forked from Archive/PX4-Autopilot
Merge branch 'master' of github.com:PX4/Firmware into px4io-i2c
This commit is contained in:
Lorenz Meier
commit
4af4d1cf21
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@ -45,29 +45,30 @@ end
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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', 3, '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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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', 3, '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', 'omnidirectional_flow', 'bytes', 4, 'array', 22,'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{22} = struct('name', 'diff_pressure', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{23} = struct('name', 'ind_airspeed', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{24} = 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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@ -83,7 +84,7 @@ 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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elements = int64(fileSize./(lineLength));
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fid = fopen(filePath, 'r');
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offset = 0;
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@ -102,8 +103,8 @@ if exist(filePath, 'file')
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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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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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@ -112,3 +113,113 @@ if exist(filePath, 'file')
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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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%% Plot GPS RAW measurements
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% Only plot GPS data if available
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if cumsum(double(sysvector.gps_raw_position(200:end,1))) > 0
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figure('units','normalized','outerposition',[0 0 1 1])
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plot3(sysvector.gps_raw_position(200:end,1), sysvector.gps_raw_position(200:end,2), sysvector.gps_raw_position(200:end,3));
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end
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%% Plot optical flow trajectory
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flow_sz = size(sysvector.timestamp);
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flow_elements = flow_sz(1);
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xt(1:flow_elements,1) = sysvector.timestamp(:,1); % time column [ms]
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%calc dt
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dt = zeros(flow_elements,1);
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for i = 1:flow_elements-1
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dt(i+1,1) = double(xt(i+1,1)-xt(i,1)) * 10^(-6); % timestep [s]
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end
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dt(1,1) = mean(dt);
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global_speed = zeros(flow_elements,3);
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%calc global speed (with rot matrix)
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for i = 1:flow_elements
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rotM = [sysvector.rot_matrix(i,1:3);sysvector.rot_matrix(i,4:6);sysvector.rot_matrix(i,7:9)]';
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speedX = sysvector.optical_flow(i,3);
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speedY = sysvector.optical_flow(i,4);
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relSpeed = [-speedY,speedX,0];
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global_speed(i,:) = relSpeed * rotM;
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end
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px = zeros(flow_elements,1);
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py = zeros(flow_elements,1);
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distance = 0;
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last_vx = 0;
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last_vy = 0;
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elem_cnt = 0;
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% Very basic accumulation, stops on bad flow quality
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for i = 1:flow_elements
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if sysvector.optical_flow(i,6) > 5
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px(i,1) = global_speed(i,1)*dt(i,1);
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py(i,1) = global_speed(i,2)*dt(i,1);
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distance = distance + norm([px(i,1) py(i,1)]);
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last_vx = px(i,1);
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last_vy = py(i,1);
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else
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px(i,1) = last_vx;
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py(i,1) = last_vy;
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last_vx = last_vx*0.95;
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last_vy = last_vy*0.95;
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end
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end
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px_sum = cumsum(px);
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py_sum = cumsum(py);
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time = cumsum(dt);
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figure()
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set(gca, 'Units','normal');
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plot(py_sum, px_sum, '-blue', 'LineWidth',2);
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axis equal;
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% set title and axis captions
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xlabel('X position (meters)','fontsize',14)
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ylabel('Y position (meters)','fontsize',14)
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% mark begin and end
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hold on
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plot(py_sum(1,1),px_sum(1,1),'ks','LineWidth',2,...
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'MarkerEdgeColor','k',...
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'MarkerFaceColor','g',...
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'MarkerSize',10)
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hold on
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plot(py_sum(end,1),px_sum(end,1),'kv','LineWidth',2,...
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'MarkerEdgeColor','k',...
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'MarkerFaceColor','b',...
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'MarkerSize',10)
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% add total length as annotation
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set(gca,'fontsize',13);
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legend('Trajectory', 'START', sprintf('END\n(%.2f m, %.0f:%.0f s)', distance, time_m, time_s - time_m*60));
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title('Optical Flow Position Integration', 'fontsize', 15);
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figure()
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plot(time, sysvector.optical_flow(:,5), 'blue');
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axis([time(1,1) time(end,1) 0 (max(sysvector.optical_flow(i,5))+0.2)]);
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xlabel('seconds','fontsize',14);
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ylabel('m','fontsize',14);
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set(gca,'fontsize',13);
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title('Ultrasound Altitude', 'fontsize', 15);
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figure()
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plot(time, global_speed(:,2), 'red');
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hold on;
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plot(time, global_speed(:,1), 'blue');
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legend('y velocity (m/s)', 'x velocity (m/s)');
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xlabel('seconds','fontsize',14);
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ylabel('m/s','fontsize',14);
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set(gca,'fontsize',13);
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title('Optical Flow Velocity', 'fontsize', 15);
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