From bda897e7f8210f03426851e542e7ddac161b27f5 Mon Sep 17 00:00:00 2001
From: David Wehr <dawehr@iastate.edu>
Date: Sat, 1 Apr 2017 04:48:00 -0500
Subject: [PATCH] Updated simplePlots.m file
---
controls/DataAnalysisTool/Tool/simplePlots.m | 53 +++++++++++++++++---
1 file changed, 46 insertions(+), 7 deletions(-)
diff --git a/controls/DataAnalysisTool/Tool/simplePlots.m b/controls/DataAnalysisTool/Tool/simplePlots.m
index edd91bf4a..dfe97b5ae 100644
--- a/controls/DataAnalysisTool/Tool/simplePlots.m
+++ b/controls/DataAnalysisTool/Tool/simplePlots.m
@@ -38,22 +38,22 @@ legend('Pitch Error', 'Pitch PID output');
linkaxes([ax1, ax2], 'x');
%%
ax2 = subplot(2,2,1);
-plot(time, XSetpointConstant - VRPNXConstant);
+plot(expData.Time.data, expData.X_Setpoint_Constant.data - expData.VRPN_X_Constant.data);
title('X error');
ax1 = subplot(2,2,2);
-plot(time, XposPIDCorrection);
+plot(expData.Time.data, expData.X_pos_PID_Correction.data);
title('x output');
ax3 = subplot(2,2,3);
-plot(time, PitchPIDCorrection); hold on;
-plot(time, VRPNPitchConstant .* 10);
+plot(expData.Time.data, expData.Pitch_PID_Correction.data); hold on;
+plot(expData.Time.data, expData.VRPN_Pitch_Constant.data .* 10);
title('pitch output');
legend('output', 'Pitch');
ax4 = subplot(2,2,4);
-plot(time, PitchRatePIDCorrection); hold on;
-plot(time, gyro_y .* 1044.26);
+plot(expData.Time.data, expData.Pitch_Rate_PID_Correction.data); hold on;
+plot(expData.Time.data, expData.gyro_y.data .* 1044.26);
legend('output', 'Pitch rate');
title('pitch rate output');
@@ -67,4 +67,43 @@ plot(time, YawConstant);
ax1 = subplot(2, 1, 2);
plot(time, gyro_z); hold on;
plot(time, YawRatePIDCorrection);
-linkaxes([ax1, ax2], 'x');
\ No newline at end of file
+linkaxes([ax1, ax2], 'x');
+
+%%
+all_motors = expData.Signal_Mixer_PWM_0.data + expData.Signal_Mixer_PWM_1.data + ...
+ expData.Signal_Mixer_PWM_2.data + expData.Signal_Mixer_PWM_3.data;
+ax1 = subplot(1, 2, 1);
+plot(expData.Time.data, all_motors ./ 4); hold on;
+plot(expData.Time.data, expData.RC_Throttle_Constant.data); hold on;
+plot(expData.Time.data, expData.Pitch_Rate_PID_Correction.data); hold on;
+plot(expData.Time.data, expData.Roll_Rate_PID_Correction.data); hold on;
+plot(expData.Time.data, expData.Yaw_Rate_PID_Correction.data);
+legend('average motors', 'throttle', 'pitch', 'roll', 'yaw');
+ax2 = subplot(1, 2, 2);
+plot(expData.Time.data, -expData.VRPN_Alt_Constant.data);
+legend('Z, meters');
+linkaxes([ax1, ax2], 'x');
+
+%%
+ax1 = subplot(1, 2, 1);
+plot(expData.Time.data, expData.Pitch_Constant.data .* (180 / pi)); hold on; grid minor
+plot(expData.Time.data, expData.VRPN_Pitch_Constant.data .* (180 / pi));
+legend('imu', 'vrpn');
+ax2 = subplot(1, 2, 2);
+plot(expData.Time.data, expData.Roll_Constant.data .* (180 / pi)); hold on; grid minor
+plot(expData.Time.data, expData.VRPN_Roll_Constant.data .* (180 / pi));
+legend('imu', 'vrpn');
+linkaxes([ax1, ax2], 'x');
+
+%%
+vrpn_roll_d = diff(expData.VRPN_Roll_Constant.data) / 0.005;
+plot(expData.Time.data, [0; vrpn_roll_d] .* (180 / pi)); hold on; grid minor;
+plot(expData.Time.data, expData.gyro_x.data .* (180 / pi));
+%%
+ax1 = subplot(3, 1, 1);
+plot(expData.Time.data, expData.gyro_x.data);
+ax2 = subplot(3, 1, 2);
+plot(expData.Time.data, expData.gyro_y.data);
+ax3 = subplot(3, 1, 3);
+plot(expData.Time.data, expData.gyro_z.data);
+linkaxes([ax1, ax2, ax3], 'x');
--
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