diff --git a/controls/model/loggingAnalysis/logAnalysis.m b/controls/model/loggingAnalysis/logAnalysis.m
index e427bf141ec9003dd7d5dc1e896dd1f1d1fe0411..b240f0dcb7a3fb25ac8ffd1737bd60b3fc2bc6b7 100644
--- a/controls/model/loggingAnalysis/logAnalysis.m
+++ b/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');
-
-
diff --git a/controls/model/modelParameters.m b/controls/model/modelParameters.m
index 4ff541ead94489dbfb5d7da83ae62d4adf8fcdd4..42bf4b89f56c1310c30d16d57576a61ab92ca9fe 100644
--- a/controls/model/modelParameters.m
+++ b/controls/model/modelParameters.m
@@ -1,4 +1,3 @@
-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
diff --git a/controls/model/parse_log_model.m b/controls/model/parse_log_model.m
index 59aef835bd0d5077e9619b7c02880a8390d95643..cb7cd4aa2d95314e075ed4129ea2e723c30405a1 100644
--- a/controls/model/parse_log_model.m
+++ b/controls/model/parse_log_model.m
@@ -1,4 +1,4 @@
-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
diff --git a/controls/model/test_model.slx b/controls/model/test_model.slx
index 714e5c977f6c505ea95c96d4cb0ac6325d7dd456..92b139549538c6faa45058b6f41784f2c238384b 100644
Binary files a/controls/model/test_model.slx and b/controls/model/test_model.slx differ