Updated logging tools for model verification

controls/model/loggingAnalysis/logAnalysis.m

@@ -208,7 +208,7 @@ legend('Log', 'Model', 'location', 'northwest');
 figure(6); subplot(2, 1, 1);
 stairs(time, pitch_measured_IMU, '.-'); hold on; grid minor;
 stairs(time_model_5ms, pitch_accel, '.-'); hold off;
-title('Pitch Complimentary Filter Output');
+title('Pitch Complementary Filter Output');
 xlabel('Time (s)');
 ylabel('Pitch Angle (rad)');
 legend('Log', 'Model', 'location', 'northwest');
@@ -216,9 +216,7 @@ legend('Log', 'Model', 'location', 'northwest');
 subplot(2, 1, 2);
 stairs(time, roll_measured_IMU, '.-'); hold on; grid minor;
 stairs(time_model_5ms, roll_accel, '.-'); hold off;
-title('Roll Complimentary Filter Output');
+title('Roll Complementary Filter Output');
 xlabel('Time (s)');
 ylabel('Roll Angle (rad)');
 legend('Log', 'Model', 'location', 'northwest');
-
-

controls/model/modelParameters.m

-temp = 1;
 % Log Analysis Toggle    
     logAnalysisToggle = 1;          % 1 for log analysis, 0 for normal operation
 
@@ -43,9 +42,9 @@ temp = 1;
     
     % Equilibrium height controller output
     height_controlled_o = (((Rm*If + ...
-    + (((omega0_o * 2 * Rm * Kv * Kq  ...
+    + (((omega0_o * 2 * Rm * Kv * Kq ...
     * Kd + 1)^2) - 1)/(4* Rm*Kv^2*Kq ...
-    *Kd))/Vb)*(Pmax- Pmin)+Pmin);
+    * Kd))/Vb)*(Pmax- Pmin) + Pmin);
 
     % Equilibrium positions
     x_o = 0;
@@ -67,133 +66,7 @@ temp = 1;
     pitchrate_o = 0;
     yawrate_o = 0;
     
-% Import Data and determine errors
-if logAnalysisToggle == 1 && temp == 0
-    % Import Data to Workspace
-    %data = importdata('loggingAnalysis/logFiles/logData.csv');
-    data = importdata('loggingAnalysis/logFiles/test.csv');
-
-    % Set up time vector
-    time = data.data(:, 1);
-    runtime = max(time);
-   
-    % Determine x position error
-    x_setpoint = data.data(:, 25);
-    x_position = data.data(:, 20);
-    x_error = timeseries(x_setpoint - x_position, time);
-
-    % Determine y position error
-    y_setpoint = data.data(:, 26);
-    y_position = data.data(:, 21);
-    y_error = timeseries(y_setpoint - y_position, time);
-
-    % Determine z position error
-    z_setpoint = data.data(:, 27);
-    z_position = data.data(:, 22);
-    z_error = timeseries(z_setpoint - z_position, time);
-
-    % Determine pitch error
-    pitch_setpoint = data.data(:, 9);
-    pitch_value = data.data(:, 23);
-    pitch_error = timeseries(pitch_setpoint - pitch_value, time);
-
-    % Determine roll error
-    roll_setpoint = data.data(:, 10);
-    roll_value = data.data(:, 24);
-    roll_error = timeseries(roll_setpoint - roll_value, time);
-
-    % Determine yaw error
-    yaw_setpoint = zeros(length(time), 1); % NEEDS UPDATED WHEN LOG FILE INCLUDES YAW SETPOINT
-    yaw_value = data.data(:,10);%(length(time), 1); % NEEDS UPDATED WHEN LOG FILE INCLUDES YAW VALUE
-    yaw_error = timeseries(yaw_setpoint - yaw_value, time);
-
-    % Determine pitch rate error
-    pitchrate_setpoint = data.data(:, 11);
-    pitchrate_value = data.data(:, 6);
-    pitchrate_error = timeseries(pitchrate_setpoint - pitchrate_value, time);
-
-    % Determine roll rate error
-    rollrate_setpoint = data.data(:, 12);
-    rollrate_value = data.data(:, 5);
-    rollrate_error = timeseries(rollrate_setpoint - rollrate_value, time);
-
-    % Determine yaw rate error
-    yawrate_setpoint = data.data(:, 13);
-    yawrate_value = data.data(:, 7);
-    yawrate_error = timeseries(yawrate_setpoint - yawrate_value, time);
-
-    % Pull motor commands from log
-    x_command = data.data(:, 14);
-    y_command = data.data(:, 15);
-    z_command = data.data(:, 8);
-    yaw_command = data.data(:, 16);
-    
-    %Create time series object for z command
-    throttle_command = timeseries(z_command, time);
-    
-    % Determine signal mix PWM values
-    PWM0 = data.data(:, 28);
-    PWM1 = data.data(:, 29);
-    PWM2 = data.data(:, 30);
-    PWM3 = data.data(:, 31);
-    
-    %Pull the measurements from the acceleratometer
-    raw_accel_data_x = data.data(:, 2);
-    raw_accel_data_y = data.data(:, 3);
-    raw_accel_data_z = data.data(:, 4);
-    raw_accel_data_arr = ...
-        [ raw_accel_data_x , raw_accel_data_y , raw_accel_data_z ];
-    raw_accel_data = timeseries( raw_accel_data_arr , time );
-    
-    %Pull the measurements from the gyroscope
-    raw_gyro_data_x = data.data(:, 5);
-    raw_gyro_data_y = data.data(:, 6);
-    raw_gyro_data_z = data.data(:, 7);
-    raw_gyro_data_arr = ...
-        [ raw_gyro_data_x , raw_gyro_data_y , raw_gyro_data_z ];
-    raw_gyro_data = timeseries( raw_gyro_data_arr , time );
-    
-    
-    % Determine the initial height controller command
-    % height_controlled_o = 1; % NEEDS UPDATED WHEN LOG FILES INCLUDE THROTTLE COMMAND
-    
-    % Determine the initial rotor speeds based on PWM inputs
-    u_P0 = (PWM0(1) - Pmin) / (Pmax - Pmin);
-    u_P1 = (PWM1(1) - Pmin) / (Pmax - Pmin);
-    u_P2 = (PWM2(1) - Pmin) / (Pmax - Pmin);
-    u_P3 = (PWM3(1) - Pmin) / (Pmax - Pmin);
-    
-    Vb_eff_0 = u_P0 * Vb;
-    Vb_eff_1 = u_P1 * Vb;
-    Vb_eff_2 = u_P2 * Vb;
-    Vb_eff_3 = u_P3 * Vb;
-    
-    omega0_o = (-1 + sqrt(1 - 4*Rm*Kv*Kq*Kd*( Kv*Rm*If - Kv*Vb_eff_0))) / (2*Rm*Kv*Kq*Kd);
-    omega1_o = (-1 + sqrt(1 - 4*Rm*Kv*Kq*Kd*( Kv*Rm*If - Kv*Vb_eff_1))) / (2*Rm*Kv*Kq*Kd);
-    omega2_o = (-1 + sqrt(1 - 4*Rm*Kv*Kq*Kd*( Kv*Rm*If - Kv*Vb_eff_2))) / (2*Rm*Kv*Kq*Kd);
-    omega3_o = (-1 + sqrt(1 - 4*Rm*Kv*Kq*Kd*( Kv*Rm*If - Kv*Vb_eff_3))) / (2*Rm*Kv*Kq*Kd);
-    
-    % Determine initial positions for x, y, and z
-    x_o = x_position(1);
-    y_o = y_position(1);
-    z_o = z_position(1);
-    
-    % Determine initial velocity for x, y, and z
-    x_vel_o = (x_position(2) - x_position(1)) / (time(2) - time(1));
-    y_vel_o = (y_position(2) - y_position(1)) / (time(2) - time(1));
-    z_vel_o = (z_position(2) - z_position(1)) / (time(2) - time(1));
-    
-    % Determine initial angles
-    roll_o = roll_value(1);
-    pitch_o = pitch_value(1);
-    yaw_o = yaw_value(1);
-    
-    % Determine initial angular rates
-    rollrate_o = rollrate_value(1);
-    pitchrate_o = pitchrate_value(1);
-    yawrate_o = yawrate_value(1);
-
-elseif logAnalysisToggle == 1 && temp == 1
+if logAnalysisToggle == 1
     %%%%%% Commented out section until logging is .txt file based %%%%%%
     % FNAME
     % if you know the name of the log file that you want to parse, set the it
@@ -218,6 +91,9 @@ elseif logAnalysisToggle == 1 && temp == 1
     time = dataStruct.Time.data;
     time = time - time(1);
     
+    time = time(1):0.005:time(length(time)-7);
+    time = time';
+    
     runtime = max(time);
  
     % Determine x position error

controls/model/parse_log_model.m

-function [loggedData, headers] = parse_log_model(filename, params, expData)
+function [loggedData, headers] = parse_log_model(filename)
 %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