mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 06:28:27 -04:00
2abfb1bec8
- arducopter.slx: Simulates ArduCopter Stabilize and Althold controller and optional plant model - sid_pre.m: Loads *.bin files to Matlab structs - sid_sim_init.m: Loads signals and parameters from Matlab structure into Simulink model - sid_controller_validation.m: Validation of the flight controller model with the flight data loaded to the Matlab workspace.
48 lines
1.2 KiB
Matlab
48 lines
1.2 KiB
Matlab
function timeZero = getTimeZero(log, msgs, msgs2Ex)
|
|
% Get the earliest time stamp in the log
|
|
%
|
|
% Fabian Bredemeier - IAV GmbH
|
|
% License: GPL v3
|
|
|
|
% Create dummy zero timestamp
|
|
if isprop(log, 'RATE')
|
|
timeZero = log.RATE.TimeS(1);
|
|
else
|
|
error('Message RATE not contained in log.');
|
|
end
|
|
|
|
% Define messages that should not be included in search for time stamp
|
|
if nargin < 3
|
|
msgs2Exclude = {'FMT', 'FMTU', 'MODE', 'MULT', 'UNIT', 'PARM'};
|
|
else
|
|
msgs2Exclude = msgs2Ex;
|
|
end
|
|
|
|
for m = msgs
|
|
msg = m{1};
|
|
% Skip messages to exclude
|
|
if any(strcmp(msgs2Exclude, msg))
|
|
continue;
|
|
end
|
|
|
|
% Output warning if message is not included in log
|
|
if ~any(strcmp(fieldnames(log), msg))
|
|
warning(['Message ' msg ' not included in log!']);
|
|
end
|
|
|
|
% Skip message if message is deleted handle
|
|
if ~isvalid(log.(msg))
|
|
continue;
|
|
end
|
|
|
|
% Compare first time stamps and get lower start time
|
|
firstTime = log.(msg).TimeS(1);
|
|
if abs(timeZero - firstTime) > 2
|
|
error(['Time vector of ' msg ' invalid. The first time stamp is too far off. Aborting.']);
|
|
elseif firstTime < timeZero
|
|
timeZero = firstTime;
|
|
end
|
|
end
|
|
end
|
|
|