forked from Archive/PX4-Autopilot
536 lines
25 KiB
Matlab
536 lines
25 KiB
Matlab
% 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 = 'log001.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=1; %[mm] to [m]
|
||
fconv_gpslatlong=1; %[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.TIME_StartTime) .*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.
|
||
|
||
%% ************************************************************************
|
||
% 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()
|
||
|
||
% ************************************************************************
|
||
% RETRIEVE SYSTEM VECTOR
|
||
% *************************************************************************
|
||
% //All measurements in NED frame
|
||
|
||
% Convert to CSV
|
||
%arg1 = 'log-fx61-20130721-2.bin';
|
||
arg1 = filePath;
|
||
delim = ',';
|
||
time_field = 'TIME';
|
||
data_file = 'data.csv';
|
||
csv_null = '';
|
||
|
||
if not(exist(data_file, 'file'))
|
||
s = system( sprintf('python sdlog2_dump.py "%s" -f "%s" -t"%s" -d"%s" -n"%s"', arg1, data_file, time_field, delim, csv_null) );
|
||
end
|
||
|
||
if exist(data_file, 'file')
|
||
|
||
%data = csvread(data_file);
|
||
sysvector = tdfread(data_file, ',');
|
||
|
||
% shot the flight time
|
||
time_us = sysvector.TIME_StartTime(end) - sysvector.TIME_StartTime(1);
|
||
time_s = uint64(time_us*1e-6);
|
||
time_m = uint64(time_s/60);
|
||
time_s = time_s - time_m * 60;
|
||
|
||
disp([sprintf('Flight log duration: %d:%d (minutes:seconds)', time_m, time_s) char(10)]);
|
||
|
||
disp(['logfile conversion finished.' char(10)]);
|
||
else
|
||
disp(['file: ' data_file ' 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_Lat(imintime:imaxtime)))>0) && (bDisplayGPS)
|
||
%Draw data
|
||
plot3(h.axes(1),double(sysvector.GPS_Lat(imintime:imaxtime))*fconv_gpslatlong, ...
|
||
double(sysvector.GPS_Lon(imintime:imaxtime))*fconv_gpslatlong, ...
|
||
double(sysvector.GPS_Alt(imintime:imaxtime))*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.IMU_MagX(imintime:imaxtime), sysvector.IMU_MagY(imintime:imaxtime), sysvector.IMU_MagZ(imintime:imaxtime)]);
|
||
title(h.axes(2),'Magnetometers [Gauss]');
|
||
legend(h.axes(2),'x','y','z');
|
||
plot(h.axes(3),time(imintime:imaxtime),[sysvector.IMU_AccX(imintime:imaxtime), sysvector.IMU_AccY(imintime:imaxtime), sysvector.IMU_AccZ(imintime:imaxtime)]);
|
||
title(h.axes(3),'Accelerometers [m/s<>]');
|
||
legend(h.axes(3),'x','y','z');
|
||
plot(h.axes(4),time(imintime:imaxtime),[sysvector.IMU_GyroX(imintime:imaxtime), sysvector.IMU_GyroY(imintime:imaxtime), sysvector.IMU_GyroZ(imintime:imaxtime)]);
|
||
title(h.axes(4),'Gyroscopes [rad/s]');
|
||
legend(h.axes(4),'x','y','z');
|
||
plot(h.axes(5),time(imintime:imaxtime),sysvector.SENS_BaroAlt(imintime:imaxtime),'color','blue');
|
||
if(bDisplayGPS)
|
||
hold on;
|
||
plot(h.axes(5),time(imintime:imaxtime),double(sysvector.GPS_Alt(imintime:imaxtime)).*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.ATT_Roll(imintime:imaxtime), sysvector.ATT_Pitch(imintime:imaxtime), sysvector.ATT_Yaw(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.ATTC_Roll(imintime:imaxtime), sysvector.ATTC_Pitch(imintime:imaxtime), sysvector.ATTC_Yaw(imintime:imaxtime), sysvector.ATTC_Thrust(imintime:imaxtime)]);
|
||
title(h.axes(7),'Actuator control [-]');
|
||
legend(h.axes(7),'ATT CTRL Roll [-1..+1]','ATT CTRL Pitch [-1..+1]','ATT CTRL Yaw [-1..+1]','ATT CTRL Thrust [0..+1]');
|
||
%Actuator Controls
|
||
plot(h.axes(8),time(imintime:imaxtime), [sysvector.OUT0_Out0(imintime:imaxtime), sysvector.OUT0_Out1(imintime:imaxtime), sysvector.OUT0_Out2(imintime:imaxtime), sysvector.OUT0_Out3(imintime:imaxtime), sysvector.OUT0_Out4(imintime:imaxtime), sysvector.OUT0_Out5(imintime:imaxtime), sysvector.OUT0_Out6(imintime:imaxtime), sysvector.OUT0_Out7(imintime:imaxtime)]);
|
||
title(h.axes(8),'Actuator PWM (raw-)outputs [<5B>s]');
|
||
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.AIRS_IndSpeed(imintime:imaxtime));
|
||
hold on
|
||
plot(h.axes(9),time(imintime:imaxtime), sysvector.AIRS_TrueSpeed(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_Lat(i))*fconv_gpslatlong),'<EFBFBD>, ',...
|
||
'lon=',num2str(double(sysvector.GPS_Lon(i))*fconv_gpslatlong),'<EFBFBD>, ',...
|
||
'alt=',num2str(double(sysvector.GPS_Alt(i))*fconv_gpsalt),'m]'];
|
||
acstate{2,:}=[sprintf('%s \t\t','Mags[gauss]'),'[x=',num2str(sysvector.IMU_MagX(i)),...
|
||
', y=',num2str(sysvector.IMU_MagY(i)),...
|
||
', z=',num2str(sysvector.IMU_MagZ(i)),']'];
|
||
acstate{3,:}=[sprintf('%s \t\t','Accels[m/s<>]'),'[x=',num2str(sysvector.IMU_AccX(i)),...
|
||
', y=',num2str(sysvector.IMU_AccY(i)),...
|
||
', z=',num2str(sysvector.IMU_AccZ(i)),']'];
|
||
acstate{4,:}=[sprintf('%s \t\t','Gyros[rad/s]'),'[x=',num2str(sysvector.IMU_GyroX(i)),...
|
||
', y=',num2str(sysvector.IMU_GyroY(i)),...
|
||
', z=',num2str(sysvector.IMU_GyroZ(i)),']'];
|
||
acstate{5,:}=[sprintf('%s \t\t','Altitude[m]'),'[Barometric: ',num2str(sysvector.SENS_BaroAlt(i)),'m, GPS: ',num2str(double(sysvector.GPS_Alt(i))*fconv_gpsalt),'m]'];
|
||
acstate{6,:}=[sprintf('%s \t','Est. attitude[deg]:'),'[Roll=',num2str(sysvector.ATT_Roll(i).*180./3.14159),...
|
||
', Pitch=',num2str(sysvector.ATT_Pitch(i).*180./3.14159),...
|
||
', Yaw=',num2str(sysvector.ATT_Yaw(i).*180./3.14159),']'];
|
||
acstate{7,:}=sprintf('%s \t[','Actuator Ctrls [-]:');
|
||
%for j=1:4
|
||
acstate{7,:}=[acstate{7,:},num2str(sysvector.ATTC_Roll(i)),','];
|
||
acstate{7,:}=[acstate{7,:},num2str(sysvector.ATTC_Pitch(i)),','];
|
||
acstate{7,:}=[acstate{7,:},num2str(sysvector.ATTC_Yaw(i)),','];
|
||
acstate{7,:}=[acstate{7,:},num2str(sysvector.ATTC_Thrust(i)),','];
|
||
%end
|
||
acstate{7,:}=[acstate{7,:},']'];
|
||
acstate{8,:}=sprintf('%s \t[','Actuator Outputs [PWM/<2F>s]:');
|
||
%for j=1:8
|
||
acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out0(i)),','];
|
||
acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out1(i)),','];
|
||
acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out2(i)),','];
|
||
acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out3(i)),','];
|
||
acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out4(i)),','];
|
||
acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out5(i)),','];
|
||
acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out6(i)),','];
|
||
acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out7(i)),','];
|
||
%end
|
||
acstate{8,:}=[acstate{8,:},']'];
|
||
acstate{9,:}=[sprintf('%s \t','Airspeed[m/s]:'),'[IAS: ',num2str(sysvector.AIRS_IndSpeed(i)),', TAS: ',num2str(sysvector.AIRS_TrueSpeed(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_Lat(imintime:i))*fconv_gpslatlong, ...
|
||
double(sysvector.GPS_Lon(imintime:i))*fconv_gpslatlong, ...
|
||
double(sysvector.GPS_Alt(imintime:i))*fconv_gpsalt,'b','LineWidth',2);
|
||
end;
|
||
hold off
|
||
%Plot current position
|
||
newpoint=[double(sysvector.GPS_Lat(i))*fconv_gpslatlong double(sysvector.GPS_Lat(i))*fconv_gpslatlong double(sysvector.GPS_Alt(i))*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_Lat(i))*fconv_gpslatlong,double(sysvector.GPS_Lon(i))*fconv_gpslatlong,...
|
||
double(sysvector.GPS_Alt(i))*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.TIME_StartTime,1)
|
||
if time(i)>=mintime; idxmin=i; break; end
|
||
end
|
||
for i=1:size(sysvector.TIME_StartTime,1)
|
||
if maxtime==0; idxmax=size(sysvector.TIME_StartTime,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
|