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Hotfix: Copy a current version of the log conversion tools to each log directory
This commit is contained in:
Lorenz Meier
parent
da9d9781f9
commit
0025e9ca90
BIN
ROMFS/px4fmu_common/logging/log_converter.zip
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BIN
ROMFS/px4fmu_common/logging/log_converter.zip
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@ -1,586 +0,0 @@
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% This Matlab Script can be used to import the binary logged values of the
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% PX4FMU into data that can be plotted and analyzed.
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%% ************************************************************************
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% PX4LOG_PLOTSCRIPT: Main function
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% ************************************************************************
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function PX4Log_Plotscript
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% Clear everything
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clc
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clear all
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close all
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% ************************************************************************
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% SETTINGS
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% ************************************************************************
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% Set the path to your sysvector.bin file here
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filePath = 'sysvector.bin';
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% Set the minimum and maximum times to plot here [in seconds]
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mintime=0; %The minimum time/timestamp to display, as set by the user [0 for first element / start]
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maxtime=0; %The maximum time/timestamp to display, as set by the user [0 for last element / end]
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%Determine which data to plot. Not completely implemented yet.
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bDisplayGPS=true;
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%conversion factors
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fconv_gpsalt=1E-3; %[mm] to [m]
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fconv_gpslatlong=1E-7; %[gps_raw_position_unit] to [deg]
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fconv_timestamp=1E-6; % [microseconds] to [seconds]
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% ************************************************************************
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% Import the PX4 logs
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% ************************************************************************
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ImportPX4LogData();
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%Translate min and max plot times to indices
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time=double(sysvector.timestamp) .*fconv_timestamp;
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mintime_log=time(1); %The minimum time/timestamp found in the log
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maxtime_log=time(end); %The maximum time/timestamp found in the log
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CurTime=mintime_log; %The current time at which to draw the aircraft position
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[imintime,imaxtime]=FindMinMaxTimeIndices();
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% ************************************************************************
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% PLOT & GUI SETUP
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% ************************************************************************
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NrFigures=5;
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NrAxes=10;
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h.figures(1:NrFigures)=0.0; % Temporary initialization of figure handle array - these are numbered consecutively
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h.axes(1:NrAxes)=0.0; % Temporary initialization of axes handle array - these are numbered consecutively
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h.pathpoints=[]; % Temporary initiliazation of path points
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% Setup the GUI to control the plots
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InitControlGUI();
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% Setup the plotting-GUI (figures, axes) itself.
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InitPlotGUI();
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% ************************************************************************
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% DRAW EVERYTHING
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% ************************************************************************
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DrawRawData();
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DrawCurrentAircraftState();
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%% ************************************************************************
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% *** END OF MAIN SCRIPT ***
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% NESTED FUNCTION DEFINTIONS FROM HERE ON
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% ************************************************************************
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%% ************************************************************************
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% IMPORTPX4LOGDATA (nested function)
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% ************************************************************************
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% Attention: This is the import routine for firmware from ca. 03/2013.
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% Other firmware versions might require different import
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% routines.
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function ImportPX4LogData()
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% Work around a Matlab bug (not related to PX4)
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% where timestamps from 1.1.1970 do not allow to
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% read the file's size
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if ismac
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system('touch -t 201212121212.12 sysvector.bin');
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end
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% ************************************************************************
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% RETRIEVE SYSTEM VECTOR
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% *************************************************************************
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% //All measurements in NED frame
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%
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% uint64_t timestamp; //[us]
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% float gyro[3]; //[rad/s]
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% float accel[3]; //[m/s^2]
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% float mag[3]; //[gauss]
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% float baro; //pressure [millibar]
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% float baro_alt; //altitude above MSL [meter]
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% float baro_temp; //[degree celcius]
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% float control[4]; //roll, pitch, yaw [-1..1], thrust [0..1]
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% float actuators[8]; //motor 1-8, in motor units (PWM: 1000-2000,AR.Drone: 0-512)
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% float vbat; //battery voltage in [volt]
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% float bat_current - current drawn from battery at this time instant
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% float bat_discharged - discharged energy in mAh
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% float adc[4]; //remaining auxiliary ADC ports [volt]
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% float local_position[3]; //tangent plane mapping into x,y,z [m]
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% int32_t gps_raw_position[3]; //latitude [degrees] north, longitude [degrees] east, altitude above MSL [millimeter]
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% float attitude[3]; //pitch, roll, yaw [rad]
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% float rotMatrix[9]; //unitvectors
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% float actuator_control[4]; //unitvector
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% float optical_flow[4]; //roll, pitch, yaw [-1..1], thrust [0..1]
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% float diff_pressure; - pressure difference in millibar
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% float ind_airspeed;
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% float true_airspeed;
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% Definition of the logged values
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logFormat{1} = struct('name', 'timestamp', 'bytes', 8, 'array', 1, 'precision', 'uint64', 'machineformat', 'ieee-le.l64');
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logFormat{2} = struct('name', 'gyro', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{3} = struct('name', 'accel', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{4} = struct('name', 'mag', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{5} = struct('name', 'baro', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{6} = struct('name', 'baro_alt', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{7} = struct('name', 'baro_temp', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{8} = struct('name', 'control', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{9} = struct('name', 'actuators', 'bytes', 4, 'array', 8, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{10} = struct('name', 'vbat', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{11} = struct('name', 'bat_current', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{12} = struct('name', 'bat_discharged', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{13} = struct('name', 'adc', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{14} = struct('name', 'local_position', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{15} = struct('name', 'gps_raw_position', 'bytes', 4, 'array', 3, 'precision', 'uint32', 'machineformat', 'ieee-le');
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logFormat{16} = struct('name', 'attitude', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{17} = struct('name', 'rot_matrix', 'bytes', 4, 'array', 9, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{18} = struct('name', 'vicon_position', 'bytes', 4, 'array', 6, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{19} = struct('name', 'actuator_control', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{20} = struct('name', 'optical_flow', 'bytes', 4, 'array', 6, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{21} = struct('name', 'diff_pressure', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{22} = struct('name', 'ind_airspeed', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{23} = struct('name', 'true_airspeed', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
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% First get length of one line
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columns = length(logFormat);
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lineLength = 0;
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for i=1:columns
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lineLength = lineLength + logFormat{i}.bytes * logFormat{i}.array;
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end
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if exist(filePath, 'file')
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fileInfo = dir(filePath);
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fileSize = fileInfo.bytes;
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elements = int64(fileSize./(lineLength));
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fid = fopen(filePath, 'r');
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offset = 0;
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for i=1:columns
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% using fread with a skip speeds up the import drastically, do not
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% import the values one after the other
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sysvector.(genvarname(logFormat{i}.name)) = transpose(fread(...
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fid, ...
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[logFormat{i}.array, elements], [num2str(logFormat{i}.array),'*',logFormat{i}.precision,'=>',logFormat{i}.precision], ...
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lineLength - logFormat{i}.bytes*logFormat{i}.array, ...
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logFormat{i}.machineformat) ...
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);
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offset = offset + logFormat{i}.bytes*logFormat{i}.array;
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fseek(fid, offset,'bof');
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end
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% shot the flight time
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time_us = sysvector.timestamp(end) - sysvector.timestamp(1);
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time_s = time_us*1e-6;
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time_m = time_s/60;
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% close the logfile
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fclose(fid);
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disp(['end log2matlab conversion' char(10)]);
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else
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disp(['file: ' filePath ' does not exist' char(10)]);
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end
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end
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%% ************************************************************************
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% INITCONTROLGUI (nested function)
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% ************************************************************************
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%Setup central control GUI components to control current time where data is shown
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function InitControlGUI()
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%**********************************************************************
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% GUI size definitions
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%**********************************************************************
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dxy=5; %margins
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%Panel: Plotctrl
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dlabels=120;
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dsliders=200;
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dedits=80;
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hslider=20;
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hpanel1=40; %panel1
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hpanel2=220;%panel2
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hpanel3=3*hslider+4*dxy+3*dxy;%panel3.
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width=dlabels+dsliders+dedits+4*dxy+2*dxy; %figure width
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height=hpanel1+hpanel2+hpanel3+4*dxy; %figure height
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%**********************************************************************
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% Create GUI
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%**********************************************************************
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h.figures(1)=figure('Units','pixels','position',[200 200 width height],'Name','Control GUI');
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h.guistatepanel=uipanel('Title','Current GUI state','Units','pixels','Position',[dxy dxy width-2*dxy hpanel1],'parent',h.figures(1));
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h.aircraftstatepanel=uipanel('Title','Current aircraft state','Units','pixels','Position',[dxy hpanel1+2*dxy width-2*dxy hpanel2],'parent',h.figures(1));
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h.plotctrlpanel=uipanel('Title','Plot Control','Units','pixels','Position',[dxy hpanel1+hpanel2+3*dxy width-2*dxy hpanel3],'parent',h.figures(1));
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%%Control GUI-elements
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%Slider: Current time
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h.labels.CurTime=uicontrol(gcf,'style','text','Position',[dxy dxy dlabels hslider],'String','Current time t[s]:','parent',h.plotctrlpanel,'HorizontalAlignment','left');
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h.sliders.CurTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels dxy dsliders hslider],...
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'min',mintime,'max',maxtime,'value',mintime,'callback',@curtime_callback,'parent',h.plotctrlpanel);
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temp=get(h.sliders.CurTime,'Max')-get(h.sliders.CurTime,'Min');
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set(h.sliders.CurTime,'SliderStep',[1.0/temp 5.0/temp]);
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h.edits.CurTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders dxy dedits hslider],'String',get(h.sliders.CurTime,'value'),...
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'BackgroundColor','white','callback',@curtime_callback,'parent',h.plotctrlpanel);
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%Slider: MaxTime
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h.labels.MaxTime=uicontrol(gcf,'style','text','position',[dxy 2*dxy+hslider dlabels hslider],'String','Max. time t[s] to display:','parent',h.plotctrlpanel,'HorizontalAlignment','left');
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h.sliders.MaxTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels 2*dxy+hslider dsliders hslider],...
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'min',mintime_log,'max',maxtime_log,'value',maxtime,'callback',@minmaxtime_callback,'parent',h.plotctrlpanel);
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h.edits.MaxTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders 2*dxy+hslider dedits hslider],'String',get(h.sliders.MaxTime,'value'),...
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'BackgroundColor','white','callback',@minmaxtime_callback,'parent',h.plotctrlpanel);
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%Slider: MinTime
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h.labels.MinTime=uicontrol(gcf,'style','text','position',[dxy 3*dxy+2*hslider dlabels hslider],'String','Min. time t[s] to dispay :','parent',h.plotctrlpanel,'HorizontalAlignment','left');
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h.sliders.MinTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels 3*dxy+2*hslider dsliders hslider],...
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'min',mintime_log,'max',maxtime_log,'value',mintime,'callback',@minmaxtime_callback,'parent',h.plotctrlpanel);
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h.edits.MinTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders 3*dxy+2*hslider dedits hslider],'String',get(h.sliders.MinTime,'value'),...
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'BackgroundColor','white','callback',@minmaxtime_callback,'parent',h.plotctrlpanel);
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%%Current data/state GUI-elements (Multiline-edit-box)
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h.edits.AircraftState=uicontrol(gcf,'style','edit','Units','normalized','position',[.02 .02 0.96 0.96],'Min',1,'Max',10,'String','This shows the current aircraft state',...
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'HorizontalAlignment','left','parent',h.aircraftstatepanel);
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h.labels.GUIState=uicontrol(gcf,'style','text','Units','pixels','position',[dxy dxy width-4*dxy hslider],'String','Current state of this GUI',...
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'HorizontalAlignment','left','parent',h.guistatepanel);
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end
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%% ************************************************************************
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% INITPLOTGUI (nested function)
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% ************************************************************************
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function InitPlotGUI()
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% Setup handles to lines and text
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h.markertext=[];
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templinehandle=0.0;%line([0 1],[0 5]); % Just a temporary handle to init array
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h.markerline(1:NrAxes)=templinehandle; % the actual handle-array to the lines - these are numbered consecutively
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h.markerline(1:NrAxes)=0.0;
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% Setup all other figures and axes for plotting
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% PLOT WINDOW 1: GPS POSITION
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h.figures(2)=figure('units','normalized','Toolbar','figure', 'Name', 'GPS Position');
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h.axes(1)=axes();
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set(h.axes(1),'Parent',h.figures(2));
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% PLOT WINDOW 2: IMU, baro altitude
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h.figures(3)=figure('Name', 'IMU / Baro Altitude');
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h.axes(2)=subplot(4,1,1);
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h.axes(3)=subplot(4,1,2);
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h.axes(4)=subplot(4,1,3);
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h.axes(5)=subplot(4,1,4);
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set(h.axes(2:5),'Parent',h.figures(3));
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% PLOT WINDOW 3: ATTITUDE ESTIMATE, ACTUATORS/CONTROLS, AIRSPEEDS,...
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h.figures(4)=figure('Name', 'Attitude Estimate / Actuators / Airspeeds');
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h.axes(6)=subplot(4,1,1);
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h.axes(7)=subplot(4,1,2);
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h.axes(8)=subplot(4,1,3);
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h.axes(9)=subplot(4,1,4);
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set(h.axes(6:9),'Parent',h.figures(4));
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% PLOT WINDOW 4: LOG STATS
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h.figures(5) = figure('Name', 'Log Statistics');
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h.axes(10)=subplot(1,1,1);
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set(h.axes(10:10),'Parent',h.figures(5));
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end
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%% ************************************************************************
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% DRAWRAWDATA (nested function)
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% ************************************************************************
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%Draws the raw data from the sysvector, but does not add any
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%marker-lines or so
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function DrawRawData()
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% ************************************************************************
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% PLOT WINDOW 1: GPS POSITION & GUI
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% ************************************************************************
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figure(h.figures(2));
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% Only plot GPS data if available
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if (sum(double(sysvector.gps_raw_position(imintime:imaxtime,1)))>0) && (bDisplayGPS)
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%Draw data
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plot3(h.axes(1),double(sysvector.gps_raw_position(imintime:imaxtime,1))*fconv_gpslatlong, ...
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double(sysvector.gps_raw_position(imintime:imaxtime,2))*fconv_gpslatlong, ...
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double(sysvector.gps_raw_position(imintime:imaxtime,3))*fconv_gpsalt,'r.');
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title(h.axes(1),'GPS Position Data(if available)');
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xlabel(h.axes(1),'Latitude [deg]');
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ylabel(h.axes(1),'Longitude [deg]');
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zlabel(h.axes(1),'Altitude above MSL [m]');
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grid on
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%Reset path
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h.pathpoints=0;
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end
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% ************************************************************************
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% PLOT WINDOW 2: IMU, baro altitude
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% ************************************************************************
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figure(h.figures(3));
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plot(h.axes(2),time(imintime:imaxtime),sysvector.mag(imintime:imaxtime,:));
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title(h.axes(2),'Magnetometers [Gauss]');
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legend(h.axes(2),'x','y','z');
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plot(h.axes(3),time(imintime:imaxtime),sysvector.accel(imintime:imaxtime,:));
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title(h.axes(3),'Accelerometers [m/s²]');
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legend(h.axes(3),'x','y','z');
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plot(h.axes(4),time(imintime:imaxtime),sysvector.gyro(imintime:imaxtime,:));
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title(h.axes(4),'Gyroscopes [rad/s]');
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legend(h.axes(4),'x','y','z');
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plot(h.axes(5),time(imintime:imaxtime),sysvector.baro_alt(imintime:imaxtime),'color','blue');
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if(bDisplayGPS)
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hold on;
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plot(h.axes(5),time(imintime:imaxtime),double(sysvector.gps_raw_position(imintime:imaxtime,3)).*fconv_gpsalt,'color','red');
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hold off
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legend('Barometric Altitude [m]','GPS Altitude [m]');
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else
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legend('Barometric Altitude [m]');
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end
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title(h.axes(5),'Altitude above MSL [m]');
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% ************************************************************************
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% PLOT WINDOW 3: ATTITUDE ESTIMATE, ACTUATORS/CONTROLS, AIRSPEEDS,...
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% ************************************************************************
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figure(h.figures(4));
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%Attitude Estimate
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plot(h.axes(6),time(imintime:imaxtime), sysvector.attitude(imintime:imaxtime,:).*180./3.14159);
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title(h.axes(6),'Estimated attitude [deg]');
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legend(h.axes(6),'roll','pitch','yaw');
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%Actuator Controls
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plot(h.axes(7),time(imintime:imaxtime), sysvector.actuator_control(imintime:imaxtime,:));
|
||||
title(h.axes(7),'Actuator control [-]');
|
||||
legend(h.axes(7),'0','1','2','3');
|
||||
%Actuator Controls
|
||||
plot(h.axes(8),time(imintime:imaxtime), sysvector.actuators(imintime:imaxtime,1:8));
|
||||
title(h.axes(8),'Actuator PWM (raw-)outputs [µs]');
|
||||
legend(h.axes(8),'CH1','CH2','CH3','CH4','CH5','CH6','CH7','CH8');
|
||||
set(h.axes(8), 'YLim',[800 2200]);
|
||||
%Airspeeds
|
||||
plot(h.axes(9),time(imintime:imaxtime), sysvector.ind_airspeed(imintime:imaxtime));
|
||||
hold on
|
||||
plot(h.axes(9),time(imintime:imaxtime), sysvector.true_airspeed(imintime:imaxtime));
|
||||
hold off
|
||||
%add GPS total airspeed here
|
||||
title(h.axes(9),'Airspeed [m/s]');
|
||||
legend(h.axes(9),'Indicated Airspeed (IAS)','True Airspeed (TAS)','GPS Airspeed');
|
||||
%calculate time differences and plot them
|
||||
intervals = zeros(0,imaxtime - imintime);
|
||||
for k = imintime+1:imaxtime
|
||||
intervals(k) = time(k) - time(k-1);
|
||||
end
|
||||
plot(h.axes(10), time(imintime:imaxtime), intervals);
|
||||
|
||||
%Set same timescale for all plots
|
||||
for i=2:NrAxes
|
||||
set(h.axes(i),'XLim',[mintime maxtime]);
|
||||
end
|
||||
|
||||
set(h.labels.GUIState,'String','OK','BackgroundColor',[240/255 240/255 240/255]);
|
||||
end
|
||||
|
||||
%% ************************************************************************
|
||||
% DRAWCURRENTAIRCRAFTSTATE(nested function)
|
||||
% ************************************************************************
|
||||
function DrawCurrentAircraftState()
|
||||
%find current data index
|
||||
i=find(time>=CurTime,1,'first');
|
||||
|
||||
%**********************************************************************
|
||||
% Current aircraft state label update
|
||||
%**********************************************************************
|
||||
acstate{1,:}=[sprintf('%s \t\t','GPS Pos:'),'[lat=',num2str(double(sysvector.gps_raw_position(i,1))*fconv_gpslatlong),'°, ',...
|
||||
'lon=',num2str(double(sysvector.gps_raw_position(i,2))*fconv_gpslatlong),'°, ',...
|
||||
'alt=',num2str(double(sysvector.gps_raw_position(i,3))*fconv_gpsalt),'m]'];
|
||||
acstate{2,:}=[sprintf('%s \t\t','Mags[gauss]'),'[x=',num2str(sysvector.mag(i,1)),...
|
||||
', y=',num2str(sysvector.mag(i,2)),...
|
||||
', z=',num2str(sysvector.mag(i,3)),']'];
|
||||
acstate{3,:}=[sprintf('%s \t\t','Accels[m/s²]'),'[x=',num2str(sysvector.accel(i,1)),...
|
||||
', y=',num2str(sysvector.accel(i,2)),...
|
||||
', z=',num2str(sysvector.accel(i,3)),']'];
|
||||
acstate{4,:}=[sprintf('%s \t\t','Gyros[rad/s]'),'[x=',num2str(sysvector.gyro(i,1)),...
|
||||
', y=',num2str(sysvector.gyro(i,2)),...
|
||||
', z=',num2str(sysvector.gyro(i,3)),']'];
|
||||
acstate{5,:}=[sprintf('%s \t\t','Altitude[m]'),'[Barometric: ',num2str(sysvector.baro_alt(i)),'m, GPS: ',num2str(double(sysvector.gps_raw_position(i,3))*fconv_gpsalt),'m]'];
|
||||
acstate{6,:}=[sprintf('%s \t','Est. attitude[deg]:'),'[Roll=',num2str(sysvector.attitude(i,1).*180./3.14159),...
|
||||
', Pitch=',num2str(sysvector.attitude(i,2).*180./3.14159),...
|
||||
', Yaw=',num2str(sysvector.attitude(i,3).*180./3.14159),']'];
|
||||
acstate{7,:}=sprintf('%s \t[','Actuator Ctrls [-]:');
|
||||
for j=1:4
|
||||
acstate{7,:}=[acstate{7,:},num2str(sysvector.actuator_control(i,j)),','];
|
||||
end
|
||||
acstate{7,:}=[acstate{7,:},']'];
|
||||
acstate{8,:}=sprintf('%s \t[','Actuator Outputs [PWM/µs]:');
|
||||
for j=1:8
|
||||
acstate{8,:}=[acstate{8,:},num2str(sysvector.actuators(i,j)),','];
|
||||
end
|
||||
acstate{8,:}=[acstate{8,:},']'];
|
||||
acstate{9,:}=[sprintf('%s \t','Airspeed[m/s]:'),'[IAS: ',num2str(sysvector.ind_airspeed(i)),', TAS: ',num2str(sysvector.true_airspeed(i)),']'];
|
||||
|
||||
set(h.edits.AircraftState,'String',acstate);
|
||||
|
||||
%**********************************************************************
|
||||
% GPS Plot Update
|
||||
%**********************************************************************
|
||||
%Plot traveled path, and and time.
|
||||
figure(h.figures(2));
|
||||
hold on;
|
||||
if(CurTime>mintime+1) %the +1 is only a small bugfix
|
||||
h.pathline=plot3(h.axes(1),double(sysvector.gps_raw_position(imintime:i,1))*fconv_gpslatlong, ...
|
||||
double(sysvector.gps_raw_position(imintime:i,2))*fconv_gpslatlong, ...
|
||||
double(sysvector.gps_raw_position(imintime:i,3))*fconv_gpsalt,'b','LineWidth',2);
|
||||
end;
|
||||
hold off
|
||||
%Plot current position
|
||||
newpoint=[double(sysvector.gps_raw_position(i,1))*fconv_gpslatlong double(sysvector.gps_raw_position(i,2))*fconv_gpslatlong double(sysvector.gps_raw_position(i,3))*fconv_gpsalt];
|
||||
if(numel(h.pathpoints)<=3) %empty path
|
||||
h.pathpoints(1,1:3)=newpoint;
|
||||
else %Not empty, append new point
|
||||
h.pathpoints(size(h.pathpoints,1)+1,:)=newpoint;
|
||||
end
|
||||
axes(h.axes(1));
|
||||
line(h.pathpoints(:,1),h.pathpoints(:,2),h.pathpoints(:,3),'LineStyle','none','Marker','.','MarkerEdge','black','MarkerSize',20);
|
||||
|
||||
|
||||
% Plot current time (small label next to current gps position)
|
||||
textdesc=strcat(' t=',num2str(time(i)),'s');
|
||||
if(isvalidhandle(h.markertext))
|
||||
delete(h.markertext); %delete old text
|
||||
end
|
||||
h.markertext=text(double(sysvector.gps_raw_position(i,1))*fconv_gpslatlong,double(sysvector.gps_raw_position(i,2))*fconv_gpslatlong,...
|
||||
double(sysvector.gps_raw_position(i,3))*fconv_gpsalt,textdesc);
|
||||
set(h.edits.CurTime,'String',CurTime);
|
||||
|
||||
%**********************************************************************
|
||||
% Plot the lines showing the current time in the 2-d plots
|
||||
%**********************************************************************
|
||||
for i=2:NrAxes
|
||||
if(isvalidhandle(h.markerline(i))) delete(h.markerline(i)); end
|
||||
ylims=get(h.axes(i),'YLim');
|
||||
h.markerline(i)=line([CurTime CurTime] ,get(h.axes(i),'YLim'),'Color','black');
|
||||
set(h.markerline(i),'parent',h.axes(i));
|
||||
end
|
||||
|
||||
set(h.labels.GUIState,'String','OK','BackgroundColor',[240/255 240/255 240/255]);
|
||||
end
|
||||
|
||||
%% ************************************************************************
|
||||
% MINMAXTIME CALLBACK (nested function)
|
||||
% ************************************************************************
|
||||
function minmaxtime_callback(hObj,event) %#ok<INUSL>
|
||||
new_mintime=get(h.sliders.MinTime,'Value');
|
||||
new_maxtime=get(h.sliders.MaxTime,'Value');
|
||||
|
||||
%Safety checks:
|
||||
bErr=false;
|
||||
%1: mintime must be < maxtime
|
||||
if((new_mintime>maxtime) || (new_maxtime<mintime))
|
||||
set(h.labels.GUIState,'String','Error: Mintime cannot be bigger than maxtime! Values were not changed.','BackgroundColor','red');
|
||||
bErr=true;
|
||||
else
|
||||
%2: MinTime must be <=CurTime
|
||||
if(new_mintime>CurTime)
|
||||
set(h.labels.GUIState,'String','Error: Mintime cannot be bigger than CurTime! CurTime set to new mintime.','BackgroundColor','red');
|
||||
mintime=new_mintime;
|
||||
CurTime=mintime;
|
||||
bErr=true;
|
||||
end
|
||||
%3: MaxTime must be >CurTime
|
||||
if(new_maxtime<CurTime)
|
||||
set(h.labels.GUIState,'String','Error: Maxtime cannot be smaller than CurTime! CurTime set to new maxtime.','BackgroundColor','red');
|
||||
maxtime=new_maxtime;
|
||||
CurTime=maxtime;
|
||||
bErr=true;
|
||||
end
|
||||
end
|
||||
|
||||
if(bErr==false)
|
||||
maxtime=new_maxtime;
|
||||
mintime=new_mintime;
|
||||
end
|
||||
|
||||
%Needs to be done in case values were reset above
|
||||
set(h.sliders.MinTime,'Value',mintime);
|
||||
set(h.sliders.MaxTime,'Value',maxtime);
|
||||
|
||||
%Update curtime-slider
|
||||
set(h.sliders.CurTime,'Value',CurTime);
|
||||
set(h.sliders.CurTime,'Max',maxtime);
|
||||
set(h.sliders.CurTime,'Min',mintime);
|
||||
temp=get(h.sliders.CurTime,'Max')-get(h.sliders.CurTime,'Min');
|
||||
set(h.sliders.CurTime,'SliderStep',[1.0/temp 5.0/temp]); %Set Stepsize to constant [in seconds]
|
||||
|
||||
%update edit fields
|
||||
set(h.edits.CurTime,'String',get(h.sliders.CurTime,'Value'));
|
||||
set(h.edits.MinTime,'String',get(h.sliders.MinTime,'Value'));
|
||||
set(h.edits.MaxTime,'String',get(h.sliders.MaxTime,'Value'));
|
||||
|
||||
%Finally, we have to redraw. Update time indices first.
|
||||
[imintime,imaxtime]=FindMinMaxTimeIndices();
|
||||
DrawRawData(); %Rawdata only
|
||||
DrawCurrentAircraftState(); %path info & markers
|
||||
end
|
||||
|
||||
|
||||
%% ************************************************************************
|
||||
% CURTIME CALLBACK (nested function)
|
||||
% ************************************************************************
|
||||
function curtime_callback(hObj,event) %#ok<INUSL>
|
||||
%find current time
|
||||
if(hObj==h.sliders.CurTime)
|
||||
CurTime=get(h.sliders.CurTime,'Value');
|
||||
elseif (hObj==h.edits.CurTime)
|
||||
temp=str2num(get(h.edits.CurTime,'String'));
|
||||
if(temp<maxtime && temp>mintime)
|
||||
CurTime=temp;
|
||||
else
|
||||
%Error
|
||||
set(h.labels.GUIState,'String','Error: You tried to set an invalid current time! Previous value restored.','BackgroundColor','red');
|
||||
end
|
||||
else
|
||||
%Error
|
||||
set(h.labels.GUIState,'String','Error: curtime_callback','BackgroundColor','red');
|
||||
end
|
||||
|
||||
set(h.sliders.CurTime,'Value',CurTime);
|
||||
set(h.edits.CurTime,'String',num2str(CurTime));
|
||||
|
||||
%Redraw time markers, but don't have to redraw the whole raw data
|
||||
DrawCurrentAircraftState();
|
||||
end
|
||||
|
||||
%% ************************************************************************
|
||||
% FINDMINMAXINDICES (nested function)
|
||||
% ************************************************************************
|
||||
function [idxmin,idxmax] = FindMinMaxTimeIndices()
|
||||
for i=1:size(sysvector.timestamp,1)
|
||||
if time(i)>=mintime; idxmin=i; break; end
|
||||
end
|
||||
for i=1:size(sysvector.timestamp,1)
|
||||
if maxtime==0; idxmax=size(sysvector.timestamp,1); break; end
|
||||
if time(i)>=maxtime; idxmax=i; break; end
|
||||
end
|
||||
mintime=time(idxmin);
|
||||
maxtime=time(idxmax);
|
||||
end
|
||||
|
||||
%% ************************************************************************
|
||||
% ISVALIDHANDLE (nested function)
|
||||
% ************************************************************************
|
||||
function isvalid = isvalidhandle(handle)
|
||||
if(exist(varname(handle))>0 && length(ishandle(handle))>0)
|
||||
if(ishandle(handle)>0)
|
||||
if(handle>0.0)
|
||||
isvalid=true;
|
||||
return;
|
||||
end
|
||||
end
|
||||
end
|
||||
isvalid=false;
|
||||
end
|
||||
|
||||
%% ************************************************************************
|
||||
% JUST SOME SMALL HELPER FUNCTIONS (nested function)
|
||||
% ************************************************************************
|
||||
function out = varname(var)
|
||||
out = inputname(1);
|
||||
end
|
||||
|
||||
%This is the end of the matlab file / the main function
|
||||
end
|
||||
@ -604,6 +604,15 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
errx(1, "unable to create logging folder, exiting.");
|
||||
}
|
||||
|
||||
const char *converter_in = "/etc/logging/log_converter.zip";
|
||||
char* converter_out = malloc(200);
|
||||
sprintf(converter_out, "%s/log_converter.zip", folder_path);
|
||||
|
||||
if (file_copy(converter_in, converter_out)) {
|
||||
errx(1, "unable to copy conversion scripts, exiting.");
|
||||
}
|
||||
free(converter_out);
|
||||
|
||||
/* only print logging path, important to find log file later */
|
||||
warnx("logging to directory: %s", folder_path);
|
||||
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user