVisibility off
+ ModelBrowserWidth 200
+ ScreenColor "white"
+ PaperOrientation "landscape"
+ PaperPositionMode "auto"
+ PaperType "usletter"
+ PaperUnits "inches"
+ TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
+ TiledPageScale 1
+ ShowPageBoundaries off
+ ZoomFactor "100"
+ Block {
+ BlockType Inport
+ Name "Euler Angles\n"
+ SID "715"
+ Position [180, 108, 210, 122]
+ ZOrder -1
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "Displacement"
+ SID "716"
+ Position [180, 218, 210, 232]
+ ZOrder -2
+ Port "2"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType BusCreator
+ Name "Bus\nCreator"
+ SID "717"
+ Ports [3, 1]
+ Position [600, 76, 610, 154]
+ ZOrder -3
+ ShowName off
+ Inputs "3"
+ DisplayOption "bar"
+ InheritFromInputs on
+ }
+ Block {
+ BlockType BusCreator
+ Name "Bus\nCreator1"
+ SID "718"
+ Ports [3, 1]
+ Position [630, 191, 640, 269]
+ ZOrder -4
+ ShowName off
+ Inputs "3"
+ DisplayOption "bar"
+ InheritFromInputs on
+ }
+ Block {
+ BlockType BusCreator
+ Name "Bus\nCreator2"
+ SID "719"
+ Ports [3, 1]
+ Position [385, 75, 390, 155]
+ ZOrder -5
+ ShowName off
+ Inputs "3"
+ DisplayOption "bar"
+ InheritFromInputs on
+ }
+ Block {
+ BlockType BusSelector
+ Name "Bus\nSelector"
+ SID "720"
+ Ports [1, 3]
+ Position [500, 77, 505, 153]
+ ZOrder -6
+ ShowName off
+ OutputSignals "phi,theta,psi"
+ Port {
+ PortNumber 1
+ Name "<phi>"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ Port {
+ PortNumber 2
+ Name "<theta>"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ Port {
+ PortNumber 3
+ Name "<psi>"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ }
+ Block {
+ BlockType Demux
+ Name "Demux"
+ SID "721"
+ Ports [1, 3]
+ Position [440, 183, 450, 267]
+ ZOrder -7
+ BackgroundColor "black"
+ ShowName off
+ Outputs "3"
+ DisplayOption "bar"
+ }
+ Block {
+ BlockType Demux
+ Name "Demux1"
+ SID "722"
+ Ports [1, 3]
+ Position [290, 75, 295, 155]
+ ZOrder -8
+ ShowName off
+ Outputs "3"
+ DisplayOption "bar"
+ Port {
+ PortNumber 1
+ Name "phi"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ Port {
+ PortNumber 2
+ Name "theta"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
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+ "de', 'on');\nport_label('output', 2, '\\Theta', 'texmode', 'on');\nport_label('output', 3, '^{B}v_o', 'texmode', 'on'"
+ ");\nport_label('output', 4, '^{E}r_o', 'texmode', 'on');\nport_label('output', 5, '^{B}dv_o/dt', 'texmode', 'on');\np"
+ "ort_label('output', 6, '^{B}g', 'texmode', 'on');\ndisp('Actuation', 'texmode', 'on'); "
+ }
+ System {
+ Name "Actuation"
+ Location [-8, -8, 1928, 1048]
+ Open off
+ ModelBrowserVisibility off
+ ModelBrowserWidth 200
+ ScreenColor "white"
+ PaperOrientation "landscape"
+ PaperPositionMode "auto"
+ PaperType "usletter"
+ PaperUnits "inches"
+ TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
+ TiledPageScale 1
+ ShowPageBoundaries off
+ ZoomFactor "60"
+ Block {
+ BlockType Inport
+ Name "Rotor Duty Cycles"
+ SID "437"
+ Position [-20, 393, 10, 407]
+ ZOrder -1
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType SubSystem
+ Name "Aeb\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
+ SID "446"
+ Ports [2, 1]
+ Position [1395, 303, 1630, 452]
+ ZOrder 81
+ ShowName off
+ ErrorFcn "Stateflow.Translate.translate"
+ PermitHierarchicalResolution "ParametersOnly"
+ TreatAsAtomicUnit on
+ RequestExecContextInheritance off
+ SFBlockType "MATLAB Function"
+ Variant off
+ Object {
+ $PropName "MaskObject"
+ $ObjectID 34
+ $ClassName "Simulink.Mask"
+ Display "port_label('input', 1, '^B\\Omega', 'texmode', 'on');\nport_label('input', 2, '\\Theta', 'texmode',"
+ " 'on');\nport_label('output', 1, 'd\\Theta/dt', 'texmode', 'on');\ndisp('A_{EB}', 'texmode', 'on');"
+ }
+ System {
+ Name "Aeb\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
+ Location [223, 338, 826, 833]
+ Open off
+ ModelBrowserVisibility off
+ ModelBrowserWidth 200
+ ScreenColor "white"
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+ PaperPositionMode "auto"
+ PaperType "usletter"
+ PaperUnits "inches"
+ TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
+ TiledPageScale 1
+ ShowPageBoundaries off
+ ZoomFactor "100"
+ SIDHighWatermark "25"
+ Block {
+ BlockType Inport
+ Name "B_omega"
+ SID "446::1"
+ Position [20, 101, 40, 119]
+ ZOrder -1
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "euler_angles"
+ SID "446::22"
+ Position [20, 136, 40, 154]
+ ZOrder 13
+ Port "2"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Demux
+ Name " Demux "
+ SID "446::24"
+ Ports [1, 1]
+ Position [270, 230, 320, 270]
+ ZOrder 15
+ Outputs "1"
+ }
+ Block {
+ BlockType S-Function
+ Name " SFunction "
+ SID "446::23"
+ Tag "Stateflow S-Function test_model_R2015A 7"
+ Ports [2, 2]
+ Position [180, 100, 230, 160]
+ ZOrder 14
+ FunctionName "sf_sfun"
+ PortCounts "[2 2]"
+ SFunctionDeploymentMode off
+ EnableBusSupport on
+ Port {
+ PortNumber 2
+ Name "euler_rates"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ }
+ Block {
+ BlockType Terminator
+ Name " Terminator "
+ SID "446::25"
+ Position [460, 241, 480, 259]
+ ZOrder 16
+ }
+ Block {
+ BlockType Outport
+ Name "euler_rates"
+ SID "446::5"
+ Position [460, 101, 480, 119]
+ ZOrder -5
+ IconDisplay "Port number"
+ }
+ Line {
+ ZOrder 1
+ SrcBlock "B_omega"
+ SrcPort 1
+ Points [120, 0]
+ DstBlock " SFunction "
+ DstPort 1
+ }
+ Line {
+ ZOrder 2
+ SrcBlock "euler_angles"
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+ DstBlock " SFunction "
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+ Line {
+ Name "euler_rates"
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+ DstBlock "euler_rates"
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+ Line {
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+ Block {
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+ Port {
+ PortNumber 1
+ Name "x position"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
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+ Port {
+ PortNumber 2
+ Name "y position"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
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+ Port {
+ PortNumber 3
+ Name "z position"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
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+ }
+ Block {
+ BlockType Demux
+ Name "Demux2"
+ SID "450"
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+ Position [1830, 301, 1835, 349]
+ ZOrder 109
+ ShowName off
+ Outputs "3"
+ DisplayOption "bar"
+ Port {
+ PortNumber 1
+ Name "Roll"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ Port {
+ PortNumber 2
+ Name "Pitch"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
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+ Port {
+ PortNumber 3
+ Name "Yaw"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
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+ }
+ Block {
+ BlockType Demux
+ Name "Demux3"
+ SID "451"
+ Ports [1, 3]
+ Position [1830, 406, 1835, 454]
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+ Port {
+ PortNumber 1
+ Name "Body x velocity"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
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+ Port {
+ PortNumber 2
+ Name "Body y velocity"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
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+ Port {
+ PortNumber 3
+ Name "Body z velocity"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
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+ }
+ Block {
+ BlockType Demux
+ Name "Demux4"
+ SID "452"
+ Ports [1, 3]
+ Position [1830, 161, 1835, 209]
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+ Port {
+ PortNumber 1
+ Name "Body roll velocity"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ Port {
+ PortNumber 2
+ Name "Body pitch velocity"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ Port {
+ PortNumber 3
+ Name "Body yaw velocity"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ }
+ Block {
+ BlockType Demux
+ Name "Demux5"
+ SID "453"
+ Ports [1, 3]
+ Position [1830, 641, 1835, 689]
+ ZOrder 119
+ ShowName off
+ Outputs "3"
+ DisplayOption "bar"
+ Port {
+ PortNumber 1
+ Name "Body x acceleration"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ Port {
+ PortNumber 2
+ Name "Body y acceleration"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ Port {
+ PortNumber 3
+ Name "Body z acceleration"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ }
+ Block {
+ BlockType SubSystem
+ Name "ESC System"
+ SID "442"
+ Ports [1, 1]
+ Position [55, 282, 290, 518]
+ ZOrder 36
+ ShowName off
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+ TreatAsAtomicUnit on
+ RequestExecContextInheritance off
+ SFBlockType "MATLAB Function"
+ Variant off
+ Object {
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+ $ObjectID 35
+ $ClassName "Simulink.Mask"
+ Display "port_label('input', 1, 'Rotor Duty Cycle', 'texmode', 'on');\nport_label('output', 1, 'Vb_{eff}', '"
+ "texmode', 'on');\ndisp('ESC System');"
+ }
+ System {
+ Name "ESC System"
+ Location [223, 338, 826, 833]
+ Open off
+ ModelBrowserVisibility off
+ ModelBrowserWidth 200
+ ScreenColor "white"
+ PaperOrientation "landscape"
+ PaperPositionMode "auto"
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+ PaperUnits "inches"
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+ ShowPageBoundaries off
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+ Name "rotor_duty_cycles"
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+ Position [20, 101, 40, 119]
+ ZOrder -1
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Demux
+ Name " Demux "
+ SID "442::36"
+ Ports [1, 1]
+ Position [270, 230, 320, 270]
+ ZOrder 17
+ Outputs "1"
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+ Block {
+ BlockType S-Function
+ Name " SFunction "
+ SID "442::35"
+ Tag "Stateflow S-Function test_model_R2015A 4"
+ Ports [1, 2]
+ Position [180, 105, 230, 165]
+ ZOrder 16
+ FunctionName "sf_sfun"
+ Parameters "Pmax,Pmin,Vb"
+ PortCounts "[1 2]"
+ SFunctionDeploymentMode off
+ EnableBusSupport on
+ Port {
+ PortNumber 2
+ Name "Vb_eff"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ }
+ Block {
+ BlockType Terminator
+ Name " Terminator "
+ SID "442::37"
+ Position [460, 241, 480, 259]
+ ZOrder 18
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+ Block {
+ BlockType Outport
+ Name "Vb_eff"
+ SID "442::5"
+ Position [460, 101, 480, 119]
+ ZOrder -5
+ IconDisplay "Port number"
+ }
+ Line {
+ ZOrder 34
+ SrcBlock "rotor_duty_cycles"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 1
+ }
+ Line {
+ Name "Vb_eff"
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+ Labels [0, 0]
+ SrcBlock " SFunction "
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+ DstBlock "Vb_eff"
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+ }
+ Line {
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+ DstPort 1
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+ Line {
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+ SrcBlock " SFunction "
+ SrcPort 1
+ DstBlock " Demux "
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+ Block {
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+ Name "Gravity\n\n"
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+ RequestExecContextInheritance off
+ SFBlockType "MATLAB Function"
+ Variant off
+ Object {
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+ $ObjectID 36
+ $ClassName "Simulink.Mask"
+ Display "port_label('output', 1, '^EF_g', 'texmode', 'on');\nfprintf('Gravity');\n"
+ }
+ System {
+ Name "Gravity\n\n"
+ Location [223, 338, 826, 833]
+ Open off
+ ModelBrowserVisibility off
+ ModelBrowserWidth 200
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+ Name " Demux "
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+ Position [270, 230, 320, 270]
+ ZOrder 19
+ Outputs "1"
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+ Block {
+ BlockType Ground
+ Name " Ground "
+ SID "443::30"
+ Position [20, 121, 40, 139]
+ ZOrder 21
+ }
+ Block {
+ BlockType S-Function
+ Name " SFunction "
+ SID "443::27"
+ Tag "Stateflow S-Function test_model_R2015A 1"
+ Ports [1, 2]
+ Position [180, 100, 230, 160]
+ ZOrder 18
+ FunctionName "sf_sfun"
+ Parameters "g,m"
+ PortCounts "[1 2]"
+ SFunctionDeploymentMode off
+ EnableBusSupport on
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+ PortNumber 2
+ Name "E_Fg"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
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+ }
+ Block {
+ BlockType Terminator
+ Name " Terminator "
+ SID "443::29"
+ Position [460, 241, 480, 259]
+ ZOrder 20
+ }
+ Block {
+ BlockType Outport
+ Name "E_Fg"
+ SID "443::5"
+ Position [460, 101, 480, 119]
+ ZOrder -5
+ IconDisplay "Port number"
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+ Block {
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+ Name "Integrator"
+ SID "454"
+ Ports [1, 1]
+ Position [730, 340, 760, 370]
+ ZOrder 49
+ InitialCondition "[omega_o, omega_o, omega_o, omega_o]"
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+ Block {
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+ Name "Integrator1"
+ SID "455"
+ Ports [1, 1]
+ Position [1225, 445, 1255, 475]
+ ZOrder 53
+ InitialCondition "[0; 0; 0]"
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+ Name "Integrator2"
+ SID "456"
+ Ports [1, 1]
+ Position [1225, 325, 1255, 355]
+ ZOrder 54
+ InitialCondition "[0; 0; 0]"
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+ Block {
+ BlockType Integrator
+ Name "Integrator3"
+ SID "457"
+ Ports [1, 1]
+ Position [1685, 590, 1715, 620]
+ ZOrder 98
+ InitialCondition "[0; 0; 0]"
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+ Block {
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+ Name "Integrator4"
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+ Ports [1, 1]
+ Position [1685, 365, 1715, 395]
+ ZOrder 77
+ InitialCondition "[0; 0; 0]"
+ ContinuousStateAttributes "['phi' 'theta' 'psi']"
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+ Block {
+ BlockType SubSystem
+ Name "Lbe\n\n\n\n\n\n"
+ SID "444"
+ Ports [2, 1]
+ Position [1395, 499, 1630, 706]
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+ RequestExecContextInheritance off
+ SFBlockType "MATLAB Function"
+ Variant off
+ Object {
+ $PropName "MaskObject"
+ $ObjectID 37
+ $ClassName "Simulink.Mask"
+ Display "port_label('input', 1, '^Bv_o', 'texmode', 'on');\nport_label('input', 2, '\\Theta', 'texmode', 'on"
+ "');\nport_label('output', 1, '^Ev_o', 'texmode', 'on');\ndisp('L_{EB}', 'texmode', 'on');"
+ }
+ System {
+ Name "Lbe\n\n\n\n\n\n"
+ Location [223, 338, 826, 833]
+ Open off
+ ModelBrowserVisibility off
+ ModelBrowserWidth 200
+ ScreenColor "white"
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+ PaperPositionMode "auto"
+ PaperType "usletter"
+ PaperUnits "inches"
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+ ShowPageBoundaries off
+ ZoomFactor "100"
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+ Block {
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+ Name "B_vo"
+ SID "444::24"
+ Position [20, 101, 40, 119]
+ ZOrder 15
+ IconDisplay "Port number"
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+ Block {
+ BlockType Inport
+ Name "euler_angles"
+ SID "444::28"
+ Position [20, 136, 40, 154]
+ ZOrder 19
+ Port "2"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Demux
+ Name " Demux "
+ SID "444::30"
+ Ports [1, 1]
+ Position [270, 230, 320, 270]
+ ZOrder 21
+ Outputs "1"
+ }
+ Block {
+ BlockType S-Function
+ Name " SFunction "
+ SID "444::29"
+ Tag "Stateflow S-Function test_model_R2015A 2"
+ Ports [2, 2]
+ Position [180, 100, 230, 160]
+ ZOrder 20
+ FunctionName "sf_sfun"
+ PortCounts "[2 2]"
+ SFunctionDeploymentMode off
+ EnableBusSupport on
+ Port {
+ PortNumber 2
+ Name "E_ro"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ }
+ Block {
+ BlockType Terminator
+ Name " Terminator "
+ SID "444::31"
+ Position [460, 241, 480, 259]
+ ZOrder 22
+ }
+ Block {
+ BlockType Outport
+ Name "E_ro"
+ SID "444::26"
+ Position [460, 101, 480, 119]
+ ZOrder 17
+ IconDisplay "Port number"
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+ SrcBlock "B_vo"
+ SrcPort 1
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+ Line {
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+ DstBlock " SFunction "
+ DstPort 2
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+ Line {
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+ Labels [0, 0]
+ SrcBlock " SFunction "
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+ DstBlock "E_ro"
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+ }
+ Line {
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+ SrcBlock " Demux "
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+ DstBlock " Terminator "
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+ Line {
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+ DstBlock " Demux "
+ DstPort 1
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+ Block {
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+ Name "Lbe\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
+ SID "447"
+ Ports [2, 2]
+ Position [600, 694, 770, 816]
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+ RequestExecContextInheritance off
+ SFBlockType "MATLAB Function"
+ Variant off
+ Object {
+ $PropName "MaskObject"
+ $ObjectID 38
+ $ClassName "Simulink.Mask"
+ Display "port_label('input', 1, '^EF_g', 'texmode', 'on');\nport_label('input', 2, '\\Theta', 'texmode', 'on"
+ "');\nport_label('output', 1, '^BF_g', 'texmode', 'on');\ndisp('L_{BE}', 'texmode', 'on');"
+ }
+ System {
+ Name "Lbe\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
+ Location [223, 338, 826, 833]
+ Open off
+ ModelBrowserVisibility off
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+ PaperPositionMode "auto"
+ PaperType "usletter"
+ PaperUnits "inches"
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+ ShowPageBoundaries off
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+ Block {
+ BlockType Inport
+ Name "E_Fg"
+ SID "447::24"
+ Position [20, 101, 40, 119]
+ ZOrder 15
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "euler_angles"
+ SID "447::28"
+ Position [20, 136, 40, 154]
+ ZOrder 19
+ Port "2"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Demux
+ Name " Demux "
+ SID "447::30"
+ Ports [1, 1]
+ Position [270, 230, 320, 270]
+ ZOrder 21
+ Outputs "1"
+ }
+ Block {
+ BlockType S-Function
+ Name " SFunction "
+ SID "447::29"
+ Tag "Stateflow S-Function test_model_R2015A 8"
+ Ports [2, 3]
+ Position [180, 100, 230, 180]
+ ZOrder 20
+ FunctionName "sf_sfun"
+ Parameters "m"
+ PortCounts "[2 3]"
+ SFunctionDeploymentMode off
+ EnableBusSupport on
+ Port {
+ PortNumber 2
+ Name "B_Fg"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ Port {
+ PortNumber 3
+ Name "B_g"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ }
+ Block {
+ BlockType Terminator
+ Name " Terminator "
+ SID "447::31"
+ Position [460, 241, 480, 259]
+ ZOrder 22
+ }
+ Block {
+ BlockType Outport
+ Name "B_Fg"
+ SID "447::26"
+ Position [460, 101, 480, 119]
+ ZOrder 17
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Outport
+ Name "B_g"
+ SID "447::32"
+ Position [460, 136, 480, 154]
+ ZOrder 23
+ Port "2"
+ IconDisplay "Port number"
+ }
+ Line {
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+ SrcBlock "E_Fg"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 1
+ }
+ Line {
+ ZOrder 2
+ SrcBlock "euler_angles"
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+ DstBlock " SFunction "
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+ Line {
+ Name "B_Fg"
+ ZOrder 3
+ Labels [0, 0]
+ SrcBlock " SFunction "
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+ DstBlock "B_Fg"
+ DstPort 1
+ }
+ Line {
+ Name "B_g"
+ ZOrder 4
+ Labels [0, 0]
+ SrcBlock " SFunction "
+ SrcPort 3
+ DstBlock "B_g"
+ DstPort 1
+ }
+ Line {
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+ SrcBlock " Demux "
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+ DstBlock " Terminator "
+ DstPort 1
+ }
+ Line {
+ ZOrder 6
+ SrcBlock " SFunction "
+ SrcPort 1
+ DstBlock " Demux "
+ DstPort 1
+ }
+ }
+ }
+ Block {
+ BlockType SubSystem
+ Name "Motor System"
+ SID "441"
+ Ports [2, 1]
+ Position [420, 280, 640, 520]
+ ZOrder 48
+ ShowName off
+ ErrorFcn "Stateflow.Translate.translate"
+ PermitHierarchicalResolution "ParametersOnly"
+ TreatAsAtomicUnit on
+ RequestExecContextInheritance off
+ SFBlockType "MATLAB Function"
+ Variant off
+ Object {
+ $PropName "MaskObject"
+ $ObjectID 39
+ $ClassName "Simulink.Mask"
+ Display "port_label('input', 1, 'Vb_{eff}', 'texmode', 'on');\nport_label('input', 2, '\\omega', 'texmode', "
+ "'on');\nport_label('output', 1, '\\alpha', 'texmode', 'on');\ndisp('Motor System');\n"
+ }
+ System {
+ Name "Motor System"
+ Location [223, 338, 826, 833]
+ Open off
+ ModelBrowserVisibility off
+ ModelBrowserWidth 200
+ ScreenColor "white"
+ PaperOrientation "landscape"
+ PaperPositionMode "auto"
+ PaperType "usletter"
+ PaperUnits "inches"
+ TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
+ TiledPageScale 1
+ ShowPageBoundaries off
+ ZoomFactor "100"
+ SIDHighWatermark "35"
+ Block {
+ BlockType Inport
+ Name "Vb_eff"
+ SID "441::1"
+ Position [20, 101, 40, 119]
+ ZOrder -1
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "angular_velocity"
+ SID "441::35"
+ Position [20, 136, 40, 154]
+ ZOrder 20
+ Port "2"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Demux
+ Name " Demux "
+ SID "441::32"
+ Ports [1, 1]
+ Position [270, 230, 320, 270]
+ ZOrder 17
+ Outputs "1"
+ }
+ Block {
+ BlockType S-Function
+ Name " SFunction "
+ SID "441::31"
+ Tag "Stateflow S-Function test_model_R2015A 5"
+ Ports [2, 2]
+ Position [180, 100, 230, 160]
+ ZOrder 16
+ FunctionName "sf_sfun"
+ Parameters "If,Jreq,Kd,Kq,Kv,Rm"
+ PortCounts "[2 2]"
+ SFunctionDeploymentMode off
+ EnableBusSupport on
+ Port {
+ PortNumber 2
+ Name "angular_acceleration"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ }
+ Block {
+ BlockType Terminator
+ Name " Terminator "
+ SID "441::33"
+ Position [460, 241, 480, 259]
+ ZOrder 18
+ }
+ Block {
+ BlockType Outport
+ Name "angular_acceleration"
+ SID "441::23"
+ Position [460, 101, 480, 119]
+ ZOrder 14
+ IconDisplay "Port number"
+ }
+ Line {
+ ZOrder 33
+ SrcBlock "Vb_eff"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 1
+ }
+ Line {
+ ZOrder 34
+ SrcBlock "angular_velocity"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 2
+ }
+ Line {
+ Name "angular_acceleration"
+ ZOrder 35
+ Labels [0, 0]
+ SrcBlock " SFunction "
+ SrcPort 2
+ DstBlock "angular_acceleration"
+ DstPort 1
+ }
+ Line {
+ ZOrder 36
+ SrcBlock " Demux "
+ SrcPort 1
+ DstBlock " Terminator "
+ DstPort 1
+ }
+ Line {
+ ZOrder 37
+ SrcBlock " SFunction "
+ SrcPort 1
+ DstBlock " Demux "
+ DstPort 1
+ }
+ }
+ }
+ Block {
+ BlockType SubSystem
+ Name "Rotor System\n\n\n\n\n\n\n\n"
+ SID "758"
+ Ports [5, 2]
+ Position [945, 281, 1145, 519]
+ ZOrder 122
+ ShowName off
+ ErrorFcn "Stateflow.Translate.translate"
+ PermitHierarchicalResolution "ParametersOnly"
+ TreatAsAtomicUnit on
+ RequestExecContextInheritance off
+ SFBlockType "MATLAB Function"
+ Variant off
+ Object {
+ $PropName "MaskObject"
+ $ObjectID 40
+ $ClassName "Simulink.Mask"
+ Display "port_label('input', 1, '\\alpha', 'texmode', 'on');\nport_label('input', 2, '\\omega', 'texmode', '"
+ "on');\nport_label('input', 3, '^BF_g', 'texmode', 'on');\nport_label('input', 4, '^B\\Omega', 'texmode', 'on');\n"
+ "port_label('input', 5, '^Bv_o', 'texmode', 'on');\nport_label('output', 1, '^Bd\\Omega/dt', 'texmode', 'on');\npo"
+ "rt_label('output', 2, '^Bdv_o/dt', 'texmode', 'on');\ndisp('Rotor System', 'texmode', 'on');"
+ }
+ System {
+ Name "Rotor System\n\n\n\n\n\n\n\n"
+ Location [223, 338, 826, 833]
+ Open off
+ ModelBrowserVisibility off
+ ModelBrowserWidth 200
+ ScreenColor "white"
+ PaperOrientation "landscape"
+ PaperPositionMode "auto"
+ PaperType "usletter"
+ PaperUnits "inches"
+ TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
+ TiledPageScale 1
+ ShowPageBoundaries off
+ ZoomFactor "100"
+ SIDHighWatermark "50"
+ Block {
+ BlockType Inport
+ Name "angular_acceleration"
+ SID "758::27"
+ Position [20, 101, 40, 119]
+ ZOrder 18
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "angular_velocity"
+ SID "758::28"
+ Position [20, 136, 40, 154]
+ ZOrder 19
+ Port "2"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "B_Fg"
+ SID "758::47"
+ Position [20, 171, 40, 189]
+ ZOrder 20
+ Port "3"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "B_omega"
+ SID "758::25"
+ Position [20, 206, 40, 224]
+ ZOrder 16
+ Port "4"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "B_vo"
+ SID "758::24"
+ Position [20, 246, 40, 264]
+ ZOrder 15
+ Port "5"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Demux
+ Name " Demux "
+ SID "758::49"
+ Ports [1, 1]
+ Position [270, 230, 320, 270]
+ ZOrder 22
+ Outputs "1"
+ }
+ Block {
+ BlockType S-Function
+ Name " SFunction "
+ SID "758::48"
+ Tag "Stateflow S-Function test_model_R2015A 6"
+ Ports [5, 3]
+ Position [180, 100, 230, 220]
+ ZOrder 21
+ FunctionName "sf_sfun"
+ Parameters "Jreq,Jxx,Jyy,Jzz,Kd,Kt,m,rhx,rhy,rhz"
+ PortCounts "[5 3]"
+ SFunctionDeploymentMode off
+ EnableBusSupport on
+ Port {
+ PortNumber 2
+ Name "B_omega_dot"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ Port {
+ PortNumber 3
+ Name "B_vo_dot"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ }
+ Block {
+ BlockType Terminator
+ Name " Terminator "
+ SID "758::50"
+ Position [460, 241, 480, 259]
+ ZOrder 23
+ }
+ Block {
+ BlockType Outport
+ Name "B_omega_dot"
+ SID "758::22"
+ Position [460, 101, 480, 119]
+ ZOrder 13
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Outport
+ Name "B_vo_dot"
+ SID "758::5"
+ Position [460, 136, 480, 154]
+ ZOrder -5
+ Port "2"
+ IconDisplay "Port number"
+ }
+ Line {
+ ZOrder 1
+ SrcBlock "angular_acceleration"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 1
+ }
+ Line {
+ ZOrder 2
+ SrcBlock "angular_velocity"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 2
+ }
+ Line {
+ ZOrder 3
+ SrcBlock "B_Fg"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 3
+ }
+ Line {
+ ZOrder 4
+ SrcBlock "B_omega"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 4
+ }
+ Line {
+ ZOrder 5
+ SrcBlock "B_vo"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 5
+ }
+ Line {
+ Name "B_omega_dot"
+ ZOrder 6
+ Labels [0, 0]
+ SrcBlock " SFunction "
+ SrcPort 2
+ DstBlock "B_omega_dot"
+ DstPort 1
+ }
+ Line {
+ Name "B_vo_dot"
+ ZOrder 7
+ Labels [0, 0]
+ SrcBlock " SFunction "
+ SrcPort 3
+ DstBlock "B_vo_dot"
+ DstPort 1
+ }
+ Line {
+ ZOrder 8
+ SrcBlock " Demux "
+ SrcPort 1
+ DstBlock " Terminator "
+ DstPort 1
+ }
+ Line {
+ ZOrder 9
+ SrcBlock " SFunction "
+ SrcPort 1
+ Points [20, 0]
+ DstBlock " Demux "
+ DstPort 1
+ }
+ }
+ }
+ Block {
+ BlockType Scope
+ Name "Scope"
+ SID "459"
+ Ports [1]
+ Position [350, 279, 380, 311]
+ ZOrder 46
+ NumInputPorts "1"
+ Open off
+ TimeRange auto
+ TickLabels OneTimeTick
+ ShowLegends off
+ LimitDataPoints off
+ MaxDataPoints 5000
+ SaveToWorkspace off
+ SaveName ScopeData
+ YMin 5.92023
+ YMax 7.92023
+ SampleInput off
+ SampleTime -1
+ ZoomMode on
+ Grid on
+ DataFormat StructureWithTime
+ Decimation 1
+ List {
+ ListType AxesTitles
+ axes1 "%<SignalLabel>"
+ }
+ List {
+ ListType ScopeGraphics
+ FigureColor "[0.156862745098039 0.156862745098039 0.156862745098039]"
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+ LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
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+ }
+ Location [1 76 1921 1039]
+ }
+ Block {
+ BlockType Scope
+ Name "Scope1"
+ SID "460"
+ Ports [1]
+ Position [740, 229, 770, 261]
+ ZOrder 50
+ NumInputPorts "1"
+ Open off
+ TimeRange auto
+ TickLabels OneTimeTick
+ ShowLegends on
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+ MaxDataPoints 5000
+ SaveToWorkspace off
+ SaveName ScopeData1
+ YMin -10513.81558
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+ List {
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+ axes1 "%<SignalLabel>"
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+ }
+ Location [1 76 1909 1039]
+ }
+ Block {
+ BlockType Scope
+ Name "Scope10"
+ SID "461"
+ Ports [3]
+ Position [1935, 303, 1975, 347]
+ ZOrder 108
+ NumInputPorts "3"
+ Open off
+ TimeRange auto
+ TickLabels OneTimeTick
+ ShowLegends on
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+ MaxDataPoints 5000
+ SaveToWorkspace off
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+ YMin -60.66007~-1.00000~-1.00000
+ YMax 18.5091~1.00000~1.00000
+ SampleInput off
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+ List {
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+ axes1 "%<SignalLabel>"
+ axes2 "%<SignalLabel>"
+ axes3 "%<SignalLabel>"
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+ List {
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+ FigureColor "[0.156862745098039 0.156862745098039 0.156862745098039]"
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+ LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
+ MarkerStyles "none|none|none|none|none|none"
+ }
+ Location [1 76 1909 1039]
+ }
+ Block {
+ BlockType Scope
+ Name "Scope11"
+ SID "462"
+ Ports [3]
+ Position [1935, 163, 1975, 207]
+ ZOrder 114
+ NumInputPorts "3"
+ Open off
+ TimeRange auto
+ TickLabels OneTimeTick
+ ShowLegends on
+ LimitDataPoints off
+ MaxDataPoints 5000
+ SaveToWorkspace off
+ SaveName ScopeData3
+ YMin -3.00603~-1.00000~-1.00000
+ YMax 4.56766~1.00000~1.00000
+ SampleInput off
+ SampleTime -1
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+ List {
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+ }
+ Location [1 76 1921 1039]
+ }
+ Block {
+ BlockType Scope
+ Name "Scope2"
+ SID "463"
+ Ports [1]
+ Position [890, 229, 920, 261]
+ ZOrder 51
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+ Open off
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+ YMin -88.20659
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+ Block {
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+ ZOrder 116
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+ }
+ Location [1 76 1921 1039]
+ }
+ Block {
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+ Name "Scope4"
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+ Position [1935, 643, 1975, 687]
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+ SaveName ScopeData4
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+ YMax 1049.2638~1049.2638~1049.2638
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+ List {
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+ axes1 "%<SignalLabel>"
+ axes2 "%<SignalLabel>"
+ axes3 "%<SignalLabel>"
+ }
+ List {
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+ }
+ Location [1 76 1921 1039]
+ }
+ Block {
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+ Name "Scope6"
+ SID "466"
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+ Position [1935, 528, 1975, 572]
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+ }
+ Location [1 76 1921 1039]
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+ Block {
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+ Name "B_omega"
+ SID "471"
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+ ZOrder 61
+ IconDisplay "Port number"
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+ Block {
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+ Name "euler_angles"
+ SID "472"
+ Position [1870, 373, 1900, 387]
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+ Port "2"
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+ Block {
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+ Position [1815, 468, 1845, 482]
+ ZOrder 58
+ Port "3"
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+ Name "E_ro"
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+ SID "475"
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+ Block {
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+ SID "476"
+ Position [1830, 778, 1860, 792]
+ ZOrder 104
+ Port "6"
+ IconDisplay "Port number"
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+ Line {
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+ Points [23, 0; 0, -59]
+ Branch {
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+ ZOrder 43
+ ShowName off
+ IconShape "round"
+ Inputs "|+-"
+ InputSameDT off
+ OutDataTypeStr "Inherit: Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType Sum
+ Name "Sum4"
+ SID "603"
+ Ports [2, 1]
+ Position [490, 400, 510, 420]
+ ZOrder 44
+ ShowName off
+ IconShape "round"
+ Inputs "|+-"
+ InputSameDT off
+ OutDataTypeStr "Inherit: Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType Sum
+ Name "Sum5"
+ SID "618"
+ Ports [2, 1]
+ Position [215, 400, 235, 420]
+ ZOrder 56
+ ShowName off
+ IconShape "round"
+ Inputs "|+-"
+ InputSameDT off
+ OutDataTypeStr "Inherit: Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType Sum
+ Name "Sum6"
+ SID "619"
+ Ports [2, 1]
+ Position [210, 245, 230, 265]
+ ZOrder 57
+ ShowName off
+ IconShape "round"
+ Inputs "|+-"
+ InputSameDT off
+ OutDataTypeStr "Inherit: Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType Sum
+ Name "Sum7"
+ SID "620"
+ Ports [2, 1]
+ Position [210, 125, 230, 145]
+ ZOrder 58
+ ShowName off
+ IconShape "round"
+ Inputs "|+-"
+ InputSameDT off
+ OutDataTypeStr "Inherit: Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType Sum
+ Name "Sum8"
+ SID "648"
+ Ports [2, 1]
+ Position [210, 550, 230, 570]
+ ZOrder 104
+ ShowName off
+ IconShape "round"
+ Inputs "|+-"
+ InputSameDT off
+ OutDataTypeStr "Inherit: Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType Outport
+ Name "height_controlled"
+ SID "606"
+ Position [655, 128, 685, 142]
+ ZOrder -2
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Outport
+ Name "y_controlled"
+ SID "636"
+ Position [655, 248, 685, 262]
+ ZOrder 74
+ Port "2"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Outport
+ Name "x_controlled"
+ SID "637"
+ Position [655, 403, 685, 417]
+ ZOrder 75
+ Port "3"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Outport
+ Name "yaw_controlled"
+ SID "638"
+ Position [655, 553, 685, 567]
+ ZOrder 76
+ Port "4"
+ IconDisplay "Port number"
+ }
+ Line {
+ ZOrder 283
+ SrcBlock "Sum"
+ SrcPort 1
+ DstBlock "PID Controller2"
+ DstPort 1
+ }
+ Line {
+ ZOrder 43
+ SrcBlock "pitch"
+ SrcPort 1
+ Points [9, 0]
+ Branch {
+ ZOrder 233
+ Points [0, 25]
+ DstBlock "Scope7"
+ DstPort 1
+ }
+ Branch {
+ ZOrder 232
+ Points [1, 0]
+ DstBlock "Sum3"
+ DstPort 2
+ }
+ }
+ Line {
+ ZOrder 42
+ SrcBlock "roll"
+ SrcPort 1
+ Points [15, 0]
+ Branch {
+ ZOrder 218
+ DstBlock "Scope4"
+ DstPort 1
+ }
+ Branch {
+ ZOrder 215
+ DstBlock "Sum1"
+ DstPort 2
+ }
+ }
+ Line {
+ ZOrder 48
+ SrcBlock "pitch_rate"
+ SrcPort 1
+ Points [40, 0]
+ Branch {
+ ZOrder 229
+ DstBlock "Sum4"
+ DstPort 2
+ }
+ Branch {
+ ZOrder 228
+ Points [0, 25]
+ DstBlock "Scope6"
+ DstPort 1
+ }
+ }
+ Line {
+ ZOrder 47
+ SrcBlock "roll_rate"
+ SrcPort 1
+ Points [40, 0]
+ Branch {
+ ZOrder 123
+ Points [0, 30]
+ DstBlock "Scope3"
+ DstPort 1
+ }
+ Branch {
+ ZOrder 122
+ DstBlock "Sum2"
+ DstPort 2
+ }
+ }
+ Line {
+ ZOrder 49
+ SrcBlock "yaw_rate"
+ SrcPort 1
+ Points [25, 0]
+ Branch {
+ ZOrder 173
+ Points [0, 50]
+ DstBlock "Scope"
+ DstPort 1
+ }
+ Branch {
+ ZOrder 87
+ DstBlock "Sum"
+ DstPort 2
+ }
+ }
+ Line {
+ ZOrder 26
+ SrcBlock "z_setpoint"
+ SrcPort 1
+ DstBlock "Sum7"
+ DstPort 1
+ }
+ Line {
+ ZOrder 28
+ SrcBlock "y_setpoint"
+ SrcPort 1
+ DstBlock "Sum6"
+ DstPort 1
+ }
+ Line {
+ ZOrder 31
+ SrcBlock "x_position"
+ SrcPort 1
+ Points [25, 0]
+ Branch {
+ ZOrder 237
+ DstBlock "Sum5"
+ DstPort 2
+ }
+ Branch {
+ ZOrder 236
+ Points [0, 25]
+ DstBlock "Scope8"
+ DstPort 1
+ }
+ }
+ Line {
+ ZOrder 32
+ SrcBlock "x_setpoint"
+ SrcPort 1
+ DstBlock "Sum5"
+ DstPort 1
+ }
+ Line {
+ ZOrder 33
+ SrcBlock "y_position"
+ SrcPort 1
+ Points [20, 0]
+ Branch {
+ ZOrder 241
+ Points [0, 30]
+ DstBlock "Scope5"
+ DstPort 1
+ }
+ Branch {
+ ZOrder 128
+ DstBlock "Sum6"
+ DstPort 2
+ }
+ }
+ Line {
+ ZOrder 34
+ SrcBlock "z_position"
+ SrcPort 1
+ Points [25, 0]
+ Branch {
+ ZOrder 108
+ DstBlock "Scope2"
+ DstPort 1
+ }
+ Branch {
+ ZOrder 107
+ DstBlock "Sum7"
+ DstPort 2
+ }
+ }
+ Line {
+ ZOrder 100
+ SrcBlock "yaw"
+ SrcPort 1
+ Points [25, 0]
+ Branch {
+ ZOrder 172
+ DstBlock "Scope1"
+ DstPort 1
+ }
+ Branch {
+ ZOrder 102
+ DstBlock "Sum8"
+ DstPort 2
+ }
+ }
+ Line {
+ ZOrder 98
+ SrcBlock "yaw_setpoint"
+ SrcPort 1
+ DstBlock "Sum8"
+ DstPort 1
+ }
+ Line {
+ ZOrder 207
+ SrcBlock "Sum1"
+ SrcPort 1
+ DstBlock "PID Controller5"
+ DstPort 1
+ }
+ Line {
+ ZOrder 212
+ SrcBlock "Sum2"
+ SrcPort 1
+ DstBlock "PID Controller8"
+ DstPort 1
+ }
+ Line {
+ ZOrder 216
+ SrcBlock "PID Controller5"
+ SrcPort 1
+ DstBlock "Sum2"
+ DstPort 1
+ }
+ Line {
+ ZOrder 243
+ SrcBlock "PID Controller9"
+ SrcPort 1
+ DstBlock "Sum1"
+ DstPort 1
+ }
+ Line {
+ ZOrder 244
+ SrcBlock "Sum6"
+ SrcPort 1
+ DstBlock "PID Controller9"
+ DstPort 1
+ }
+ Line {
+ ZOrder 247
+ SrcBlock "Sum5"
+ SrcPort 1
+ DstBlock "PID Controller1"
+ DstPort 1
+ }
+ Line {
+ ZOrder 281
+ SrcBlock "Sum7"
+ SrcPort 1
+ DstBlock "PID Controller11"
+ DstPort 1
+ }
+ Line {
+ ZOrder 285
+ SrcBlock "Sum8"
+ SrcPort 1
+ DstBlock "PID Controller10"
+ DstPort 1
+ }
+ Line {
+ ZOrder 349
+ SrcBlock "Sum3"
+ SrcPort 1
+ DstBlock "PID Controller4"
+ DstPort 1
+ }
+ Line {
+ ZOrder 388
+ SrcBlock "Sum4"
+ SrcPort 1
+ DstBlock "PID Controller7"
+ DstPort 1
+ }
+ Line {
+ ZOrder 401
+ SrcBlock "PID Controller10"
+ SrcPort 1
+ DstBlock "Sum"
+ DstPort 1
+ }
+ Line {
+ ZOrder 404
+ SrcBlock "PID Controller7"
+ SrcPort 1
+ DstBlock "x_controlled"
+ DstPort 1
+ }
+ Line {
+ ZOrder 408
+ SrcBlock "PID Controller4"
+ SrcPort 1
+ DstBlock "Sum4"
+ DstPort 1
+ }
+ Line {
+ ZOrder 409
+ SrcBlock "PID Controller1"
+ SrcPort 1
+ DstBlock "Sum3"
+ DstPort 1
+ }
+ }
+ }
+ Block {
+ BlockType Demux
+ Name "Demux"
+ SID "586"
+ Ports [1, 4]
+ Position [300, 309, 305, 406]
+ ZOrder 13
+ ShowName off
+ DisplayOption "bar"
+ }
+ Block {
+ BlockType Demux
+ Name "Demux1"
+ SID "639"
+ Ports [1, 3]
+ Position [300, 484, 305, 556]
+ ZOrder 32
+ ShowName off
+ Outputs "3"
+ DisplayOption "bar"
+ }
+ Block {
+ BlockType Demux
+ Name "Demux2"
+ SID "588"
+ Ports [1, 3]
+ Position [285, 409, 290, 481]
+ ZOrder 15
+ ShowName off
+ Outputs "3"
+ DisplayOption "bar"
+ }
+ Block {
+ BlockType Demux
+ Name "Demux4"
+ SID "640"
+ Ports [1, 3]
+ Position [275, 559, 280, 631]
+ ZOrder 33
+ ShowName off
+ Outputs "3"
+ DisplayOption "bar"
+ }
+ Block {
+ BlockType SubSystem
+ Name "MATLAB Function"
+ SID "647"
+ Ports [4, 1]
+ Position [715, 308, 915, 632]
+ ZOrder 35
+ ErrorFcn "Stateflow.Translate.translate"
+ PermitHierarchicalResolution "ParametersOnly"
+ TreatAsAtomicUnit on
+ RequestExecContextInheritance off
+ SFBlockType "MATLAB Function"
+ Variant off
+ System {
+ Name "MATLAB Function"
+ Location [223, 338, 826, 833]
+ Open off
+ ModelBrowserVisibility off
+ ModelBrowserWidth 200
+ ScreenColor "white"
+ PaperOrientation "landscape"
+ PaperPositionMode "auto"
+ PaperType "usletter"
+ PaperUnits "inches"
+ TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
+ TiledPageScale 1
+ ShowPageBoundaries off
+ ZoomFactor "100"
+ SIDHighWatermark "27"
+ Block {
+ BlockType Inport
+ Name "height_controlled"
+ SID "647::1"
+ Position [20, 101, 40, 119]
+ ZOrder -1
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "y_controlled"
+ SID "647::23"
+ Position [20, 136, 40, 154]
+ ZOrder 14
+ Port "2"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "x_controlled"
+ SID "647::22"
+ Position [20, 171, 40, 189]
+ ZOrder 13
+ Port "3"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "yaw_controlled"
+ SID "647::24"
+ Position [20, 206, 40, 224]
+ ZOrder 15
+ Port "4"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Demux
+ Name " Demux "
+ SID "647::20"
+ Ports [1, 1]
+ Position [270, 230, 320, 270]
+ ZOrder 11
+ Outputs "1"
+ }
+ Block {
+ BlockType S-Function
+ Name " SFunction "
+ SID "647::19"
+ Tag "Stateflow S-Function test_model_R2015A 14"
+ Ports [4, 2]
+ Position [180, 107, 230, 208]
+ ZOrder 10
+ FunctionName "sf_sfun"
+ PortCounts "[4 2]"
+ SFunctionDeploymentMode off
+ EnableBusSupport on
+ Port {
+ PortNumber 2
+ Name "motorCommands"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ }
+ Block {
+ BlockType Terminator
+ Name " Terminator "
+ SID "647::21"
+ Position [460, 241, 480, 259]
+ ZOrder 12
+ }
+ Block {
+ BlockType Outport
+ Name "motorCommands"
+ SID "647::5"
+ Position [460, 101, 480, 119]
+ ZOrder -5
+ IconDisplay "Port number"
+ }
+ Line {
+ ZOrder 105
+ SrcBlock "height_controlled"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 1
+ }
+ Line {
+ ZOrder 106
+ SrcBlock "y_controlled"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 2
+ }
+ Line {
+ ZOrder 107
+ SrcBlock "x_controlled"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 3
+ }
+ Line {
+ ZOrder 108
+ SrcBlock "yaw_controlled"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 4
+ }
+ Line {
+ Name "motorCommands"
+ ZOrder 109
+ Labels [0, 0]
+ SrcBlock " SFunction "
+ SrcPort 2
+ DstBlock "motorCommands"
+ DstPort 1
+ }
+ Line {
+ ZOrder 110
+ SrcBlock " Demux "
+ SrcPort 1
+ DstBlock " Terminator "
+ DstPort 1
+ }
+ Line {
+ ZOrder 111
+ SrcBlock " SFunction "
+ SrcPort 1
+ DstBlock " Demux "
+ DstPort 1
+ }
+ }
+ }
+ Block {
+ BlockType Saturate
+ Name "Saturation"
+ SID "756"
+ Ports [1, 1]
+ Position [960, 455, 990, 485]
+ ZOrder 44
+ InputPortMap "u0"
+ UpperLimit "Pmax*ones(4,1)"
+ LowerLimit "Pmin*ones(4,1)"
+ }
+ Block {
+ BlockType Scope
+ Name "Scope1"
+ SID "794"
+ Ports [1]
+ Position [1080, 564, 1110, 596]
+ ZOrder 46
+ NumInputPorts "1"
+ Open off
+ TimeRange auto
+ TickLabels OneTimeTick
+ ShowLegends off
+ LimitDataPoints off
+ MaxDataPoints 5000
+ SaveToWorkspace off
+ SaveName ScopeData4
+ YMin 87500.00000
+ YMax 212500.00000
+ SampleInput off
+ SampleTime -1
+ ZoomMode on
+ Grid on
+ DataFormat StructureWithTime
+ Decimation 1
+ List {
+ ListType AxesTitles
+ axes1 "%<SignalLabel>"
+ }
+ List {
+ ListType ScopeGraphics
+ FigureColor "[0.156862745098039 0.156862745098039 0.156862745098039]"
+ AxesColor "[0 0 0]"
+ AxesTickColor "[0.686274509803922 0.686274509803922 0.686274509803922]"
+ LineColors "[1 1 0;1 0 1;0 1 1;1 0 0;0 1 0;0 0 1]"
+ LineStyles "-|-|-|-|-|-"
+ LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
+ MarkerStyles "none|none|none|none|none|none"
+ }
+ Location [1 76 1921 1039]
+ }
+ Block {
+ BlockType Sum
+ Name "Sum"
+ SID "748"
+ Ports [2, 1]
+ Position [655, 340, 675, 360]
+ ZOrder 36
+ ShowName off
+ IconShape "round"
+ Inputs "|++"
+ InputSameDT off
+ OutDataTypeStr "Inherit: Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType Sum
+ Name "Sum1"
+ SID "749"
+ Ports [2, 1]
+ Position [655, 420, 675, 440]
+ ZOrder 37
+ ShowName off
+ IconShape "round"
+ Inputs "|++"
+ InputSameDT off
+ OutDataTypeStr "Inherit: Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType Sum
+ Name "Sum2"
+ SID "750"
+ Ports [2, 1]
+ Position [655, 500, 675, 520]
+ ZOrder 38
+ ShowName off
+ IconShape "round"
+ Inputs "|++"
+ InputSameDT off
+ OutDataTypeStr "Inherit: Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType Sum
+ Name "Sum3"
+ SID "751"
+ Ports [2, 1]
+ Position [655, 580, 675, 600]
+ ZOrder 39
+ ShowName off
+ IconShape "round"
+ Inputs "|++"
+ InputSameDT off
+ OutDataTypeStr "Inherit: Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType Constant
+ Name "height_controlled_o"
+ SID "752"
+ Position [605, 375, 635, 405]
+ ZOrder 40
+ Value "height_controlled_o"
+ }
+ Block {
+ BlockType Constant
+ Name "x_controlled_o"
+ SID "754"
+ Position [605, 535, 635, 565]
+ ZOrder 42
+ Value "x_controlled_o"
+ }
+ Block {
+ BlockType Constant
+ Name "y_controlled_o"
+ SID "753"
+ Position [605, 455, 635, 485]
+ ZOrder 41
+ Value "y_controlled_o"
+ }
+ Block {
+ BlockType Constant
+ Name "yaw_controlled_o"
+ SID "755"
+ Position [605, 620, 635, 650]
+ ZOrder 43
+ Value "yaw_controlled_o"
+ }
+ Block {
+ BlockType Outport
+ Name "Motor Commands"
+ SID "578"
+ Position [1055, 463, 1085, 477]
+ ZOrder -2
+ IconDisplay "Port number"
+ }
+ Line {
+ ZOrder 1
+ SrcBlock "setpoints"
+ SrcPort 1
+ DstBlock "Demux"
+ DstPort 1
+ }
+ Line {
+ ZOrder 30
+ SrcBlock "euler_angles_filtered"
+ SrcPort 1
+ DstBlock "Demux1"
+ DstPort 1
+ }
+ Line {
+ ZOrder 3
+ SrcBlock "current_position"
+ SrcPort 1
+ DstBlock "Demux2"
+ DstPort 1
+ }
+ Line {
+ ZOrder 34
+ SrcBlock "euler_rates"
+ SrcPort 1
+ DstBlock "Demux4"
+ DstPort 1
+ }
+ Line {
+ ZOrder 27
+ SrcBlock "Demux"
+ SrcPort 1
+ DstBlock "Controller"
+ DstPort 1
+ }
+ Line {
+ ZOrder 28
+ SrcBlock "Demux"
+ SrcPort 2
+ DstBlock "Controller"
+ DstPort 2
+ }
+ Line {
+ ZOrder 29
+ SrcBlock "Demux"
+ SrcPort 3
+ DstBlock "Controller"
+ DstPort 3
+ }
+ Line {
+ ZOrder 40
+ SrcBlock "Demux2"
+ SrcPort 1
+ DstBlock "Controller"
+ DstPort 5
+ }
+ Line {
+ ZOrder 41
+ SrcBlock "Demux2"
+ SrcPort 2
+ DstBlock "Controller"
+ DstPort 6
+ }
+ Line {
+ ZOrder 42
+ SrcBlock "Demux2"
+ SrcPort 3
+ DstBlock "Controller"
+ DstPort 7
+ }
+ Line {
+ ZOrder 68
+ SrcBlock "Controller"
+ SrcPort 2
+ DstBlock "Sum1"
+ DstPort 1
+ }
+ Line {
+ ZOrder 69
+ SrcBlock "Sum1"
+ SrcPort 1
+ DstBlock "MATLAB Function"
+ DstPort 2
+ }
+ Line {
+ ZOrder 71
+ SrcBlock "Sum2"
+ SrcPort 1
+ DstBlock "MATLAB Function"
+ DstPort 3
+ }
+ Line {
+ ZOrder 72
+ SrcBlock "Controller"
+ SrcPort 4
+ DstBlock "Sum3"
+ DstPort 1
+ }
+ Line {
+ ZOrder 73
+ SrcBlock "Sum3"
+ SrcPort 1
+ DstBlock "MATLAB Function"
+ DstPort 4
+ }
+ Line {
+ ZOrder 74
+ SrcBlock "Controller"
+ SrcPort 1
+ DstBlock "Sum"
+ DstPort 1
+ }
+ Line {
+ ZOrder 75
+ SrcBlock "Sum"
+ SrcPort 1
+ DstBlock "MATLAB Function"
+ DstPort 1
+ }
+ Line {
+ ZOrder 77
+ SrcBlock "y_controlled_o"
+ SrcPort 1
+ Points [25, 0]
+ DstBlock "Sum1"
+ DstPort 2
+ }
+ Line {
+ ZOrder 78
+ SrcBlock "x_controlled_o"
+ SrcPort 1
+ Points [25, 0]
+ DstBlock "Sum2"
+ DstPort 2
+ }
+ Line {
+ ZOrder 79
+ SrcBlock "yaw_controlled_o"
+ SrcPort 1
+ Points [25, 0]
+ DstBlock "Sum3"
+ DstPort 2
+ }
+ Line {
+ ZOrder 80
+ SrcBlock "MATLAB Function"
+ SrcPort 1
+ DstBlock "Saturation"
+ DstPort 1
+ }
+ Line {
+ ZOrder 81
+ SrcBlock "Saturation"
+ SrcPort 1
+ Points [21, 0]
+ Branch {
+ ZOrder 122
+ Points [0, 110]
+ DstBlock "Scope1"
+ DstPort 1
+ }
+ Branch {
+ ZOrder 121
+ DstBlock "Motor Commands"
+ DstPort 1
+ }
+ }
+ Line {
+ ZOrder 84
+ SrcBlock "Demux1"
+ SrcPort 1
+ DstBlock "Controller"
+ DstPort 8
+ }
+ Line {
+ ZOrder 86
+ SrcBlock "Demux1"
+ SrcPort 2
+ DstBlock "Controller"
+ DstPort 9
+ }
+ Line {
+ ZOrder 90
+ SrcBlock "Demux4"
+ SrcPort 1
+ DstBlock "Controller"
+ DstPort 11
+ }
+ Line {
+ ZOrder 91
+ SrcBlock "Demux4"
+ SrcPort 2
+ DstBlock "Controller"
+ DstPort 12
+ }
+ Line {
+ ZOrder 93
+ SrcBlock "Demux4"
+ SrcPort 3
+ DstBlock "Controller"
+ DstPort 13
+ }
+ Line {
+ ZOrder 94
+ SrcBlock "Demux"
+ SrcPort 4
+ DstBlock "Controller"
+ DstPort 4
+ }
+ Line {
+ ZOrder 95
+ SrcBlock "Demux1"
+ SrcPort 3
+ DstBlock "Controller"
+ DstPort 10
+ }
+ Line {
+ ZOrder 131
+ SrcBlock "Controller"
+ SrcPort 3
+ DstBlock "Sum2"
+ DstPort 1
+ }
+ Line {
+ ZOrder 133
+ SrcBlock "height_controlled_o"
+ SrcPort 1
+ Points [25, 0]
+ DstBlock "Sum"
+ DstPort 2
+ }
+ }
+ }
+ Line {
+ ZOrder 52
+ SrcBlock "Control System"
+ SrcPort 1
+ DstBlock "Actuation"
+ DstPort 1
+ }
+ Line {
+ ZOrder 55
+ SrcBlock "Communication System"
+ SrcPort 1
+ DstBlock "Control System"
+ DstPort 1
+ }
+ Line {
+ ZOrder 186
+ SrcBlock "Actuation"
+ SrcPort 2
+ Points [9, 0; 0, 192; -583, 0; 0, -162]
+ DstBlock "Control System"
+ DstPort 2
+ }
+ Line {
+ ZOrder 187
+ SrcBlock "Actuation"
+ SrcPort 1
+ Points [2, 0; 0, 246; -590, 0; 0, -121]
+ DstBlock "Control System"
+ DstPort 3
+ }
+ Line {
+ ZOrder 188
+ SrcBlock "Actuation"
+ SrcPort 4
+ Points [23, 0; 0, 140; -604, 0; 0, -80]
+ DstBlock "Control System"
+ DstPort 4
+ }
+ }
+}
+#Finite State Machines
+#
+# Stateflow 80000010
+#
+#
+Stateflow {
+ machine {
+ id 1
+ name "test_model_R2015A"
+ created "03-Nov-2016 18:34:53"
+ isLibrary 0
+ sfVersion 80000006
+ firstTarget 145
+ }
+ chart {
+ id 2
+ machine 1
+ name "Actuation/Gravity\n\n"
+ windowPosition [422 539.941 189 413]
+ viewLimits [0 156.75 0 153.75]
+ screen [1 1 3600 1200 1.180555555555556]
+ treeNode [0 3 0 0]
+ viewObj 2
+ ssIdHighWaterMark 7
+ decomposition CLUSTER_CHART
+ type EML_CHART
+ chartFileNumber 1
+ disableImplicitCasting 1
+ eml {
+ name "gravity"
+ }
+ firstData 4
+ firstTransition 8
+ firstJunction 7
+ }
+ state {
+ id 3
+ labelString "eML_blk_kernel()"
+ position [18 64.5 118 66]
+ fontSize 12
+ chart 2
+ treeNode [2 0 0 0]
+ superState SUBCHART
+ subviewer 2
+ ssIdNumber 1
+ type FUNC_STATE
+ decomposition CLUSTER_STATE
+ eml {
+ isEML 1
+ script "function E_Fg = gravity(m, g)\n\nE_Fg = [0; 0; m*g];\n"
+ editorLayout "100 M4x1[10 5 700 500]"
+ }
+ }
+ data {
+ id 4
+ ssIdNumber 5
+ name "E_Fg"
+ scope OUTPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_NO
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [2 0 5]
+ }
+ data {
+ id 5
+ ssIdNumber 6
+ name "m"
+ scope PARAMETER_DATA
+ paramIndexForInitFromWorkspace 1
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [2 4 6]
+ }
+ data {
+ id 6
+ ssIdNumber 7
+ name "g"
+ scope PARAMETER_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [2 5 0]
+ }
+ junction {
+ id 7
+ position [23.5747 49.5747 7]
+ chart 2
+ subviewer 2
+ ssIdNumber 3
+ type CONNECTIVE_JUNCTION
+ linkNode [2 0 0]
+ }
+ transition {
+ id 8
+ labelString "{eML_blk_kernel();}"
+ labelPosition [28.125 13.875 102.544 14.964]
+ fontSize 12
+ src {
+ intersection [0 0 1 0 23.5747 14.625 0 0]
+ }
+ dst {
+ id 7
+ intersection [1 0 -1 0 23.5747 42.5747 0 0]
+ }
+ midPoint [23.5747 24.9468]
+ chart 2
+ dataLimits [21.175 25.975 14.625 42.575]
+ subviewer 2
+ drawStyle SMART
+ slide {
+ sticky BOTH_STICK
+ }
+ executionOrder 1
+ ssIdNumber 2
+ linkNode [2 0 0]
+ }
+ instance {
+ id 9
+ machine 1
+ name "Actuation/Gravity\n\n"
+ chart 2
+ }
+ chart {
+ id 10
+ machine 1
+ name "Actuation/Lbe\n\n\n\n\n\n"
+ windowPosition [422 539.941 189 413]
+ viewLimits [0 156.75 0 153.75]
+ screen [1 1 3600 1200 1.180555555555556]
+ treeNode [0 11 0 0]
+ viewObj 10
+ ssIdHighWaterMark 11
+ decomposition CLUSTER_CHART
+ type EML_CHART
+ chartFileNumber 2
+ disableImplicitCasting 1
+ eml {
+ name "linear_body_earth_conversion"
+ }
+ firstData 12
+ firstTransition 16
+ firstJunction 15
+ }
+ state {
+ id 11
+ labelString "eML_blk_kernel()"
+ position [18 64.5 118 66]
+ fontSize 12
+ chart 10
+ treeNode [10 0 0 0]
+ superState SUBCHART
+ subviewer 10
+ ssIdNumber 1
+ type FUNC_STATE
+ decomposition CLUSTER_STATE
+ eml {
+ isEML 1
+ script "function E_ro = linear_body_earth_conversion(B_vo, euler_angles)\n\neuler_rates = zeros(3,1);\nE"
+ "_ro = zeros(3,1);\n\nphi = euler_angles(1);\ntheta = euler_angles(2);\npsi = euler_angles(3);\n\nLeb = [cos(thet"
+ "a)*cos(psi), sin(phi)*sin(theta)*cos(psi)-cos(phi)*sin(psi), cos(phi)*sin(theta)*cos(psi)+sin(phi)*sin(psi); ..."
+ "\n cos(theta)*sin(psi), sin(phi)*sin(theta)*sin(psi)+cos(phi)*cos(psi), cos(phi)*sin(theta)*sin(psi)-sin(p"
+ "hi)*cos(psi); ...\n -sin(theta) , sin(phi)*cos(theta) , c"
+ "os(phi)*cos(theta) ];\n\nE_ro = Leb * B_vo;"
+ editorLayout "100 M4x1[10 5 700 500]"
+ }
+ }
+ data {
+ id 12
+ ssIdNumber 7
+ name "B_vo"
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [10 0 13]
+ }
+ data {
+ id 13
+ ssIdNumber 11
+ name "euler_angles"
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [10 12 14]
+ }
+ data {
+ id 14
+ ssIdNumber 9
+ name "E_ro"
+ scope OUTPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_NO
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [10 13 0]
+ }
+ junction {
+ id 15
+ position [23.5747 49.5747 7]
+ chart 10
+ subviewer 10
+ ssIdNumber 3
+ type CONNECTIVE_JUNCTION
+ linkNode [10 0 0]
+ }
+ transition {
+ id 16
+ labelString "{eML_blk_kernel();}"
+ labelPosition [28.125 13.875 102.544 14.964]
+ fontSize 12
+ src {
+ intersection [0 0 1 0 23.5747 14.625 0 0]
+ }
+ dst {
+ id 15
+ intersection [1 0 -1 0 23.5747 42.5747 0 0]
+ }
+ midPoint [23.5747 24.9468]
+ chart 10
+ dataLimits [21.175 25.975 14.625 42.575]
+ subviewer 10
+ drawStyle SMART
+ slide {
+ sticky BOTH_STICK
+ }
+ executionOrder 1
+ ssIdNumber 2
+ linkNode [10 0 0]
+ }
+ instance {
+ id 17
+ machine 1
+ name "Actuation/Lbe\n\n\n\n\n\n"
+ chart 10
+ }
+ chart {
+ id 18
+ machine 1
+ name " Sensors /3D Graphical Simulation1/MATLAB Function"
+ windowPosition [422 539.941 189 413]
+ viewLimits [0 156.75 0 153.75]
+ screen [1 1 3600 1200 1.180555555555556]
+ treeNode [0 19 0 0]
+ viewObj 18
+ ssIdHighWaterMark 5
+ decomposition CLUSTER_CHART
+ type EML_CHART
+ chartFileNumber 3
+ disableImplicitCasting 1
+ eml {
+ name "eigenaxis_ucart"
+ }
+ firstData 20
+ firstTransition 23
+ firstJunction 22
+ }
+ state {
+ id 19
+ labelString "eML_blk_kernel()"
+ position [18 64.5 118 66]
+ fontSize 12
+ chart 18
+ treeNode [18 0 0 0]
+ superState SUBCHART
+ subviewer 18
+ ssIdNumber 1
+ type FUNC_STATE
+ decomposition CLUSTER_STATE
+ eml {
+ isEML 1
+ script "function y = eigenaxis_ucart(u)\n\n\nif abs(u(1))< 0.0001\n u(1) = 0.0001;\nend\n\nif abs(u(2)"
+ ")< 0.0001\n u(2) = 0.0001;\nend\n\nif abs(u(3))< 0.0001\n u(3) = 0.0001;\nend\n\nu = [ -u(1); -u(2); u(3) "
+ "];% [Pitch, Yaw, Roll] \n\nC11 = cos(u(2))*cos(u(3));\nC12 = cos(u(2))*sin(u(3));\nC13 = -sin(u(2));\nC21 = sin("
+ "u(1))*sin(u(2))*cos(u(3))-cos(u(1))*sin(u(3));\nC22 = sin(u(1))*sin(u(2))*sin(u(3))+cos(u(1))*cos(u(3));\nC23 = "
+ "sin(u(1))*cos(u(2));\nC31 = cos(u(1))*sin(u(2))*cos(u(3))+sin(u(1))*sin(u(3));\nC32 = cos(u(1))*sin(u(2))*sin(u("
+ "3))-sin(u(1))*cos(u(3));\nC33 = cos(u(1))*cos(u(2));\n \ntheta = acos(0.5*(C11+C22+C33-1));\n\ne = [C23-C32; "
+ "C31-C13; C12-C21]/(2*sin(theta));\n \ny = [e; theta];\n\n"
+ editorLayout "100 M4x1[10 5 700 500]"
+ }
+ }
+ data {
+ id 20
+ ssIdNumber 4
+ name "u"
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ }
+ complexity SF_COMPLEX_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [18 0 21]
+ }
+ data {
+ id 21
+ ssIdNumber 5
+ name "y"
+ scope OUTPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_NO
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [18 20 0]
+ }
+ junction {
+ id 22
+ position [23.5747 49.5747 7]
+ chart 18
+ subviewer 18
+ ssIdNumber 3
+ type CONNECTIVE_JUNCTION
+ linkNode [18 0 0]
+ }
+ transition {
+ id 23
+ labelString "{eML_blk_kernel();}"
+ labelPosition [28.125 13.875 102.544 14.964]
+ fontSize 12
+ src {
+ intersection [0 0 1 0 23.5747 14.625 0 0]
+ }
+ dst {
+ id 22
+ intersection [1 0 -1 0 23.5747 42.5747 0 0]
+ }
+ midPoint [23.5747 24.9468]
+ chart 18
+ dataLimits [21.175 25.975 14.625 42.575]
+ subviewer 18
+ drawStyle SMART
+ slide {
+ sticky BOTH_STICK
+ }
+ executionOrder 1
+ ssIdNumber 2
+ linkNode [18 0 0]
+ }
+ instance {
+ id 24
+ machine 1
+ name " Sensors /3D Graphical Simulation1/MATLAB Function"
+ chart 18
+ }
+ chart {
+ id 25
+ machine 1
+ name "Actuation/ESC System"
+ windowPosition [422 539.941 189 413]
+ viewLimits [0 156.75 0 153.75]
+ screen [1 1 3600 1200 1.180555555555556]
+ treeNode [0 26 0 0]
+ viewObj 25
+ ssIdHighWaterMark 18
+ decomposition CLUSTER_CHART
+ type EML_CHART
+ chartFileNumber 4
+ disableImplicitCasting 1
+ eml {
+ name "ESC"
+ }
+ firstData 27
+ firstTransition 33
+ firstJunction 32
+ }
+ state {
+ id 26
+ labelString "eML_blk_kernel()"
+ position [18 64.5 118 66]
+ fontSize 12
+ chart 25
+ treeNode [25 0 0 0]
+ superState SUBCHART
+ subviewer 25
+ ssIdNumber 1
+ type FUNC_STATE
+ decomposition CLUSTER_STATE
+ eml {
+ isEML 1
+ script "function Vb_eff = ESC(rotor_duty_cycles, Pmin, Pmax, Vb)\n\nrotor_0_duty_cycle = rotor_duty_cyc"
+ "les(1);\nrotor_1_duty_cycle = rotor_duty_cycles(2);\nrotor_2_duty_cycle = rotor_duty_cycles(3);\nrotor_3_duty_cy"
+ "cle = rotor_duty_cycles(4);\n\n% Define u_Pi for each of the rotors, limiting it to be greater than 0\n% u_P0 = "
+ "(rotor_0_duty_cycle/100 - Pmin) / (Pmax - Pmin);\n% u_P1 = (rotor_1_duty_cycle/100 - Pmin) / (Pmax - Pmin);\n% u"
+ "_P2 = (rotor_2_duty_cycle/100 - Pmin) / (Pmax - Pmin);\n% u_P3 = (rotor_3_duty_cycle/100 - Pmin) / (Pmax - Pmin)"
+ ";\nu_P0 = (rotor_0_duty_cycle - Pmin) / (Pmax - Pmin);\nu_P1 = (rotor_1_duty_cycle - Pmin) / (Pmax - Pmin);\nu_P"
+ "2 = (rotor_2_duty_cycle - Pmin) / (Pmax - Pmin);\nu_P3 = (rotor_3_duty_cycle - Pmin) / (Pmax - Pmin);\n\n\n% Det"
+ "ermine the effective battery voltage from each ESC\nVb_eff_0 = u_P0 * Vb;\nVb_eff_1 = u_P1 * Vb;\nVb_eff_2 = u_P"
+ "2 * Vb;\nVb_eff_3 = u_P3 * Vb;\n \nVb_eff = [Vb_eff_0, Vb_eff_1, Vb_eff_2, Vb_eff_3];\n"
+ editorLayout "100 M4x1[10 5 700 500]"
+ }
+ }
+ data {
+ id 27
+ ssIdNumber 4
+ name "rotor_duty_cycles"
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ }
+ complexity SF_COMPLEX_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [25 0 28]
+ }
+ data {
+ id 28
+ ssIdNumber 5
+ name "Vb_eff"
+ scope OUTPUT_DATA
+ machine 1
+ props {
+ array {
+ size "1,4"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_NO
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [25 27 29]
+ }
+ data {
+ id 29
+ ssIdNumber 16
+ name "Pmin"
+ scope PARAMETER_DATA
+ paramIndexForInitFromWorkspace 1
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [25 28 30]
+ }
+ data {
+ id 30
+ ssIdNumber 17
+ name "Pmax"
+ scope PARAMETER_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [25 29 31]
+ }
+ data {
+ id 31
+ ssIdNumber 18
+ name "Vb"
+ scope PARAMETER_DATA
+ paramIndexForInitFromWorkspace 2
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [25 30 0]
+ }
+ junction {
+ id 32
+ position [23.5747 49.5747 7]
+ chart 25
+ subviewer 25
+ ssIdNumber 3
+ type CONNECTIVE_JUNCTION
+ linkNode [25 0 0]
+ }
+ transition {
+ id 33
+ labelString "{eML_blk_kernel();}"
+ labelPosition [28.125 13.875 102.544 14.964]
+ fontSize 12
+ src {
+ intersection [0 0 1 0 23.5747 14.625 0 0]
+ }
+ dst {
+ id 32
+ intersection [1 0 -1 0 23.5747 42.5747 0 0]
+ }
+ midPoint [23.5747 24.9468]
+ chart 25
+ dataLimits [21.175 25.975 14.625 42.575]
+ subviewer 25
+ drawStyle SMART
+ slide {
+ sticky BOTH_STICK
+ }
+ executionOrder 1
+ ssIdNumber 2
+ linkNode [25 0 0]
+ }
+ instance {
+ id 34
+ machine 1
+ name "Actuation/ESC System"
+ chart 25
+ }
+ chart {
+ id 35
+ machine 1
+ name "Actuation/Motor System"
+ windowPosition [422 539.941 189 413]
+ viewLimits [0 156.75 0 153.75]
+ screen [1 1 3600 1200 1.180555555555556]
+ treeNode [0 36 0 0]
+ viewObj 35
+ ssIdHighWaterMark 16
+ decomposition CLUSTER_CHART
+ type EML_CHART
+ chartFileNumber 5
+ disableImplicitCasting 1
+ eml {
+ name "motor"
+ }
+ firstData 37
+ firstTransition 47
+ firstJunction 46
+ }
+ state {
+ id 36
+ labelString "eML_blk_kernel()"
+ position [18 64.5 118 66]
+ fontSize 12
+ chart 35
+ treeNode [35 0 0 0]
+ superState SUBCHART
+ subviewer 35
+ ssIdNumber 1
+ type FUNC_STATE
+ decomposition CLUSTER_STATE
+ eml {
+ isEML 1
+ script "function angular_acceleration = motor(Vb_eff, angular_velocity, Rm, Kv, Kq, Kd, If, Jreq)\n\n% De"
+ "fine each motors effective battery voltage\nVb_eff_0 = Vb_eff(1);\nVb_eff_1 = Vb_eff(2);\nVb_eff_2 = Vb_eff(3);\n"
+ "Vb_eff_3 = Vb_eff(4);\n\n% Determine the angular velocity of each rotor from feedback\nw_0 = angular_velocity(1)"
+ ";\nw_1 = angular_velocity(2);\nw_2 = angular_velocity(3);\nw_3 = angular_velocity(4);\n\n% w_0 = (-1 + sqrt(1 - "
+ "4*Rm*Kv*Kq*Kd*(Kv*Rm*If - Kv*Vb_eff_0)))/2*Rm*Kv*Kq*Kd;\n% w_1 = (-1 + sqrt(1 - 4*Rm*Kv*Kq*Kd*(Kv*Rm*If - Kv*Vb_"
+ "eff_1)))/2*Rm*Kv*Kq*Kd;\n% w_2 = (-1 + sqrt(1 - 4*Rm*Kv*Kq*Kd*(Kv*Rm*If - Kv*Vb_eff_2)))/2*Rm*Kv*Kq*Kd;\n% w_3 ="
+ " (-1 + sqrt(1 - 4*Rm*Kv*Kq*Kd*(Kv*Rm*If - Kv*Vb_eff_3)))/2*Rm*Kv*Kq*Kd;\n% angular_velocity = [w_0, w_1, w_2, w_"
+ "3];\n\n% Determine angular acceleration of each rotor\nw_0_dot = 1/(Jreq*Rm*Kq) * Vb_eff_0 - 1/(Jreq*Rm*Kq*Kv) *"
+ " w_0 - 1/(Jreq*Kq)*If - (Kd/Jreq) * w_0^2;\nw_1_dot = 1/(Jreq*Rm*Kq) * Vb_eff_1 - 1/(Jreq*Rm*Kq*Kv) * w_1 - 1/(J"
+ "req*Kq)*If - (Kd/Jreq) * w_1^2;\nw_2_dot = 1/(Jreq*Rm*Kq) * Vb_eff_2 - 1/(Jreq*Rm*Kq*Kv) * w_2 - 1/(Jreq*Kq)*If "
+ "- (Kd/Jreq) * w_2^2;\nw_3_dot = 1/(Jreq*Rm*Kq) * Vb_eff_3 - 1/(Jreq*Rm*Kq*Kv) * w_3 - 1/(Jreq*Kq)*If - (Kd/Jreq)"
+ " * w_3^2;\n\n\n\nangular_acceleration = [w_0_dot, w_1_dot, w_2_dot, w_3_dot]; "
+ editorLayout "100 M4x1[10 5 700 500]"
+ }
+ }
+ data {
+ id 37
+ ssIdNumber 4
+ name "Vb_eff"
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ }
+ complexity SF_COMPLEX_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [35 0 38]
+ }
+ data {
+ id 38
+ ssIdNumber 16
+ name "angular_velocity"
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [35 37 39]
+ }
+ data {
+ id 39
+ ssIdNumber 7
+ name "angular_acceleration"
+ scope OUTPUT_DATA
+ machine 1
+ props {
+ array {
+ size "1,4"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_NO
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [35 38 40]
+ }
+ data {
+ id 40
+ ssIdNumber 9
+ name "Rm"
+ scope PARAMETER_DATA
+ paramIndexForInitFromWorkspace 5
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [35 39 41]
+ }
+ data {
+ id 41
+ ssIdNumber 10
+ name "Kv"
+ scope PARAMETER_DATA
+ paramIndexForInitFromWorkspace 4
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [35 40 42]
+ }
+ data {
+ id 42
+ ssIdNumber 11
+ name "Kq"
+ scope PARAMETER_DATA
+ paramIndexForInitFromWorkspace 3
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [35 41 43]
+ }
+ data {
+ id 43
+ ssIdNumber 12
+ name "Kd"
+ scope PARAMETER_DATA
+ paramIndexForInitFromWorkspace 2
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [35 42 44]
+ }
+ data {
+ id 44
+ ssIdNumber 13
+ name "If"
+ scope PARAMETER_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [35 43 45]
+ }
+ data {
+ id 45
+ ssIdNumber 14
+ name "Jreq"
+ scope PARAMETER_DATA
+ paramIndexForInitFromWorkspace 1
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [35 44 0]
+ }
+ junction {
+ id 46
+ position [23.5747 49.5747 7]
+ chart 35
+ subviewer 35
+ ssIdNumber 3
+ type CONNECTIVE_JUNCTION
+ linkNode [35 0 0]
+ }
+ transition {
+ id 47
+ labelString "{eML_blk_kernel();}"
+ labelPosition [28.125 13.875 102.544 14.964]
+ fontSize 12
+ src {
+ intersection [0 0 1 0 23.5747 14.625 0 0]
+ }
+ dst {
+ id 46
+ intersection [1 0 -1 0 23.5747 42.5747 0 0]
+ }
+ midPoint [23.5747 24.9468]
+ chart 35
+ dataLimits [21.175 25.975 14.625 42.575]
+ subviewer 35
+ drawStyle SMART
+ slide {
+ sticky BOTH_STICK
+ }
+ executionOrder 1
+ ssIdNumber 2
+ linkNode [35 0 0]
+ }
+ instance {
+ id 48
+ machine 1
+ name "Actuation/Motor System"
+ chart 35
+ }
+ chart {
+ id 49
+ machine 1
+ name "Actuation/Rotor System\n\n\n\n\n\n\n\n"
+ windowPosition [422 539.941 189 413]
+ viewLimits [0 156.75 0 153.75]
+ screen [1 1 3600 1200 1.180555555555556]
+ treeNode [0 50 0 0]
+ viewObj 49
+ ssIdHighWaterMark 30
+ decomposition CLUSTER_CHART
+ type EML_CHART
+ chartFileNumber 6
+ disableImplicitCasting 1
+ eml {
+ name "rotor"
+ }
+ firstData 51
+ firstTransition 69
+ firstJunction 68
+ }
+ state {
+ id 50
+ labelString "eML_blk_kernel()"
+ position [18 64.5 118 66]
+ fontSize 12
+ chart 49
+ treeNode [49 0 0 0]
+ superState SUBCHART
+ subviewer 49
+ ssIdNumber 1
+ type FUNC_STATE
+ decomposition CLUSTER_STATE
+ eml {
+ isEML 1
+ script "function [B_omega_dot, B_vo_dot]= rotor(angular_acceleration, angular_velocity, B_Fg, B_omega, B_"
+ "vo, m, Kt, Kd, rhx, rhy, rhz, Jreq, Jxx, Jyy, Jzz)\n\nB_vo_dot = zeros(3,1);\nB_omega_dot = zeros(3,1);\n\n% Cre"
+ "ate J vector\nJ = [Jxx, 0 , 0 ; ...\n 0 , Jyy, 0 ; ...\n 0 , 0 , Jzz;];\n\n% Create r_hi vector\nr"
+ "h_0 = [-rhx; rhy; rhz];\nrh_1 = [rhx; rhy; rhz];\nrh_2 = [-rhx; -rhy; rhz];\nrh_3 = [rhx; -rhy; rhz];\n\n% Defin"
+ "e vector from body frame origin to center of mass\nbr_oc = [0; 0; 0];\n\n% Define 3x3 Identity Matrix\nI = eye(3"
+ ");\n\n% Create gamma vectors\ngamma_Ti = [0; 0; -1];\ngamma_omega_03 = [0; 0; -1]; %Rotors 0 and 3 use this gam"
+ "ma_omega vector\ngamma_omega_12 = [0; 0; 1]; %Rotors 1 and 2 use this gamma_omega vector\n\n% Define angular vel"
+ "ocities for each rotor\nw_0 = angular_velocity(1);\nw_1 = angular_velocity(2);\nw_2 = angular_velocity(3);\nw_3 "
+ "= angular_velocity(4);\n\n% Define angular acceleration for each rotor\nw_0_dot = angular_acceleration(1);\nw_1_"
+ "dot = angular_acceleration(2);\nw_2_dot = angular_acceleration(3);\nw_3_dot = angular_acceleration(4);\n\n% Defi"
+ "ne the rotor force in the z-direction from each rotor\nB_Fr_0 = Kt * w_0 * w_0 * gamma_Ti;\nB_Fr_1 = Kt * w_1 * "
+ "w_1 * gamma_Ti;\nB_Fr_2 = Kt * w_2 * w_2 * gamma_Ti;\nB_Fr_3 = Kt * w_3 * w_3 * gamma_Ti;\n\n% Sum up the rotor "
+ "forces in the z-direction from each vector to get the\n% total body force in the z-direction\nB_Fr = B_Fr_0 + B_"
+ "Fr_1 + B_Fr_2 + B_Fr_3;\n\n% Define the in-plane drag and induced torque produced by each rotor\n B_Q_d0 = -1 * "
+ "Kd * w_0 * w_0 * gamma_omega_03;\n B_Q_d1 = -1 * Kd * w_1 * w_1 * gamma_omega_12;\n B_Q_d2 = -1 * Kd * w_2 * w_2"
+ " * gamma_omega_12;\n B_Q_d3 = -1 * Kd * w_3 * w_3 * gamma_omega_03;\n\n% Sum up the total in-plane drag and indu"
+ "ced torque to get the total\n% in-plane drag and induced torque on the body\nB_Q_d = B_Q_d0 + B_Q_d1 + B_Q_d2 + "
+ "B_Q_d3;\n\n% Define the force lever arm torque created from the force produced by each\n% rotor in the z-directi"
+ "on\nB_Q_F0 = cross( rh_0, B_Fr_0 );\nB_Q_F1 = cross( rh_1, B_Fr_1 );\nB_Q_F2 = cross( rh_2, B_Fr_2 );\nB_Q_F3 = "
+ "cross( rh_3, B_Fr_3 );\n\nB_Q_F = B_Q_F0 + B_Q_F1 + B_Q_F2 + B_Q_F3;\n\n%Define the change in angular momentum t"
+ "orque produced by each rotor \nB_Q_L0 = -1 * Jreq * ( cross(B_omega, w_0 * gamma_omega_03) + w_0_dot * gamma_ome"
+ "ga_03 );\nB_Q_L1 = -1 * Jreq * ( cross(B_omega, w_1 * gamma_omega_12) + w_1_dot * gamma_omega_12 ); \nB_Q_L2 = -"
+ "1 * Jreq * ( cross(B_omega, w_2 * gamma_omega_12) + w_2_dot * gamma_omega_12 ); \nB_Q_L3 = -1 * Jreq * ( cross(B"
+ "_omega, w_3 * gamma_omega_03) + w_3_dot * gamma_omega_03 );\n\n% Sum up the total change in angular momentum tor"
+ "que produced by each rotor\nB_Q_L = B_Q_L0 + B_Q_L1 + B_Q_L2 + B_Q_L3;\n\n% Define the total rotor system torque"
+ " as the sum of the in-plane drag and\n% induced torque, force lever arm torque, and change in angular momentum\n"
+ "% torques\nB_Q = B_Q_d + B_Q_F + B_Q_L;\n\n% Define the body forces in the z-direction from each vector to get t"
+ "he\n% total body force in the z-direction\nB_F = B_Fr + B_Fg; \n\n% Define the body frame linear velocities\nB_v"
+ "o_dot = (m*I)^(-1) * ( B_F - cross( B_omega, m*(B_vo + cross(B_omega, br_oc)) ) );\n\n% Define the body frame an"
+ "gular velocities\nB_omega_dot = J ^(-1) * ( B_Q - cross(B_omega, J * B_omega) - cross(br_oc, B_F) );\n\n"
+ editorLayout "100 M4x1[10 5 700 500]"
+ }
+ }
+ data {
+ id 51
+ ssIdNumber 6
+ name "B_omega_dot"
+ scope OUTPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_NO
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [49 0 52]
+ }
+ data {
+ id 52
+ ssIdNumber 10
+ name "angular_acceleration"
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [49 51 53]
+ }
+ data {
+ id 53
+ ssIdNumber 11
+ name "angular_velocity"
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [49 52 54]
+ }
+ data {
+ id 54
+ ssIdNumber 30
+ name "B_Fg"
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [49 53 55]
+ }
+ data {
+ id 55
+ ssIdNumber 8
+ name "B_omega"
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [49 54 56]
+ }
+ data {
+ id 56
+ ssIdNumber 5
+ name "B_vo_dot"
+ scope OUTPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_NO
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [49 55 57]
+ }
+ data {
+ id 57
+ ssIdNumber 7
+ name "B_vo"
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [49 56 58]
+ }
+ data {
+ id 58
+ ssIdNumber 12
+ name "m"
+ scope PARAMETER_DATA
+ paramIndexForInitFromWorkspace 6
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [49 57 59]
+ }
+ data {
+ id 59
+ ssIdNumber 14
+ name "Kt"
+ scope PARAMETER_DATA
+ paramIndexForInitFromWorkspace 5
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [49 58 60]
+ }
+ data {
+ id 60
+ ssIdNumber 13
+ name "Kd"
+ scope PARAMETER_DATA
+ paramIndexForInitFromWorkspace 4
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [49 59 61]
+ }
+ data {
+ id 61
+ ssIdNumber 15
+ name "rhx"
+ scope PARAMETER_DATA
+ paramIndexForInitFromWorkspace 7
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [49 60 62]
+ }
+ data {
+ id 62
+ ssIdNumber 16
+ name "rhy"
+ scope PARAMETER_DATA
+ paramIndexForInitFromWorkspace 8
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [49 61 63]
+ }
+ data {
+ id 63
+ ssIdNumber 17
+ name "rhz"
+ scope PARAMETER_DATA
+ paramIndexForInitFromWorkspace 9
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [49 62 64]
+ }
+ data {
+ id 64
+ ssIdNumber 18
+ name "Jreq"
+ scope PARAMETER_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [49 63 65]
+ }
+ data {
+ id 65
+ ssIdNumber 19
+ name "Jxx"
+ scope PARAMETER_DATA
+ paramIndexForInitFromWorkspace 1
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [49 64 66]
+ }
+ data {
+ id 66
+ ssIdNumber 20
+ name "Jyy"
+ scope PARAMETER_DATA
+ paramIndexForInitFromWorkspace 2
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [49 65 67]
+ }
+ data {
+ id 67
+ ssIdNumber 21
+ name "Jzz"
+ scope PARAMETER_DATA
+ paramIndexForInitFromWorkspace 3
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [49 66 0]
+ }
+ junction {
+ id 68
+ position [23.5747 49.5747 7]
+ chart 49
+ subviewer 49
+ ssIdNumber 3
+ type CONNECTIVE_JUNCTION
+ linkNode [49 0 0]
+ }
+ transition {
+ id 69
+ labelString "{eML_blk_kernel();}"
+ labelPosition [28.125 13.875 102.544 14.964]
+ fontSize 12
+ src {
+ intersection [0 0 1 0 23.5747 14.625 0 0]
+ }
+ dst {
+ id 68
+ intersection [1 0 -1 0 23.5747 42.5747 0 0]
+ }
+ midPoint [23.5747 24.9468]
+ chart 49
+ dataLimits [21.175 25.975 14.625 42.575]
+ subviewer 49
+ drawStyle SMART
+ slide {
+ sticky BOTH_STICK
+ }
+ executionOrder 1
+ ssIdNumber 2
+ linkNode [49 0 0]
+ }
+ instance {
+ id 70
+ machine 1
+ name "Actuation/Rotor System\n\n\n\n\n\n\n\n"
+ chart 49
+ }
+ chart {
+ id 71
+ machine 1
+ name "Actuation/Aeb\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
+ windowPosition [422 539.941 189 413]
+ viewLimits [0 156.75 0 153.75]
+ screen [1 1 3600 1200 1.180555555555556]
+ treeNode [0 72 0 0]
+ viewObj 71
+ ssIdHighWaterMark 6
+ decomposition CLUSTER_CHART
+ type EML_CHART
+ chartFileNumber 7
+ disableImplicitCasting 1
+ eml {
+ name "angular_body_earth_conversion"
+ }
+ firstData 73
+ firstTransition 77
+ firstJunction 76
+ }
+ state {
+ id 72
+ labelString "eML_blk_kernel()"
+ position [18 64.5 118 66]
+ fontSize 12
+ chart 71
+ treeNode [71 0 0 0]
+ superState SUBCHART
+ subviewer 71
+ ssIdNumber 1
+ type FUNC_STATE
+ decomposition CLUSTER_STATE
+ eml {
+ isEML 1
+ script "function euler_rates = angular_body_earth_conversion(B_omega, euler_angles)\n\neuler_rates = zero"
+ "s(3,1);\n\nphi = euler_angles(1);\ntheta = euler_angles(2);\n\nAeb = [1, sin(phi)*tan(theta), cos(phi)*tan(theta"
+ "); ...\n 0, cos(phi) , -sin(phi) ; ...\n 0, sin(phi)/cos(theta), cos(phi)/cos(th"
+ "eta)];\n\n \neuler_rates = Aeb * B_omega;\n "
+ editorLayout "100 M4x1[10 5 700 500]"
+ }
+ }
+ data {
+ id 73
+ ssIdNumber 4
+ name "B_omega"
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ }
+ complexity SF_COMPLEX_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [71 0 74]
+ }
+ data {
+ id 74
+ ssIdNumber 5
+ name "euler_rates"
+ scope OUTPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_NO
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [71 73 75]
+ }
+ data {
+ id 75
+ ssIdNumber 6
+ name "euler_angles"
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [71 74 0]
+ }
+ junction {
+ id 76
+ position [23.5747 49.5747 7]
+ chart 71
+ subviewer 71
+ ssIdNumber 3
+ type CONNECTIVE_JUNCTION
+ linkNode [71 0 0]
+ }
+ transition {
+ id 77
+ labelString "{eML_blk_kernel();}"
+ labelPosition [28.125 13.875 102.544 14.964]
+ fontSize 12
+ src {
+ intersection [0 0 1 0 23.5747 14.625 0 0]
+ }
+ dst {
+ id 76
+ intersection [1 0 -1 0 23.5747 42.5747 0 0]
+ }
+ midPoint [23.5747 24.9468]
+ chart 71
+ dataLimits [21.175 25.975 14.625 42.575]
+ subviewer 71
+ drawStyle SMART
+ slide {
+ sticky BOTH_STICK
+ }
+ executionOrder 1
+ ssIdNumber 2
+ linkNode [71 0 0]
+ }
+ instance {
+ id 78
+ machine 1
+ name "Actuation/Aeb\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
+ chart 71
+ }
+ chart {
+ id 79
+ machine 1
+ name "Actuation/Lbe\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
+ windowPosition [422 539.941 189 413]
+ viewLimits [0 156.75 0 153.75]
+ screen [1 1 3600 1200 1.180555555555556]
+ treeNode [0 80 0 0]
+ viewObj 79
+ ssIdHighWaterMark 13
+ decomposition CLUSTER_CHART
+ type EML_CHART
+ chartFileNumber 8
+ disableImplicitCasting 1
+ eml {
+ name "linear_earth_body_conversion"
+ }
+ firstData 81
+ firstTransition 87
+ firstJunction 86
+ }
+ state {
+ id 80
+ labelString "eML_blk_kernel()"
+ position [18 64.5 118 66]
+ fontSize 12
+ chart 79
+ treeNode [79 0 0 0]
+ superState SUBCHART
+ subviewer 79
+ ssIdNumber 1
+ type FUNC_STATE
+ decomposition CLUSTER_STATE
+ eml {
+ isEML 1
+ script "function [B_Fg, B_g] = linear_earth_body_conversion(E_Fg, euler_angles, m)\n\nphi = euler_angles"
+ "(1);\ntheta = euler_angles(2);\npsi = euler_angles(3);\n\nLbe = [ cos(theta)*cos(psi) ,"
+ " cos(theta)*sin(psi) , -sin(theta) ; ...\n sin(phi)*sin(theta)*cos(psi)-c"
+ "os(phi)*sin(psi), sin(phi)*sin(theta)*sin(psi)+cos(phi)*cos(psi), sin(phi)*cos(theta); ...\n cos(phi)*sin("
+ "theta)*cos(psi)+sin(phi)*sin(psi), cos(phi)*sin(theta)*sin(psi)-sin(phi)*cos(psi), cos(phi)*cos(theta)];\n\nB_Fg"
+ " = Lbe * E_Fg;\n\nB_g = B_Fg/m;"
+ editorLayout "100 M4x1[10 5 700 500]"
+ }
+ }
+ data {
+ id 81
+ ssIdNumber 7
+ name "E_Fg"
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [79 0 82]
+ }
+ data {
+ id 82
+ ssIdNumber 11
+ name "euler_angles"
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "3"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [79 81 83]
+ }
+ data {
+ id 83
+ ssIdNumber 9
+ name "B_Fg"
+ scope OUTPUT_DATA
+ machine 1
+ props {
+ array {
+ size "3"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_NO
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [79 82 84]
+ }
+ data {
+ id 84
+ ssIdNumber 12
+ name "B_g"
+ scope OUTPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_NO
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [79 83 85]
+ }
+ data {
+ id 85
+ ssIdNumber 13
+ name "m"
+ scope PARAMETER_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [79 84 0]
+ }
+ junction {
+ id 86
+ position [23.5747 49.5747 7]
+ chart 79
+ subviewer 79
+ ssIdNumber 3
+ type CONNECTIVE_JUNCTION
+ linkNode [79 0 0]
+ }
+ transition {
+ id 87
+ labelString "{eML_blk_kernel();}"
+ labelPosition [28.125 13.875 102.544 14.964]
+ fontSize 12
+ src {
+ intersection [0 0 1 0 23.5747 14.625 0 0]
+ }
+ dst {
+ id 86
+ intersection [1 0 -1 0 23.5747 42.5747 0 0]
+ }
+ midPoint [23.5747 24.9468]
+ chart 79
+ dataLimits [21.175 25.975 14.625 42.575]
+ subviewer 79
+ drawStyle SMART
+ slide {
+ sticky BOTH_STICK
+ }
+ executionOrder 1
+ ssIdNumber 2
+ linkNode [79 0 0]
+ }
+ instance {
+ id 88
+ machine 1
+ name "Actuation/Lbe\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
+ chart 79
+ }
+ chart {
+ id 89
+ machine 1
+ name " Sensors /Complimentary Filter\n\n\n\n\n\n\n\n"
+ windowPosition [422 539.941 189 413]
+ viewLimits [0 156.75 0 153.75]
+ screen [1 1 3600 1200 1.180555555555556]
+ treeNode [0 90 0 0]
+ viewObj 89
+ ssIdHighWaterMark 16
+ decomposition CLUSTER_CHART
+ type EML_CHART
+ chartFileNumber 9
+ disableImplicitCasting 1
+ eml {
+ name "complimentaryFilter"
+ }
+ firstData 91
+ firstTransition 96
+ firstJunction 95
+ }
+ state {
+ id 90
+ labelString "eML_blk_kernel()"
+ position [18 64.5 118 66]
+ fontSize 12
+ chart 89
+ treeNode [89 0 0 0]
+ superState SUBCHART
+ subviewer 89
+ ssIdNumber 1
+ type FUNC_STATE
+ decomposition CLUSTER_STATE
+ eml {
+ isEML 1
+ script "%function euler_angles_IMU = complimentaryFilter(accel_pitch, accel_roll, euler_angles_gyro, pre"
+ "v_euler_angles_IMU)\nfunction euler_angles_IMU = complimentaryFilter(accel_pitch, accel_roll, euler_angles_gyro"
+ ")\n\n% LOOP_TIME = 5*10^-3;\n% \n% prev_phi = prev_euler_angles_IMU(1);\n% prev_theta = prev_euler_angles_IMU(2)"
+ ";\n% \n% phi_dot_gyro = euler_angles_gyro(1);\n% theta_dot_gyro = euler_angles_gyro(2);\n\n% phi = 0.98 * ( prev"
+ "_phi + phi_dot_gyro * LOOP_TIME ) + 0.02 * accel_roll;\n% theta = 0.98 * ( prev_theta + theta_dot_gyro * LOOP_TI"
+ "ME) + 0.02 * accel_pitch;\nk_gyro = 1; \nk_accel = 1-k_gyro; \n\nphi = k_gyro * ( euler_angles_gyro(1) ) + k_acc"
+ "el * accel_roll;\ntheta = k_gyro * ( euler_angles_gyro(2) ) + k_accel * accel_pitch;\n\neuler_angles_IMU = [phi;"
+ " theta];\n"
+ editorLayout "100 M4x1[10 5 700 500]"
+ }
+ }
+ data {
+ id 91
+ ssIdNumber 4
+ name "accel_pitch"
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ }
+ complexity SF_COMPLEX_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [89 0 92]
+ }
+ data {
+ id 92
+ ssIdNumber 13
+ name "accel_roll"
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [89 91 93]
+ }
+ data {
+ id 93
+ ssIdNumber 5
+ name "euler_angles_IMU"
+ scope OUTPUT_DATA
+ machine 1
+ props {
+ array {
+ size "[2,1]"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_NO
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [89 92 94]
+ }
+ data {
+ id 94
+ ssIdNumber 6
+ name "euler_angles_gyro"
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [89 93 0]
+ }
+ junction {
+ id 95
+ position [23.5747 49.5747 7]
+ chart 89
+ subviewer 89
+ ssIdNumber 3
+ type CONNECTIVE_JUNCTION
+ linkNode [89 0 0]
+ }
+ transition {
+ id 96
+ labelString "{eML_blk_kernel();}"
+ labelPosition [28.125 13.875 102.544 14.964]
+ fontSize 12
+ src {
+ intersection [0 0 1 0 23.5747 14.625 0 0]
+ }
+ dst {
+ id 95
+ intersection [1 0 -1 0 23.5747 42.5747 0 0]
+ }
+ midPoint [23.5747 24.9468]
+ chart 89
+ dataLimits [21.175 25.975 14.625 42.575]
+ subviewer 89
+ drawStyle SMART
+ slide {
+ sticky BOTH_STICK
+ }
+ executionOrder 1
+ ssIdNumber 2
+ linkNode [89 0 0]
+ }
+ instance {
+ id 97
+ machine 1
+ name " Sensors /Complimentary Filter\n\n\n\n\n\n\n\n"
+ chart 89
+ }
+ chart {
+ id 98
+ machine 1
+ name " Sensors /IMU\n\n\n\n\n\n/\n\n\n\n\n\n\n"
+ windowPosition [422 539.941 189 413]
+ viewLimits [0 156.75 0 153.75]
+ screen [1 1 3600 1200 1.180555555555556]
+ treeNode [0 99 0 0]
+ viewObj 98
+ ssIdHighWaterMark 15
+ decomposition CLUSTER_CHART
+ type EML_CHART
+ chartFileNumber 10
+ disableImplicitCasting 1
+ eml {
+ name "idealIMU"
+ }
+ firstData 100
+ firstTransition 109
+ firstJunction 108
+ }
+ state {
+ id 99
+ labelString "eML_blk_kernel()"
+ position [18 64.5 118 66]
+ fontSize 12
+ chart 98
+ treeNode [98 0 0 0]
+ superState SUBCHART
+ subviewer 98
+ ssIdNumber 1
+ type FUNC_STATE
+ decomposition CLUSTER_STATE
+ eml {
+ isEML 1
+ script "function [accelReading,gyroReading] = idealIMU(B_vo_dot, B_vo, B_Omega, B_g, r_oc, g)\n%#codegen\n"
+ "\na = B_vo_dot + cross(B_Omega,B_vo) ; % body frame acceleration \n\naccelReading = (a - B_g)/g ; % acceleromete"
+ "r reading (ideal)\n\ngyroReading = B_Omega ; % gyroscope reading (ideal) \n\nend\n\n"
+ editorLayout "100 M4x1[10 5 700 500]"
+ }
+ }
+ data {
+ id 100
+ ssIdNumber 4
+ name "B_vo_dot"
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ }
+ complexity SF_COMPLEX_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [98 0 101]
+ }
+ data {
+ id 101
+ ssIdNumber 9
+ name "B_vo"
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [98 100 102]
+ }
+ data {
+ id 102
+ ssIdNumber 5
+ name "accelReading"
+ scope OUTPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_NO
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [98 101 103]
+ }
+ data {
+ id 103
+ ssIdNumber 6
+ name "B_Omega"
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [98 102 104]
+ }
+ data {
+ id 104
+ ssIdNumber 7
+ name "B_g"
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [98 103 105]
+ }
+ data {
+ id 105
+ ssIdNumber 8
+ name "gyroReading"
+ scope OUTPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_NO
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [98 104 106]
+ }
+ data {
+ id 106
+ ssIdNumber 10
+ name "r_oc"
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [98 105 107]
+ }
+ data {
+ id 107
+ ssIdNumber 12
+ name "g"
+ scope PARAMETER_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [98 106 0]
+ }
+ junction {
+ id 108
+ position [23.5747 49.5747 7]
+ chart 98
+ subviewer 98
+ ssIdNumber 3
+ type CONNECTIVE_JUNCTION
+ linkNode [98 0 0]
+ }
+ transition {
+ id 109
+ labelString "{eML_blk_kernel();}"
+ labelPosition [28.125 13.875 102.544 14.964]
+ fontSize 12
+ src {
+ intersection [0 0 1 0 23.5747 14.625 0 0]
+ }
+ dst {
+ id 108
+ intersection [1 0 -1 0 23.5747 42.5747 0 0]
+ }
+ midPoint [23.5747 24.9468]
+ chart 98
+ dataLimits [21.175 25.975 14.625 42.575]
+ subviewer 98
+ drawStyle SMART
+ slide {
+ sticky BOTH_STICK
+ }
+ executionOrder 1
+ ssIdNumber 2
+ linkNode [98 0 0]
+ }
+ instance {
+ id 110
+ machine 1
+ name " Sensors /IMU\n\n\n\n\n\n/\n\n\n\n\n\n\n"
+ chart 98
+ }
+ chart {
+ id 111
+ machine 1
+ name " Sensors /3D Graphical Simulation/MATLAB Function"
+ windowPosition [422 539.941 189 413]
+ viewLimits [0 156.75 0 153.75]
+ screen [1 1 3600 1200 1.180555555555556]
+ treeNode [0 112 0 0]
+ viewObj 111
+ ssIdHighWaterMark 5
+ decomposition CLUSTER_CHART
+ type EML_CHART
+ chartFileNumber 11
+ disableImplicitCasting 1
+ eml {
+ name "eigenaxis_ucart"
+ }
+ firstData 113
+ firstTransition 116
+ firstJunction 115
+ }
+ state {
+ id 112
+ labelString "eML_blk_kernel()"
+ position [18 64.5 118 66]
+ fontSize 12
+ chart 111
+ treeNode [111 0 0 0]
+ superState SUBCHART
+ subviewer 111
+ ssIdNumber 1
+ type FUNC_STATE
+ decomposition CLUSTER_STATE
+ eml {
+ isEML 1
+ script "function y = eigenaxis_ucart(u)\n\n\nif abs(u(1))< 0.0001\n u(1) = 0.0001;\nend\n\nif abs(u(2)"
+ ")< 0.0001\n u(2) = 0.0001;\nend\n\nif abs(u(3))< 0.0001\n u(3) = 0.0001;\nend\n\nu = [ -u(1); -u(2); u(3) "
+ "];% [Pitch, Yaw, Roll] \n\nC11 = cos(u(2))*cos(u(3));\nC12 = cos(u(2))*sin(u(3));\nC13 = -sin(u(2));\nC21 = sin("
+ "u(1))*sin(u(2))*cos(u(3))-cos(u(1))*sin(u(3));\nC22 = sin(u(1))*sin(u(2))*sin(u(3))+cos(u(1))*cos(u(3));\nC23 = "
+ "sin(u(1))*cos(u(2));\nC31 = cos(u(1))*sin(u(2))*cos(u(3))+sin(u(1))*sin(u(3));\nC32 = cos(u(1))*sin(u(2))*sin(u("
+ "3))-sin(u(1))*cos(u(3));\nC33 = cos(u(1))*cos(u(2));\n \ntheta = acos(0.5*(C11+C22+C33-1));\n\ne = [C23-C32; "
+ "C31-C13; C12-C21]/(2*sin(theta));\n \ny = [e; theta];\n\n"
+ editorLayout "100 M4x1[10 5 700 500]"
+ }
+ }
+ data {
+ id 113
+ ssIdNumber 4
+ name "u"
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ }
+ complexity SF_COMPLEX_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [111 0 114]
+ }
+ data {
+ id 114
+ ssIdNumber 5
+ name "y"
+ scope OUTPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_NO
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [111 113 0]
+ }
+ junction {
+ id 115
+ position [23.5747 49.5747 7]
+ chart 111
+ subviewer 111
+ ssIdNumber 3
+ type CONNECTIVE_JUNCTION
+ linkNode [111 0 0]
+ }
+ transition {
+ id 116
+ labelString "{eML_blk_kernel();}"
+ labelPosition [28.125 13.875 102.544 14.964]
+ fontSize 12
+ src {
+ intersection [0 0 1 0 23.5747 14.625 0 0]
+ }
+ dst {
+ id 115
+ intersection [1 0 -1 0 23.5747 42.5747 0 0]
+ }
+ midPoint [23.5747 24.9468]
+ chart 111
+ dataLimits [21.175 25.975 14.625 42.575]
+ subviewer 111
+ drawStyle SMART
+ slide {
+ sticky BOTH_STICK
+ }
+ executionOrder 1
+ ssIdNumber 2
+ linkNode [111 0 0]
+ }
+ instance {
+ id 117
+ machine 1
+ name " Sensors /3D Graphical Simulation/MATLAB Function"
+ chart 111
+ }
+ chart {
+ id 118
+ machine 1
+ name " Sensors /Aeb\n\n\n\n\n\n\n\n\n\n"
+ windowPosition [422 539.941 189 413]
+ viewLimits [0 156.75 0 153.75]
+ screen [1 1 3600 1200 1.180555555555556]
+ treeNode [0 119 0 0]
+ viewObj 118
+ ssIdHighWaterMark 6
+ decomposition CLUSTER_CHART
+ type EML_CHART
+ chartFileNumber 12
+ disableImplicitCasting 1
+ eml {
+ name "angular_body_earth_conversion"
+ }
+ firstData 120
+ firstTransition 124
+ firstJunction 123
+ }
+ state {
+ id 119
+ labelString "eML_blk_kernel()"
+ position [18 64.5 118 66]
+ fontSize 12
+ chart 118
+ treeNode [118 0 0 0]
+ superState SUBCHART
+ subviewer 118
+ ssIdNumber 1
+ type FUNC_STATE
+ decomposition CLUSTER_STATE
+ eml {
+ isEML 1
+ script "function euler_rates_IMU = angular_body_earth_conversion(gyro_reading, euler_angles_IMU)\n\nphi ="
+ " euler_angles_IMU(1);\ntheta = euler_angles_IMU(2);\n\nAeb = [1, sin(phi)*tan(theta), cos(phi)*tan(theta); ...\n"
+ " 0, cos(phi) , -sin(phi) ; ...\n 0, sin(phi)/cos(theta), cos(phi)/cos(theta)];\n"
+ "\n \neuler_rates_IMU = Aeb * gyro_reading;\n "
+ editorLayout "100 M4x1[10 5 700 500]"
+ }
+ }
+ data {
+ id 120
+ ssIdNumber 4
+ name "gyro_reading"
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ }
+ complexity SF_COMPLEX_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [118 0 121]
+ }
+ data {
+ id 121
+ ssIdNumber 5
+ name "euler_rates_IMU"
+ scope OUTPUT_DATA
+ machine 1
+ props {
+ array {
+ size "[3,1]"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_NO
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [118 120 122]
+ }
+ data {
+ id 122
+ ssIdNumber 6
+ name "euler_angles_IMU"
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [118 121 0]
+ }
+ junction {
+ id 123
+ position [23.5747 49.5747 7]
+ chart 118
+ subviewer 118
+ ssIdNumber 3
+ type CONNECTIVE_JUNCTION
+ linkNode [118 0 0]
+ }
+ transition {
+ id 124
+ labelString "{eML_blk_kernel();}"
+ labelPosition [28.125 13.875 102.544 14.964]
+ fontSize 12
+ src {
+ intersection [0 0 1 0 23.5747 14.625 0 0]
+ }
+ dst {
+ id 123
+ intersection [1 0 -1 0 23.5747 42.5747 0 0]
+ }
+ midPoint [23.5747 24.9468]
+ chart 118
+ dataLimits [21.175 25.975 14.625 42.575]
+ subviewer 118
+ drawStyle SMART
+ slide {
+ sticky BOTH_STICK
+ }
+ executionOrder 1
+ ssIdNumber 2
+ linkNode [118 0 0]
+ }
+ instance {
+ id 125
+ machine 1
+ name " Sensors /Aeb\n\n\n\n\n\n\n\n\n\n"
+ chart 118
+ }
+ chart {
+ id 126
+ machine 1
+ name " Sensors /Calculate Pitch and Roll\n\n\n\n\n\n\n\n\n\n\n\n1"
+ windowPosition [422 539.941 189 413]
+ viewLimits [0 156.75 0 153.75]
+ screen [1 1 3600 1200 1.180555555555556]
+ treeNode [0 127 0 0]
+ viewObj 126
+ ssIdHighWaterMark 10
+ decomposition CLUSTER_CHART
+ type EML_CHART
+ chartFileNumber 13
+ disableImplicitCasting 1
+ eml {
+ name "getPitchAndRoll"
+ }
+ firstData 128
+ firstTransition 133
+ firstJunction 132
+ }
+ state {
+ id 127
+ labelString "eML_blk_kernel()"
+ position [18 64.5 118 66]
+ fontSize 12
+ chart 126
+ treeNode [126 0 0 0]
+ superState SUBCHART
+ subviewer 126
+ ssIdNumber 1
+ type FUNC_STATE
+ decomposition CLUSTER_STATE
+ eml {
+ isEML 1
+ script "function [accel_pitch, accel_roll] = getPitchAndRoll(accel_reading, accel_roll_prev)\n\nmag = nor"
+ "m(accel_reading);\n\nx_accel = accel_reading(1)/mag;\ny_accel = accel_reading(2)/mag;\nz_accel = accel_reading(3"
+ ")/mag;\n\naccel_pitch = atan(x_accel/sqrt(y_accel^2 + z_accel^2));\n%unwrapped_pitch = unwrap([accel_pitch_prev "
+ "accel_pitch]);\n%accel_pitch = unwrapped_pitch(2);\n\naccel_roll = atan2( -y_accel,(sign(-z_accel)*sqrt(z_accel^"
+ "2 + (1/100)*x_accel^2)) );\nunwrapped_roll = unwrap([accel_roll_prev accel_roll]);\naccel_roll = unwrapped_roll("
+ "2); \n"
+ editorLayout "100 M4x1[10 5 700 500]"
+ }
+ }
+ data {
+ id 128
+ ssIdNumber 4
+ name "accel_reading"
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ }
+ complexity SF_COMPLEX_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [126 0 129]
+ }
+ data {
+ id 129
+ ssIdNumber 5
+ name "accel_pitch"
+ scope OUTPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_NO
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [126 128 130]
+ }
+ data {
+ id 130
+ ssIdNumber 6
+ name "accel_roll"
+ scope OUTPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_NO
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [126 129 131]
+ }
+ data {
+ id 131
+ ssIdNumber 7
+ name "accel_roll_prev"
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [126 130 0]
+ }
+ junction {
+ id 132
+ position [23.5747 49.5747 7]
+ chart 126
+ subviewer 126
+ ssIdNumber 3
+ type CONNECTIVE_JUNCTION
+ linkNode [126 0 0]
+ }
+ transition {
+ id 133
+ labelString "{eML_blk_kernel();}"
+ labelPosition [28.125 13.875 102.544 14.964]
+ fontSize 12
+ src {
+ intersection [0 0 1 0 23.5747 14.625 0 0]
+ }
+ dst {
+ id 132
+ intersection [1 0 -1 0 23.5747 42.5747 0 0]
+ }
+ midPoint [23.5747 24.9468]
+ chart 126
+ dataLimits [21.175 25.975 14.625 42.575]
+ subviewer 126
+ drawStyle SMART
+ slide {
+ sticky BOTH_STICK
+ }
+ executionOrder 1
+ ssIdNumber 2
+ linkNode [126 0 0]
+ }
+ instance {
+ id 134
+ machine 1
+ name " Sensors /Calculate Pitch and Roll\n\n\n\n\n\n\n\n\n\n\n\n1"
+ chart 126
+ }
+ chart {
+ id 135
+ machine 1
+ name "Control System/MATLAB Function"
+ windowPosition [422 539.941 189 413]
+ viewLimits [0 156.75 0 153.75]
+ screen [1 1 3600 1200 1.180555555555556]
+ treeNode [0 136 0 0]
+ viewObj 135
+ ssIdHighWaterMark 11
+ decomposition CLUSTER_CHART
+ type EML_CHART
+ chartFileNumber 14
+ disableImplicitCasting 1
+ eml {
+ name "signal_mixer"
+ }
+ firstData 137
+ firstTransition 143
+ firstJunction 142
+ }
+ state {
+ id 136
+ labelString "eML_blk_kernel()"
+ position [18 64.5 118 66]
+ fontSize 12
+ chart 135
+ treeNode [135 0 0 0]
+ superState SUBCHART
+ subviewer 135
+ ssIdNumber 1
+ type FUNC_STATE
+ decomposition CLUSTER_STATE
+ eml {
+ isEML 1
+ script "function motorCommands = signal_mixer(height_controlled, y_controlled, x_controlled, yaw_control"
+ "led)\n\ncontroller_outputs = [ height_controlled; x_controlled; y_controlled; yaw_controlled ];\nsignal_mixer = "
+ "[ 1, -1, -1, -1; ... \n 1, 1, -1, 1; ...\n 1, -1, 1, 1; ...\n "
+ " 1, 1, 1, -1 ];\n\n% signal_mixer = [ 1, 1, -1, -1; ... \n% 1, -1, -1, 1; ...\n% "
+ " 1, 1, 1, 1; ...\n% 1, -1, 1, -1 ];\n\nmotorCommands = signal_mixer * controller_out"
+ "puts;\n"
+ editorLayout "100 M4x1[10 5 700 500]"
+ }
+ }
+ data {
+ id 137
+ ssIdNumber 4
+ name "height_controlled"
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ }
+ complexity SF_COMPLEX_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [135 0 138]
+ }
+ data {
+ id 138
+ ssIdNumber 7
+ name "y_controlled"
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [135 137 139]
+ }
+ data {
+ id 139
+ ssIdNumber 5
+ name "motorCommands"
+ scope OUTPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_NO
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [135 138 140]
+ }
+ data {
+ id 140
+ ssIdNumber 6
+ name "x_controlled"
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [135 139 141]
+ }
+ data {
+ id 141
+ ssIdNumber 8
+ name "yaw_controlled"
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [135 140 0]
+ }
+ junction {
+ id 142
+ position [23.5747 49.5747 7]
+ chart 135
+ subviewer 135
+ ssIdNumber 3
+ type CONNECTIVE_JUNCTION
+ linkNode [135 0 0]
+ }
+ transition {
+ id 143
+ labelString "{eML_blk_kernel();}"
+ labelPosition [28.125 13.875 102.544 14.964]
+ fontSize 12
+ src {
+ intersection [0 0 1 0 23.5747 14.625 0 0]
+ }
+ dst {
+ id 142
+ intersection [1 0 -1 0 23.5747 42.5747 0 0]
+ }
+ midPoint [23.5747 24.9468]
+ chart 135
+ dataLimits [21.175 25.975 14.625 42.575]
+ subviewer 135
+ drawStyle SMART
+ slide {
+ sticky BOTH_STICK
+ }
+ executionOrder 1
+ ssIdNumber 2
+ linkNode [135 0 0]
+ }
+ instance {
+ id 144
+ machine 1
+ name "Control System/MATLAB Function"
+ chart 135
+ }
+ target {
+ id 145
+ machine 1
+ name "sfun"
+ description "Default Simulink S-Function Target."
+ linkNode [1 0 0]
+ }
+}
diff --git a/controls/parameterIdentification/ModelingParameters.docx b/controls/parameterIdentification/ModelingParameters.docx
index fcf758acb355225ec99b41114ae2bcb501574ee1..6d5a8c125f76dce3b4cc8b0574a59d3953bba223 100644
Binary files a/controls/parameterIdentification/ModelingParameters.docx and b/controls/parameterIdentification/ModelingParameters.docx differ
diff --git a/groundStation/scripts/parameters.txt b/groundStation/scripts/parameters.txt
index b9bc0a6b08041eb32e26f305eb8839ce27019f66..b59828a078dd77e18f25cc6b2a37763804fa76b5 100644
--- a/groundStation/scripts/parameters.txt
+++ b/groundStation/scripts/parameters.txt
@@ -1,27 +1,27 @@
-lat p 1.0
-lat i 1.0
-lat d 1.0
-long p 1.0
-long i 1.0
-long d 1.0
-height p 1.0
-height i 1.0
-height d 1.0
-pitch p 1.0
-pitch i 1.0
-pitch d 1.0
-roll p 1.0
-roll i 1.0
-roll d 1.0
-yaw p 1.0
-yaw i 1.0
-yaw d 1.0
-pitchv p 1.0
-pitchv i 1.0
-pitchv d 1.0
-rollv p 1.0
-rollv i 1.0
-rollv d 1.0
-yawv p 1.0
-yawv i 1.0
-yawv d 1.0
+lat p -0.015
+lat i -0.005
+lat d -0.03
+long p 0.015
+long i 0.005
+long d 0.03
+height p 9804.0
+height i 817.0
+height d 7353.0
+pitch p 15.0
+pitch i 0.0
+pitch d 0.2
+roll p 15.0
+roll i 0.0
+roll d 0.2
+yaw p 2.6
+yaw i 0.0
+yaw d 0.0
+pitchv p 4600.0
+pitchv i 0.0
+pitchv d 550
+rollv p 4600.0
+rollv i 0.0
+rollv d 550
+yawv p 435480
+yawv i 0.0
+yawv d 0.0
diff --git a/groundStation/scripts/setpid_batch.sh b/groundStation/scripts/setpid_batch.sh
old mode 100644
new mode 100755
index 2525b2bce20fd9cd8b73fcbd430350dabf4dac03..3702acaece930939f40459879ed9254e556e4663
--- a/groundStation/scripts/setpid_batch.sh
+++ b/groundStation/scripts/setpid_batch.sh
@@ -2,7 +2,7 @@
# Use default filename if it wasn't given at the command line
if [ $# -eq 0 ]; then
- filename="parameters.txt"
+ filename="scripts/parameters.txt"
else
filename=$1
fi
@@ -14,4 +14,4 @@ regex='(lat|long|height|pitch|roll|yaw|pitchv|rollv|yawv) (p|i|d) ([-+]?[0-9]*\.
awk_prog='{print "./Cli setpid" " " "--" $1 " " "-" $2 " " $3}'
# Search, parse, and execute ./Cli commands
-grep -E "$regex" $filename | awk "$awk_prog" | bash
+grep -E "$regex" $filename | awk "$awk_prog" | bash
\ No newline at end of file
diff --git a/groundStation/src/backend/backend.c b/groundStation/src/backend/backend.c
index 7efcbc855495ddda5661de6627d3b005372cfd79..db4ec5d7380a793658809d7b6547c028a1272632 100644
--- a/groundStation/src/backend/backend.c
+++ b/groundStation/src/backend/backend.c
@@ -33,8 +33,14 @@
#include "commands.h"
#include "vrpn_tracker.hpp"
#include "type_def.h"
-#include "logger.h"
+#include "packet.h"
+#include "responseparam.h"
+#include "update.h"
#include "config.h"
+#include "cmHandler.h"
+#include "getparam.h"
+#include "setparam.h"
+#include "bitwise.h"
#define QUAD_BT_ADDR "00:06:66:64:61:D6"
#define QUAD_BT_CHANNEL 0x01
@@ -64,7 +70,9 @@ static char * get_client_buffer(int fd);
/* Return pointer to client pending responses, or -1*/
static int * get_client_pend_responses(int fd);
/* Return positive integer if successful, -1 otherwise */
-static int clientAddPendResponses(int fd, unsigned char *packet);
+static int clientAddPendResponses(int fd, uint16_t packet_id);
+/* Return positive integer if successful, -1 otherwise */
+static int clientRemovePendResponses(int fd, uint16_t packet_id);
/* Returns -1 on error */
static int remove_client(int fd);
/* Receive data from client */
@@ -73,10 +81,13 @@ static void client_recv(int fd);
static void quad_recv();
/* Checks to see if socket has disconnected. Returns 1 on disconnect, else returns 0 */
static int wasDisconnected(int fd);
+/* handle controller responses from quad to frontend */
+static void handleResponseParam(struct metadata *m, uint8_t * data);
+
/* Thread-safe wrappers */
pthread_mutex_t quadSocketMutex;
-static ssize_t writeQuad(const char * buf, size_t count);
+static ssize_t writeQuad(const uint8_t * buf, size_t count);
static ssize_t readQuad(char * buf, size_t count);
/* Functions for recording Latencies */
@@ -92,17 +103,18 @@ const char *TRACKER_IP = "UAV@192.168.0.120:3883";
static int zyboSocket;
static int backendSocket;
struct ucart_vrpn_tracker * tracker = NULL;
-const char *logHeader = "";//"#\n#\tDefault log header\n#\tEverything after '#'`s will be printed as is in the processed logs.\n#\n\0";
#define MAX_CLIENTS 32
#define CLIENT_BUFFER_SIZE 1024
-#define CLIENT_MAX_PENDING_RESPONSES 5
+#define CLIENT_MAX_PENDING_RESPONSES 15
static char client_buffers[MAX_CLIENTS][CLIENT_BUFFER_SIZE];
static int client_fds[MAX_CLIENTS];
static int client_pending_responses[MAX_CLIENTS][CLIENT_MAX_PENDING_RESPONSES];
fd_set rfds_master;
int max_fd = 0;
+static FILE * quadlog_file;
+
pthread_mutex_t quadResponseMutex, cliInputMutex ;
unsigned char *commandBuf;
int newQuadResponse = 0, newCliInput = 0;
@@ -118,7 +130,6 @@ static void cb(struct ucart_vrpn_TrackerData * td) {
if(!(count % 10)) {
sendVrpnPacket(td);
- //updateLogFile(td);
}
count++;
}
@@ -127,6 +138,7 @@ int main(int argc, char **argv)
{
int activity;
FD_ZERO(&rfds_master);
+ char log_file[256] = "logs/";
/*
* Create backend listening socket
@@ -163,7 +175,6 @@ int main(int argc, char **argv)
/* Add to socket set */
safe_fd_set(backendSocket, &rfds_master, &max_fd);
-
/* Initialize client buffers */
for (int i = 0; i < MAX_CLIENTS; i++) {
@@ -189,24 +200,45 @@ int main(int argc, char **argv)
err(-2, "pthrtead_mutex_unlock (%s:%d):", __FILE__, __LINE__);
}
- // open the log file
- if(createLogFile(argc, argv[1]))
- {
- perror("Error creating log file...");
- exit(1);
- }
-
// watch for input from stdin (fd 0) to see when it has input
safe_fd_set(fileno(stdin), &rfds_master, &max_fd);
if (!getenv(NOQUAD_ENV)) {
// watch for input from the zybo socket
safe_fd_set(zyboSocket, &rfds_master, &max_fd);
+ }
+ if(argc >= 2)
+ {
+ strncat(log_file, argv[1], strlen(argv[1]));
+ } else {
+ time_t rawtime;
+ char timestr [30];
+ time(&rawtime);
+ sprintf(timestr,"%s",ctime(&rawtime));
+ // Lets convert space to _ in
+ char *p = timestr;
+ size_t i = 0;
+ while(i < strlen(timestr))
+ {
+ if (*p == ' ')
+ *p = '_';
+ i++;
+ p++;
+ }
+ // timestr has a weird char at the end of it.
+ // we will not include it in our file name
+ strncat(log_file, timestr, strlen(timestr) -1 );
+ strcat(log_file, ".txt");
}
+
+ printf("Creating log file '%s'...\n",log_file);
+ quadlog_file = fopen(log_file, "a");
+
// Tell the quad we are ready to send it vrpn data
sendStartPacket();
+
if(!getenv(NOVRPN_ENV)){
// create vrpnTracker instance
tracker = ucart_vrpn_tracker_createInstance(TRACKER_IP);
@@ -264,89 +296,56 @@ int main(int argc, char **argv)
}
ucart_vrpn_tracker_freeInstance(tracker);
-
safe_close_fd(zyboSocket, &quadSocketMutex);
-
- closeLogFile();
+ fclose(quadlog_file);
return 0;
}
void sendStartPacket() {
- unsigned char packet[8] = {0};
- currMessageID++;
- metadata_t metadata =
- {
- (char) BEGIN_CHAR,
- 0x04,
- 0x01,
- 0x01,
- 0
- };
+ uint8_t packet[64];
+ struct metadata m;
+ m.msg_type = BEGINUPDATE_ID;
+ m.data_len = 0;
+ m.msg_id = currMessageID++;
- packet[0] = metadata.begin_char; // BEGIN //PACKET_START_BYTE;
- packet[1] = metadata.msg_type; // UPDATE //'U'; // U for vrpn camera update, C for command
- packet[2] = metadata.msg_subtype; // BEGIN UPDATE
- packet[3] = (currMessageID & 0x000000ff); // MSG ID(1)
- packet[4] = ((currMessageID >> 8) & 0x000000ff); // MSG ID(2)
- packet[5] = 0; // DATALEN(1)
- packet[6] = 0; // DATALEN(2)
-
- char checksum = 0;
- int i;
- for(i=0; i < metadata.data_len + 7; i++)
- checksum ^= packet[i];
-
- packet[metadata.data_len + 7] = checksum; //PACKET_END_BYTE;
- int status = writeQuad((char * ) packet, metadata.data_len + 8);
- if (status != 8)
- {
- perror("Error sending start packet...\n");
- keepRunning = 0;
- }else
- {
- printf("Start packet successfuly sent...\n");
- }
+ ssize_t psize;
+
+ if ((psize = EncodePacket(packet, 64, &m, NULL)) < 0) {
+ warnx("Big problems. sendStartPacket");
+ return;
+ }
+
+ writeQuad(packet, psize);
+ printf("Start Packet sent...\n");
}
void sendVrpnPacket(struct ucart_vrpn_TrackerData *info) {
- int pSize = 36;//sizeof(struct ucart_vrpn_TrackerData) + 8;
- int n;
- unsigned char packet[pSize];
- currMessageID++;
- packet[0] = 0xBE; // BEGIN //PACKET_START_BYTE;
- packet[1] = 0x04; // UPDATE //'U'; // U for vrpn camera update, C for command
- packet[2] = 0x00; // N/A
- //TODO Figure out Packet ID with this new ucar_vrpn_TrackerData struct
- packet[3] = (currMessageID & 0x000000ff); // MSG ID(1)
- packet[4] = ((currMessageID >> 8) & 0x000000ff); // MSG ID(2)
- packet[5] = (28 & 0x000000ff); // DATALEN(1)
- packet[6] = ((28) >> 8 & 0x00000ff); // DATALEN(2)
- //memcpy(&packet[7], &info, sizeof(struct ucart_vrpn_TrackerData));
-
- memset(&packet[7], 0, 4);
- memcpy(&packet[11], &(info->y), 4);
- memcpy(&packet[15], &(info->x), 4);
- memcpy(&packet[19], &(info->z), 4);
- memcpy(&packet[23], &(info->roll), 4);
- memcpy(&packet[27], &(info->pitch), 4);
- memcpy(&packet[31], &(info->yaw), 4);
-
- char checksum = 0;
- int i;
- for(i=0; i < pSize - 1; i++)
- checksum ^= packet[i];
-
- packet[pSize - 1] = checksum; //PACKET_END_BYTE;
-
- n = writeQuad((char *) packet, pSize);
- if(n < 0) {
- perror("vrpnhandler: ERROR writing to socket");
- keepRunning = 0;
+ uint8_t packet[64];
+ struct metadata m;
+ uint8_t data[128];
+
+ struct position_update u;
+ u.id = currMessageID;
+ u.x = info->x;
+ u.y = info->y;
+ u.z = info->z;
+ u.pitch = info->pitch;
+ u.roll = info->roll;
+ u.yaw = info->yaw;
+
+ if (EncodeUpdate(&m, data, 128, &u) < 0) {
+ warnx("Big problems. sendVrpnPacket . EncodeUpdate");
+ return;
}
+ m.msg_id = currMessageID++;
- struct timeval tstart;
- gettimeofday(&tstart, NULL);
- timeArr[currMessageID%MAX_HASH_SIZE] = tstart;
+ ssize_t psize;
+ if ((psize = EncodePacket(packet, 64, &m, data)) < 0) {
+ warnx("Big problems. sendVrpnPacket. EncodePacket");
+ return;
+ }
+
+ writeQuad(packet, psize);
}
void getVRPNPacket(struct ucart_vrpn_TrackerData *td) {
@@ -434,8 +433,6 @@ int connectToZybo() {
}
else
{
- // int result = setsockopt(sock, IPPROTO_TCP, TCP_NODELAY, (int[]){1}, sizeof(int));
- // printf("result = %d\n", result);
printf("connection successful!...\n");
return sock;
}
@@ -463,7 +460,7 @@ int safe_fd_clr(int fd, fd_set* fds, int* max_fd) {
return 0;
}
-static ssize_t writeQuad(const char * buf, size_t count) {
+static ssize_t writeQuad(const uint8_t * buf, size_t count) {
ssize_t retval;
if (getenv(NOQUAD_ENV)) {
return count;
@@ -541,12 +538,22 @@ static int * get_client_pend_responses(int fd) {
}
}
-static int clientAddPendResponses(int fd, unsigned char *packet) {
+static int clientAddPendResponses(int fd, uint16_t packet_id) {
int *pendingResponses = get_client_pend_responses(fd);
- int packetID = (packet[4] << 8) | (packet[3]);
for(int i = 0; i < CLIENT_MAX_PENDING_RESPONSES; i++) {
if(pendingResponses[i] == -1) {
- pendingResponses[i] = packetID;
+ pendingResponses[i] = packet_id;
+ return i;
+ }
+ }
+ return -1;
+}
+
+static int clientRemovePendResponses(int fd, uint16_t packet_id) {
+ int *pendingResponses = get_client_pend_responses(fd);
+ for(int i = 0; i < CLIENT_MAX_PENDING_RESPONSES; i++) {
+ if(pendingResponses[i] == packet_id) {
+ pendingResponses[i] = -1;
return i;
}
}
@@ -584,20 +591,22 @@ static void safe_close_fd(int fd, pthread_mutex_t *mutexLock) {
static void client_recv(int fd) {
char * buffer;
ssize_t len_pre;
- buffer = get_client_buffer(fd);
- len_pre = strlen(buffer);
-
+ char cmdString[64];
char * cursor;
+ ssize_t r;
+ int index = 0;
+
+
+ buffer = get_client_buffer(fd);
+ len_pre = strlen(buffer);
cursor = buffer + len_pre;
- ssize_t r;
r = read(fd, cursor, CLIENT_BUFFER_SIZE - len_pre - 1);
if (r < 0) {
warn("read (fd: %d)", fd);
}
buffer[len_pre + r] = '\0';
- int index = 0;
/* Parse buffer and handle commands */
while (1) {
/* not using strtok because reasons */
@@ -615,10 +624,10 @@ static void client_recv(int fd) {
break;
}
buffer[newline] = '\0';
-
printf("Client(%d) : '%s'\n",fd, buffer);
- unsigned char * packet;
- if(formatCommand(buffer, &packet) == -1) {
+
+ struct controller_message cm;
+ if (stringToCm(buffer, &cm) == NULL) {
/* buffer was not a quad command, handling internally to
* backend instead of forwarding to quad
*/
@@ -653,20 +662,49 @@ static void client_recv(int fd) {
}
}
} else {
- if (packet[1] == 0x02) {
- if (clientAddPendResponses(fd, packet) == -1) {
+ uint8_t packet[64];
+ struct metadata m;
+ uint8_t data[128];
+ ssize_t result;
+
+ if (strncmp(buffer, "set", 3) == 0) {
+ result = EncodeSetparam(&m, data, 128, &cm);
+ } else if (strncmp(buffer, "get", 3) == 0) {
+ result = EncodeGetparam(&m, data, 128, &cm);
+ } else {
+ warnx("not implemented yet");
+ }
+
+ if (result < 0) {
+ warnx("Big problems. client_recv. EncodeMetaData");
+ return;
+ }
+
+ ssize_t psize;
+ if ((psize = EncodePacket(packet, 64, &m, data)) < 0) {
+ warnx("Big problems. client_recv. EncodePacket");
+ return;
+ }
+
+ m.msg_id = currMessageID++;
+
+ /* Only add the client to the pending responses if it was a getparam command */
+ if (m.msg_type == GETPARAM_ID) {
+ if (clientAddPendResponses(fd, BytesTo16(packet[ID_L], packet[ID_H])) == -1) {
warnx("Ran out of room! Consider increasing CLIENT_MAX_PENDING_RESPONSES!\n");
}
}
- int datalen = (packet[6] << 8) | (packet[5]);
- printf("sending %lf '", getFloat(packet, 7));
- for(int i = 0; i < datalen + 8; ++i) {
- printf(" 0x%.2x", (signed) packet[i]);
- }
- printf("'\n");
- writeQuad((char *) packet, datalen +8);
+ // printf("packet = '");
+ // for(int i = 0; i < (int)psize; ++i) {
+ // printf(" %.2x ", packet[i]);
+ // }
+ // printf("'\n");
+
+ writeQuad(packet, psize);
+
}
+
char * rest = &buffer[newline] + 1;
size_t restLen = (strlen(rest) == 0) ? 1 : strlen(rest);
@@ -676,89 +714,101 @@ static void client_recv(int fd) {
}
static void quad_recv() {
- /* Check to see which command we are receiving. If it is one that needs to be passed on
- onto the clients, do so.
- */
-
- int validPacket;
- unsigned char *data;
- metadata_t metadata;
- static unsigned char respBuf[2048];
+ static unsigned char respBuf[4096];
static size_t respBufLen;
- /**
- * Read the response from the control loop
- */
- int respLen = readQuad((char *) respBuf + respBufLen,
- CMD_MAX_LENGTH);
- if(respLen <= 0) {
+ struct metadata m;
+ uint8_t data[4096];
+ size_t respLen;
+ ssize_t datalen;
+ size_t packetlen;
+
+ respLen = readQuad((char *) respBuf + respBufLen,
+ CMD_MAX_LENGTH - respBufLen);
+ if (respLen <= 0) {
perror("ERROR reading from quad...\n");
return;
}
respBufLen += respLen;
- if (respBufLen < 8) {
- /* not long enough yet */
- printf("too short!!\n");
- return;
- }
+ // printf("packet = '");
+ // for(int i = 0; i < (int)respBufLen; ++i) {
+ // printf(" %.2x ", respBuf[i]);
+ // }
+ // printf("'\n");
- // Validate the message is correctly formatted
- validPacket = parse_packet((unsigned char *) respBuf, &data, &metadata);
- if (validPacket == -1) {
- warnx("Doesn't have start byte.");
- /* nuke packet */
- respBufLen = 0;
- return;
- }
+ while(respBufLen){
+ datalen = DecodePacket(&m, data, 2048, respBuf, respBufLen);
- /* Get datalen */
- size_t datalen = metadata.data_len;
- if (respBufLen < datalen + 8) {
- /* Packet not yet fully read */
- return;
- }
+ if (datalen == -1) {
+ warnx("No start Byte!\n");
+ respBufLen = 0;
+ return;
+ }
+ if (datalen == -5) {
+ warnx("Chechsum mismatch!\n");
+ respBufLen = 0;
+ return;
+ }
+ if (datalen < 0){
+ /* Not enough data yet. We need to wait for more */
+ return;
+ }
- if (datalen > CMD_MAX_LENGTH - 8) {
- /* Very invalid packet. Nuke that shit */
- warnx("data len is over the maximum packet length. Try reducing the data in the packet sent to the groundstation.\n");
- respBufLen = 0;
- return;
+ packetlen = PacketSize(&m);
+ memmove(respBuf, respBuf + packetlen, respBufLen - packetlen);
+ respBufLen -= packetlen;
+
+ switch (m.msg_type) {
+ case DEBUG_ID :
+ case PACKETLOG_ID :
+ case GETPACKETLOGS_ID :
+ case UPDATE_ID :
+ case BEGINUPDATE_ID :
+ printf("(Backend): Command '%s' ignored\n", MessageTypes[m.msg_type].cmdText);
+ break;
+ case LOG_ID:
+ /* something like this */
+ fwrite((char *) data, sizeof(char), m.data_len, quadlog_file);
+ fflush(quadlog_file);
+ break;
+ case RESPONSE_ID:
+ printf("(Backend): response id found\n");
+ break;
+ case SETPARAM_ID:
+ case GETPARAM_ID:
+ printf("(Backend): Command '%s' ignored\n", MessageTypes[m.msg_type].cmdText);
+ break;
+ case RESPPARAM_ID:
+ handleResponseParam(&m, data);
+ break;
+ default:
+ printf("(Backend): message type %d unrecognized\n", m.msg_type);
+ }
}
+
+}
- if(validPacket == -2) {
- fprintf(stderr, "Checksums did not match (Parse Packet)\n");
+static void handleResponseParam(struct metadata *m, uint8_t * data)
+{
+ struct controller_message cm;
+ if (DecodeResponseParam(&cm, m, data) < 0) {
+ warnx("DecodeResponse error");
return;
}
- if (validPacket == 0) {
- /* At least enough data read to check checksum, and it was good!*/
- char * cmdText = MessageTypes[(int)metadata.msg_type].subtypes[(int)metadata.msg_subtype].cmdText;
- float value = getFloat((unsigned char *)respBuf, 7);
- //printf("Quad : %s, %lf\n", cmdText, value);
-
- /*
- Assuming the quad sends the correct info.. This hasn't been tested yet due to a lack of
- quad software. We can check how to format by the cmdText and pass to every client.
- */
- if(strncmp(cmdText, "log", strlen(cmdText)) == 0) {
- char log_text[datalen+1];
- strncpy(log_text, (char *) data, datalen);
- log_text[datalen] = '\0';
- printf("log='%s'\n", log_text);
- }
+ char buffer[128];
- char buffer[1048];
- sprintf(buffer, "%s %lf\n", cmdText, value);
+ const char * message = cmToString(RESPPARAM_ID, &cm);
- for(int fd = 0; fd <= max_fd; ++fd) {
- if (get_client_index(fd) > -1) {
- write(fd, buffer, datalen + 8);
- }
+ size_t len = snprintf(buffer, 128, "%s %f\n", message, cm.value);
+
+ for(int fd = 0; fd <= max_fd; ++fd) {
+ if (get_client_index(fd) > -1) {
+ clientRemovePendResponses(fd, m->msg_id);
+ write(fd, buffer, len);
}
}
- memmove(respBuf, respBuf + datalen + 8, respBufLen - (datalen + 8));
- respBufLen -= datalen + 8;
}
static int wasDisconnected(int fd) {
@@ -798,8 +848,4 @@ void findTimeDiff(int respID) {
gettimeofday(&tend, NULL);
timeval_subtract(&result, &tend, &timeArr[respID%MAX_HASH_SIZE]);
printf("(BackEnd): Elapsed time = %ld ms\n", result.tv_usec/1000);
- // printf("print to log\n");
- // char tmp[8];
- // snprintf(tmp, 8, "%ld \tms\n", result.tv_usec/1000);
- // writeStringToLog(tmp);
}
diff --git a/groundStation/src/backend/bitwise.h b/groundStation/src/backend/bitwise.h
new file mode 100644
index 0000000000000000000000000000000000000000..1622f9a8f54885b6690e090b051c2bc36644ffce
--- /dev/null
+++ b/groundStation/src/backend/bitwise.h
@@ -0,0 +1,67 @@
+#ifndef _bitwise_h
+#define _bitwise_h
+
+#include <string.h>
+#include <stdint.h>
+
+/* Bit shifting for endianness of 16-bit numbers */
+#define LSByte16(x) ((x) & 0xff)
+#define MSByte16(x) (((x) >> 8) & 0xff)
+
+/* Build a 16-bit integer out of two bytes */
+#define BytesTo16(lsb, msb) (((lsb) & 0xff) | (((msb) & 0xff) << 8))
+
+/* Same for 32bit */
+#define IntByte1(x) ((x) & 0xff)
+#define IntByte2(x) (((x) >> 8) & 0xff)
+#define IntByte3(x) (((x) >> 16) & 0xff)
+#define IntByte4(x) (((x) >> 24) & 0xff)
+
+#define BytesToInt(b1, b2, b3, b4) (((b1) & 0xff) | (((b2) << 8) & 0xff) \
+ | (((b3) << 16) & 0xff) | (((b4) & 0xff)))
+
+/* Break apart a float. Sadly this is UB, but the "correct" way
+ * to do this involves actually implementing
+ * IEEE 754 in software to do so
+ */
+static inline uint8_t FloatByte1(float f)
+{
+ char arr[4];
+ memcpy(arr, &f, 4);
+ return arr[0];
+}
+
+static inline uint8_t FloatByte2(float f)
+{
+ char arr[4];
+ memcpy(arr, &f, 4);
+ return arr[1];
+}
+
+static inline uint8_t FloatByte3(float f)
+{
+ char arr[4];
+ memcpy(arr, &f, 4);
+ return arr[2];
+}
+
+static inline uint8_t FloatByte4(float f)
+{
+ char arr[4];
+ memcpy(arr, &f, 4);
+ return arr[3];
+}
+
+static inline float BytesToFloat(uint8_t b1, uint8_t b2, uint8_t b3, uint8_t b4)
+{
+ char arr[4];
+ arr[0] = b1;
+ arr[1] = b2;
+ arr[2] = b3;
+ arr[3] = b4;
+
+ float f;
+ memcpy(&f, arr, 4);
+ return f;
+}
+#endif
diff --git a/groundStation/src/backend/callbacks.h b/groundStation/src/backend/callbacks.h
index d04d4fda5dd8c23a2df61cc00594755652a14f89..69510e0a8165c7cc99f99a8e4aeb7e6eab3ffb0c 100644
--- a/groundStation/src/backend/callbacks.h
+++ b/groundStation/src/backend/callbacks.h
@@ -5,7 +5,8 @@
#include "type_def.h"
/* Make commands.c happy */
-typedef void (command_cb)(unsigned char *command,
- int dataLen, modular_structs_t *structs);
+typedef void (command_cb)(void);
+
+float getFloat(unsigned char * str, int pos);
#endif /* __CALLBACKS_H */
diff --git a/groundStation/src/backend/cmHandler.c b/groundStation/src/backend/cmHandler.c
new file mode 100644
index 0000000000000000000000000000000000000000..062cae960abc4d87595fe6fba828f51fadcc8c2e
--- /dev/null
+++ b/groundStation/src/backend/cmHandler.c
@@ -0,0 +1,175 @@
+#include <stdlib.h>
+
+#include "cmHandler.h"
+
+const char * respParamStrings[MAX_PARAM_COMMANDS] = {
+ "getrollp",
+ "getrolli",
+ "getrolld",
+ "getroll",
+ "getpitchp",
+ "getpitchi",
+ "getpitchd",
+ "getpitch",
+ "getyawp",
+ "getyawi",
+ "getyawd",
+ "getyaw",
+ "getrollratep",
+ "getrollratei",
+ "getrollrated",
+ "getrollrate",
+ "getpitchratep",
+ "getpitchratei",
+ "getpitchrated",
+ "getpitchrate",
+ "getyawratep",
+ "getyawratei",
+ "getyawrated",
+ "getyawrate",
+ "getlatp",
+ "getlati",
+ "getlatd",
+ "getlat",
+ "getlongp",
+ "getlongi",
+ "getlongd",
+ "getlong",
+ "getheightp",
+ "getheighti",
+ "getheightd",
+ "getheight"
+};
+
+const char * setParamStrings[MAX_PARAM_COMMANDS] = {
+ "setrollp",
+ "setrolli",
+ "setrolld",
+ "setroll",
+ "setpitchp",
+ "setpitchi",
+ "setpitchd",
+ "setpitch",
+ "setyawp",
+ "setyawi",
+ "setyawd",
+ "setyaw",
+ "setrollratep",
+ "setrollratei",
+ "setrollrated",
+ "setrollrate",
+ "setpitchratep",
+ "setpitchratei",
+ "setpitchrated",
+ "setpitchrate",
+ "setyawratep",
+ "setyawratei",
+ "setyawrated",
+ "setyawrate",
+ "setlatp",
+ "setlati",
+ "setlatd",
+ "setlat",
+ "setlongp",
+ "setlongi",
+ "setlongd",
+ "setlong",
+ "setheightp",
+ "setheighti",
+ "setheightd",
+ "setheight"
+};
+
+
+const char * cmToString(int msgType, const struct controller_message *cm)
+{
+ size_t index = (cm->id * MAX_CONTROL_PARAM_ID) + cm->value_id;
+ switch (msgType) {
+ case DEBUG_ID :
+ case PACKETLOG_ID :
+ case GETPACKETLOGS_ID :
+ case UPDATE_ID :
+ case BEGINUPDATE_ID :
+ case LOG_ID:
+ case SETPARAM_ID:
+ return setParamStrings[index];
+ case GETPARAM_ID:
+ return NULL;
+ break;
+ case RESPONSE_ID:
+ return NULL;
+ case RESPPARAM_ID:
+ return respParamStrings[index];
+ default:
+ return NULL;
+ break;
+ }
+}
+
+struct controller_message * stringToCm(const char * string, struct controller_message *cm)
+{
+ int result;
+ size_t i;
+ char cmdString[strlen(string)];
+ strncpy(cmdString, string, strlen(string));
+
+ float cmdValue;
+ for (i = 0; i < strlen(string) + 1; ++i) {
+ if (string[i] == ' ' || string[i] == '\n' || string[i] == '\0') {
+ cmdString[i] = '\0';
+ break;
+ }
+ }
+
+ int index = -1;
+
+ for(i = 0; i < MAX_PARAM_COMMANDS; ++i) {
+
+ if((result = strncmp(cmdString, respParamStrings[i], strlen(respParamStrings[i]))) == 0 &&
+ strlen(cmdString) == strlen(respParamStrings[i])) {
+ index = i;
+ break;
+ } else if ((result = strncmp(cmdString, setParamStrings[i], strlen(setParamStrings[i]))) == 0 &&
+ strlen(cmdString) == strlen(setParamStrings[i])) {
+ cm->value = strtof(&string[strlen(cmdString)],NULL);
+ index = i;
+ break;
+ }
+ }
+
+ /* Error, nothing found */
+ if (index == -1) {
+ return NULL;
+ } else {
+ cm->value_id = i % MAX_CONTROL_PARAM_ID;
+ if (i <= PARAM_ROLL) {
+
+ cm->id = ROLL_ID;
+ } else if (i <= PARAM_PITCH) {
+
+ cm->id = PITCH_ID;
+ } else if (i <= PARAM_YAW) {
+
+ cm->id = YAW_ID;
+ } else if (i <= PARAM_ROLL_RATE) {
+
+ cm->id = ROLL_RATE_ID;
+ } else if (i <= PARAM_PITCH_RATE) {
+
+ cm->id = PITCH_RATE_ID;
+ } else if (i <= PARAM_YAW_RATE) {
+
+ cm->id = YAW_RATE_ID;
+ } else if (i <= PARAM_LOCAL_X) {
+
+ cm->id = LOCAL_X_ID;
+ } else if (i <= PARAM_LOCAL_Y) {
+
+ cm->id = LOCAL_Y_ID;
+ } else if (i <= PARAM_ALT) {
+
+ cm->id = ALT_ID;
+ }
+ }
+ return cm;
+}
\ No newline at end of file
diff --git a/groundStation/src/backend/cmHandler.h b/groundStation/src/backend/cmHandler.h
new file mode 100644
index 0000000000000000000000000000000000000000..ee51ca658206d9d7b0874c546d43f557ab0cdd7a
--- /dev/null
+++ b/groundStation/src/backend/cmHandler.h
@@ -0,0 +1,54 @@
+#ifndef _CMHANDLER_H
+#define _CMHANDLER_H
+
+#include "controller.h"
+
+enum paramIndices {
+ PARAM_ROLL_P ,
+ PARAM_ROLL_I ,
+ PARAM_ROLL_D ,
+ PARAM_ROLL ,
+ PARAM_PITCH_P ,
+ PARAM_PITCH_I ,
+ PARAM_PITCH_D ,
+ PARAM_PITCH ,
+ PARAM_YAW_P ,
+ PARAM_YAW_I ,
+ PARAM_YAW_D ,
+ PARAM_YAW ,
+ PARAM_ROLL_RATE_P,
+ PARAM_ROLL_RATE_I,
+ PARAM_ROLL_RATE_D,
+ PARAM_ROLL_RATE,
+ PARAM_PITCH_RATE_P,
+ PARAM_PITCH_RATE_I,
+ PARAM_PITCH_RATE_D,
+ PARAM_PITCH_RATE,
+ PARAM_YAW_RATE_P,
+ PARAM_YAW_RATE_I,
+ PARAM_YAW_RATE_D,
+ PARAM_YAW_RATE,
+ PARAM_LOCAL_X_P ,
+ PARAM_LOCAL_X_I ,
+ PARAM_LOCAL_X_D ,
+ PARAM_LOCAL_X ,
+ PARAM_LOCAL_Y_P ,
+ PARAM_LOCAL_Y_I ,
+ PARAM_LOCAL_Y_D ,
+ PARAM_LOCAL_Y ,
+ PARAM_ALT_P,
+ PARAM_ALT_I,
+ PARAM_ALT_D,
+ PARAM_ALT ,
+ MAX_PARAM_COMMANDS
+};
+
+extern const char * respParamStrings[MAX_PARAM_COMMANDS];
+
+extern const char * setParamStrings[MAX_PARAM_COMMANDS];
+
+const char * cmToString(int msgType, const struct controller_message *cm);
+
+struct controller_message * stringToCm(const char * string, struct controller_message *cm);
+
+#endif /* _CMHANDLER_H */
\ No newline at end of file
diff --git a/groundStation/src/backend/commands.c b/groundStation/src/backend/commands.c
index 3cf67d0289a8606be838cea96d78b6f1e4972cac..18025ee340fd1e4238e2b657d6eeb27af3e28a81 100644
--- a/groundStation/src/backend/commands.c
+++ b/groundStation/src/backend/commands.c
@@ -30,14 +30,15 @@
*
* EXTENDING COMMANDS.C
*
- * To extend this file, simply add the new subtypes (typically
+ * To extend this file, simply add the new type (typically
* a Setter, Getter, and Response) and create weak aliases below.
*
* Ensure the Quad and GroundStation always maintain this file in sync!
*
*/
-/* List of callbacks. DO NOT MODIFY THESE IN THIS FILE -
+/*
+ * List of callbacks. DO NOT MODIFY THESE IN THIS FILE -
* Simply implement a function with the same name
* in a different file (callbacks.c) and these will
* be overridden.
@@ -55,1338 +56,123 @@ command_cb cb_beginupdate __attribute__((weak, alias("cb_default")));
command_cb cb_log __attribute__((weak, alias("cb_default")));
command_cb cb_response __attribute__((weak, alias("cb_default")));
-/* Callbacks for configuration (setters)*/
-command_cb cb_setyawp __attribute__((weak, alias("cb_default")));
-command_cb cb_setyawi __attribute__((weak, alias("cb_default")));
-command_cb cb_setyawd __attribute__((weak, alias("cb_default")));
-command_cb cb_setrollp __attribute__((weak, alias("cb_default")));
-command_cb cb_setrolli __attribute__((weak, alias("cb_default")));
-command_cb cb_setrolld __attribute__((weak, alias("cb_default")));
-command_cb cb_setpitchp __attribute__((weak, alias("cb_default")));
-command_cb cb_setpitchi __attribute__((weak, alias("cb_default")));
-command_cb cb_setpitchd __attribute__((weak, alias("cb_default")));
-command_cb cb_setyawratep __attribute__((weak, alias("cb_default")));
-command_cb cb_setyawratei __attribute__((weak, alias("cb_default")));
-command_cb cb_setyawrated __attribute__((weak, alias("cb_default")));
-command_cb cb_setrollratep __attribute__((weak, alias("cb_default")));
-command_cb cb_setrollratei __attribute__((weak, alias("cb_default")));
-command_cb cb_setrollrated __attribute__((weak, alias("cb_default")));
-command_cb cb_setpitchratep __attribute__((weak, alias("cb_default")));
-command_cb cb_setpitchratei __attribute__((weak, alias("cb_default")));
-command_cb cb_setpitchrated __attribute__((weak, alias("cb_default")));
-command_cb cb_setlatp __attribute__((weak, alias("cb_default")));
-command_cb cb_setlati __attribute__((weak, alias("cb_default")));
-command_cb cb_setlatd __attribute__((weak, alias("cb_default")));
-command_cb cb_setlongp __attribute__((weak, alias("cb_default")));
-command_cb cb_setlongi __attribute__((weak, alias("cb_default")));
-command_cb cb_setlongd __attribute__((weak, alias("cb_default")));
-command_cb cb_setheightp __attribute__((weak, alias("cb_default")));
-command_cb cb_setheighti __attribute__((weak, alias("cb_default")));
-command_cb cb_setheightd __attribute__((weak, alias("cb_default")));
-command_cb cb_setheight __attribute__((weak, alias("cb_default")));
-command_cb cb_setlat __attribute__((weak, alias("cb_default")));
-command_cb cb_setlong __attribute__((weak, alias("cb_default")));
-command_cb cb_setyaw __attribute__((weak, alias("cb_default")));
-command_cb cb_setpitch __attribute__((weak, alias("cb_default")));
-command_cb cb_setroll __attribute__((weak, alias("cb_default")));
+/* Callbacks for configuration */
+command_cb cb_setparam __attribute__((weak, alias("cb_default")));
+command_cb cb_getparam __attribute__((weak, alias("cb_default")));
+command_cb cb_respparam __attribute__((weak, alias("cb_default")));
-/* Default callbacks for getters */
-command_cb cb_getyawp __attribute__((weak, alias("cb_default")));
-command_cb cb_getyawi __attribute__((weak, alias("cb_default")));
-command_cb cb_getyawd __attribute__((weak, alias("cb_default")));
-command_cb cb_getrollp __attribute__((weak, alias("cb_default")));
-command_cb cb_getrolli __attribute__((weak, alias("cb_default")));
-command_cb cb_getrolld __attribute__((weak, alias("cb_default")));
-command_cb cb_getpitchp __attribute__((weak, alias("cb_default")));
-command_cb cb_getpitchi __attribute__((weak, alias("cb_default")));
-command_cb cb_getpitchd __attribute__((weak, alias("cb_default")));
-command_cb cb_getyawratep __attribute__((weak, alias("cb_default")));
-command_cb cb_getyawratei __attribute__((weak, alias("cb_default")));
-command_cb cb_getyawrated __attribute__((weak, alias("cb_default")));
-command_cb cb_getrollratep __attribute__((weak, alias("cb_default")));
-command_cb cb_getrollratei __attribute__((weak, alias("cb_default")));
-command_cb cb_getrollrated __attribute__((weak, alias("cb_default")));
-command_cb cb_getpitchratep __attribute__((weak, alias("cb_default")));
-command_cb cb_getpitchratei __attribute__((weak, alias("cb_default")));
-command_cb cb_getpitchrated __attribute__((weak, alias("cb_default")));
-command_cb cb_getlatp __attribute__((weak, alias("cb_default")));
-command_cb cb_getlati __attribute__((weak, alias("cb_default")));
-command_cb cb_getlatd __attribute__((weak, alias("cb_default")));
-command_cb cb_getlongp __attribute__((weak, alias("cb_default")));
-command_cb cb_getlongi __attribute__((weak, alias("cb_default")));
-command_cb cb_getlongd __attribute__((weak, alias("cb_default")));
-command_cb cb_getheightp __attribute__((weak, alias("cb_default")));
-command_cb cb_getheighti __attribute__((weak, alias("cb_default")));
-command_cb cb_getheightd __attribute__((weak, alias("cb_default")));
-command_cb cb_getheight __attribute__((weak, alias("cb_default")));
-command_cb cb_getlat __attribute__((weak, alias("cb_default")));
-command_cb cb_getlong __attribute__((weak, alias("cb_default")));
-command_cb cb_getyaw __attribute__((weak, alias("cb_default")));
-command_cb cb_getpitch __attribute__((weak, alias("cb_default")));
-command_cb cb_getroll __attribute__((weak, alias("cb_default")));
-
-/* Default callbacks for responses */
-command_cb cb_respyawp __attribute__((weak, alias("cb_default")));
-command_cb cb_respyawi __attribute__((weak, alias("cb_default")));
-command_cb cb_respyawd __attribute__((weak, alias("cb_default")));
-command_cb cb_resprollp __attribute__((weak, alias("cb_default")));
-command_cb cb_resprolli __attribute__((weak, alias("cb_default")));
-command_cb cb_resprolld __attribute__((weak, alias("cb_default")));
-command_cb cb_resppitchp __attribute__((weak, alias("cb_default")));
-command_cb cb_resppitchi __attribute__((weak, alias("cb_default")));
-command_cb cb_resppitchd __attribute__((weak, alias("cb_default")));
-command_cb cb_respyawratep __attribute__((weak, alias("cb_default")));
-command_cb cb_respyawratei __attribute__((weak, alias("cb_default")));
-command_cb cb_respyawrated __attribute__((weak, alias("cb_default")));
-command_cb cb_resprollratep __attribute__((weak, alias("cb_default")));
-command_cb cb_resprollratei __attribute__((weak, alias("cb_default")));
-command_cb cb_resprollrated __attribute__((weak, alias("cb_default")));
-command_cb cb_resppitchratep __attribute__((weak, alias("cb_default")));
-command_cb cb_resppitchratei __attribute__((weak, alias("cb_default")));
-command_cb cb_resppitchrated __attribute__((weak, alias("cb_default")));
-command_cb cb_resplatp __attribute__((weak, alias("cb_default")));
-command_cb cb_resplati __attribute__((weak, alias("cb_default")));
-command_cb cb_resplatd __attribute__((weak, alias("cb_default")));
-command_cb cb_resplongp __attribute__((weak, alias("cb_default")));
-command_cb cb_resplongi __attribute__((weak, alias("cb_default")));
-command_cb cb_resplongd __attribute__((weak, alias("cb_default")));
-command_cb cb_respheightp __attribute__((weak, alias("cb_default")));
-command_cb cb_respheighti __attribute__((weak, alias("cb_default")));
-command_cb cb_respheightd __attribute__((weak, alias("cb_default")));
-command_cb cb_respheight __attribute__((weak, alias("cb_default")));
-command_cb cb_resplat __attribute__((weak, alias("cb_default")));
-command_cb cb_resplong __attribute__((weak, alias("cb_default")));
-command_cb cb_respyaw __attribute__((weak, alias("cb_default")));
-command_cb cb_resppitch __attribute__((weak, alias("cb_default")));
-command_cb cb_resproll __attribute__((weak, alias("cb_default")));
-
-/* Command structure */
-struct MessageType MessageTypes[MAX_TYPE] =
+/*
+ * Command structure.
+ * This array is used to keep track of the callback functions
+ * for commands between the quad and the ground station.
+ *
+ * There is one callback function pointer associated with each
+ * element in this struct array.
+ *
+ * DO NOT change this struct without updating the
+ * "MessageTypeID" struct in commands.h as well
+ */
+struct MessageType MessageTypes[MAX_TYPE_ID] =
{
// DEBUG
{
- // Message Type ID
- 0x00,
-
- // Debug Subtypes
- {
- // NONE subtype
- {
- // ID
- 0x00,
- // Command text
- "debug",
- // Type of the command data
- stringType,
- // Function pointer
- &cb_debug
- },
- // NONE subtype
- {
- // ID
- 0x01,
- // Command text
- "packetlog",
- // Type of the command data
- stringType,
- // Function pointer
- &cb_packetlog
- },
- // NONE subtype
- {
- // ID
- 0x02,
- // Command text
- "getpacketlogs",
- // Type of the command data
- stringType,
- // Function pointer
- &cb_getpacketlogs
- }
- }
+ // Command text
+ "debug",
+ // Type of the command data
+ stringType,
+ // Function pointer
+ &cb_debug
},
-
- // CALIBRATION
+ // PACKETLOG
{
- // Message Type ID
- 0x01,
-
- // Calibration Subtypes (PID coefficients)
- {
- // yaw p constant subtype
- {
- // ID
- 0x00,
- // Command text
- "setyawp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setyawp
- },
- // yaw i constant subtype
- {
- // ID
- 0x01,
- // Command text
- "setyawi",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setyawi
- },
- // yaw d constant subtype
- {
- // ID
- 0x02,
- // Command text
- "setyawd",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setyawd
- },
- // roll p constant subtype
- {
- // ID
- 0x03,
- // Command text
- "setrollp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setrollp
- },
- // roll i constant subtype
- {
- // ID
- 0x04,
- // Command text
- "setrolli",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setrolli
- },
- // roll d constant subtype
- {
- // ID
- 0x05,
- // Command text
- "setrolld",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setrolld
- },
- // pitch p constant subtype
- {
- // ID
- 0x06,
- // Command text
- "setpitchp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setpitchp
- },
- // pitch i constant subtype
- {
- // ID
- 0x07,
- // Command text
- "setpitchi",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setpitchi
- },
- // pitch d constant subtype
- {
- // ID
- 0x08,
- // Command text
- "setpitchd",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setpitchd
- },
- // yawrate p constant subtype
- {
- // ID
- 0x09,
- // Command text
- "setyawratep",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setyawratep
- },
- // yawrate i constant subtype
- {
- // ID
- 0x0A,
- // Command text
- "setyawratei",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setyawratei
- },
- // yawrate d constant subtype
- {
- // ID
- 0x0B,
- // Command text
- "setyawrated",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setyawrated
- },
- // rollrate p constant subtype
- {
- // ID
- 0x0C,
- // Command text
- "setrollratep",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setrollratep
- },
- // rollrate i constant subtype
- {
- // ID
- 0x0D,
- // Command text
- "setrollratei",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setrollratei
- },
- // rollrate d constant subtype
- {
- // ID
- 0x0E,
- // Command text
- "setrollrated",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setrollrated
- },
- // pitchrate p constant subtype
- {
- // ID
- 0x0F,
- // Command text
- "setpitchratep",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setpitchratep
- },
- // pitchrate i constant subtype
- {
- // ID
- 0x10,
- // Command text
- "setpitchratei",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setpitchratei
- },
- // pitchrate d constant subtype
- {
- // ID
- 0x11,
- // Command text
- "setpitchrated",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setpitchrated
- },
- // height p constant subtype
- {
- // ID
- 0x12,
- // Command text
- "setheightp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setheightp
- },
- // height i constant subtype
- {
- // ID
- 0x13,
- // Command text
- "setheighti",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setheighti
- },
- // height d constant subtype
- {
- // ID
- 0x14,
- // Command text
- "setheightd",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setheightd
- },
- // lat p constant subtype
- {
- // ID
- 0x15,
- // Command text
- "setlatp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setlatp
- },
- // lat i constant subtype
- {
- // ID
- 0x16,
- // Command text
- "setlati",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setlati
- },
- // lat d constant subtype
- {
- // ID
- 0x17,
- // Command text
- "setlatd",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setlatd
- },
- // long p constant subtype
- {
- // ID
- 0x18,
- // Command text
- "setlongp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setlongp
- },
- // long i constant subtype
- {
- // ID
- 0x19,
- // Command text
- "setlongi",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setlongi
- },
- // long d constant subtype
- {
- // ID
- 0x1A,
- // Command text
- "setlongd",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setlongd
- },
- // height setpoint subtype
- {
- // ID
- 0x1B,
- // Command text
- "setheight",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setheight
- },
- // lat setpoint subtype
- {
- // ID
- 0x1C,
- // Command text
- "setlat",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setlat
- },
- // long setpoint subtype
- {
- // ID
- 0x1D,
- // Command text
- "setlong",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setlong
- },
- // yaw setpoint subtype
- {
- // ID
- 0x1E,
- // Command text
- "setyaw",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setyaw
- },
- // pitch setpoint subtype
- {
- // ID
- 0x1F,
- // Command text
- "setpitch",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setpitch
- },
- // roll setpoint subtype
- {
- // ID
- 0x20,
- // Command text
- "setroll",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setroll
- }
- }
+ // Command text
+ "packetlog",
+ // Type of the command data
+ stringType,
+ // Function pointer
+ &cb_packetlog
},
-
- // REQUEST
+ // GETPACKETLOGS
{
- // Message Type ID
- 0x02,
-
- // Calibration Subtypes (PID coefficients)
- {
- // yaw p constant subtype
- {
- // ID
- 0x00,
- // Command text
- "getyawp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getyawp
- },
- // yaw i constant subtype
- {
- // ID
- 0x01,
- // Command text
- "getyawi",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getyawi
- },
- // yaw d constant subtype
- {
- // ID
- 0x02,
- // Command text
- "getyawd",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getyawd
- },
- // roll p constant subtype
- {
- // ID
- 0x03,
- // Command text
- "getrollp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getrollp
- },
- // roll i constant subtype
- {
- // ID
- 0x04,
- // Command text
- "getrolli",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getrolli
- },
- // roll d constant subtype
- {
- // ID
- 0x05,
- // Command text
- "getrolld",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getrolld
- },
- // pitch p constant subtype
- {
- // ID
- 0x06,
- // Command text
- "getpitchp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getpitchp
- },
- // pitch i constant subtype
- {
- // ID
- 0x07,
- // Command text
- "getpitchi",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getpitchi
- },
- // pitch d constant subtype
- {
- // ID
- 0x08,
- // Command text
- "getpitchd",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getpitchd
- },
- // yawrate p constant subtype
- {
- // ID
- 0x09,
- // Command text
- "getyawratep",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getyawratep
- },
- // yawrate i constant subtype
- {
- // ID
- 0x0A,
- // Command text
- "getyawratei",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getyawratei
- },
- // yawrate d constant subtype
- {
- // ID
- 0x0B,
- // Command text
- "getyawrated",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getyawrated
- },
- // rollrate p constant subtype
- {
- // ID
- 0x0C,
- // Command text
- "getrollratep",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getrollratep
- },
- // rollrate i constant subtype
- {
- // ID
- 0x0D,
- // Command text
- "getrollratei",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getrollratei
- },
- // rollrate d constant subtype
- {
- // ID
- 0x0E,
- // Command text
- "getrollrated",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getrollrated
- },
- // pitchrate p constant subtype
- {
- // ID
- 0x0F,
- // Command text
- "getpitchratep",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getpitchratep
- },
- // pitchrate i constant subtype
- {
- // ID
- 0x10,
- // Command text
- "getpitchratei",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getpitchratei
- },
- // pitchrate d constant subtype
- {
- // ID
- 0x11,
- // Command text
- "getpitchrated",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getpitchrated
- },
- // height p constant subtype
- {
- // ID
- 0x12,
- // Command text
- "getheightp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getheightp
- },
- // height i constant subtype
- {
- // ID
- 0x13,
- // Command text
- "getheighti",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getheighti
- },
- // height d constant subtype
- {
- // ID
- 0x14,
- // Command text
- "getheightd",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getheightd
- },
- // lat p constant subtype
- {
- // ID
- 0x15,
- // Command text
- "getlatp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getlatp
- },
- // lat i constant subtype
- {
- // ID
- 0x16,
- // Command text
- "getlati",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getlati
- },
- // lat d constant subtype
- {
- // ID
- 0x17,
- // Command text
- "getlatd",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getlatd
- },
- // long p constant subtype
- {
- // ID
- 0x18,
- // Command text
- "getlongp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getlongp
- },
- // long i constant subtype
- {
- // ID
- 0x19,
- // Command text
- "getlongi",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getlongi
- },
- // long d constant subtype
- {
- // ID
- 0x1A,
- // Command text
- "getlongd",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getlongd
- },
- // height setpoint subtype
- {
- // ID
- 0x1B,
- // Command text
- "getheight",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getheight
- },
- // lat getpoint subtype
- {
- // ID
- 0x1C,
- // Command text
- "getlat",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getlat
- },
- // long getpoint subtype
- {
- // ID
- 0x1D,
- // Command text
- "getlong",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getlong
- },
- // yaw getpoint subtype
- {
- // ID
- 0x1E,
- // Command text
- "getyaw",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getyaw
- },
- // pitch getpoint subtype
- {
- // ID
- 0x1F,
- // Command text
- "getpitch",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getpitch
- },
- // roll getpoint subtype
- {
- // ID
- 0x20,
- // Command text
- "getroll",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getroll
- }
-
- }
+ // Command text
+ "getpacketlogs",
+ // Type of the command data
+ stringType,
+ // Function pointer
+ &cb_getpacketlogs
},
-
- // RESPONSE
+ // UPDATE
{
- // Message Type ID
- 0x03,
-
- // Calibration Subtypes (PID coefficients)
- {
- // yaw p constant subtype
- {
- // ID
- 0x00,
- // Command text
- "respyawp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_respyawp
- },
- // yaw i constant subtype
- {
- // ID
- 0x01,
- // Command text
- "respyawi",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_respyawi
- },
- // yaw d constant subtype
- {
- // ID
- 0x02,
- // Command text
- "respyawd",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_respyawd
- },
- // roll p constant subtype
- {
- // ID
- 0x03,
- // Command text
- "resprollp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_resprollp
- },
- // roll i constant subtype
- {
- // ID
- 0x04,
- // Command text
- "resprolli",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_resprolli
- },
- // roll d constant subtype
- {
- // ID
- 0x05,
- // Command text
- "resprolld",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_resprolld
- },
- // pitch p constant subtype
- {
- // ID
- 0x06,
- // Command text
- "resppitchp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_resppitchp
- },
- // pitch i constant subtype
- {
- // ID
- 0x07,
- // Command text
- "resppitchi",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_resppitchi
- },
- // pitch d constant subtype
- {
- // ID
- 0x08,
- // Command text
- "resppitchd",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_resppitchd
- },
- // yawrate p constant subtype
- {
- // ID
- 0x09,
- // Command text
- "respyawratep",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_respyawratep
- },
- // yawrate i constant subtype
- {
- // ID
- 0x0A,
- // Command text
- "respyawratei",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_respyawratei
- },
- // yawrate d constant subtype
- {
- // ID
- 0x0B,
- // Command text
- "respyawrated",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_respyawrated
- },
- // rollrate p constant subtype
- {
- // ID
- 0x0C,
- // Command text
- "resprollratep",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_resprollratep
- },
- // rollrate i constant subtype
- {
- // ID
- 0x0D,
- // Command text
- "resprollratei",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_resprollratei
- },
- // rollrate d constant subtype
- {
- // ID
- 0x0E,
- // Command text
- "resprollrated",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_resprollrated
- },
- // pitchrate p constant subtype
- {
- // ID
- 0x0F,
- // Command text
- "resppitchratep",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_resppitchratep
- },
- // pitchrate i constant subtype
- {
- // ID
- 0x10,
- // Command text
- "resppitchratei",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_resppitchratei
- },
- // pitchrate d constant subtype
- {
- // ID
- 0x11,
- // Command text
- "resppitchrated",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_resppitchrated
- },
- // height p constant subtype
- {
- // ID
- 0x12,
- // Command text
- "respheightp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_respheightp
- },
- // height i constant subtype
- {
- // ID
- 0x13,
- // Command text
- "respheighti",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_respheighti
- },
- // height d constant subtype
- {
- // ID
- 0x14,
- // Command text
- "respheightd",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_respheightd
- },
- // lat p constant subtype
- {
- // ID
- 0x15,
- // Command text
- "resplatp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_resplatp
- },
- // lat i constant subtype
- {
- // ID
- 0x16,
- // Command text
- "resplati",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_resplati
- },
- // lat d constant subtype
- {
- // ID
- 0x17,
- // Command text
- "resplatd",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_resplatd
- },
- // long p constant subtype
- {
- // ID
- 0x18,
- // Command text
- "resplongp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_resplongp
- },
- // long i constant subtype
- {
- // ID
- 0x19,
- // Command text
- "resplongi",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_resplongi
- },
- // long d constant subtype
- {
- // ID
- 0x1A,
- // Command text
- "resplongd",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_resplongd
- },
- // height setpoint subtype
- {
- // ID
- 0x1B,
- // Command text
- "respheight",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_respheight
- },
- // lat resppoint subtype
- {
- // ID
- 0x1C,
- // Command text
- "resplat",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_resplat
- },
- // long resppoint subtype
- {
- // ID
- 0x1D,
- // Command text
- "resplong",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_resplong
- },
- // yaw resppoint subtype
- {
- // ID
- 0x1E,
- // Command text
- "respyaw",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_respyaw
- },
- // pitch resppoint subtype
- {
- // ID
- 0x1F,
- // Command text
- "resppitch",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_resppitch
- },
- // roll resppoint subtype
- {
- // ID
- 0x20,
- // Command text
- "resproll",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_resproll
- }
- }
+ // Command text
+ "update",
+ // Type of the command data
+ stringType,
+ // Function pointer
+ &cb_update
},
- // UPDATE
+ // BEGINUPDATE
{
- // Message Type ID
- 0x04,
-
- // Update Subtypes
- {
- // NONE subtype
- {
- // ID
- 0x00,
- // Command text
- "update",
- // Type of the command data
- stringType,
- // Function pointer
- &cb_update
- },
- // BEGIN update
- {
- // ID
- 0x01,
- // Command text
- "beginupdate",
- // Type of the command data
- stringType,
- // Function pointer
- &cb_beginupdate
- }
- }
+ // Command text
+ "beginupdate",
+ // Type of the command data
+ stringType,
+ // Function pointer
+ &cb_beginupdate
},
-
// LOG
{
- // Message Type ID
- 0x05,
-
- // Log Subtypes
- {
- // NONE subtype
- {
- // ID
- 0x00,
- // Command text
- "log",
- // Type of the command data
- stringType,
- // Function pointer
- &cb_log
- },
- // Response subtype
- {
- // ID
- 0x01,
- // Command text
- "response",
- // Type of the command data
- stringType,
- // Function pointer
- &cb_response
- }
- }
+ // Command text
+ "log",
+ // Type of the command data
+ stringType,
+ // Function pointer
+ &cb_log
+ },
+ // RESPONSE
+ {
+ // Command text
+ "response",
+ // Type of the command data
+ stringType,
+ // Function pointer
+ &cb_response
+ },
+ // SETPARAM
+ {
+ // Command text
+ "setparam",
+ // Type of the command data
+ floatType,
+ // Function pointer
+ &cb_setparam
+ },
+ // GETPARAM
+ {
+ // Command text
+ "getparam",
+ // Type of the command data
+ floatType,
+ // Function pointer
+ &cb_getparam
},
+ // RESPPARAM
+ {
+ // Command text
+ "respparam",
+ // Type of the command data
+ floatType,
+ // Function pointer
+ &cb_respparam
+ }
};
+
+int findCommand(char * str)
+{
+ for (int i = 0; i < MAX_TYPE_ID; i++) {
+ if (strcmp(str, MessageTypes[i].cmdText) == 0) {
+ return i;
+ }
+ }
+ return -1;
+}
\ No newline at end of file
diff --git a/groundStation/src/backend/commands.h b/groundStation/src/backend/commands.h
index 30935eb44d3aced5ba2ac0b949447a14fd4d839b..578b20f7b7fe20b8568905eceb2b37df6ef83cc9 100644
--- a/groundStation/src/backend/commands.h
+++ b/groundStation/src/backend/commands.h
@@ -7,45 +7,85 @@
#include "callbacks.h"
-// ----------------------
-// Helper stuff
-
-#define MAX_TYPE 6
-#define MAX_SUBTYPE 100
+#define MAX_CMD_TEXT_LENGTH 100
enum Message{
BEGIN_CHAR = 0xBE,
END_CHAR = 0xED
};
-// This should also have double to avoid confusion with float values.
+/*
+ * Enumeration of the data types that a callback function may use
+ * doubleType should get added here at some point
+ */
enum DataType
{
- floatType,
- intType,
- stringType
+ floatType, // 00
+ intType, // 01
+ stringType // 02
};
-// MESSAGE SUBTYPES
-struct MessageSubtype{
- char ID;
- char cmdText[100];
- char cmdDataType;
- command_cb * functionPtr;
+/*
+ * Message type IDs used to know what kind of message we are dealing with
+ * Enumeration used to index the MessageTypes array in commands.c
+ *
+ * DO NOT change this enum or you will break backwards compatibility.
+ * DO NOT change this enum without also updating the "MessageTypes" array
+ * in commands.c to match.
+ */
+enum MessageTypeID{
+ DEBUG_ID, // 00
+ PACKETLOG_ID, // 01
+ GETPACKETLOGS_ID, // 02
+ UPDATE_ID, // 03
+ BEGINUPDATE_ID, // 04
+ LOG_ID, // 05
+ RESPONSE_ID, // 06
+ SETPARAM_ID, // 07 - Setting controller parameters. Example: PID constants
+ GETPARAM_ID, // 08 - Getting controller parameters. Example: PID constants
+ RESPPARAM_ID, // 09 - Responding with controller parameters. Example: PID constants
+ MAX_TYPE_ID // 10 - Just used to keep track of the size
+};
+
+/*
+ * Controller ID used to know which controller the message is referencing
+ */
+enum ControllerID{
+ ROLL_ID, // 00 - Roll PID
+ PITCH_ID, // 01 - Pitch PID
+ YAW_ID, // 02 - Yaw PID
+ ROLL_RATE_ID, // 03 - Roll rate PID
+ PITCH_RATE_ID, // 04 - Pitch rate PID
+ YAW_RATE_ID, // 05 - Yaw rate PID
+ LOCAL_X_ID, // 06 - Local X PID
+ LOCAL_Y_ID, // 07 - Local Y PID
+ ALT_ID, // 08 - Altitude PID
+ MAX_CONTROLLER_ID, // 09 - Just used to keep track of the size
};
-// MESSAGE TYPES
+/*
+ * Enumeration of controller parameters
+ */
+enum ControlParamID{
+ KP_ID, // 00 - P constant
+ KI_ID, // 01 - I constant
+ KD_ID, // 02 - D constant
+ SP_ID, // 03 - Setpoint value
+ MAX_CONTROL_PARAM_ID, // 04 - Just used to keep track of the size
+};
+
+/*
+ * Message type struct used to keep track of the callback function
+ * pointers located in commands.c
+ */
struct MessageType{
- char ID;
- struct MessageSubtype subtypes[MAX_SUBTYPE];
+ char cmdText[MAX_CMD_TEXT_LENGTH];
+ char cmdDataType;
+ command_cb * functionPtr;
};
/* Defined in commands.c */
-extern struct MessageType MessageTypes[MAX_TYPE];
-
-/* Legacy functions - no idea what uses these. Please do not delete. */
-float getFloat(unsigned char* str, int pos);
-int getInt(unsigned char* str, int pos);
-/* end legacy crap */
+extern struct MessageType MessageTypes[MAX_TYPE_ID];
+int findCommand(char * cmdStr);
-#endif /* __COMMANDS_H */
\ No newline at end of file
+#endif /* __COMMANDS_H */
diff --git a/groundStation/src/backend/common/common.txt b/groundStation/src/backend/common/common.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cfc7835508714bcbc03e48f3af52c4b69e172a2a
--- /dev/null
+++ b/groundStation/src/backend/common/common.txt
@@ -0,0 +1,7 @@
+The common files are:
+ - packet.h
+ - packet.c
+ - setcontrol.h
+ - setcontrol.c
+ - bitwise.h
+ - controller.h
diff --git a/groundStation/src/backend/common/examples.c b/groundStation/src/backend/common/examples.c
new file mode 100644
index 0000000000000000000000000000000000000000..036ddeb3c0443a88d42568cbcce6250f7e20ca83
--- /dev/null
+++ b/groundStation/src/backend/common/examples.c
@@ -0,0 +1,77 @@
+#include "packet.h"
+#include "setcontrol.h"
+#include "commands.h"
+
+#include <sys/types.h>
+
+
+/* This example is close to how the ground station will handle things. It
+ * shouldn't be too hard to adapt it to work on the quad side.
+ */
+
+static int next_msg_id = 0;
+
+int SendSetControl()
+{
+ struct metadata m;
+ struct controller_message cm;
+
+ cm.id = ROLL_ID; /* Roll controller */
+ cm.value_id = KI_ID; /* I coefficient */
+ cm.value = 42.00f; /* An appropriate value */
+
+ uint8_t data[64];
+ m.msg_id = next_msg_id++;
+ /* Fills in the rest of the metadata automatically */
+ if (EncodeSetcontrol(&m, data, 64, &cm) < 0) {
+ return -1;
+ }
+
+ uint8_t packet[128];
+ ssize_t length;
+ if ((length = EncodePacket(packet, 128, &m, data)) < 0) {
+ return -1;
+ }
+
+ /* Now you can send the packet
+ * sendThePacket(packet, length);
+ */
+
+ return 0;
+}
+
+
+/* Process incoming packets */
+int receive_packet(uint8_t * packet, size_t length)
+{
+ struct metadata m;
+ uint8_t data[128];
+
+ /* Will fail if checksum is bad, etc */
+ if (DecodePacket(&m, data, 128, packet, length) < 0) {
+ return -1;
+ }
+
+ /* Let's pretend that the callbacks have signature
+ * void cb(
+ * const struct metadata * m,
+ * const uint8_t * data);
+ *
+ * Call the callback.
+ */
+ (*MessageTypes[m.msg_type].functionPtr)(&m, data);
+
+ return 0;
+}
+
+/* An example of a setcontrol callback. Arguments
+ * aren't important, as long as we have access
+ * to the packet bytes and the length
+ */
+void cb_setcontrol(const struct metadata *m, const uint8_t *data)
+{
+ struct controller_message cm;
+ DecodeSetcontrol(&cm, m, data);
+
+ /* cm now has populated controller ID, value ID, and value */
+}
diff --git a/groundStation/src/backend/communication.c b/groundStation/src/backend/communication.c
index ca4e82632ce36c0b381eb3dd49c42777cdd84942..a6f14f29c36501907bee69b479b6541c2fe1fdf3 100644
--- a/groundStation/src/backend/communication.c
+++ b/groundStation/src/backend/communication.c
@@ -4,189 +4,20 @@
#include <ctype.h>
static int msgNum = 0;
-
-tokenList_t tokenize(char* cmd) {
- int maxTokens = 16;
- tokenList_t ret;
- ret.numTokens = 0;
- ret.tokens = malloc(sizeof(char*) * maxTokens);
- ret.tokens[0] = NULL;
-
- int i = 0;
- char* token = strtok(cmd, " ");
- while (token != NULL && i < maxTokens - 1) {
- ret.tokens[i++] = token;
- ret.tokens[i] = NULL;
- ret.numTokens++;
- token = strtok(NULL, " ");
- }
-
- return ret;
-}
-
-int checkFloat(char *floatString, float *value) {
- char *tmp;
- *value = strtod(floatString, &tmp);
- if(!(isspace(*tmp) || *tmp == 0)) {
- fprintf(stderr, "%s is not a valid floating-point number\n", floatString);
- return 0;
- }
- return 1;
-}
-
-int checkInt(char *intString, int *value) {
- char *tmp;
- long temp_long;
- temp_long = strtol(intString, &tmp, 0); // base 10 number inputted
- if(temp_long < INT_MIN || temp_long > INT_MAX || !(isspace(*tmp) || *tmp == 0)) {
- fprintf(stderr, "%s is not a valid integer number\n", intString);
- return 0;
- }
- printf("temp: %ld\n\n", temp_long);
- *value = (int) temp_long;
- return 1;
-}
-
//--------------------------------
// Ground Station
//--------------------------------
// Formatting commands from ground station CLI
-int formatCommand(char *command, unsigned char **formattedCommand) {
- //fprintf(stderr, "length = %li , received '%s'\n", strlen(command), command);
- char cmd[strlen(command)];
- strncpy(cmd, command, strlen(command));
- cmd[strlen(command)] = '\0';
+int formatCommand(char *command, unsigned char *formattedCommand) {
+ // fprintf(stderr, "length = %li , received '%s'\n", strlen(command), command);
+ char cmd[512];
+ strncpy(cmd, command, 512);
- tokenList_t tokens = tokenize(cmd);
- float floatValue = 0.0;
- int intValue = 0;
- int valid;
- metadata_t metadata;
-
- // ----------------------------------------------
- if(tokens.numTokens > 0) {
- for(int type = 0; type < MAX_TYPE; type++)
- {
- for(int subtype = 0; subtype < MAX_SUBTYPE; subtype++)
- {
- if(strcmp(tokens.tokens[0], MessageTypes[type].subtypes[subtype].cmdText) == 0)
- {
- printf("Sending\n\ttype: %d, \n\tsubtype: %d\n\tcommand: %s\n", type, subtype, MessageTypes[type].subtypes[subtype].cmdText);
-
- // Make sure the second token is the right type
- switch (MessageTypes[type].subtypes[subtype].cmdDataType)
- {
- // Validate the float input
- case floatType:
- metadata.begin_char = (char) BEGIN_CHAR;
- metadata.msg_type = MessageTypes[type].ID;
- metadata.msg_subtype = MessageTypes[type].subtypes[subtype].ID;
-
- if(MessageTypes[type].ID == 0x01) {
- valid = checkFloat(tokens.tokens[1], &floatValue);
- if(!valid) {
- return -1;
- }
- metadata.data_len = sizeof(floatValue);
- } else {
- metadata.data_len = 0;
- }
-
- metadata.msg_id = msgNum++;
- formatPacket(&metadata, &floatValue, formattedCommand);
- break;
-
- // Validate the integer input
- case intType:
- metadata.begin_char = (char) BEGIN_CHAR;
- metadata.msg_type = MessageTypes[type].ID;
- metadata.msg_subtype = MessageTypes[type].subtypes[subtype].ID;
-
- if(MessageTypes[type].ID == 0x01) {
- valid = checkInt(tokens.tokens[1], &intValue);
- if(!valid) {
- return -1;
- }
- metadata.data_len = sizeof(intValue);
- } else {
- metadata.data_len = 0;
- }
-
- metadata.msg_id = msgNum++;
- formatPacket(&metadata, &intValue, formattedCommand);
-
- break;
-
- // Validate the string input (doesn't need to happen)
- case stringType:
- metadata.begin_char = (char) BEGIN_CHAR;
- metadata.msg_type = MessageTypes[type].ID;
- metadata.msg_subtype = MessageTypes[type].subtypes[subtype].ID;
- metadata.msg_id = msgNum++;
- metadata.data_len = strlen(tokens.tokens[1]);
-
- formatPacket(&metadata, &tokens.tokens[1], formattedCommand);
-
- break;
- default:
- return -1;
- }
- return 0;
- }
- }
- }
- }
+ char * cmdText = strtok(cmd, " ");
- // Only gets here if the command does not exist
return -1;
}
-// QUAD & Ground Station
-// Format the log data from log_message
-//int formatData(unsigned char *log_msg, unsigned char *formattedCommand)
-int formatPacket(metadata_t *metadata, void *data, unsigned char **formattedCommand)
-{
- *formattedCommand = malloc(sizeof(unsigned char) * metadata->data_len + 8);
- //----------------------------------------------------------------------------------------------
- // index|| 0 | 1 | 2 | 3 & 4 | 5 & 6 | 7+ | end |
- //---------------------------------------------------------------------------------------------|
- // msg param|| beg char | msg type | msg subtype | msg id | data len (bytes) | data | checksum |
- //-------------------------------------------------------------------------------------------- |
- // bytes|| 1 | 1 | 1 | 2 | 2 | var | 1 |
- //----------------------------------------------------------------------------------------------
-
- // Begin Char:
- (*formattedCommand)[0] = metadata->begin_char;
-
- // Msg type:
- (*formattedCommand)[1] = metadata->msg_type;
-
- // Msg subtype
- (*formattedCommand)[2] = metadata->msg_subtype;
-
- //Msg id (msgNum is 2 bytes)
- (*formattedCommand)[3] = (metadata->msg_id & 0x000000ff);
- (*formattedCommand)[4] = ((metadata->msg_id >> 8) & 0x000000ff);
-
- // Data length and data - bytes 5&6 for len, 7+ for data
- (*formattedCommand)[5] = metadata->data_len & 0x000000ff;
- (*formattedCommand)[6] = (metadata->data_len >> 8) & 0x000000ff;
-
- memcpy(&((*formattedCommand)[7]), data, metadata->data_len);
-
- // Checksum
- // receive data and calculate checksum
- int i;
- char data_checksum = 0;
- for(i = 0; i < 7 + metadata->data_len; i++)
- {
- data_checksum ^= (*formattedCommand)[i];
- }
-
- (*formattedCommand)[7 + metadata->data_len] = data_checksum;
-
- return 0;
-}
// returns the length of the data in bytes (datalen from packet) and fills data
// and metadata with the packet information
@@ -196,36 +27,34 @@ int formatPacket(metadata_t *metadata, void *data, unsigned char **formattedComm
// data is an unallocated (char *) (pass it to this function as &data)
// meta_data is a pointer to an instance of metadata_t
//
-int parse_packet(unsigned char * packet, unsigned char ** data, metadata_t * meta_data)
+int parse_packet(unsigned char * packet, unsigned char * data, metadata_t * meta_data)
{
//----------------------------------------------------------------------------------------------
// index|| 0 | 1 | 2 | 3 & 4 | 5 & 6 | 7+ | end |
//---------------------------------------------------------------------------------------------|
- // msg param|| beg char | msg type | msg subtype | msg id | data len (bytes) | data | checksum |
+ // msg param|| beg char | msg type | msg id | data len (bytes) | data | checksum |
//-------------------------------------------------------------------------------------------- |
// bytes|| 1 | 1 | 1 | 2 | 2 | var | 1 |
//----------------------------------------------------------------------------------------------
-
+
// first byte must be the begin char
if(packet[0] != 0xBE)
return -1;
// receive metadata
meta_data->begin_char = packet[0];
- meta_data->msg_type = packet[1];
- meta_data->msg_subtype = packet[2];
+ meta_data->msg_type = packet[2] << 8 | packet[1];
meta_data->msg_id = (packet[4] << 8) | (packet[3]);
meta_data->data_len = (packet[6] << 8) | (packet[5]);
unsigned char packet_checksum = packet[7+meta_data->data_len];
//fprintf(stderr, "datalen: %d\n", meta_data->data_len);
-
+
int i;
-
+
// receive data
- *data = malloc(meta_data->data_len);
for(i = 0; i < meta_data->data_len; i++)
{
- (*data)[i] = packet[7+i];
+ data[i] = packet[7+i];
}
// calculate checksum
@@ -243,30 +72,24 @@ int parse_packet(unsigned char * packet, unsigned char ** data, metadata_t * met
return 0;
}
-// QUAD & Ground Station
// Process the command received
int processCommand(unsigned char *packet, modular_structs_t *structs) {
int validPacket;
- unsigned char *data;
+ unsigned char data[256];
metadata_t metadata;
-
+
// Validate the message is correctly formatted
- validPacket = parse_packet(packet, &data, &metadata);
+ validPacket = parse_packet(packet, data, &metadata);
if(validPacket != 0) {
return -1;
}
-
+
if(metadata.data_len >= 0) {
- /* Null check*/
- if (MessageTypes[(unsigned char)metadata.msg_type].subtypes[
- (unsigned char) metadata.msg_subtype].functionPtr) {
- // Call the appropriate subtype function
- (* (MessageTypes[(unsigned char)metadata.msg_type].subtypes[(unsigned char)metadata.msg_subtype].functionPtr))(data, metadata.data_len, structs);
- }
-
+ (* (MessageTypes[(unsigned char)metadata.msg_type].functionPtr))();
+
return 0;
}
-
+
// Only gets here if there is an error
return -1;
}
diff --git a/groundStation/src/backend/communication.h b/groundStation/src/backend/communication.h
index 364814e3674b25a868e5e516e0bc626dd976b295..f3439f26605357edb7b6575cabfce8ffc6fdb36d 100644
--- a/groundStation/src/backend/communication.h
+++ b/groundStation/src/backend/communication.h
@@ -7,13 +7,10 @@
#include <limits.h>
#include "type_def.h"
-tokenList_t tokenize(char* cmd);
-int checkFloat(char *floatString, float *value);
-int checkInt(char *intString, int *value);
-int formatCommand(char *command, unsigned char **formattedCommand);
-int formatPacket(metadata_t *metadata, void *data, unsigned char **formattedCommand);
-int parse_packet(unsigned char * packet, unsigned char ** data, metadata_t * meta_data);
+int formatCommand(char *command, unsigned char *formattedCommand);
+int formatPacket(metadata_t *metadata, void *data, unsigned char *formattedCommand);
+int parse_packet(unsigned char * packet, unsigned char * data, metadata_t * meta_data);
int processCommand(unsigned char *command, modular_structs_t *structs);
int logData(unsigned char *log_msg, unsigned char *formattedCommand);
-#endif /* __COMMUNICATION_H */
\ No newline at end of file
+#endif /* __COMMUNICATION_H */
diff --git a/groundStation/src/backend/controller.h b/groundStation/src/backend/controller.h
new file mode 100644
index 0000000000000000000000000000000000000000..13d12353c464de6aeb89e7ea36340af2788770ff
--- /dev/null
+++ b/groundStation/src/backend/controller.h
@@ -0,0 +1,34 @@
+#ifndef _controller_h
+#define _controller_h
+
+
+/* For now, the enums come from commands.h */
+#include "commands.h"
+#if 0
+enum ControllerID {
+ ROLL_ID, // 00 - Roll PID
+ PITCH_ID, // 01 - Pitch PID
+ YAW_ID, // 02 - Yaw PID
+ ROLL_RATE_ID, // 03 - Roll rate PID
+ PITCH_RATE_ID, // 04 - Pitch rate PID
+ YAW_RATE_ID, // 05 - Yaw rate PID
+ LOCAL_X_ID, // 06 - Local X PID
+ LOCAL_Y_ID, // 07 - Local Y PID
+ ALT_ID, // 08 - Altitude PID
+};
+
+enum ControllerValueID{
+ KP_ID, // 00 - P constant
+ KI_ID, // 01 - I constant
+ KD_ID, // 02 - D constant
+ SP_ID, // 03 - Setpoint value
+};
+#endif
+
+struct controller_message {
+ enum ControllerID id;
+ enum ControlParamID value_id;
+ float value;
+};
+
+#endif
diff --git a/groundStation/src/backend/getparam.c b/groundStation/src/backend/getparam.c
new file mode 100644
index 0000000000000000000000000000000000000000..98580741766e6187596c4519b6a8f3e2d1c0d3f5
--- /dev/null
+++ b/groundStation/src/backend/getparam.c
@@ -0,0 +1,54 @@
+#include "getparam.h"
+#include "commands.h"
+#include "bitwise.h"
+
+#include <sys/types.h>
+
+enum GetparamData {
+ CTRL_ID,
+ CTRLVAL_ID,
+ GP_DATA_SIZE
+};
+
+/* Creates data and metadata for a respcontrol packet
+ * Returns data size.
+ */
+ssize_t EncodeGetparam(
+ struct metadata * m, /* data_len and msg_type will be populated*/
+ uint8_t * data, /* Output buffer */
+ size_t data_size, /* Max buffer size */
+ const struct controller_message * cm) /* Message to encode */
+{
+ m->msg_type = GETPARAM_ID;
+ m->data_len = GP_DATA_SIZE;
+
+ if (data_size < GP_DATA_SIZE) {
+ return -1;
+ }
+
+ data[CTRL_ID] = cm->id;
+ data[CTRLVAL_ID] = cm->value_id;
+
+ return GP_DATA_SIZE;
+}
+
+/* Decode a metadata and data to populate a controller.
+ * Returns 0 on success, -1 on failure.
+ */
+int DecodeGetparam(
+ struct controller_message * cm, /* Decoded controller message */
+ const struct metadata * m, /* Metadata to aid in decoding */
+ const uint8_t * data) /* Data to decode */
+{
+ if (m->data_len < GP_DATA_SIZE) {
+ return -1;
+ }
+ if (m->msg_type != GETPARAM_ID) {
+ return -1;
+ }
+
+ cm->id = data[CTRL_ID];
+ cm->value_id = data[CTRLVAL_ID];
+
+ return 0;
+}
diff --git a/groundStation/src/backend/getparam.h b/groundStation/src/backend/getparam.h
new file mode 100644
index 0000000000000000000000000000000000000000..c9d9096df464aae6e802e68f9a84236f99009c16
--- /dev/null
+++ b/groundStation/src/backend/getparam.h
@@ -0,0 +1,28 @@
+#ifndef _getparam_h
+#define _getparam_h
+
+#include "packet.h"
+#include "controller.h"
+
+#include <sys/types.h>
+
+
+/* Creates data and metadata for a getcontrol packet.
+ * Returns data size.
+ */
+ssize_t EncodeGetparam(
+ struct metadata *m, /* Out */
+ uint8_t *data, /* Out */
+ size_t data_size, /* Data buffer max size */
+ const struct controller_message *cm); /* Value is not used; only IDs */
+
+/* Decode a metadata and data to populate a message
+ * Returns 0 on success, -1 on failure
+ */
+int DecodeGetparam(
+ struct controller_message *cm, /* Out. Value is undefined */
+ const struct metadata *m, /* In */
+ const uint8_t * data); /* In */
+
+
+#endif
diff --git a/groundStation/src/backend/logger.c b/groundStation/src/backend/logger.c
deleted file mode 100644
index 028cfeac16c173e59154a1c9c8321eeba29d0344..0000000000000000000000000000000000000000
--- a/groundStation/src/backend/logger.c
+++ /dev/null
@@ -1,108 +0,0 @@
-/* Author: Kris Burney
- *
- * Logger file for holding functions pertaining to loging to a file.
- */
-#include "logger.h"
-#include <stdio.h>
-#include <err.h>
-#include <pthread.h>
-
-static FILE * quadlog_file = NULL;
-static pthread_mutex_t mutex = PTHREAD_MUTEX_INITIALIZER;
-
-int createLogFile(int argc, char* argv)
-{
- if (quadlog_file != NULL) {
- return -1;
- }
-
- if (pthread_mutex_lock(&mutex)) {
- err(-2, "pthrtead_mutex_lock (%s:%d):", __FILE__, __LINE__);
- }
-
- char log_file[300];
- strcpy(log_file, "logs/");
- if(argc >= 2)
- {
- strncat(log_file, argv, 294);
- printf("Creating log file '%s'...\n",log_file);
- quadlog_file = fopen(log_file, "a");
- } else {
- time_t rawtime;
- char timestr [30];
- time(&rawtime);
- sprintf(timestr,"%s",ctime(&rawtime));
-
- // Lets convert space to _ in
- char *p = timestr;
- size_t i = 0;
- while(i < strlen(timestr))
- {
- if (*p == ' ')
- *p = '_';
- i++;
- p++;
- }
-
- // timestr has a weird char at the end of it.
- // we will not include it in our file name
- strncat(log_file, timestr, strlen(timestr) -1 );
- strcat(log_file, ".txt");
- printf("Creating log file '%s'...\n",log_file);
- quadlog_file = fopen(log_file, "a");
- }
- if (pthread_mutex_unlock(&mutex)) {
- err(-2, "pthrtead_mutex_unlock (%s:%d):", __FILE__, __LINE__);
- }
- return 0;
-}
-
-int updateLogFile(const struct ucart_vrpn_TrackerData * td)
-{
- int retval;
-
- if (pthread_mutex_lock(&mutex)) {
- err(-2, "pthrtead_mutex_lock (%s:%d):", __FILE__, __LINE__);
- }
-
- retval = fprintf(quadlog_file,
- "FPS: %lf Pos (xyz): (%lf %lf %lf) Att (pry): (%lf %lf %lf)\n",
- td->fps, td->x, td->y, td->z, td->pitch, td->roll, td->yaw);
-
- if (pthread_mutex_unlock(&mutex)) {
- err(-2, "pthrtead_mutex_unlock (%s:%d):", __FILE__, __LINE__);
- }
-
- return retval;
-}
-
-int writeStringToLog(const char * string)
-{
- int retval;
-
- if (pthread_mutex_lock(&mutex)) {
- err(-2, "pthrtead_mutex_lock (%s:%d):", __FILE__, __LINE__);
- }
-
- retval = fprintf(quadlog_file, "%s", string);
-
- if (pthread_mutex_unlock(&mutex)) {
- err(-2, "pthrtead_mutex_unlock (%s:%d):", __FILE__, __LINE__);
- }
-
- return retval;
-}
-
-void closeLogFile(void)
-{
- if (pthread_mutex_lock(&mutex)) {
- err(-2, "pthrtead_mutex_lock (%s:%d):", __FILE__, __LINE__);
- }
-
- fclose(quadlog_file);
-
- if (pthread_mutex_unlock(&mutex)) {
- err(-2, "pthrtead_mutex_unlock (%s:%d):", __FILE__, __LINE__);
- }
-
-}
diff --git a/groundStation/src/backend/logger.h b/groundStation/src/backend/logger.h
deleted file mode 100644
index 9bbd068116482e4d693fdb519f27dffd7bc2fff7..0000000000000000000000000000000000000000
--- a/groundStation/src/backend/logger.h
+++ /dev/null
@@ -1,21 +0,0 @@
-/* Author: Kris Burney
- *
- * Logger header file for holding info pertaining to loging to a file.
- */
-#ifndef __LOGGER_H
-#define __LOGGER_H
-
-#include <fcntl.h>
-#include <time.h>
-#include <stdio.h>
-#include <string.h>
-
-#include "vrpn_tracker.hpp"
-
-int createLogFile(int, char*);
-int writeStringToLog(const char*);
-int updateLogFile(const struct ucart_vrpn_TrackerData* );
-void closeLogFile();
-
-
-#endif /* __LOGGER_H */
\ No newline at end of file
diff --git a/groundStation/src/backend/packet.c b/groundStation/src/backend/packet.c
new file mode 100644
index 0000000000000000000000000000000000000000..7ddbb536321603a819f7af2c6195636e8a1aba52
--- /dev/null
+++ b/groundStation/src/backend/packet.c
@@ -0,0 +1,90 @@
+#include "packet.h"
+#include "commands.h"
+#include "bitwise.h"
+
+#include <string.h>
+
+
+/* Combine metadata and data to form a wire-sendable packet.
+ * Returns the size of the encoded packet
+ */
+ssize_t EncodePacket(
+ uint8_t * packet, /* Buffer to encode into */
+ size_t packet_size, /* Max buffer size */
+ const struct metadata * m, /* Metadata to encode */
+ const uint8_t * data) /* Data to encode */
+{
+ if (packet_size < (HDR_SIZE + CSUM_SIZE + m->data_len)) {
+ return -1;
+ }
+
+ packet[BEGIN] = BEGIN_CHAR;
+ packet[MTYPE_L] = LSByte16(m->msg_type);
+ packet[MTYPE_H] = MSByte16(m->msg_type);
+ packet[ID_L] = LSByte16(m->msg_id);
+ packet[ID_H] = MSByte16(m->msg_id);
+ packet[DLEN_L] = LSByte16(m->data_len);
+ packet[DLEN_H] = MSByte16(m->data_len);
+ memcpy(&packet[HDR_SIZE], data, m->data_len);
+
+ packet[HDR_SIZE + m->data_len] = PacketChecksum(
+ packet, HDR_SIZE + m->data_len + CSUM_SIZE);
+
+ return m->data_len + HDR_SIZE + CSUM_SIZE;
+}
+
+
+/* Break apart packet, populating metadata. Data is copied
+ * into the space pointed to by data.
+ * Returns the size of the data.
+ */
+ssize_t DecodePacket(
+ struct metadata * m, /* Decoded metadata (includes data_len)*/
+ uint8_t * data, /* Data is copied into this buffer */
+ size_t data_size, /* Max buffer size */
+ const uint8_t * packet, /* Packet to decode */
+ size_t packet_size) /* Size of packet to decode */
+{
+ uint8_t checkSum;
+ if (packet[BEGIN] != BEGIN_CHAR) {
+ return -1;
+ }
+
+ if (packet_size < ((uint8_t) HDR_SIZE + CSUM_SIZE)) {
+ return -2;
+ }
+
+ m->msg_type = BytesTo16(packet[MTYPE_L], packet[MTYPE_H]);
+ m->msg_id = BytesTo16(packet[ID_L], packet[ID_H]);
+ m->data_len = BytesTo16(packet[DLEN_L], packet[DLEN_H]);
+
+ if (packet_size < (HDR_SIZE + CSUM_SIZE + m->data_len)) {
+ return -3;
+ }
+
+ if (data_size < m->data_len) {
+ return -4;
+ }
+
+ checkSum = PacketChecksum(packet, HDR_SIZE + m->data_len + CSUM_SIZE);
+ if (checkSum != packet[HDR_SIZE + m->data_len]) {
+ return -5;
+ }
+
+ memcpy(data, &packet[HDR_SIZE], m->data_len);
+ return m->data_len;
+}
+
+uint8_t PacketChecksum(const uint8_t * packet, size_t packet_size)
+{
+ uint8_t checkSum = 0;
+ for(size_t i = 0; i < packet_size - CSUM_SIZE; i++){
+ checkSum ^= packet[i];
+ }
+ return checkSum;
+}
+
+size_t PacketSize(const struct metadata *m)
+{
+ return m->data_len + HDR_SIZE + CSUM_SIZE;
+}
\ No newline at end of file
diff --git a/groundStation/src/backend/packet.h b/groundStation/src/backend/packet.h
new file mode 100644
index 0000000000000000000000000000000000000000..87f8c5c7e73ef23bbd9bbc7befb3d5c897ad3b57
--- /dev/null
+++ b/groundStation/src/backend/packet.h
@@ -0,0 +1,54 @@
+#ifndef _packet_h
+#define _packet_h
+
+#include <stdint.h>
+#include <sys/types.h>
+
+enum PacketHeader {
+ BEGIN,
+ MTYPE_L,
+ MTYPE_H,
+ ID_L,
+ ID_H,
+ DLEN_L,
+ DLEN_H,
+ HDR_SIZE
+};
+
+enum ChecksumFormat {
+ CSUM_L,
+ CSUM_SIZE
+};
+struct metadata {
+ int msg_type;
+ int msg_id;
+ size_t data_len;
+};
+
+/* Combine metadata and data to form a wire-sendable packet.
+ * Returns the size of the encoded packet
+ */
+ssize_t EncodePacket(
+ uint8_t * packet, /* Buffer to encode into */
+ size_t packet_size, /* Max buffer size */
+ const struct metadata * m, /* Metadata to encode */
+ const uint8_t * data); /* Data to encode */
+
+/* Break apart packet, populating metadata. Data is copied
+ * into the space pointed to by data.
+ * Returns the size of the data.
+ */
+ssize_t DecodePacket(
+ struct metadata * m, /* Decoded metadata (includes data_len)*/
+ uint8_t * data, /* Data is copied into this buffer */
+ size_t data_size, /* Max buffer size */
+ const uint8_t * packet, /* Packet to decode */
+ size_t packet_size); /* Size of packet to decode */
+
+/* Compute a checksum. Requires a packet and the entire packet length */
+uint8_t PacketChecksum(const uint8_t * packet, size_t);
+
+/* Compute the size of the entire packet */
+size_t PacketSize(const struct metadata *m);
+
+#endif
diff --git a/groundStation/src/backend/responseparam.c b/groundStation/src/backend/responseparam.c
new file mode 100644
index 0000000000000000000000000000000000000000..f6a8d44b268493b0501759327334ed58e5cb0685
--- /dev/null
+++ b/groundStation/src/backend/responseparam.c
@@ -0,0 +1,64 @@
+#include "responseparam.h"
+#include "commands.h"
+#include "bitwise.h"
+
+#include <sys/types.h>
+
+enum ResponseData {
+ CTRL_ID,
+ CTRLVAL_ID,
+ VAL_1,
+ VAL_2,
+ VAL_3,
+ VAL_4,
+ RESP_DATA_SIZE
+};
+
+/* Creates data and metadata for a respcontrol packet
+ * Returns data size.
+ */
+ssize_t EncodeResponseParam(
+ struct metadata * m, /* data_len and msg_type will be populated*/
+ uint8_t * data, /* Output buffer */
+ size_t data_size, /* Max buffer size */
+ const struct controller_message * cm) /* Message to encode */
+{
+ m->msg_type = RESPPARAM_ID;
+ m->data_len = RESP_DATA_SIZE;
+
+ if (data_size < RESP_DATA_SIZE) {
+ return -1;
+ }
+
+ data[CTRL_ID] = cm->id;
+ data[CTRLVAL_ID] = cm->value_id;
+ data[VAL_1] = FloatByte1(cm->value);
+ data[VAL_2] = FloatByte2(cm->value);
+ data[VAL_3] = FloatByte3(cm->value);
+ data[VAL_4] = FloatByte4(cm->value);
+
+ return RESP_DATA_SIZE;
+}
+
+/* Decode a metadata and data to populate a controller.
+ * Returns 0 on success, -1 on failure.
+ */
+int DecodeResponseParam(
+ struct controller_message * cm, /* Decoded controller message */
+ const struct metadata * m, /* Metadata to aid in decoding */
+ const uint8_t * data) /* Data to decode */
+{
+ if (m->data_len < RESP_DATA_SIZE) {
+ return -1;
+ }
+ if (m->msg_type != RESPPARAM_ID) {
+ return -1;
+ }
+
+ cm->id = data[CTRL_ID];
+ cm->value_id = data[CTRLVAL_ID];
+ cm->value = BytesToFloat(data[VAL_1], data[VAL_2],
+ data[VAL_3], data[VAL_4]);
+
+ return 0;
+}
diff --git a/groundStation/src/backend/responseparam.h b/groundStation/src/backend/responseparam.h
new file mode 100644
index 0000000000000000000000000000000000000000..5e3224477b46d8384e6f10b30f07e5571d089cfa
--- /dev/null
+++ b/groundStation/src/backend/responseparam.h
@@ -0,0 +1,28 @@
+#ifndef _responseparam_h
+#define _responseparam_h
+
+#include "packet.h"
+#include "controller.h"
+
+#include <sys/types.h>
+
+
+/* Creates data and metadata for a respcontrol packet.
+ * Returns data size.
+ */
+ssize_t EncodeResponseParam(
+ struct metadata *m, /* Out */
+ uint8_t *data, /* Out */
+ size_t data_size, /* Data buffer max size */
+ const struct controller_message *cm); /* In */
+
+/* Decode a metadata and data to populate a message
+ * Returns 0 on success, -1 on failure
+ */
+int DecodeResponseParam(
+ struct controller_message *cm, /* Out */
+ const struct metadata *m, /* In */
+ const uint8_t * data); /* In */
+
+
+#endif
diff --git a/groundStation/src/backend/setparam.c b/groundStation/src/backend/setparam.c
new file mode 100644
index 0000000000000000000000000000000000000000..c97ed01f4d16d92ae18434d3dbf5d8da9c11b94a
--- /dev/null
+++ b/groundStation/src/backend/setparam.c
@@ -0,0 +1,65 @@
+#include "setparam.h"
+#include "commands.h"
+#include "bitwise.h"
+
+#include <sys/types.h>
+
+enum SetparamData {
+ CTRL_ID,
+ CTRLVAL_ID,
+ VAL_1,
+ VAL_2,
+ VAL_3,
+ VAL_4,
+ SP_DATA_SIZE
+};
+
+/* Creates data and metadata for a setcontrol packet
+ * Returns data size.
+ */
+ssize_t EncodeSetparam(
+ struct metadata * m, /* data_len and msg_type will be populated*/
+ uint8_t * data, /* Output buffer */
+ size_t data_size, /* Max buffer size */
+ const struct controller_message * cm) /* Message to encode */
+{
+ m->msg_type = SETPARAM_ID;
+ m->data_len = SP_DATA_SIZE;
+
+ if (data_size < SP_DATA_SIZE) {
+ return -1;
+ }
+
+ data[CTRL_ID] = cm->id;
+ data[CTRLVAL_ID] = cm->value_id;
+ data[VAL_1] = FloatByte1(cm->value);
+ data[VAL_2] = FloatByte2(cm->value);
+ data[VAL_3] = FloatByte3(cm->value);
+ data[VAL_4] = FloatByte4(cm->value);
+
+ return SP_DATA_SIZE;
+}
+
+/* Decode a metadata and data to populate a controller.
+ * Returns 0 on success, -1 on failure.
+ */
+int DecodeSetparam(
+ struct controller_message * cm, /* Decoded controller message */
+ const struct metadata * m, /* Metadata to aid in decoding */
+ const uint8_t * data) /* Data to decode */
+{
+ if (m->data_len < SP_DATA_SIZE) {
+ return -1;
+ }
+ if (m->msg_type != SETPARAM_ID) {
+ return -1;
+ }
+
+
+ cm->id = data[CTRL_ID];
+ cm->value_id = data[CTRLVAL_ID];
+ cm->value = BytesToFloat(data[VAL_1], data[VAL_2],
+ data[VAL_3], data[VAL_4]);
+
+ return 0;
+}
diff --git a/groundStation/src/backend/setparam.h b/groundStation/src/backend/setparam.h
new file mode 100644
index 0000000000000000000000000000000000000000..671d7aa240ef43c6bb82fc8eaa1b29826b70c36c
--- /dev/null
+++ b/groundStation/src/backend/setparam.h
@@ -0,0 +1,27 @@
+#ifndef _setparam_h
+#define _setparam_h
+
+#include "packet.h"
+#include "controller.h"
+
+#include <sys/types.h>
+
+/* Creates data and metadata for a setcontrol packet
+ * Returns data size.
+ */
+ssize_t EncodeSetparam(
+ struct metadata * m, /* data_len and msg_type will be populated*/
+ uint8_t * data, /* Output buffer */
+ size_t data_size, /* Max buffer size */
+ const struct controller_message * cm); /* Message to encode */
+
+/* Decode a metadata and data to populate a controller.
+ * Returns 0 on success, -1 on failure.
+ */
+int DecodeSetparam(
+ struct controller_message * cm, /* Decoded controller message */
+ const struct metadata * m, /* Metadata to aid in decoding */
+ const uint8_t * data); /* Data to decode */
+
+
+#endif
diff --git a/groundStation/src/backend/type_def.h b/groundStation/src/backend/type_def.h
index 2a2b8249a4c62cb035a38a6c4b6f3abfe96edd89..27b5d192e5538c326668b45785d0be62028e0ee8 100644
--- a/groundStation/src/backend/type_def.h
+++ b/groundStation/src/backend/type_def.h
@@ -27,8 +27,7 @@ enum flight_mode{
//----------------------------------------------------------------------------------------------
typedef struct {
char begin_char;
- char msg_type;
- char msg_subtype;
+ int msg_type;
int msg_id;
int data_len;
} metadata_t;
diff --git a/groundStation/src/backend/update.c b/groundStation/src/backend/update.c
new file mode 100644
index 0000000000000000000000000000000000000000..db546e05a3891ff0f9f52bc2ecdfc658012ed65b
--- /dev/null
+++ b/groundStation/src/backend/update.c
@@ -0,0 +1,121 @@
+#include "update.h"
+#include "commands.h"
+#include "bitwise.h"
+
+#include <sys/types.h>
+
+enum UpdateData {
+ ID_1,
+ ID_2,
+ ID_3,
+ ID_4,
+ Y_1,
+ Y_2,
+ Y_3,
+ Y_4,
+ X_1,
+ X_2,
+ X_3,
+ X_4,
+ Z_1,
+ Z_2,
+ Z_3,
+ Z_4,
+ ROLL_1,
+ ROLL_2,
+ ROLL_3,
+ ROLL_4,
+ PITCH_1,
+ PITCH_2,
+ PITCH_3,
+ PITCH_4,
+ YAW_1,
+ YAW_2,
+ YAW_3,
+ YAW_4,
+ UPDATE_SIZE
+};
+
+/* Creates data and metadata for an update packet
+ * Returns data size.
+ */
+ssize_t EncodeUpdate(
+ struct metadata * m, /* data_len and msg_type will be populated*/
+ uint8_t * data, /* Output buffer */
+ size_t data_size, /* Max buffer size */
+ const struct position_update * u) /* Message to encode */
+{
+ m->msg_type = UPDATE_ID;
+ m->data_len = UPDATE_SIZE;
+
+ if (data_size < UPDATE_SIZE) {
+ return -1;
+ }
+
+ data[ID_1] = IntByte1(u->id);
+ data[ID_2] = IntByte2(u->id);
+ data[ID_3] = IntByte3(u->id);
+ data[ID_4] = IntByte4(u->id);
+
+ data[Y_1] = FloatByte1(u->y);
+ data[Y_2] = FloatByte2(u->y);
+ data[Y_3] = FloatByte3(u->y);
+ data[Y_4] = FloatByte4(u->y);
+
+ data[X_1] = FloatByte1(u->x);
+ data[X_2] = FloatByte2(u->x);
+ data[X_3] = FloatByte3(u->x);
+ data[X_4] = FloatByte4(u->x);
+
+ data[Z_1] = FloatByte1(u->z);
+ data[Z_2] = FloatByte2(u->z);
+ data[Z_3] = FloatByte3(u->z);
+ data[Z_4] = FloatByte4(u->z);
+
+ data[ROLL_1] = FloatByte1(u->roll);
+ data[ROLL_2] = FloatByte2(u->roll);
+ data[ROLL_3] = FloatByte3(u->roll);
+ data[ROLL_4] = FloatByte4(u->roll);
+
+ data[PITCH_1] = FloatByte1(u->pitch);
+ data[PITCH_2] = FloatByte2(u->pitch);
+ data[PITCH_3] = FloatByte3(u->pitch);
+ data[PITCH_4] = FloatByte4(u->pitch);
+
+ data[YAW_1] = FloatByte1(u->yaw);
+ data[YAW_2] = FloatByte2(u->yaw);
+ data[YAW_3] = FloatByte3(u->yaw);
+ data[YAW_4] = FloatByte4(u->yaw);
+
+ return UPDATE_SIZE;
+}
+
+/* Decode a metadata and data to populate an update.
+ * Returns 0 on success, -1 on failure.
+ */
+int DecodeUpdate(
+ struct position_update * u, /* Decoded controller message */
+ const struct metadata * m, /* Metadata to aid in decoding */
+ const uint8_t * data) /* Data to decode */
+{
+ if (m->data_len < UPDATE_SIZE) {
+ return -1;
+ }
+ if (m->msg_type != UPDATE_ID) {
+ return -1;
+ }
+
+ u->id = BytesToInt(data[ID_1], data[ID_2], data[ID_3], data[ID_4]);
+ u->x = BytesToFloat(data[X_1], data[X_2], data[X_3], data[X_4]);
+ u->y = BytesToFloat(data[Y_1], data[Y_2], data[Y_3], data[Y_4]);
+ u->z = BytesToFloat(data[Z_1], data[Z_2], data[Z_3], data[Z_4]);
+
+ u->pitch = BytesToFloat(data[PITCH_1], data[PITCH_2],
+ data[PITCH_3], data[PITCH_4]);
+ u->roll = BytesToFloat(data[ROLL_1], data[ROLL_2],
+ data[ROLL_3], data[ROLL_4]);
+ u->yaw = BytesToFloat(data[YAW_1], data[YAW_2],
+ data[YAW_3], data[YAW_4]);
+
+ return 0;
+}
diff --git a/groundStation/src/backend/update.h b/groundStation/src/backend/update.h
new file mode 100644
index 0000000000000000000000000000000000000000..783a861cacd013ce7ffad9558dabfffbb9c80481
--- /dev/null
+++ b/groundStation/src/backend/update.h
@@ -0,0 +1,36 @@
+#ifndef _update_h
+#define _update_h
+
+#include "packet.h"
+
+#include <sys/types.h>
+
+struct position_update {
+ uint32_t id;
+ float x;
+ float y;
+ float z;
+ float pitch;
+ float roll;
+ float yaw;
+};
+
+/* Creates data and metadata for an update packet.
+ * Returns data size.
+ */
+ssize_t EncodeUpdate(
+ struct metadata *m, /* Out */
+ uint8_t *data, /* Out */
+ size_t data_size, /* Data buffer max size */
+ const struct position_update *u); /* In */
+
+/* Decode a metadata and data to populate an update
+ * Returns 0 on success, -1 on failure
+ */
+int DecodeUpdate(
+ struct position_update *u, /* Out */
+ const struct metadata *m, /* In */
+ const uint8_t * data); /* In */
+
+
+#endif
diff --git a/groundStation/src/cli/cli.c b/groundStation/src/cli/cli.c
index 8eed2381b6a8440635adbce3a5dcf78460f05cde..acec4dbc6352ca971b84289eb24cfc918da98bbd 100644
--- a/groundStation/src/cli/cli.c
+++ b/groundStation/src/cli/cli.c
@@ -76,8 +76,6 @@ int main(int argc, char **argv)
needCommandHelp = 1;
}
}
-
- printf("made it\n");
/**
* I the user has asked for help, and we have already found
diff --git a/groundStation/src/cli/cli_monitor.c b/groundStation/src/cli/cli_monitor.c
index 2703b62ee49144794c0b80f1671df727eb0281c0..b435b9117a7fb778047628c508f19c81ee73ee3e 100644
--- a/groundStation/src/cli/cli_monitor.c
+++ b/groundStation/src/cli/cli_monitor.c
@@ -9,11 +9,17 @@
#include "cli_monitor.h"
#include "frontend_tracker.h"
+#include "frontend_getpid.h"
+#include "pid_common.h"
+
+int rate = 10;
+static int pidcounter = 0;
+static int monitorcounter = 0;
int cli_monitor(struct backend_conn * conn, int argc, char **argv) {
int c, result;
int countFlag = 0;
- int count, rate = 10;
+ int count;
int forever = 0;
static int needHelp = 0;
@@ -96,33 +102,50 @@ int cli_monitor(struct backend_conn * conn, int argc, char **argv) {
}
int monitor(struct backend_conn * conn) {
+ static struct frontend_pid_data pid_data[PID_NUM_PIDS] = {0};
/* Get tracker data */
struct frontend_tracker_data td;
+
if (frontend_track(conn, &td)) {
errx(1, "Error reading tracker data");
}
- /* TODO: Get PID constants and status */
- /* It might be a good idea to only read the pid constants
- * every few seconds, so count iterations and only do it if
- * this is every (rate * 2 or 3) pass through the loop
- */
-
+ if (monitorcounter == 0) {
+ for(int i = 0; i < PID_NUM_PIDS; ++i) {
+ pid_data[i].controller = i;
+ if (frontend_getpid(conn, &pid_data[i])) {
+ errx(1, "Error reading pid values");
+ }
+ }
+ } else {
+ if ((monitorcounter % (rate * 5)) == 0) {
+ pid_data[pidcounter].controller = pidcounter;
+ if (frontend_getpid(conn, &pid_data[pidcounter])) {
+ errx(1, "Error reading pid values");
+ }
+ }
+ }
+
/* Print stuff on screen */
/* Assuming a tab width of 8 columns */
printf("\033[2J");
printf("STATUS: NA\n");
- printf("CTRLR :\tP\tR\tY\tP_V\tR_V\tY_V\tH\tLAT\tLON\n");
- printf(" P :\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\n",
- 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
- printf(" I :\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\n",
- 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
- printf(" D :\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\n",
- 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
- printf("PosAtt:\tH\tLAT\tLON\tP\tR\tY\n");
- printf(" :\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\n",
+ printf("CTRLR : P R Y P_V R_V Y_V H LAT LON\n");
+ printf(" P :%10.3lf %10.3lf %10.3lf %10.3lf %10.3lf %10.3lf %10.3lf %10.3lf %10.3lf\n",
+ pid_data[0].p, pid_data[1].p, pid_data[2].p, pid_data[3].p, pid_data[4].p,
+ pid_data[5].p, pid_data[6].p, pid_data[7].p, pid_data[8].p);
+ printf(" I :%10.3lf %10.3lf %10.3lf %10.3lf %10.3lf %10.3lf %10.3lf %10.3lf %10.3lf\n",
+ pid_data[0].i, pid_data[1].i, pid_data[2].i, pid_data[3].i, pid_data[4].i,
+ pid_data[5].i, pid_data[6].i, pid_data[7].i, pid_data[8].i);
+ printf(" D :%10.3lf %10.3lf %10.3lf %10.3lf %10.3lf %10.3lf %10.3lf %10.3lf %10.3lf\n",
+ pid_data[0].d, pid_data[1].d, pid_data[2].d, pid_data[3].d, pid_data[4].d,
+ pid_data[5].d, pid_data[6].d, pid_data[7].d, pid_data[8].d);
+ printf("PosAtt: H LAT LON P R Y\n");
+ printf(" :%10.3lf%10.3lf%10.3lf%10.3lf%10.3lf%10.3lf\n",
td.height, td.lateral, td.longitudinal,
td.pitch, td.roll, td.yaw);
-
+
+ monitorcounter++;
+ pidcounter = ((pidcounter + 1) % PID_NUM_PIDS);
return 0;
-}
+}
\ No newline at end of file
diff --git a/groundStation/src/frontend/frontend_getpid.c b/groundStation/src/frontend/frontend_getpid.c
index 08827a528fdaec30b36910e5d91438100c12e4de..2fd33c31116bf135a3c1f78cf94b2353bdbb8820 100644
--- a/groundStation/src/frontend/frontend_getpid.c
+++ b/groundStation/src/frontend/frontend_getpid.c
@@ -35,13 +35,13 @@ int frontend_getpid(
strncpy(line, "getyawp\ngetyawi\ngetyawd\n", 24);
break;
case PID_PITCH_RATE :
- strncpy(line, "getpitchratep\ngetpitchratei\ngetpitchrated\n", 33);
+ strncpy(line, "getpitchratep\ngetpitchratei\ngetpitchrated\n", 42);
break;
case PID_ROLL_RATE :
- strncpy(line, "getrollratep\ngetrollratei\ngetrollrated\n", 30);
+ strncpy(line, "getrollratep\ngetrollratei\ngetrollrated\n", 39);
break;
case PID_YAW_RATE :
- strncpy(line, "getyawratep\ngetyawratei\ngetyawrated\n", 27);
+ strncpy(line, "getyawratep\ngetyawratei\ngetyawrated\n", 36);
break;
case PID_HEIGHT :
strncpy(line, "getheightp\ngetheighti\ngetheightd\n", 33);
@@ -62,22 +62,30 @@ int frontend_getpid(
}
char * response;
- for (;;) {
+ char tmpresponse[64];
+ char * cmdString;
+ size_t pendingResponses = 3;
+ float value;
+ while (pendingResponses) {
response = ucart_backendGetline(conn);
if (response == NULL) {
warnx("Line not returned from backend");
return 1;
}
- printf("received : %s\n", response);
- // if (strncmp(response, MAGIC, strlen(MAGIC)) == 0) {
- // break;
- // }
+ strncpy(tmpresponse, response, 64);
+ if (strncmp(tmpresponse, "get", 3) == 0) {
+ cmdString = strtok(tmpresponse, " ");
+ value = strtof(&response[strlen(cmdString)],NULL);
+
+ if(cmdString[strlen(cmdString)-1] == 'p') {
+ pid_data->p = value;
+ } else if(cmdString[strlen(cmdString)-1] == 'i') {
+ pid_data->i = value;
+ } else if(cmdString[strlen(cmdString)-1] == 'd') {
+ pid_data->d = value;
+ }
+ pendingResponses--;
+ }
}
-
- // if (strncmp(response, MAGIC " ERROR", strlen(MAGIC " ERROR")) == 0) {
- // warnx("Backend returned an error: %s", strstr(response, "ERROR"));
- // return 1;
- // }
-
return 0;
}
diff --git a/groundStation/src/frontend/pid_common.h b/groundStation/src/frontend/pid_common.h
index b89e3b1cddc85bb8820520e91ea4fa1858becd3a..87e61255fa45f995ff73b212ff076436497e9cca 100644
--- a/groundStation/src/frontend/pid_common.h
+++ b/groundStation/src/frontend/pid_common.h
@@ -9,8 +9,8 @@ enum pid_controller {
PID_ROLL_RATE,
PID_YAW_RATE,
PID_HEIGHT, /* Z */
- PID_LAT, /* X */
PID_LONG, /* Y */
+ PID_LAT, /* X */
PID_NUM_PIDS
};
diff --git a/quad/scripts/stress_tests.py b/quad/scripts/stress_tests.py
index 7b31502bf1ea436ce0757c5f9883fcad29fc7d15..801f1713fa9beadbe9c7ebb45322d0e6eadec0bd 100755
--- a/quad/scripts/stress_tests.py
+++ b/quad/scripts/stress_tests.py
@@ -1,15 +1,15 @@
#!/usr/local/bin/python3.6
import sys
+import random
from time import sleep
import serial
-def create_msg(main_type, subtype, msg_id, data):
+def create_msg(msg_type, msg_id, data):
msg = bytes()
msg += b'\xBE'
- msg += main_type.to_bytes(1, 'little')
- msg += subtype.to_bytes(1, 'little')
+ msg += msg_type.to_bytes(2, 'little')
msg += msg_id.to_bytes(2, 'little')
msg += len(data).to_bytes(2, 'little')
msg += data
@@ -22,7 +22,7 @@ def create_msg(main_type, subtype, msg_id, data):
def create_test_packet(size=8):
data = bytes((i % 256 for i in range(size)))
- return create_msg(0, 1, 0, data)
+ return create_msg(1, 0, data)
def read_packet(ser, raw=False):
header = ser.read(7)
@@ -37,7 +37,7 @@ def read_packet(ser, raw=False):
def query_received(ser):
# Send request
- query_msg = create_msg(0, 2, 0, b'')
+ query_msg = create_msg(2, 0, b'')
ser.write(query_msg)
ser.flush()
sleep(0.1)
@@ -107,6 +107,13 @@ def test_bad_checksum(ser, cur_status, size=30):
ser.flush()
return check_test(ser, 0, 0, cur_status)
+def test_get_set(ser):
+ print("Checking Get/Set Commands")
+ for cntl_id in range(9):
+ for const_id in range(4):
+ to_set = random.random()
+ #set_packet = create_msg()
+
if __name__ == '__main__':
with serial.Serial('/dev/ttyUSB0', 921600, timeout=5) as ser:
ser.reset_input_buffer()
diff --git a/quad/sw/modular_quad_pid/src/callbacks.c b/quad/sw/modular_quad_pid/src/callbacks.c
index 0440e414cf1233396589f8b1f1f011c3d38260d8..e34fe1db454a6be43edeb818e650d87c50705fdb 100644
--- a/quad/sw/modular_quad_pid/src/callbacks.c
+++ b/quad/sw/modular_quad_pid/src/callbacks.c
@@ -3,31 +3,49 @@
#include "type_def.h"
#include "uart.h"
+/*
+ * Static variables used to keep track of packet counts
+ */
+static int n_msg_received = 0;
+static size_t total_payload_received = 0;
+
+
+/* Misc. callbacks */
+
+/**
+ * Currently does nothing.
+ */
int debug(modular_structs_t *structs)
{
return 0;
}
-static int n_msg_received = 0;
-static size_t total_payload_received = 0;
-
+/**
+ * counts the number of packet logs.
+ */
int cb_packetlog(modular_structs_t* structs) {
n_msg_received += 1;
total_payload_received += uart_buff_data_length();
return 0;
}
+/**
+ * Handles a get packet logs request and sends a response
+ * with the packet log data.
+ */
int cb_getpacketlogs(modular_structs_t* structs) {
char buf[255];
// Message logging number of messages received and size of payload received
int length = snprintf(buf, sizeof buf, "%d,%d", n_msg_received, total_payload_received);
- send_data(MessageTypes[5].ID, MessageTypes[5].subtypes[1].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
+ send_data(LOG_ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
return 0;
}
-/* Handles receiving new location updates */
+/*
+ * Handles receiving new location updates.
+ */
int cb_update(modular_structs_t *structs)
{
//processUpdate(packet, &(structs->raw_sensor_struct.currentQuadPosition));
@@ -63,141 +81,150 @@ int cb_update(modular_structs_t *structs)
return 0;
}
-// This is called on the ground station to begin sending VRPN to the quad
+/**
+ * This is called on the ground station to begin sending VRPN to the quad.
+ */
int cb_beginupdate(modular_structs_t *structs) {
structs->user_input_struct.receivedBeginUpdate = 1;
return 0;
}
-int cb_log(modular_structs_t *structs)
-{
- size_t length;
- unsigned char *packet = uart_buff_get_raw(&length);
- return 0;
-}
-
-int cb_response(modular_structs_t *structs)
-{
- size_t length;
- char *packet = uart_buff_get_raw(&length);
- return 0;
-}
-
-int cb_setyaw(modular_structs_t *structs)
-{
- structs->setpoint_struct.desiredQuadPosition.yaw = uart_buff_data_get_float(0);
- return 0;
-}
-
-int cb_setyawp(modular_structs_t *structs)
-{
- structs->parameter_struct.yaw_angle_pid.Kp = uart_buff_data_get_float(0);
- return 0;
-}
-
-int cb_setyawd(modular_structs_t *structs)
-{
- structs->parameter_struct.yaw_angle_pid.Kd = uart_buff_data_get_float(0);
- return 0;
-}
-
-int cb_setroll(modular_structs_t *structs)
-{
- structs->setpoint_struct.desiredQuadPosition.roll = uart_buff_data_get_float(0);
- return 0;
-}
-int cb_setrollp(modular_structs_t *structs)
-{
- structs->parameter_struct.roll_angle_pid.Kp = uart_buff_data_get_float(0);
- return 0;
-}
+/* Callbacks for configuration */
+
+/**
+ * Handles a command to set a controller parameter on the quad.
+ *
+ * NOTE:
+ * Expects the uart buff to have data in the following format:
+ * |--------------------------------------------------------|
+ * | data index || 0 | 1 | 2 - 5 |
+ * |--------------------------------------------------------|
+ * | parameter || control ID | ctrl parmID | param val |
+ * |--------------------------------------------------------|
+ * | bytes || 1 | 1 | 4 |
+ * |--------------------------------------------------------|
+ *
+ * Does not send anything in response.
+ */
+int cb_setparam(modular_structs_t *structs)
+{
+ // Get some of the meta data
+ u16 data_len = uart_buff_data_length();
+ // Check if the data length is correct
+ if (data_len != 6)
+ {
+ return -1;
+ }
+
+ // Get the controller ID, parameter ID, parameter value
+ u8 controller_id = uart_buff_data_get_u8(0);
+ u8 param_id = uart_buff_data_get_u8(1);
+ float param_val = uart_buff_data_get_float(3);
+ // Check to make sure the IDs are in bounds
+ if (controller_id >= MAX_CONTROLLER_ID ||
+ param_id >= MAX_CONTROL_PARAM_ID)
+ {
+ return -1;
+ }
+
+ // Set the param_val into the controller by controller_id, param_id
+ switch(param_id)
+ {
+ case KP_ID:
+ structs->parameter_struct.pid_controllers[controller_id].Kp = param_val;
+ break;
+ case KI_ID:
+ structs->parameter_struct.pid_controllers[controller_id].Ki = param_val;
+ break;
+ case KD_ID:
+ structs->parameter_struct.pid_controllers[controller_id].Kd = param_val;
+ break;
+ case SP_ID:
+ structs->parameter_struct.pid_controllers[controller_id].setpoint = param_val;
+ break;
+ }
+
+ return 0;
+}
+
+/**
+ * Handles a command to get a controller parameter from the quad.
+ *
+ * NOTE:
+ * Expects the uart buff to have data in the following format:
+ * |------------------------------------------|
+ * | data index || 0 | 1 |
+ * |------------------------------------------|
+ * | parameter || control ID | ctrl parmID |
+ * |------------------------------------------|
+ * | bytes || 1 | 1 |
+ * |------------------------------------------|
+ *
+ * Sends a response of type RESPONSECONTROL_ID.
+ * The response will have a message ID equal to the one originally received.
+ * The data of the response will be in the following format:
+ * |--------------------------------------------------------|
+ * | data index || 0 | 1 | 2 - 5 |
+ * |--------------------------------------------------------|
+ * | parameter || control ID | ctrl parmID | param val |
+ * |--------------------------------------------------------|
+ * | bytes || 1 | 1 | 4 |
+ * |--------------------------------------------------------|
+ */
+int cb_getparam(modular_structs_t* structs)
+{
+ // Get some of the meta data
+ u16 data_len = uart_buff_data_length();
+ u16 msg_id = uart_buff_get_u16(3);
+ // Check if the data length is correct
+ if (data_len != 2)
+ {
+ return -1;
+ }
+
+ // Get the controller ID, parameter ID
+ u8 controller_id = uart_buff_data_get_u8(0);
+ u8 param_id = uart_buff_data_get_u8(1);
+ // Check to make sure the IDs are in bounds
+ if (controller_id >= MAX_CONTROLLER_ID ||
+ param_id >= MAX_CONTROL_PARAM_ID)
+ {
+ return -1;
+ }
+
+ // Make the variable to send
+ float param_val;
+ // Set the param_val equal to the parameter value stored in the controller by
+ // controller_id, param_id
+ switch(param_id)
+ {
+ case KP_ID:
+ param_val = structs->parameter_struct.pid_controllers[controller_id].Kp;
+ break;
+ case KI_ID:
+ param_val = structs->parameter_struct.pid_controllers[controller_id].Ki;
+ break;
+ case KD_ID:
+ param_val = structs->parameter_struct.pid_controllers[controller_id].Kd;
+ break;
+ case SP_ID:
+ param_val = structs->parameter_struct.pid_controllers[controller_id].setpoint;
+ break;
+ }
+
+ // Format the response data
+ char resp_data[6];
+ // Controller ID
+ resp_data[0] = controller_id;
+ // Parameter ID
+ resp_data[1] = param_id;
+ // Parameter value (4 byte float)
+ // TODO set a strict byte ordering for communication between the ground station and the quad
+ memcpy(&resp_data[2], ¶m_val, sizeof(param_val));
+
+ // Send the response
+ send_data(RESPPARAM_ID, msg_id, resp_data, sizeof(resp_data));
-int cb_setrolld(modular_structs_t *structs)
-{
- structs->parameter_struct.roll_angle_pid.Kd = uart_buff_data_get_float(0);
return 0;
}
-
-int cb_setpitch(modular_structs_t *structs)
-{
- structs->setpoint_struct.desiredQuadPosition.pitch = uart_buff_data_get_float(0);
- return 0;
-}
-
-int cb_setpitchp(modular_structs_t *structs)
-{
- structs->parameter_struct.pitch_angle_pid.Kp = uart_buff_data_get_float(0);
- return 0;
-}
-
-int cb_setpitchd(modular_structs_t *structs)
-{
- structs->parameter_struct.pitch_angle_pid.Kd = uart_buff_data_get_float(0);
- return 0;
-}
-
-
-
-// rate functions to make Andy happy
-
-int cb_setyawratep(modular_structs_t *structs)
-{
- structs->parameter_struct.yaw_ang_vel_pid.Kp = uart_buff_data_get_float(0);
- return 0;
-}
-
-int cb_setyawrated(modular_structs_t *structs)
-{
- structs->parameter_struct.yaw_ang_vel_pid.Kd = uart_buff_data_get_float(0);
- return 0;
-}
-
-int cb_setrollratep(modular_structs_t *structs)
-{
- structs->parameter_struct.roll_ang_vel_pid.Kp = uart_buff_data_get_float(0);
- return 0;
-}
-
-int cb_setrollrated(modular_structs_t *structs)
-{
- structs->parameter_struct.roll_ang_vel_pid.Kd = uart_buff_data_get_float(0);
- return 0;
-}
-
-int cb_setpitchratep(modular_structs_t *structs)
-{
- structs->parameter_struct.pitch_ang_vel_pid.Kp = uart_buff_data_get_float(0);
- return 0;
-}
-
-int cb_setpitchrated(modular_structs_t *structs)
-{
- structs->parameter_struct.pitch_ang_vel_pid.Kd = uart_buff_data_get_float(0);
- return 0;
-}
-
-
-
-
-
-int cb_setheight(modular_structs_t *structs)
-{
- structs->setpoint_struct.desiredQuadPosition.alt_pos = uart_buff_data_get_float(0);
- return 0;
-}
-
-int cb_setheightp(modular_structs_t *structs)
-{
- structs->parameter_struct.alt_pid.Kp = uart_buff_data_get_float(0);
-}
-
-int cb_setheighti(modular_structs_t *structs)
-{
- structs->parameter_struct.alt_pid.Ki = uart_buff_data_get_float(0);
-}
-
-int cb_setheightd(modular_structs_t *structs)
-{
- structs->parameter_struct.alt_pid.Kd = uart_buff_data_get_float(0);
-}
diff --git a/quad/sw/modular_quad_pid/src/callbacks.h b/quad/sw/modular_quad_pid/src/callbacks.h
index 6b6dee02a2e6020df1e0ee47a44c724a044cf1c0..7e67ddac5b59b5e824faf8a2a6bb736609242fca 100644
--- a/quad/sw/modular_quad_pid/src/callbacks.h
+++ b/quad/sw/modular_quad_pid/src/callbacks.h
@@ -1,10 +1,11 @@
-#ifndef __callbacks_
+#ifndef __callbacks_h
#define __callbacks_h
/* Grab some stupid stuff from legacy code */
-#include "type_def.h"
+
+struct modular_structs;
/* Make commands.c happy */
-typedef int (command_cb)(modular_structs_t *structs);
+typedef int (command_cb)(struct modular_structs *structs);
#endif
diff --git a/quad/sw/modular_quad_pid/src/cb_default.h b/quad/sw/modular_quad_pid/src/cb_default.h
index 99982e63f73c37f9fdd1175bdf94c1f4b268a6c9..aa308108b499e2cb8f4e723a59b81b02abe6d29c 100644
--- a/quad/sw/modular_quad_pid/src/cb_default.h
+++ b/quad/sw/modular_quad_pid/src/cb_default.h
@@ -1,4 +1,5 @@
#include "commands.h"
+#include "type_def.h"
/* The cb_default used on the groundStation. This file MUST NOT BE INCLUDED
* by anything except for commands.c */
diff --git a/quad/sw/modular_quad_pid/src/communication.c b/quad/sw/modular_quad_pid/src/communication.c
index 04a5705b1d5f6e0db4fefe8c7993ffe1cd8527cd..bba31571e0e5e6b26bf244f538d3719021d2b7d8 100644
--- a/quad/sw/modular_quad_pid/src/communication.c
+++ b/quad/sw/modular_quad_pid/src/communication.c
@@ -73,8 +73,7 @@ int process_packet(modular_structs_t *structs) {
metadata_t meta_data;
// parse metadata
meta_data.begin_char = uart_buff_get_u8(0);
- meta_data.msg_type = uart_buff_get_u8(1);
- meta_data.msg_subtype = uart_buff_get_u8(2);
+ meta_data.msg_type = uart_buff_get_u16(1);
meta_data.msg_id = uart_buff_get_u16(3);
meta_data.data_len = uart_buff_get_u16(5);
unsigned char packet_checksum = uart_buff_get_u8(7+meta_data.data_len);
@@ -93,7 +92,7 @@ int process_packet(modular_structs_t *structs) {
}
// Call appropriate function for packet
- (* (MessageTypes[meta_data.msg_type].subtypes[meta_data.msg_subtype].functionPtr))(structs);
+ (* (MessageTypes[meta_data.msg_type].functionPtr))(structs);
uart_buff_consume_packet();
@@ -167,24 +166,23 @@ void uart_interrupt_handler(XUartPs *InstancePtr) {
IsrStatus);
}
-int send_data(u16 type_id, u16 subtype_id, u16 msg_id, char* data, size_t size) {
+int send_data(u16 type_id, u16 msg_id, char* data, size_t size) {
//----------------------------------------------------------------------------------------------
// index|| 0 | 1 | 2 | 3 & 4 | 5 & 6 | 7+ | end |
//---------------------------------------------------------------------------------------------|
- // msg param|| beg char | msg type | msg subtype | msg id | data len (bytes) | data | checksum |
+ // msg param|| beg char | msg type | msg id | data len (bytes) | data | checksum |
//-------------------------------------------------------------------------------------------- |
- // bytes|| 1 | 1 | 1 | 2 | 2 | var | 1 |
+ // bytes|| 1 | 2 | 2 | 2 | var | 1 |
//----------------------------------------------------------------------------------------------
char formattedHeader[7];
// Begin Char:
formattedHeader[0] = BEGIN_CHAR;
- // Msg type:
- formattedHeader[1] = type_id;
- // Msg subtype
- formattedHeader[2] = subtype_id;
- //Msg id 2 bytes
+ // Msg type 2 bytes:
+ formattedHeader[1] = type_id & 0x000000ff;
+ formattedHeader[2] = (type_id >> 8) & 0x000000ff;
+ // Msg id 2 bytes
formattedHeader[3] = msg_id & 0x000000ff;
formattedHeader[4] = (msg_id >> 8) & 0x000000ff;
// Data length and data - bytes 5&6 for len, 7+ for data
@@ -195,10 +193,6 @@ int send_data(u16 type_id, u16 subtype_id, u16 msg_id, char* data, size_t size)
unsigned char packet_checksum = 0;
int i;
- // TODO: Look into uart0_sendBytes and see if it would be better to use
- // Send header
- //uart0_sendBytes(formattedHeader, 7);
-
for(i = 0; i < 7; i++) {
packet_checksum ^= formattedHeader[i];
uart0_sendByte(formattedHeader[i]);
diff --git a/quad/sw/modular_quad_pid/src/communication.h b/quad/sw/modular_quad_pid/src/communication.h
index 12516af08ece11266a401bc4f51d1c8a5f1a1f15..92c7c86d039af0362e3d5a40c84187f6ad9fd29a 100644
--- a/quad/sw/modular_quad_pid/src/communication.h
+++ b/quad/sw/modular_quad_pid/src/communication.h
@@ -16,6 +16,6 @@
int initUartComms();
void process_received(modular_structs_t *structs);
void uart_interrupt_handler(XUartPs *InstancePtr);
-int send_data(u16 type_id, u16 subtype_id, u16 msg_id, char* data, size_t size);
+int send_data(u16 type_id, u16 msg_id, char* data, size_t size);
#endif
diff --git a/quad/sw/modular_quad_pid/src/control_algorithm.c b/quad/sw/modular_quad_pid/src/control_algorithm.c
index 2e79f58fb0ba983ca258cd543dc05e32740d038a..63ba756137739578a39f2609048a3728027266c7 100644
--- a/quad/sw/modular_quad_pid/src/control_algorithm.c
+++ b/quad/sw/modular_quad_pid/src/control_algorithm.c
@@ -16,42 +16,42 @@
{
// HUMAN Piloted (RC) PID DEFINITIONS //////
// RC PIDs for roll (2 loops: angle --> angular velocity)
- parameter_struct->roll_angle_pid.dt = 0.005; parameter_struct->roll_ang_vel_pid.dt = 0.005; // 5 ms calculation period
+ parameter_struct->pid_controllers[ROLL_ID].dt = 0.005; parameter_struct->pid_controllers[ROLL_RATE_ID].dt = 0.005; // 5 ms calculation period
// RC PIDs for pitch (2 loops: angle --> angular velocity)
- parameter_struct->pitch_angle_pid.dt = 0.005; parameter_struct->pitch_ang_vel_pid.dt = 0.005; // 5 ms calculation period
+ parameter_struct->pid_controllers[PITCH_ID].dt = 0.005; parameter_struct->pid_controllers[PITCH_RATE_ID].dt = 0.005; // 5 ms calculation period
// initialize Yaw PID_t and PID constants
// RC PID for yaw (1 loop angular velocity)
- parameter_struct->yaw_ang_vel_pid.dt = 0.005; // 5 ms calculation period
+ parameter_struct->pid_controllers[YAW_RATE_ID].dt = 0.005; // 5 ms calculation period
// AUTOMATIC Pilot (Position) PID DEFINITIONS //////
// Local X PID using a translation from X camera system data to quad local X position (3 loops: local y position --> angle --> angular velocity)
- parameter_struct->local_x_pid.dt = 0.100;
+ parameter_struct->pid_controllers[LOCAL_X_ID].dt = 0.100;
// Local Y PID using a translation from Y camera system data to quad local Y position(3 loops: local x position --> angle --> angular velocity)
- parameter_struct->local_y_pid.dt = 0.100;
+ parameter_struct->pid_controllers[LOCAL_Y_ID].dt = 0.100;
// CAM PIDs for yaw (2 loops angle --> angular velocity)
- parameter_struct->yaw_angle_pid.dt = 0.100;
+ parameter_struct->pid_controllers[YAW_ID].dt = 0.100;
// CAM PID for altitude (1 loop altitude)
- parameter_struct->alt_pid.dt = 0.100;
+ parameter_struct->pid_controllers[ALT_ID].dt = 0.100;
// PID coeffiecients (Position)
- setPIDCoeff(&(parameter_struct->local_y_pid), YPOS_KP, YPOS_KI, YPOS_KD);
- setPIDCoeff(&(parameter_struct->local_x_pid), XPOS_KP, XPOS_KI, XPOS_KD);
- setPIDCoeff(&(parameter_struct->alt_pid), ALT_ZPOS_KP, ALT_ZPOS_KI, ALT_ZPOS_KD);
+ setPIDCoeff(&(parameter_struct->pid_controllers[LOCAL_Y_ID]), YPOS_KP, YPOS_KI, YPOS_KD);
+ setPIDCoeff(&(parameter_struct->pid_controllers[LOCAL_X_ID]), XPOS_KP, XPOS_KI, XPOS_KD);
+ setPIDCoeff(&(parameter_struct->pid_controllers[ALT_ID]), ALT_ZPOS_KP, ALT_ZPOS_KI, ALT_ZPOS_KD);
// PID coefficients (Angle)
- setPIDCoeff(&(parameter_struct->pitch_angle_pid), PITCH_ANGLE_KP, PITCH_ANGLE_KI, PITCH_ANGLE_KD);
- setPIDCoeff(&(parameter_struct->roll_angle_pid), ROLL_ANGLE_KP, ROLL_ANGLE_KI, ROLL_ANGLE_KD);
- setPIDCoeff(&(parameter_struct->yaw_angle_pid), YAW_ANGLE_KP, YAW_ANGLE_KI, YAW_ANGLE_KD);
+ setPIDCoeff(&(parameter_struct->pid_controllers[PITCH_ID]), PITCH_ANGLE_KP, PITCH_ANGLE_KI, PITCH_ANGLE_KD);
+ setPIDCoeff(&(parameter_struct->pid_controllers[ROLL_ID]), ROLL_ANGLE_KP, ROLL_ANGLE_KI, ROLL_ANGLE_KD);
+ setPIDCoeff(&(parameter_struct->pid_controllers[YAW_ID]), YAW_ANGLE_KP, YAW_ANGLE_KI, YAW_ANGLE_KD);
// PID coefficients (Angular Velocity)
- setPIDCoeff(&(parameter_struct->pitch_ang_vel_pid), PITCH_ANGULAR_VELOCITY_KP, PITCH_ANGULAR_VELOCITY_KI, PITCH_ANGULAR_VELOCITY_KD);
- setPIDCoeff(&(parameter_struct->roll_ang_vel_pid), ROLL_ANGULAR_VELOCITY_KP, ROLL_ANGULAR_VELOCITY_KI, ROLL_ANGULAR_VELOCITY_KD);
- setPIDCoeff(&(parameter_struct->yaw_ang_vel_pid), YAW_ANGULAR_VELOCITY_KP, YAW_ANGULAR_VELOCITY_KI, YAW_ANGULAR_VELOCITY_KD);
+ setPIDCoeff(&(parameter_struct->pid_controllers[PITCH_RATE_ID]), PITCH_ANGULAR_VELOCITY_KP, PITCH_ANGULAR_VELOCITY_KI, PITCH_ANGULAR_VELOCITY_KD);
+ setPIDCoeff(&(parameter_struct->pid_controllers[ROLL_RATE_ID]), ROLL_ANGULAR_VELOCITY_KP, ROLL_ANGULAR_VELOCITY_KI, ROLL_ANGULAR_VELOCITY_KD);
+ setPIDCoeff(&(parameter_struct->pid_controllers[YAW_RATE_ID]), YAW_ANGULAR_VELOCITY_KP, YAW_ANGULAR_VELOCITY_KI, YAW_ANGULAR_VELOCITY_KD);
return 0;
}
@@ -102,14 +102,14 @@
if((cur_fm_switch == AUTO_FLIGHT_MODE) && (user_defined_struct->engaging_auto == 2))
{
// zero out the accumulated error so the I terms don't cause wild things to happen
- parameter_struct->alt_pid.acc_error = 0.0;
- parameter_struct->local_x_pid.acc_error = 0.0;
- parameter_struct->local_y_pid.acc_error = 0.0;
+ parameter_struct->pid_controllers[ALT_ID].acc_error = 0.0;
+ parameter_struct->pid_controllers[LOCAL_X_ID].acc_error = 0.0;
+ parameter_struct->pid_controllers[LOCAL_Y_ID].acc_error = 0.0;
// make previous error equal to the current so the D term doesn't spike
- parameter_struct->alt_pid.prev_error = 0.0;
- parameter_struct->local_x_pid.prev_error = 0.0;
- parameter_struct->local_y_pid.prev_error = 0.0;
+ parameter_struct->pid_controllers[ALT_ID].prev_error = 0.0;
+ parameter_struct->pid_controllers[LOCAL_X_ID].prev_error = 0.0;
+ parameter_struct->pid_controllers[LOCAL_Y_ID].prev_error = 0.0;
setpoint_struct->desiredQuadPosition.alt_pos = sensor_struct->currentQuadPosition.alt_pos;
setpoint_struct->desiredQuadPosition.x_pos = sensor_struct->currentQuadPosition.x_pos;
@@ -135,26 +135,26 @@
if(user_input_struct->locationFresh)
{
- parameter_struct->local_y_pid.current_point = sensor_struct->currentQuadPosition.y_pos;
- parameter_struct->local_y_pid.setpoint = setpoint_struct->desiredQuadPosition.y_pos;
+ parameter_struct->pid_controllers[LOCAL_Y_ID].current_point = sensor_struct->currentQuadPosition.y_pos;
+ parameter_struct->pid_controllers[LOCAL_Y_ID].setpoint = setpoint_struct->desiredQuadPosition.y_pos;
- parameter_struct->local_x_pid.current_point = sensor_struct->currentQuadPosition.x_pos;
- parameter_struct->local_x_pid.setpoint = setpoint_struct->desiredQuadPosition.x_pos;
+ parameter_struct->pid_controllers[LOCAL_X_ID].current_point = sensor_struct->currentQuadPosition.x_pos;
+ parameter_struct->pid_controllers[LOCAL_X_ID].setpoint = setpoint_struct->desiredQuadPosition.x_pos;
- parameter_struct->alt_pid.current_point = sensor_struct->currentQuadPosition.alt_pos;
- parameter_struct->alt_pid.setpoint = setpoint_struct->desiredQuadPosition.alt_pos;
+ parameter_struct->pid_controllers[ALT_ID].current_point = sensor_struct->currentQuadPosition.alt_pos;
+ parameter_struct->pid_controllers[ALT_ID].setpoint = setpoint_struct->desiredQuadPosition.alt_pos;
//logging and PID computation
- log_struct->local_y_PID_values = pid_computation(&(parameter_struct->local_y_pid));
- log_struct->local_x_PID_values = pid_computation(&(parameter_struct->local_x_pid));
- log_struct->altitude_PID_values = pid_computation(&(parameter_struct->alt_pid));
+ log_struct->local_y_PID_values = pid_computation(&(parameter_struct->pid_controllers[LOCAL_Y_ID]));
+ log_struct->local_x_PID_values = pid_computation(&(parameter_struct->pid_controllers[LOCAL_X_ID]));
+ log_struct->altitude_PID_values = pid_computation(&(parameter_struct->pid_controllers[ALT_ID]));
// yaw angular position PID calculation
- parameter_struct->yaw_angle_pid.current_point = sensor_struct->currentQuadPosition.yaw;// in radians
- parameter_struct->yaw_angle_pid.setpoint = setpoint_struct->desiredQuadPosition.yaw; // constant setpoint
+ parameter_struct->pid_controllers[YAW_ID].current_point = sensor_struct->currentQuadPosition.yaw;// in radians
+ parameter_struct->pid_controllers[YAW_ID].setpoint = setpoint_struct->desiredQuadPosition.yaw; // constant setpoint
//logging and PID computation
- log_struct->angle_yaw_PID_values = pid_computation(&(parameter_struct->yaw_angle_pid));
+ log_struct->angle_yaw_PID_values = pid_computation(&(parameter_struct->pid_controllers[YAW_ID]));
}
@@ -165,37 +165,37 @@
*/
//angle boundaries
- if(parameter_struct->local_x_pid.pid_correction > ROLL_PITCH_MAX_ANGLE)
+ if(parameter_struct->pid_controllers[LOCAL_X_ID].pid_correction > ROLL_PITCH_MAX_ANGLE)
{
- parameter_struct->local_x_pid.pid_correction = ROLL_PITCH_MAX_ANGLE;
+ parameter_struct->pid_controllers[LOCAL_X_ID].pid_correction = ROLL_PITCH_MAX_ANGLE;
}
- if(parameter_struct->local_x_pid.pid_correction < -ROLL_PITCH_MAX_ANGLE)
+ if(parameter_struct->pid_controllers[LOCAL_X_ID].pid_correction < -ROLL_PITCH_MAX_ANGLE)
{
- parameter_struct->local_x_pid.pid_correction = -ROLL_PITCH_MAX_ANGLE;
+ parameter_struct->pid_controllers[LOCAL_X_ID].pid_correction = -ROLL_PITCH_MAX_ANGLE;
}
- if(parameter_struct->local_y_pid.pid_correction > ROLL_PITCH_MAX_ANGLE)
+ if(parameter_struct->pid_controllers[LOCAL_Y_ID].pid_correction > ROLL_PITCH_MAX_ANGLE)
{
- parameter_struct->local_y_pid.pid_correction = ROLL_PITCH_MAX_ANGLE;
+ parameter_struct->pid_controllers[LOCAL_Y_ID].pid_correction = ROLL_PITCH_MAX_ANGLE;
}
- if(parameter_struct->local_y_pid.pid_correction < -ROLL_PITCH_MAX_ANGLE)
+ if(parameter_struct->pid_controllers[LOCAL_Y_ID].pid_correction < -ROLL_PITCH_MAX_ANGLE)
{
- parameter_struct->local_y_pid.pid_correction = -ROLL_PITCH_MAX_ANGLE;
+ parameter_struct->pid_controllers[LOCAL_Y_ID].pid_correction = -ROLL_PITCH_MAX_ANGLE;
}
- parameter_struct->pitch_angle_pid.current_point = sensor_struct->pitch_angle_filtered;
- parameter_struct->pitch_angle_pid.setpoint =
+ parameter_struct->pid_controllers[PITCH_ID].current_point = sensor_struct->pitch_angle_filtered;
+ parameter_struct->pid_controllers[PITCH_ID].setpoint =
/*(user_defined_struct->flight_mode == AUTO_FLIGHT_MODE)?
- (parameter_struct->local_x_pid.pid_correction) + pitch_trim :*/ user_input_struct->pitch_angle_manual_setpoint;
+ (parameter_struct->pid_controllers[LOCAL_X_ID].pid_correction) + pitch_trim :*/ user_input_struct->pitch_angle_manual_setpoint;
- parameter_struct->roll_angle_pid.current_point = sensor_struct->roll_angle_filtered;
- parameter_struct->roll_angle_pid.setpoint =
+ parameter_struct->pid_controllers[ROLL_ID].current_point = sensor_struct->roll_angle_filtered;
+ parameter_struct->pid_controllers[ROLL_ID].setpoint =
/*(user_defined_struct->flight_mode == AUTO_FLIGHT_MODE)?
- (parameter_struct->local_y_pid.pid_correction) + roll_trim :*/ user_input_struct->roll_angle_manual_setpoint;
+ (parameter_struct->pid_controllers[LOCAL_Y_ID].pid_correction) + roll_trim :*/ user_input_struct->roll_angle_manual_setpoint;
//logging and PID computation
- log_struct->angle_pitch_PID_values = pid_computation(&(parameter_struct->pitch_angle_pid));
- log_struct->angle_roll_PID_values = pid_computation(&(parameter_struct->roll_angle_pid));
+ log_struct->angle_pitch_PID_values = pid_computation(&(parameter_struct->pid_controllers[PITCH_ID]));
+ log_struct->angle_roll_PID_values = pid_computation(&(parameter_struct->pid_controllers[ROLL_ID]));
/* Angular Velocity Loop
@@ -205,25 +205,25 @@
// theta_dot is the angular velocity about the y-axis
// it is calculated from using the gimbal equations
- parameter_struct->pitch_ang_vel_pid.current_point = sensor_struct->theta_dot;
- parameter_struct->pitch_ang_vel_pid.setpoint = parameter_struct->pitch_angle_pid.pid_correction;
+ parameter_struct->pid_controllers[PITCH_RATE_ID].current_point = sensor_struct->theta_dot;
+ parameter_struct->pid_controllers[PITCH_RATE_ID].setpoint = parameter_struct->pid_controllers[PITCH_ID].pid_correction;
// phi_dot is the angular velocity about the x-axis
// it is calculated from using the gimbal equations
- parameter_struct->roll_ang_vel_pid.current_point = sensor_struct->phi_dot;
- parameter_struct->roll_ang_vel_pid.setpoint = parameter_struct->roll_angle_pid.pid_correction;
+ parameter_struct->pid_controllers[ROLL_RATE_ID].current_point = sensor_struct->phi_dot;
+ parameter_struct->pid_controllers[ROLL_RATE_ID].setpoint = parameter_struct->pid_controllers[ROLL_ID].pid_correction;
// Yaw angular velocity PID
// psi_dot is the angular velocity about the z-axis
// it is calculated from using the gimbal equations
- parameter_struct->yaw_ang_vel_pid.current_point = sensor_struct->psi_dot;
- parameter_struct->yaw_ang_vel_pid.setpoint = /*(user_defined_struct->flight_mode == AUTO_FLIGHT_MODE)?
- parameter_struct->yaw_angle_pid.pid_correction :*/ user_input_struct->yaw_manual_setpoint; // no trim added because the controller already works well
+ parameter_struct->pid_controllers[YAW_RATE_ID].current_point = sensor_struct->psi_dot;
+ parameter_struct->pid_controllers[YAW_RATE_ID].setpoint = /*(user_defined_struct->flight_mode == AUTO_FLIGHT_MODE)?
+ parameter_struct->pid_controllers[YAW_ID].pid_correction :*/ user_input_struct->yaw_manual_setpoint; // no trim added because the controller already works well
//logging and PID computation
- log_struct->ang_vel_pitch_PID_values = pid_computation(&(parameter_struct->pitch_ang_vel_pid));
- log_struct->ang_vel_roll_PID_values = pid_computation(&(parameter_struct->roll_ang_vel_pid));
- log_struct->ang_vel_yaw_PID_values = pid_computation(&(parameter_struct->yaw_ang_vel_pid));
+ log_struct->ang_vel_pitch_PID_values = pid_computation(&(parameter_struct->pid_controllers[PITCH_RATE_ID]));
+ log_struct->ang_vel_roll_PID_values = pid_computation(&(parameter_struct->pid_controllers[ROLL_RATE_ID]));
+ log_struct->ang_vel_yaw_PID_values = pid_computation(&(parameter_struct->pid_controllers[YAW_RATE_ID]));
//END PIDs///////////////////////////////////////////////////////////////////////
@@ -240,43 +240,43 @@
{
//THROTTLE
raw_actuator_struct->controller_corrected_motor_commands[THROTTLE] =
- ((int)(parameter_struct->alt_pid.pid_correction)) + sensor_struct->trims.throttle;
+ ((int)(parameter_struct->pid_controllers[ALT_ID].pid_correction)) + sensor_struct->trims.throttle;
//ROLL
raw_actuator_struct->controller_corrected_motor_commands[ROLL] =
- parameter_struct->roll_ang_vel_pid.pid_correction; // + sensor_struct->trims.roll;
+ parameter_struct->pid_controllers[ROLL_RATE_ID].pid_correction; // + sensor_struct->trims.roll;
//PITCH
raw_actuator_struct->controller_corrected_motor_commands[PITCH] =
- parameter_struct->pitch_ang_vel_pid.pid_correction; // + sensor_struct->trims.pitch;
+ parameter_struct->pid_controllers[PITCH_RATE_ID].pid_correction; // + sensor_struct->trims.pitch;
//YAW
raw_actuator_struct->controller_corrected_motor_commands[YAW] =
- parameter_struct->yaw_ang_vel_pid.pid_correction;// + sensor_struct->trims.yaw;
+ parameter_struct->pid_controllers[YAW_RATE_ID].pid_correction;// + sensor_struct->trims.yaw;
// static int slow_down = 0;
// slow_down++;
// if(slow_down % 50 == 0)
// printf("X: %.3f\tY: %.3f\tZ: %.3f\tX_s: %.3f\tX_c: %.3f\tY_s: %.3f\tY_c: %.3f\tZ_s: %.3f\tZ_c: %.3f\t\n",
-// parameter_struct->local_x_pid.pid_correction,
-// parameter_struct->local_y_pid.pid_correction,
-// parameter_struct->alt_pid.pid_correction,
-// parameter_struct->local_x_pid.setpoint, parameter_struct->local_x_pid.current_point,
-// parameter_struct->local_y_pid.setpoint, parameter_struct->local_y_pid.current_point,
-// parameter_struct->alt_pid.setpoint, parameter_struct->alt_pid.current_point);
+// parameter_struct->pid_controllers[LOCAL_X_ID].pid_correction,
+// parameter_struct->pid_controllers[LOCAL_Y_ID].pid_correction,
+// parameter_struct->pid_controllers[ALT_ID].pid_correction,
+// parameter_struct->pid_controllers[LOCAL_X_ID].setpoint, parameter_struct->pid_controllers[LOCAL_X_ID].current_point,
+// parameter_struct->pid_controllers[LOCAL_Y_ID].setpoint, parameter_struct->pid_controllers[LOCAL_Y_ID].current_point,
+// parameter_struct->pid_controllers[ALT_ID].setpoint, parameter_struct->pid_controllers[ALT_ID].current_point);
}
else{
//ROLL
raw_actuator_struct->controller_corrected_motor_commands[ROLL] =
- parameter_struct->roll_ang_vel_pid.pid_correction;
+ parameter_struct->pid_controllers[ROLL_RATE_ID].pid_correction;
//PITCH
raw_actuator_struct->controller_corrected_motor_commands[PITCH] =
- parameter_struct->pitch_ang_vel_pid.pid_correction;
+ parameter_struct->pid_controllers[PITCH_RATE_ID].pid_correction;
//YAW
raw_actuator_struct->controller_corrected_motor_commands[YAW] =
- parameter_struct->yaw_ang_vel_pid.pid_correction;
+ parameter_struct->pid_controllers[YAW_RATE_ID].pid_correction;
}
//BOUNDS CHECKING
@@ -314,17 +314,17 @@
// here we are not actually duplicating the logging from the PID computation
// the PID computation logs PID_values struct where this logs the PID struct
// they contain different sets of data
- log_struct->local_y_PID = parameter_struct->local_y_pid;
- log_struct->local_x_PID = parameter_struct->local_x_pid;
- log_struct->altitude_PID = parameter_struct->alt_pid;
+ log_struct->local_y_PID = parameter_struct->pid_controllers[LOCAL_Y_ID];
+ log_struct->local_x_PID = parameter_struct->pid_controllers[LOCAL_X_ID];
+ log_struct->altitude_PID = parameter_struct->pid_controllers[ALT_ID];
- log_struct->angle_roll_PID = parameter_struct->roll_angle_pid;
- log_struct->angle_pitch_PID = parameter_struct->pitch_angle_pid;
- log_struct->angle_yaw_PID = parameter_struct->yaw_angle_pid;
+ log_struct->angle_roll_PID = parameter_struct->pid_controllers[ROLL_ID];
+ log_struct->angle_pitch_PID = parameter_struct->pid_controllers[PITCH_ID];
+ log_struct->angle_yaw_PID = parameter_struct->pid_controllers[YAW_ID];
- log_struct->ang_vel_roll_PID = parameter_struct->roll_ang_vel_pid;
- log_struct->ang_vel_pitch_PID = parameter_struct->pitch_ang_vel_pid;
- log_struct->ang_vel_yaw_PID = parameter_struct->yaw_ang_vel_pid;
+ log_struct->ang_vel_roll_PID = parameter_struct->pid_controllers[ROLL_RATE_ID];
+ log_struct->ang_vel_pitch_PID = parameter_struct->pid_controllers[PITCH_RATE_ID];
+ log_struct->ang_vel_yaw_PID = parameter_struct->pid_controllers[YAW_RATE_ID];
last_fm_switch = cur_fm_switch;
diff --git a/quad/sw/modular_quad_pid/src/log_data.c b/quad/sw/modular_quad_pid/src/log_data.c
index f1e9e7a825a696486d3768708bc269841e745f4c..2ab248cdda53c460527bf294e95a0091e5a47151 100644
--- a/quad/sw/modular_quad_pid/src/log_data.c
+++ b/quad/sw/modular_quad_pid/src/log_data.c
@@ -147,7 +147,7 @@ void printLogging(){
strcat(buf,header);
strcat(buf,units);
- send_data(MessageTypes[5].ID, MessageTypes[5].subtypes[0].ID, 0, buf, strlen(buf) + 1);
+ send_data(LOG_ID, 0, buf, strlen(buf) + 1);
//uart0_sendBytes(buf, strlen(buf));
//usleep(100000);
@@ -155,7 +155,7 @@ void printLogging(){
/* print & send log data */
for(i = 0; i < arrayIndex; i++){
char* logLine = format(logArray[i]);
- send_data(MessageTypes[5].ID, MessageTypes[5].subtypes[0].ID, 0, logLine, strlen(logLine) + 1);
+ send_data(LOG_ID, 0, logLine, strlen(logLine) + 1);
free(logLine);
}
}
diff --git a/quad/sw/modular_quad_pid/src/sensor.c b/quad/sw/modular_quad_pid/src/sensor.c
index 86d1aebd49388560cc7abb41199ce9ead2043383..9f24a3b76f52eef86538396a75cac32f72d8e733 100644
--- a/quad/sw/modular_quad_pid/src/sensor.c
+++ b/quad/sw/modular_quad_pid/src/sensor.c
@@ -38,12 +38,11 @@ int get_sensors(log_t* log_struct, user_input_t* user_input_struct, raw_sensor_t
// metadata_t metadata =
// {
// BEGIN_CHAR,
-// MessageTypes[5].ID,
-// MessageTypes[5].subtypes[1].ID,
+// RESPONSE_TYPE_ID,
// 0,
// (strlen(buf) + 1)
// };
-// formatPacket(&metadata, buf, &responsePacket);
+// formatPacket(&metadata, buf, MessageTypes[RESPONSE_TYPE_ID].functionPtr);
//
// // Send each byte of the packet individually
// int i;
diff --git a/quad/sw/modular_quad_pid/src/type_def.h b/quad/sw/modular_quad_pid/src/type_def.h
index a13879a48884a77414b50ed5dbb421566b32f1c9..c6f89b496581f5241b2bfa392d50f1fbda319fd5 100644
--- a/quad/sw/modular_quad_pid/src/type_def.h
+++ b/quad/sw/modular_quad_pid/src/type_def.h
@@ -9,6 +9,8 @@
#define TYPE_DEF_H_
#include <stdint.h>
+#include "commands.h"
+
/**
* @brief
* The modes for autonomous and manual flight.
@@ -22,14 +24,13 @@ enum flight_mode{
//----------------------------------------------------------------------------------------------
// index|| 0 | 1 | 2 | 3 & 4 | 5 & 6 | 7+ | end |
//---------------------------------------------------------------------------------------------|
-// msg param|| beg char | msg type | msg subtype | msg id | data len (bytes) | data | checksum |
+// msg param|| beg char | msg type | msg id | data len (bytes) | data | checksum |
//-------------------------------------------------------------------------------------------- |
-// bytes|| 1 | 1 | 1 | 2 | 2 | var | 1 |
+// bytes|| 1 | 2 | 2 | 2 | var | 1 |
//----------------------------------------------------------------------------------------------
typedef struct {
char begin_char;
- char msg_type;
- char msg_subtype;
+ uint16_t msg_type;
uint16_t msg_id;
uint16_t data_len;
} metadata_t;
@@ -107,14 +108,14 @@ typedef struct {
}gam_t;
typedef struct PID_t {
- double current_point; // Current value of the system
- double setpoint; // Desired value of the system
+ float current_point; // Current value of the system
+ float setpoint; // Desired value of the system
float Kp; // Proportional constant
float Ki; // Integral constant
float Kd; // Derivative constant
- double prev_error; // Previous error
- double acc_error; // Accumulated error
- double pid_correction; // Correction factor computed by the PID
+ float prev_error; // Previous error
+ float acc_error; // Accumulated error
+ float pid_correction; // Correction factor computed by the PID
float dt; // sample period
} PID_t;
@@ -286,13 +287,7 @@ typedef struct setpoint_t {
*
*/
typedef struct parameter_t {
- PID_t roll_angle_pid, roll_ang_vel_pid;
- PID_t pitch_angle_pid, pitch_ang_vel_pid;
- PID_t yaw_ang_vel_pid;
- PID_t local_x_pid;
- PID_t local_y_pid;
- PID_t yaw_angle_pid;
- PID_t alt_pid;
+ PID_t pid_controllers[MAX_CONTROLLER_ID];
} parameter_t;
/**
@@ -329,7 +324,7 @@ typedef struct actuator_command_t {
* @brief
* Structures to be used throughout
*/
-typedef struct {
+typedef struct modular_structs {
user_input_t user_input_struct;
log_t log_struct;
raw_sensor_t raw_sensor_struct;
@@ -339,7 +334,7 @@ typedef struct {
user_defined_t user_defined_struct;
raw_actuator_t raw_actuator_struct;
actuator_command_t actuator_command_struct;
-}modular_structs_t;
+} modular_structs_t;
//////// END MAIN MODULAR STRUCTS
diff --git a/quad/sw/modular_quad_pid/src/uart.c b/quad/sw/modular_quad_pid/src/uart.c
index a31256e43d0afa9c1e30b5248ad558f04c0bbe8c..8328bed7b4f35388240e8c075b5e92cf4e7c4f70 100644
--- a/quad/sw/modular_quad_pid/src/uart.c
+++ b/quad/sw/modular_quad_pid/src/uart.c
@@ -298,8 +298,8 @@ void uart0_sendStr(char* str) {
void uart0_sendMetaData(metadata_t md)
{
uart0_sendByte(md.begin_char);
- uart0_sendByte(md.msg_type);
- uart0_sendByte(md.msg_subtype);
+ uart0_sendByte(md.msg_type & 0x00ff);
+ uart0_sendByte((md.msg_type >> 8) & 0x00ff);
uart0_sendByte(md.msg_id & 0x00ff);
uart0_sendByte((md.msg_id >> 8) & 0x00ff);
uart0_sendByte(md.data_len & 0x00ff);
diff --git a/quad/sw/modular_quad_pid/test/test_uart_buff.c b/quad/sw/modular_quad_pid/test/test_uart_buff.c
index 29b127bbd254176baa50543d5bb35d5226facc4d..72eb683edef7662107329a745685c7b26a4610be 100644
--- a/quad/sw/modular_quad_pid/test/test_uart_buff.c
+++ b/quad/sw/modular_quad_pid/test/test_uart_buff.c
@@ -50,10 +50,10 @@ int failed(char *msg) {
return 1;
}
-void add_packet(unsigned char type, unsigned char subtype, unsigned short id, unsigned short length, unsigned char *data) {
+void add_packet(u16 type, unsigned short id, unsigned short length, unsigned char *data) {
uart_buff_add_u8(0xBE);
uart_buff_add_u8(type);
- uart_buff_add_u8(subtype);
+ uart_buff_add_u8(type >> 8);
uart_buff_add_u8(id);
uart_buff_add_u8(id >> 8);
uart_buff_add_u8(length);