mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-21 02:53:34 +08:00
Merge working changes into export-build branch.
This commit is contained in:
px4dev
@@ -0,0 +1,67 @@
|
||||
#!nsh
|
||||
#
|
||||
# Flight startup script for PX4FMU with PWM outputs.
|
||||
#
|
||||
|
||||
# Disable the USB interface
|
||||
set USB no
|
||||
|
||||
# Disable autostarting other apps
|
||||
set MODE custom
|
||||
|
||||
echo "[init] doing PX4FMU Quad startup..."
|
||||
|
||||
#
|
||||
# Start the ORB
|
||||
#
|
||||
uorb start
|
||||
|
||||
#
|
||||
# Load microSD params
|
||||
#
|
||||
echo "[init] loading microSD params"
|
||||
param select /fs/microsd/parameters
|
||||
if [ -f /fs/microsd/parameters ]
|
||||
then
|
||||
param load /fs/microsd/parameters
|
||||
fi
|
||||
|
||||
#
|
||||
# Force some key parameters to sane values
|
||||
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
|
||||
# see https://pixhawk.ethz.ch/mavlink/
|
||||
#
|
||||
param set MAV_TYPE 2
|
||||
|
||||
#
|
||||
# Start MAVLink
|
||||
#
|
||||
mavlink start -d /dev/ttyS0 -b 57600
|
||||
usleep 5000
|
||||
|
||||
#
|
||||
# Start the sensors and test them.
|
||||
#
|
||||
sh /etc/init.d/rc.sensors
|
||||
|
||||
#
|
||||
# Start the commander.
|
||||
#
|
||||
commander start
|
||||
|
||||
#
|
||||
# Start the attitude estimator
|
||||
#
|
||||
attitude_estimator_ekf start
|
||||
|
||||
echo "[init] starting PWM output"
|
||||
fmu mode_pwm
|
||||
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
|
||||
|
||||
#
|
||||
# Start attitude control
|
||||
#
|
||||
multirotor_att_control start
|
||||
|
||||
echo "[init] startup done, exiting"
|
||||
exit
|
||||
@@ -0,0 +1,80 @@
|
||||
#!nsh
|
||||
|
||||
# Disable USB and autostart
|
||||
set USB no
|
||||
set MODE camflyer
|
||||
|
||||
#
|
||||
# Start the ORB
|
||||
#
|
||||
uorb start
|
||||
|
||||
#
|
||||
# Load microSD params
|
||||
#
|
||||
echo "[init] loading microSD params"
|
||||
param select /fs/microsd/parameters
|
||||
if [ -f /fs/microsd/parameters ]
|
||||
then
|
||||
param load /fs/microsd/parameters
|
||||
fi
|
||||
|
||||
#
|
||||
# Force some key parameters to sane values
|
||||
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
|
||||
# see https://pixhawk.ethz.ch/mavlink/
|
||||
#
|
||||
param set MAV_TYPE 1
|
||||
|
||||
#
|
||||
# Start the sensors.
|
||||
#
|
||||
sh /etc/init.d/rc.sensors
|
||||
|
||||
#
|
||||
# Start MAVLink
|
||||
#
|
||||
mavlink start -d /dev/ttyS1 -b 57600
|
||||
usleep 5000
|
||||
|
||||
#
|
||||
# Start the commander.
|
||||
#
|
||||
commander start
|
||||
|
||||
#
|
||||
# Start GPS interface
|
||||
#
|
||||
gps start
|
||||
|
||||
#
|
||||
# Start the attitude estimator
|
||||
#
|
||||
kalman_demo start
|
||||
|
||||
#
|
||||
# Start PX4IO interface
|
||||
#
|
||||
px4io start
|
||||
|
||||
#
|
||||
# Load mixer and start controllers
|
||||
#
|
||||
mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
|
||||
control_demo start
|
||||
|
||||
#
|
||||
# Start logging
|
||||
#
|
||||
sdlog start -s 10
|
||||
|
||||
#
|
||||
# Start system state
|
||||
#
|
||||
if blinkm start
|
||||
then
|
||||
echo "using BlinkM for state indication"
|
||||
blinkm systemstate
|
||||
else
|
||||
echo "no BlinkM found, OK."
|
||||
fi
|
||||
@@ -0,0 +1,98 @@
|
||||
#!nsh
|
||||
#
|
||||
# Flight startup script for PX4FMU on PX4IOAR carrier board.
|
||||
#
|
||||
|
||||
# Disable the USB interface
|
||||
set USB no
|
||||
|
||||
# Disable autostarting other apps
|
||||
set MODE ardrone
|
||||
|
||||
echo "[init] doing PX4IOAR startup..."
|
||||
|
||||
#
|
||||
# Start the ORB
|
||||
#
|
||||
uorb start
|
||||
|
||||
#
|
||||
# Init the parameter storage
|
||||
#
|
||||
echo "[init] loading microSD params"
|
||||
param select /fs/microsd/parameters
|
||||
if [ -f /fs/microsd/parameters ]
|
||||
then
|
||||
param load /fs/microsd/parameters
|
||||
fi
|
||||
|
||||
#
|
||||
# Force some key parameters to sane values
|
||||
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
|
||||
# see https://pixhawk.ethz.ch/mavlink/
|
||||
#
|
||||
param set MAV_TYPE 2
|
||||
|
||||
#
|
||||
# Start the sensors.
|
||||
#
|
||||
sh /etc/init.d/rc.sensors
|
||||
|
||||
#
|
||||
# Start MAVLink
|
||||
#
|
||||
mavlink start -d /dev/ttyS0 -b 57600
|
||||
usleep 5000
|
||||
|
||||
#
|
||||
# Start the commander.
|
||||
#
|
||||
commander start
|
||||
|
||||
#
|
||||
# Start the attitude estimator
|
||||
#
|
||||
attitude_estimator_ekf start
|
||||
|
||||
#
|
||||
# Configure PX4FMU for operation with PX4IOAR
|
||||
#
|
||||
fmu mode_gpio_serial
|
||||
|
||||
#
|
||||
# Fire up the multi rotor attitude controller
|
||||
#
|
||||
multirotor_att_control start
|
||||
|
||||
#
|
||||
# Fire up the AR.Drone interface.
|
||||
#
|
||||
ardrone_interface start -d /dev/ttyS1
|
||||
|
||||
#
|
||||
# Start GPS capture
|
||||
#
|
||||
gps start
|
||||
|
||||
#
|
||||
# Start logging
|
||||
#
|
||||
sdlog start -s 10
|
||||
|
||||
#
|
||||
# Start system state
|
||||
#
|
||||
if blinkm start
|
||||
then
|
||||
echo "using BlinkM for state indication"
|
||||
blinkm systemstate
|
||||
else
|
||||
echo "no BlinkM found, OK."
|
||||
fi
|
||||
|
||||
#
|
||||
# startup is done; we don't want the shell because we
|
||||
# use the same UART for telemetry
|
||||
#
|
||||
echo "[init] startup done"
|
||||
exit
|
||||
@@ -0,0 +1,66 @@
|
||||
#!nsh
|
||||
#
|
||||
# If we are still in flight mode, work out what airframe
|
||||
# configuration we have and start up accordingly.
|
||||
#
|
||||
if [ $MODE != autostart ]
|
||||
then
|
||||
echo "[init] automatic startup cancelled by user script"
|
||||
else
|
||||
echo "[init] detecting attached hardware..."
|
||||
|
||||
#
|
||||
# Assume that we are PX4FMU in standalone mode
|
||||
#
|
||||
set BOARD PX4FMU
|
||||
|
||||
#
|
||||
# Are we attached to a PX4IOAR (AR.Drone carrier board)?
|
||||
#
|
||||
if boardinfo test name PX4IOAR
|
||||
then
|
||||
set BOARD PX4IOAR
|
||||
if [ -f /etc/init.d/rc.PX4IOAR ]
|
||||
then
|
||||
echo "[init] reading /etc/init.d/rc.PX4IOAR"
|
||||
usleep 500
|
||||
sh /etc/init.d/rc.PX4IOAR
|
||||
fi
|
||||
else
|
||||
echo "[init] PX4IOAR not detected"
|
||||
fi
|
||||
|
||||
#
|
||||
# Are we attached to a PX4IO?
|
||||
#
|
||||
if boardinfo test name PX4IO
|
||||
then
|
||||
set BOARD PX4IO
|
||||
if [ -f /etc/init.d/rc.PX4IO ]
|
||||
then
|
||||
echo "[init] reading /etc/init.d/rc.PX4IO"
|
||||
usleep 500
|
||||
sh /etc/init.d/rc.PX4IO
|
||||
fi
|
||||
else
|
||||
echo "[init] PX4IO not detected"
|
||||
fi
|
||||
|
||||
#
|
||||
# Looks like we are stand-alone
|
||||
#
|
||||
if [ $BOARD == PX4FMU ]
|
||||
then
|
||||
echo "[init] no expansion board detected"
|
||||
if [ -f /etc/init.d/rc.standalone ]
|
||||
then
|
||||
echo "[init] reading /etc/init.d/rc.standalone"
|
||||
sh /etc/init.d/rc.standalone
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# We may not reach here if the airframe-specific script exits the shell.
|
||||
#
|
||||
echo "[init] startup done."
|
||||
fi
|
||||
@@ -0,0 +1,10 @@
|
||||
#!nsh
|
||||
#
|
||||
# Test jig startup script
|
||||
#
|
||||
|
||||
echo "[testing] doing production test.."
|
||||
|
||||
tests jig
|
||||
|
||||
echo "[testing] testing done"
|
||||
@@ -0,0 +1,9 @@
|
||||
#!nsh
|
||||
#
|
||||
# Initialise logging services.
|
||||
#
|
||||
|
||||
if [ -d /fs/microsd ]
|
||||
then
|
||||
sdlog start
|
||||
fi
|
||||
@@ -0,0 +1,34 @@
|
||||
#!nsh
|
||||
#
|
||||
# Standard startup script for PX4FMU onboard sensor drivers.
|
||||
#
|
||||
|
||||
#
|
||||
# Start sensor drivers here.
|
||||
#
|
||||
|
||||
ms5611 start
|
||||
adc start
|
||||
|
||||
if mpu6000 start
|
||||
then
|
||||
echo "using MPU6000 and HMC5883L"
|
||||
hmc5883 start
|
||||
else
|
||||
echo "using L3GD20 and LSM303D"
|
||||
l3gd20 start
|
||||
lsm303 start
|
||||
fi
|
||||
|
||||
#
|
||||
# Start the sensor collection task.
|
||||
# IMPORTANT: this also loads param offsets
|
||||
# ALWAYS start this task before the
|
||||
# preflight_check.
|
||||
#
|
||||
sensors start
|
||||
|
||||
#
|
||||
# Check sensors - run AFTER 'sensors start'
|
||||
#
|
||||
preflight_check
|
||||
@@ -0,0 +1,13 @@
|
||||
#!nsh
|
||||
#
|
||||
# Flight startup script for PX4FMU standalone configuration.
|
||||
#
|
||||
|
||||
echo "[init] doing standalone PX4FMU startup..."
|
||||
|
||||
#
|
||||
# Start the ORB
|
||||
#
|
||||
uorb start
|
||||
|
||||
echo "[init] startup done"
|
||||
Executable
+79
@@ -0,0 +1,79 @@
|
||||
#!nsh
|
||||
#
|
||||
# PX4FMU startup script.
|
||||
#
|
||||
# This script is responsible for:
|
||||
#
|
||||
# - mounting the microSD card (if present)
|
||||
# - running the user startup script from the microSD card (if present)
|
||||
# - detecting the configuration of the system and picking a suitable
|
||||
# startup script to continue with
|
||||
#
|
||||
# Note: DO NOT add configuration-specific commands to this script;
|
||||
# add them to the per-configuration scripts instead.
|
||||
#
|
||||
|
||||
#
|
||||
# Default to auto-start mode. An init script on the microSD card
|
||||
# can change this to prevent automatic startup of the flight script.
|
||||
#
|
||||
set MODE autostart
|
||||
set USB autoconnect
|
||||
|
||||
#
|
||||
# Start playing the startup tune
|
||||
#
|
||||
tone_alarm start
|
||||
|
||||
#
|
||||
# Try to mount the microSD card.
|
||||
#
|
||||
echo "[init] looking for microSD..."
|
||||
if mount -t vfat /dev/mmcsd0 /fs/microsd
|
||||
then
|
||||
echo "[init] card mounted at /fs/microsd"
|
||||
else
|
||||
echo "[init] no microSD card found"
|
||||
fi
|
||||
|
||||
#
|
||||
# Look for an init script on the microSD card.
|
||||
#
|
||||
# To prevent automatic startup in the current flight mode,
|
||||
# the script should set MODE to some other value.
|
||||
#
|
||||
if [ -f /fs/microsd/etc/rc ]
|
||||
then
|
||||
echo "[init] reading /fs/microsd/etc/rc"
|
||||
sh /fs/microsd/etc/rc
|
||||
fi
|
||||
# Also consider rc.txt files
|
||||
if [ -f /fs/microsd/etc/rc.txt ]
|
||||
then
|
||||
echo "[init] reading /fs/microsd/etc/rc.txt"
|
||||
sh /fs/microsd/etc/rc.txt
|
||||
fi
|
||||
|
||||
#
|
||||
# Check for USB host
|
||||
#
|
||||
if [ $USB != autoconnect ]
|
||||
then
|
||||
echo "[init] not connecting USB"
|
||||
else
|
||||
if sercon
|
||||
then
|
||||
echo "[init] USB interface connected"
|
||||
else
|
||||
echo "[init] No USB connected"
|
||||
fi
|
||||
fi
|
||||
|
||||
# if this is an APM build then there will be a rc.APM script
|
||||
# from an EXTERNAL_SCRIPTS build option
|
||||
if [ -f /etc/init.d/rc.APM ]
|
||||
then
|
||||
echo Running rc.APM
|
||||
# if APM startup is successful then nsh will exit
|
||||
sh /etc/init.d/rc.APM
|
||||
fi
|
||||
@@ -0,0 +1,586 @@
|
||||
% This Matlab Script can be used to import the binary logged values of the
|
||||
% PX4FMU into data that can be plotted and analyzed.
|
||||
|
||||
%% ************************************************************************
|
||||
% PX4LOG_PLOTSCRIPT: Main function
|
||||
% ************************************************************************
|
||||
function PX4Log_Plotscript
|
||||
|
||||
% Clear everything
|
||||
clc
|
||||
clear all
|
||||
close all
|
||||
|
||||
% ************************************************************************
|
||||
% SETTINGS
|
||||
% ************************************************************************
|
||||
|
||||
% Set the path to your sysvector.bin file here
|
||||
filePath = 'sysvector.bin';
|
||||
|
||||
% Set the minimum and maximum times to plot here [in seconds]
|
||||
mintime=0; %The minimum time/timestamp to display, as set by the user [0 for first element / start]
|
||||
maxtime=0; %The maximum time/timestamp to display, as set by the user [0 for last element / end]
|
||||
|
||||
%Determine which data to plot. Not completely implemented yet.
|
||||
bDisplayGPS=true;
|
||||
|
||||
%conversion factors
|
||||
fconv_gpsalt=1E-3; %[mm] to [m]
|
||||
fconv_gpslatlong=1E-7; %[gps_raw_position_unit] to [deg]
|
||||
fconv_timestamp=1E-6; % [microseconds] to [seconds]
|
||||
|
||||
% ************************************************************************
|
||||
% Import the PX4 logs
|
||||
% ************************************************************************
|
||||
ImportPX4LogData();
|
||||
|
||||
%Translate min and max plot times to indices
|
||||
time=double(sysvector.timestamp) .*fconv_timestamp;
|
||||
mintime_log=time(1); %The minimum time/timestamp found in the log
|
||||
maxtime_log=time(end); %The maximum time/timestamp found in the log
|
||||
CurTime=mintime_log; %The current time at which to draw the aircraft position
|
||||
|
||||
[imintime,imaxtime]=FindMinMaxTimeIndices();
|
||||
|
||||
% ************************************************************************
|
||||
% PLOT & GUI SETUP
|
||||
% ************************************************************************
|
||||
NrFigures=5;
|
||||
NrAxes=10;
|
||||
h.figures(1:NrFigures)=0.0; % Temporary initialization of figure handle array - these are numbered consecutively
|
||||
h.axes(1:NrAxes)=0.0; % Temporary initialization of axes handle array - these are numbered consecutively
|
||||
h.pathpoints=[]; % Temporary initiliazation of path points
|
||||
|
||||
% Setup the GUI to control the plots
|
||||
InitControlGUI();
|
||||
% Setup the plotting-GUI (figures, axes) itself.
|
||||
InitPlotGUI();
|
||||
|
||||
% ************************************************************************
|
||||
% DRAW EVERYTHING
|
||||
% ************************************************************************
|
||||
DrawRawData();
|
||||
DrawCurrentAircraftState();
|
||||
|
||||
%% ************************************************************************
|
||||
% *** END OF MAIN SCRIPT ***
|
||||
% NESTED FUNCTION DEFINTIONS FROM HERE ON
|
||||
% ************************************************************************
|
||||
|
||||
|
||||
%% ************************************************************************
|
||||
% IMPORTPX4LOGDATA (nested function)
|
||||
% ************************************************************************
|
||||
% Attention: This is the import routine for firmware from ca. 03/2013.
|
||||
% Other firmware versions might require different import
|
||||
% routines.
|
||||
|
||||
function ImportPX4LogData()
|
||||
% Work around a Matlab bug (not related to PX4)
|
||||
% where timestamps from 1.1.1970 do not allow to
|
||||
% read the file's size
|
||||
if ismac
|
||||
system('touch -t 201212121212.12 sysvector.bin');
|
||||
end
|
||||
|
||||
% ************************************************************************
|
||||
% RETRIEVE SYSTEM VECTOR
|
||||
% *************************************************************************
|
||||
% //All measurements in NED frame
|
||||
%
|
||||
% uint64_t timestamp; //[us]
|
||||
% float gyro[3]; //[rad/s]
|
||||
% float accel[3]; //[m/s^2]
|
||||
% float mag[3]; //[gauss]
|
||||
% float baro; //pressure [millibar]
|
||||
% float baro_alt; //altitude above MSL [meter]
|
||||
% float baro_temp; //[degree celcius]
|
||||
% float control[4]; //roll, pitch, yaw [-1..1], thrust [0..1]
|
||||
% float actuators[8]; //motor 1-8, in motor units (PWM: 1000-2000,AR.Drone: 0-512)
|
||||
% float vbat; //battery voltage in [volt]
|
||||
% float bat_current - current drawn from battery at this time instant
|
||||
% float bat_discharged - discharged energy in mAh
|
||||
% float adc[4]; //remaining auxiliary ADC ports [volt]
|
||||
% float local_position[3]; //tangent plane mapping into x,y,z [m]
|
||||
% int32_t gps_raw_position[3]; //latitude [degrees] north, longitude [degrees] east, altitude above MSL [millimeter]
|
||||
% float attitude[3]; //pitch, roll, yaw [rad]
|
||||
% float rotMatrix[9]; //unitvectors
|
||||
% float actuator_control[4]; //unitvector
|
||||
% float optical_flow[4]; //roll, pitch, yaw [-1..1], thrust [0..1]
|
||||
% float diff_pressure; - pressure difference in millibar
|
||||
% float ind_airspeed;
|
||||
% float true_airspeed;
|
||||
|
||||
% Definition of the logged values
|
||||
logFormat{1} = struct('name', 'timestamp', 'bytes', 8, 'array', 1, 'precision', 'uint64', 'machineformat', 'ieee-le.l64');
|
||||
logFormat{2} = struct('name', 'gyro', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{3} = struct('name', 'accel', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{4} = struct('name', 'mag', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{5} = struct('name', 'baro', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{6} = struct('name', 'baro_alt', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{7} = struct('name', 'baro_temp', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{8} = struct('name', 'control', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{9} = struct('name', 'actuators', 'bytes', 4, 'array', 8, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{10} = struct('name', 'vbat', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{11} = struct('name', 'bat_current', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{12} = struct('name', 'bat_discharged', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{13} = struct('name', 'adc', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{14} = struct('name', 'local_position', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{15} = struct('name', 'gps_raw_position', 'bytes', 4, 'array', 3, 'precision', 'uint32', 'machineformat', 'ieee-le');
|
||||
logFormat{16} = struct('name', 'attitude', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{17} = struct('name', 'rot_matrix', 'bytes', 4, 'array', 9, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{18} = struct('name', 'vicon_position', 'bytes', 4, 'array', 6, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{19} = struct('name', 'actuator_control', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{20} = struct('name', 'optical_flow', 'bytes', 4, 'array', 6, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{21} = struct('name', 'diff_pressure', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{22} = struct('name', 'ind_airspeed', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{23} = struct('name', 'true_airspeed', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
|
||||
% First get length of one line
|
||||
columns = length(logFormat);
|
||||
lineLength = 0;
|
||||
|
||||
for i=1:columns
|
||||
lineLength = lineLength + logFormat{i}.bytes * logFormat{i}.array;
|
||||
end
|
||||
|
||||
|
||||
if exist(filePath, 'file')
|
||||
|
||||
fileInfo = dir(filePath);
|
||||
fileSize = fileInfo.bytes;
|
||||
|
||||
elements = int64(fileSize./(lineLength));
|
||||
|
||||
fid = fopen(filePath, 'r');
|
||||
offset = 0;
|
||||
for i=1:columns
|
||||
% using fread with a skip speeds up the import drastically, do not
|
||||
% import the values one after the other
|
||||
sysvector.(genvarname(logFormat{i}.name)) = transpose(fread(...
|
||||
fid, ...
|
||||
[logFormat{i}.array, elements], [num2str(logFormat{i}.array),'*',logFormat{i}.precision,'=>',logFormat{i}.precision], ...
|
||||
lineLength - logFormat{i}.bytes*logFormat{i}.array, ...
|
||||
logFormat{i}.machineformat) ...
|
||||
);
|
||||
offset = offset + logFormat{i}.bytes*logFormat{i}.array;
|
||||
fseek(fid, offset,'bof');
|
||||
end
|
||||
|
||||
% shot the flight time
|
||||
time_us = sysvector.timestamp(end) - sysvector.timestamp(1);
|
||||
time_s = time_us*1e-6;
|
||||
time_m = time_s/60;
|
||||
|
||||
% close the logfile
|
||||
fclose(fid);
|
||||
|
||||
disp(['end log2matlab conversion' char(10)]);
|
||||
else
|
||||
disp(['file: ' filePath ' does not exist' char(10)]);
|
||||
end
|
||||
end
|
||||
|
||||
%% ************************************************************************
|
||||
% INITCONTROLGUI (nested function)
|
||||
% ************************************************************************
|
||||
%Setup central control GUI components to control current time where data is shown
|
||||
function InitControlGUI()
|
||||
%**********************************************************************
|
||||
% GUI size definitions
|
||||
%**********************************************************************
|
||||
dxy=5; %margins
|
||||
%Panel: Plotctrl
|
||||
dlabels=120;
|
||||
dsliders=200;
|
||||
dedits=80;
|
||||
hslider=20;
|
||||
|
||||
hpanel1=40; %panel1
|
||||
hpanel2=220;%panel2
|
||||
hpanel3=3*hslider+4*dxy+3*dxy;%panel3.
|
||||
|
||||
width=dlabels+dsliders+dedits+4*dxy+2*dxy; %figure width
|
||||
height=hpanel1+hpanel2+hpanel3+4*dxy; %figure height
|
||||
|
||||
%**********************************************************************
|
||||
% Create GUI
|
||||
%**********************************************************************
|
||||
h.figures(1)=figure('Units','pixels','position',[200 200 width height],'Name','Control GUI');
|
||||
h.guistatepanel=uipanel('Title','Current GUI state','Units','pixels','Position',[dxy dxy width-2*dxy hpanel1],'parent',h.figures(1));
|
||||
h.aircraftstatepanel=uipanel('Title','Current aircraft state','Units','pixels','Position',[dxy hpanel1+2*dxy width-2*dxy hpanel2],'parent',h.figures(1));
|
||||
h.plotctrlpanel=uipanel('Title','Plot Control','Units','pixels','Position',[dxy hpanel1+hpanel2+3*dxy width-2*dxy hpanel3],'parent',h.figures(1));
|
||||
|
||||
%%Control GUI-elements
|
||||
%Slider: Current time
|
||||
h.labels.CurTime=uicontrol(gcf,'style','text','Position',[dxy dxy dlabels hslider],'String','Current time t[s]:','parent',h.plotctrlpanel,'HorizontalAlignment','left');
|
||||
h.sliders.CurTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels dxy dsliders hslider],...
|
||||
'min',mintime,'max',maxtime,'value',mintime,'callback',@curtime_callback,'parent',h.plotctrlpanel);
|
||||
temp=get(h.sliders.CurTime,'Max')-get(h.sliders.CurTime,'Min');
|
||||
set(h.sliders.CurTime,'SliderStep',[1.0/temp 5.0/temp]);
|
||||
h.edits.CurTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders dxy dedits hslider],'String',get(h.sliders.CurTime,'value'),...
|
||||
'BackgroundColor','white','callback',@curtime_callback,'parent',h.plotctrlpanel);
|
||||
|
||||
%Slider: MaxTime
|
||||
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');
|
||||
h.sliders.MaxTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels 2*dxy+hslider dsliders hslider],...
|
||||
'min',mintime_log,'max',maxtime_log,'value',maxtime,'callback',@minmaxtime_callback,'parent',h.plotctrlpanel);
|
||||
h.edits.MaxTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders 2*dxy+hslider dedits hslider],'String',get(h.sliders.MaxTime,'value'),...
|
||||
'BackgroundColor','white','callback',@minmaxtime_callback,'parent',h.plotctrlpanel);
|
||||
|
||||
%Slider: MinTime
|
||||
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');
|
||||
h.sliders.MinTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels 3*dxy+2*hslider dsliders hslider],...
|
||||
'min',mintime_log,'max',maxtime_log,'value',mintime,'callback',@minmaxtime_callback,'parent',h.plotctrlpanel);
|
||||
h.edits.MinTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders 3*dxy+2*hslider dedits hslider],'String',get(h.sliders.MinTime,'value'),...
|
||||
'BackgroundColor','white','callback',@minmaxtime_callback,'parent',h.plotctrlpanel);
|
||||
|
||||
%%Current data/state GUI-elements (Multiline-edit-box)
|
||||
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',...
|
||||
'HorizontalAlignment','left','parent',h.aircraftstatepanel);
|
||||
|
||||
h.labels.GUIState=uicontrol(gcf,'style','text','Units','pixels','position',[dxy dxy width-4*dxy hslider],'String','Current state of this GUI',...
|
||||
'HorizontalAlignment','left','parent',h.guistatepanel);
|
||||
|
||||
end
|
||||
|
||||
%% ************************************************************************
|
||||
% INITPLOTGUI (nested function)
|
||||
% ************************************************************************
|
||||
function InitPlotGUI()
|
||||
|
||||
% Setup handles to lines and text
|
||||
h.markertext=[];
|
||||
templinehandle=0.0;%line([0 1],[0 5]); % Just a temporary handle to init array
|
||||
h.markerline(1:NrAxes)=templinehandle; % the actual handle-array to the lines - these are numbered consecutively
|
||||
h.markerline(1:NrAxes)=0.0;
|
||||
|
||||
% Setup all other figures and axes for plotting
|
||||
% PLOT WINDOW 1: GPS POSITION
|
||||
h.figures(2)=figure('units','normalized','Toolbar','figure', 'Name', 'GPS Position');
|
||||
h.axes(1)=axes();
|
||||
set(h.axes(1),'Parent',h.figures(2));
|
||||
|
||||
% PLOT WINDOW 2: IMU, baro altitude
|
||||
h.figures(3)=figure('Name', 'IMU / Baro Altitude');
|
||||
h.axes(2)=subplot(4,1,1);
|
||||
h.axes(3)=subplot(4,1,2);
|
||||
h.axes(4)=subplot(4,1,3);
|
||||
h.axes(5)=subplot(4,1,4);
|
||||
set(h.axes(2:5),'Parent',h.figures(3));
|
||||
|
||||
% PLOT WINDOW 3: ATTITUDE ESTIMATE, ACTUATORS/CONTROLS, AIRSPEEDS,...
|
||||
h.figures(4)=figure('Name', 'Attitude Estimate / Actuators / Airspeeds');
|
||||
h.axes(6)=subplot(4,1,1);
|
||||
h.axes(7)=subplot(4,1,2);
|
||||
h.axes(8)=subplot(4,1,3);
|
||||
h.axes(9)=subplot(4,1,4);
|
||||
set(h.axes(6:9),'Parent',h.figures(4));
|
||||
|
||||
% PLOT WINDOW 4: LOG STATS
|
||||
h.figures(5) = figure('Name', 'Log Statistics');
|
||||
h.axes(10)=subplot(1,1,1);
|
||||
set(h.axes(10:10),'Parent',h.figures(5));
|
||||
|
||||
end
|
||||
|
||||
%% ************************************************************************
|
||||
% DRAWRAWDATA (nested function)
|
||||
% ************************************************************************
|
||||
%Draws the raw data from the sysvector, but does not add any
|
||||
%marker-lines or so
|
||||
function DrawRawData()
|
||||
% ************************************************************************
|
||||
% PLOT WINDOW 1: GPS POSITION & GUI
|
||||
% ************************************************************************
|
||||
figure(h.figures(2));
|
||||
% Only plot GPS data if available
|
||||
if (sum(double(sysvector.gps_raw_position(imintime:imaxtime,1)))>0) && (bDisplayGPS)
|
||||
%Draw data
|
||||
plot3(h.axes(1),double(sysvector.gps_raw_position(imintime:imaxtime,1))*fconv_gpslatlong, ...
|
||||
double(sysvector.gps_raw_position(imintime:imaxtime,2))*fconv_gpslatlong, ...
|
||||
double(sysvector.gps_raw_position(imintime:imaxtime,3))*fconv_gpsalt,'r.');
|
||||
title(h.axes(1),'GPS Position Data(if available)');
|
||||
xlabel(h.axes(1),'Latitude [deg]');
|
||||
ylabel(h.axes(1),'Longitude [deg]');
|
||||
zlabel(h.axes(1),'Altitude above MSL [m]');
|
||||
grid on
|
||||
|
||||
%Reset path
|
||||
h.pathpoints=0;
|
||||
end
|
||||
|
||||
% ************************************************************************
|
||||
% PLOT WINDOW 2: IMU, baro altitude
|
||||
% ************************************************************************
|
||||
figure(h.figures(3));
|
||||
plot(h.axes(2),time(imintime:imaxtime),sysvector.mag(imintime:imaxtime,:));
|
||||
title(h.axes(2),'Magnetometers [Gauss]');
|
||||
legend(h.axes(2),'x','y','z');
|
||||
plot(h.axes(3),time(imintime:imaxtime),sysvector.accel(imintime:imaxtime,:));
|
||||
title(h.axes(3),'Accelerometers [m/s²]');
|
||||
legend(h.axes(3),'x','y','z');
|
||||
plot(h.axes(4),time(imintime:imaxtime),sysvector.gyro(imintime:imaxtime,:));
|
||||
title(h.axes(4),'Gyroscopes [rad/s]');
|
||||
legend(h.axes(4),'x','y','z');
|
||||
plot(h.axes(5),time(imintime:imaxtime),sysvector.baro_alt(imintime:imaxtime),'color','blue');
|
||||
if(bDisplayGPS)
|
||||
hold on;
|
||||
plot(h.axes(5),time(imintime:imaxtime),double(sysvector.gps_raw_position(imintime:imaxtime,3)).*fconv_gpsalt,'color','red');
|
||||
hold off
|
||||
legend('Barometric Altitude [m]','GPS Altitude [m]');
|
||||
else
|
||||
legend('Barometric Altitude [m]');
|
||||
end
|
||||
title(h.axes(5),'Altitude above MSL [m]');
|
||||
|
||||
% ************************************************************************
|
||||
% PLOT WINDOW 3: ATTITUDE ESTIMATE, ACTUATORS/CONTROLS, AIRSPEEDS,...
|
||||
% ************************************************************************
|
||||
figure(h.figures(4));
|
||||
%Attitude Estimate
|
||||
plot(h.axes(6),time(imintime:imaxtime), sysvector.attitude(imintime:imaxtime,:).*180./3.14159);
|
||||
title(h.axes(6),'Estimated attitude [deg]');
|
||||
legend(h.axes(6),'roll','pitch','yaw');
|
||||
%Actuator Controls
|
||||
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
|
||||
@@ -0,0 +1,64 @@
|
||||
Aileron/rudder/elevator/throttle mixer for PX4FMU
|
||||
==================================================
|
||||
|
||||
This file defines mixers suitable for controlling a fixed wing aircraft with
|
||||
aileron, rudder, elevator and throttle controls using PX4FMU. The configuration
|
||||
assumes the aileron servo(s) are connected to PX4FMU servo output 0, the
|
||||
elevator to output 1, the rudder to output 2 and the throttle to output 3.
|
||||
|
||||
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
|
||||
(roll), 1 (pitch) and 3 (thrust).
|
||||
|
||||
Aileron mixer
|
||||
-------------
|
||||
Two scalers total (output, roll).
|
||||
|
||||
This mixer assumes that the aileron servos are set up correctly mechanically;
|
||||
depending on the actual configuration it may be necessary to reverse the scaling
|
||||
factors (to reverse the servo movement) and adjust the offset, scaling and
|
||||
endpoints to suit.
|
||||
|
||||
As there is only one output, if using two servos adjustments to compensate for
|
||||
differences between the servos must be made mechanically. To obtain the correct
|
||||
motion using a Y cable, the servos can be positioned reversed from one another.
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
|
||||
Elevator mixer
|
||||
------------
|
||||
Two scalers total (output, roll).
|
||||
|
||||
This mixer assumes that the elevator servo is set up correctly mechanically;
|
||||
depending on the actual configuration it may be necessary to reverse the scaling
|
||||
factors (to reverse the servo movement) and adjust the offset, scaling and
|
||||
endpoints to suit.
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 1 -10000 -10000 0 -10000 10000
|
||||
|
||||
Rudder mixer
|
||||
------------
|
||||
Two scalers total (output, yaw).
|
||||
|
||||
This mixer assumes that the rudder servo is set up correctly mechanically;
|
||||
depending on the actual configuration it may be necessary to reverse the scaling
|
||||
factors (to reverse the servo movement) and adjust the offset, scaling and
|
||||
endpoints to suit.
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 2 10000 10000 0 -10000 10000
|
||||
|
||||
Motor speed mixer
|
||||
-----------------
|
||||
Two scalers total (output, thrust).
|
||||
|
||||
This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
|
||||
range. Inputs below zero are treated as zero.
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 3 0 20000 -10000 -10000 10000
|
||||
@@ -0,0 +1,60 @@
|
||||
Aileron/elevator/throttle mixer for PX4FMU
|
||||
==================================================
|
||||
|
||||
This file defines mixers suitable for controlling a fixed wing aircraft with
|
||||
aileron, elevator and throttle controls using PX4FMU. The configuration assumes
|
||||
the aileron servo(s) are connected to PX4FMU servo output 0, the elevator to
|
||||
output 1 and the throttle to output 3.
|
||||
|
||||
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
|
||||
(roll), 1 (pitch) and 3 (thrust).
|
||||
|
||||
Aileron mixer
|
||||
-------------
|
||||
Two scalers total (output, roll).
|
||||
|
||||
This mixer assumes that the aileron servos are set up correctly mechanically;
|
||||
depending on the actual configuration it may be necessary to reverse the scaling
|
||||
factors (to reverse the servo movement) and adjust the offset, scaling and
|
||||
endpoints to suit.
|
||||
|
||||
As there is only one output, if using two servos adjustments to compensate for
|
||||
differences between the servos must be made mechanically. To obtain the correct
|
||||
motion using a Y cable, the servos can be positioned reversed from one another.
|
||||
|
||||
Alternatively, output 2 could be used as a second aileron servo output with
|
||||
separate mixing.
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
|
||||
Elevator mixer
|
||||
------------
|
||||
Two scalers total (output, roll).
|
||||
|
||||
This mixer assumes that the elevator servo is set up correctly mechanically;
|
||||
depending on the actual configuration it may be necessary to reverse the scaling
|
||||
factors (to reverse the servo movement) and adjust the offset, scaling and
|
||||
endpoints to suit.
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 1 -10000 -10000 0 -10000 10000
|
||||
|
||||
Output 2
|
||||
--------
|
||||
This mixer is empty.
|
||||
|
||||
Z:
|
||||
|
||||
Motor speed mixer
|
||||
-----------------
|
||||
Two scalers total (output, thrust).
|
||||
|
||||
This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
|
||||
range. Inputs below zero are treated as zero.
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 3 0 20000 -10000 -10000 10000
|
||||
@@ -0,0 +1,52 @@
|
||||
Delta-wing mixer for PX4FMU
|
||||
===========================
|
||||
|
||||
Designed for Bormatec Camflyer Q
|
||||
|
||||
This file defines mixers suitable for controlling a delta wing aircraft using
|
||||
PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
|
||||
servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
|
||||
assumed to be unused.
|
||||
|
||||
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
|
||||
(roll), 1 (pitch) and 3 (thrust).
|
||||
|
||||
See the README for more information on the scaler format.
|
||||
|
||||
Elevon mixers
|
||||
-------------
|
||||
Three scalers total (output, roll, pitch).
|
||||
|
||||
On the assumption that the two elevon servos are physically reversed, the pitch
|
||||
input is inverted between the two servos.
|
||||
|
||||
The scaling factor for roll inputs is adjusted to implement differential travel
|
||||
for the elevons.
|
||||
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 0 -5000 -8000 0 -10000 10000
|
||||
S: 0 1 8000 8000 0 -10000 10000
|
||||
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 0 -8000 -5000 0 -10000 10000
|
||||
S: 0 1 -8000 -8000 0 -10000 10000
|
||||
|
||||
Output 2
|
||||
--------
|
||||
This mixer is empty.
|
||||
|
||||
Z:
|
||||
|
||||
Motor speed mixer
|
||||
-----------------
|
||||
Two scalers total (output, thrust).
|
||||
|
||||
This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
|
||||
range. Inputs below zero are treated as zero.
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 3 0 20000 -10000 -10000 10000
|
||||
|
||||
@@ -0,0 +1,53 @@
|
||||
Rudder/elevator/throttle mixer for PX4FMU
|
||||
=========================================
|
||||
|
||||
This file defines mixers suitable for controlling a fixed wing aircraft with
|
||||
rudder, elevator and throttle controls using PX4FMU. The configuration assumes
|
||||
the rudder servo is connected to PX4FMU servo output 0, the elevator to output 1
|
||||
and the throttle to output 3.
|
||||
|
||||
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
|
||||
(roll), 1 (pitch) and 3 (thrust).
|
||||
|
||||
Rudder mixer
|
||||
------------
|
||||
Two scalers total (output, roll).
|
||||
|
||||
This mixer assumes that the rudder servo is set up correctly mechanically;
|
||||
depending on the actual configuration it may be necessary to reverse the scaling
|
||||
factors (to reverse the servo movement) and adjust the offset, scaling and
|
||||
endpoints to suit.
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
|
||||
Elevator mixer
|
||||
------------
|
||||
Two scalers total (output, roll).
|
||||
|
||||
This mixer assumes that the elevator servo is set up correctly mechanically;
|
||||
depending on the actual configuration it may be necessary to reverse the scaling
|
||||
factors (to reverse the servo movement) and adjust the offset, scaling and
|
||||
endpoints to suit.
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 1 -10000 -10000 0 -10000 10000
|
||||
|
||||
Output 2
|
||||
--------
|
||||
This mixer is empty.
|
||||
|
||||
Z:
|
||||
|
||||
Motor speed mixer
|
||||
-----------------
|
||||
Two scalers total (output, thrust).
|
||||
|
||||
This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
|
||||
range. Inputs below zero are treated as zero.
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 3 0 20000 -10000 -10000 10000
|
||||
@@ -0,0 +1,50 @@
|
||||
Delta-wing mixer for PX4FMU
|
||||
===========================
|
||||
|
||||
This file defines mixers suitable for controlling a delta wing aircraft using
|
||||
PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
|
||||
servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
|
||||
assumed to be unused.
|
||||
|
||||
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
|
||||
(roll), 1 (pitch) and 3 (thrust).
|
||||
|
||||
See the README for more information on the scaler format.
|
||||
|
||||
Elevon mixers
|
||||
-------------
|
||||
Three scalers total (output, roll, pitch).
|
||||
|
||||
On the assumption that the two elevon servos are physically reversed, the pitch
|
||||
input is inverted between the two servos.
|
||||
|
||||
The scaling factor for roll inputs is adjusted to implement differential travel
|
||||
for the elevons.
|
||||
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 0 -3000 -5000 0 -10000 10000
|
||||
S: 0 1 -5000 -5000 0 -10000 10000
|
||||
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 0 -5000 -3000 0 -10000 10000
|
||||
S: 0 1 5000 5000 0 -10000 10000
|
||||
|
||||
Output 2
|
||||
--------
|
||||
This mixer is empty.
|
||||
|
||||
Z:
|
||||
|
||||
Motor speed mixer
|
||||
-----------------
|
||||
Two scalers total (output, thrust).
|
||||
|
||||
This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
|
||||
range. Inputs below zero are treated as zero.
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 3 0 20000 -10000 -10000 10000
|
||||
|
||||
@@ -0,0 +1,50 @@
|
||||
Delta-wing mixer for PX4FMU
|
||||
===========================
|
||||
|
||||
This file defines mixers suitable for controlling a delta wing aircraft using
|
||||
PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
|
||||
servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
|
||||
assumed to be unused.
|
||||
|
||||
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
|
||||
(roll), 1 (pitch) and 3 (thrust).
|
||||
|
||||
See the README for more information on the scaler format.
|
||||
|
||||
Elevon mixers
|
||||
-------------
|
||||
Three scalers total (output, roll, pitch).
|
||||
|
||||
On the assumption that the two elevon servos are physically reversed, the pitch
|
||||
input is inverted between the two servos.
|
||||
|
||||
The scaling factor for roll inputs is adjusted to implement differential travel
|
||||
for the elevons.
|
||||
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 0 3000 5000 0 -10000 10000
|
||||
S: 0 1 5000 5000 0 -10000 10000
|
||||
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 0 5000 3000 0 -10000 10000
|
||||
S: 0 1 -5000 -5000 0 -10000 10000
|
||||
|
||||
Output 2
|
||||
--------
|
||||
This mixer is empty.
|
||||
|
||||
Z:
|
||||
|
||||
Motor speed mixer
|
||||
-----------------
|
||||
Two scalers total (output, thrust).
|
||||
|
||||
This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
|
||||
range. Inputs below zero are treated as zero.
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 3 0 20000 -10000 -10000 10000
|
||||
|
||||
@@ -0,0 +1,7 @@
|
||||
Multirotor mixer for PX4FMU
|
||||
===========================
|
||||
|
||||
This file defines a single mixer for a hexacopter in the + configuration. All controls
|
||||
are mixed 100%.
|
||||
|
||||
R: 6+ 10000 10000 10000 0
|
||||
@@ -0,0 +1,7 @@
|
||||
Multirotor mixer for PX4FMU
|
||||
===========================
|
||||
|
||||
This file defines a single mixer for a hexacopter in the X configuration. All controls
|
||||
are mixed 100%.
|
||||
|
||||
R: 6x 10000 10000 10000 0
|
||||
@@ -0,0 +1,7 @@
|
||||
Multirotor mixer for PX4FMU
|
||||
===========================
|
||||
|
||||
This file defines a single mixer for a octocopter in the + configuration. All controls
|
||||
are mixed 100%.
|
||||
|
||||
R: 8+ 10000 10000 10000 0
|
||||
@@ -0,0 +1,7 @@
|
||||
Multirotor mixer for PX4FMU
|
||||
===========================
|
||||
|
||||
This file defines a single mixer for a octocopter in the X configuration. All controls
|
||||
are mixed 100%.
|
||||
|
||||
R: 8x 10000 10000 10000 0
|
||||
@@ -0,0 +1,23 @@
|
||||
Passthrough mixer for PX4FMU
|
||||
============================
|
||||
|
||||
This file defines passthrough mixers suitable for testing.
|
||||
|
||||
Channel group 0, channels 0-3 are passed directly through to the outputs.
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 1 10000 10000 0 -10000 10000
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 2 10000 10000 0 -10000 10000
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 3 10000 10000 0 -10000 10000
|
||||
|
||||
@@ -0,0 +1,7 @@
|
||||
Multirotor mixer for PX4FMU
|
||||
===========================
|
||||
|
||||
This file defines a single mixer for a quadrotor in the + configuration. All controls
|
||||
are mixed 100%.
|
||||
|
||||
R: 4+ 10000 10000 10000 0
|
||||
@@ -0,0 +1,7 @@
|
||||
Multirotor mixer for PX4FMU
|
||||
===========================
|
||||
|
||||
This file defines a single mixer for a quadrotor in the X configuration. All controls
|
||||
are mixed 100%.
|
||||
|
||||
R: 4x 10000 10000 10000 0
|
||||
@@ -0,0 +1,154 @@
|
||||
PX4 mixer definitions
|
||||
=====================
|
||||
|
||||
Files in this directory implement example mixers that can be used as a basis
|
||||
for customisation, or for general testing purposes.
|
||||
|
||||
Mixer basics
|
||||
------------
|
||||
|
||||
Mixers combine control values from various sources (control tasks, user inputs,
|
||||
etc.) and produce output values suitable for controlling actuators; servos,
|
||||
motors, switches and so on.
|
||||
|
||||
An actuator derives its value from the combination of one or more control
|
||||
values. Each of the control values is scaled according to the actuator's
|
||||
configuration and then combined to produce the actuator value, which may then be
|
||||
further scaled to suit the specific output type.
|
||||
|
||||
Internally, all scaling is performed using floating point values. Inputs and
|
||||
outputs are clamped to the range -1.0 to 1.0.
|
||||
|
||||
control control control
|
||||
| | |
|
||||
v v v
|
||||
scale scale scale
|
||||
| | |
|
||||
| v |
|
||||
+-------> mix <------+
|
||||
|
|
||||
scale
|
||||
|
|
||||
v
|
||||
out
|
||||
|
||||
Scaling
|
||||
-------
|
||||
|
||||
Basic scalers provide linear scaling of the input to the output.
|
||||
|
||||
Each scaler allows the input value to be scaled independently for inputs
|
||||
greater/less than zero. An offset can be applied to the output, and lower and
|
||||
upper boundary constraints can be applied. Negative scaling factors cause the
|
||||
output to be inverted (negative input produces positive output).
|
||||
|
||||
Scaler pseudocode:
|
||||
|
||||
if (input < 0)
|
||||
output = (input * NEGATIVE_SCALE) + OFFSET
|
||||
else
|
||||
output = (input * POSITIVE_SCALE) + OFFSET
|
||||
|
||||
if (output < LOWER_LIMIT)
|
||||
output = LOWER_LIMIT
|
||||
if (output > UPPER_LIMIT)
|
||||
output = UPPER_LIMIT
|
||||
|
||||
Syntax
|
||||
------
|
||||
|
||||
Mixer definitions are text files; lines beginning with a single capital letter
|
||||
followed by a colon are significant. All other lines are ignored, meaning that
|
||||
explanatory text can be freely mixed with the definitions.
|
||||
|
||||
Each file may define more than one mixer; the allocation of mixers to actuators
|
||||
is specific to the device reading the mixer definition, and the number of
|
||||
actuator outputs generated by a mixer is specific to the mixer.
|
||||
|
||||
A mixer begins with a line of the form
|
||||
|
||||
<tag>: <mixer arguments>
|
||||
|
||||
The tag selects the mixer type; 'M' for a simple summing mixer, 'R' for a
|
||||
multirotor mixer, etc.
|
||||
|
||||
Null Mixer
|
||||
..........
|
||||
|
||||
A null mixer consumes no controls and generates a single actuator output whose
|
||||
value is always zero. Typically a null mixer is used as a placeholder in a
|
||||
collection of mixers in order to achieve a specific pattern of actuator outputs.
|
||||
|
||||
The null mixer definition has the form:
|
||||
|
||||
Z:
|
||||
|
||||
Simple Mixer
|
||||
............
|
||||
|
||||
A simple mixer combines zero or more control inputs into a single actuator
|
||||
output. Inputs are scaled, and the mixing function sums the result before
|
||||
applying an output scaler.
|
||||
|
||||
A simple mixer definition begins with:
|
||||
|
||||
M: <control count>
|
||||
O: <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>
|
||||
|
||||
If <control count> is zero, the sum is effectively zero and the mixer will
|
||||
output a fixed value that is <offset> constrained by <lower limit> and <upper
|
||||
limit>.
|
||||
|
||||
The second line defines the output scaler with scaler parameters as discussed
|
||||
above. Whilst the calculations are performed as floating-point operations, the
|
||||
values stored in the definition file are scaled by a factor of 10000; i.e. an
|
||||
offset of -0.5 is encoded as -5000.
|
||||
|
||||
The definition continues with <control count> entries describing the control
|
||||
inputs and their scaling, in the form:
|
||||
|
||||
S: <group> <index> <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>
|
||||
|
||||
The <group> value identifies the control group from which the scaler will read,
|
||||
and the <index> value an offset within that group. These values are specific to
|
||||
the device reading the mixer definition.
|
||||
|
||||
When used to mix vehicle controls, mixer group zero is the vehicle attitude
|
||||
control group, and index values zero through three are normally roll, pitch,
|
||||
yaw and thrust respectively.
|
||||
|
||||
The remaining fields on the line configure the control scaler with parameters as
|
||||
discussed above. Whilst the calculations are performed as floating-point
|
||||
operations, the values stored in the definition file are scaled by a factor of
|
||||
10000; i.e. an offset of -0.5 is encoded as -5000.
|
||||
|
||||
Multirotor Mixer
|
||||
................
|
||||
|
||||
The multirotor mixer combines four control inputs (roll, pitch, yaw, thrust)
|
||||
into a set of actuator outputs intended to drive motor speed controllers.
|
||||
|
||||
The mixer definition is a single line of the form:
|
||||
|
||||
R: <geometry> <roll scale> <pitch scale> <yaw scale> <deadband>
|
||||
|
||||
The supported geometries include:
|
||||
|
||||
4x - quadrotor in X configuration
|
||||
4+ - quadrotor in + configuration
|
||||
6x - hexcopter in X configuration
|
||||
6+ - hexcopter in + configuration
|
||||
8x - octocopter in X configuration
|
||||
8+ - octocopter in + configuration
|
||||
|
||||
Each of the roll, pitch and yaw scale values determine scaling of the roll,
|
||||
pitch and yaw controls relative to the thrust control. Whilst the calculations
|
||||
are performed as floating-point operations, the values stored in the definition
|
||||
file are scaled by a factor of 10000; i.e. an factor of 0.5 is encoded as 5000.
|
||||
|
||||
Roll, pitch and yaw inputs are expected to range from -1.0 to 1.0, whilst the
|
||||
thrust input ranges from 0.0 to 1.0. Output for each actuator is in the
|
||||
range -1.0 to 1.0.
|
||||
|
||||
In the case where an actuator saturates, all actuator values are rescaled so that
|
||||
the saturating actuator is limited to 1.0.
|
||||
Reference in New Issue
Block a user