forked from bw1129/PIDtoolbox
-
Notifications
You must be signed in to change notification settings - Fork 0
/
PTload.m
525 lines (464 loc) · 29 KB
/
PTload.m
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
%% PTload - script to load and organize main data and create main directories
% ----------------------------------------------------------------------------------
% "THE BEER-WARE LICENSE" (Revision 42):
% <brian.white@queensu.ca> wrote this file. As long as you retain this notice you
% can do whatever you want with this stuff. If we meet some day, and you think
% this stuff is worth it, you can buy me a beer in return. -Brian White
% ----------------------------------------------------------------------------------
%% betaflight debug_modes
% https://github.com/betaflight/betaflight/wiki/Debug-Modes?fbclid=IwAR2bKepD_cNZNnRtlAxf7yf3CWjYm2-MbFuwoGn3tUm8wPefp9CCJQR7c9Y
GYRO_SCALED=6;
DSHOT_RPM_TELEMETRY=47;
DEBUG_GYRO=1;% INAV prefiltered gyro
try
if ~isempty(filenameA) || ~isempty(filenameB)
us2sec=1000000;
maxMotorOutput=2000;
set(PTfig, 'pointer', 'watch')
guiHandles.runAll.FontWeight='Bold';
pause(.2)
% this is the catch error when user clicks 'select file' but does not
% actually make a selection.
if ~isempty(filenameA)
filepath=filepathA;
end
if ~isempty(filenameB)
filepath=filepathB;
end
% make 'logfileDir.txt' so logfiles open in same as previously selected directory
cd(executableDir)
pause(.2)
fid = fopen('logfileDir.txt','w');
fprintf(fid,'%s\n',filepath);
fclose(fid);
try
cd(filepath)
catch
errordlg('please select file then click ''load+run'' ','error - no file selected!');
set(PTfig, 'pointer', 'arrow')
close(waitbarFid);
end
%%%% file A
if ~isempty(filenameA)
if isempty(filenameAtmp)
filenameAtmp=filenameA;
clear dataA dat_A
% try
[dataA] = PTimport(filenameA);
% catch ME
% errmsg.PTimport=PTerrorMessages('PTimport', ME);
% end
if ~isempty(dataA)
dataA.VarLabels(size(dataA.VarLabels,2)+1)={'axisDuf[0]'};% to be computed below
dataA.VarLabels(size(dataA.VarLabels,2)+1)={'axisDuf[1]'};
dataA.VarLabels(size(dataA.VarLabels,2)+1)={'axisPID[0]'};
dataA.VarLabels(size(dataA.VarLabels,2)+1)={'axisPID[1]'};
dataA.VarLabels(size(dataA.VarLabels,2)+1)={'axisPID[2]'};
tta=dataA.DataMain(:,find(strcmp(dataA.VarLabels, 'time')));
tta=tta-tta(1);
%%%%%% Lograte and Looptime
A_gyro_sync_denom=str2num(char(string(dataA.SetupInfo(strcmp(dataA.SetupInfo(:,1),'gyro_sync_denom'),2))));
A_pid_process_denom=str2num(char(string(dataA.SetupInfo(strcmp(dataA.SetupInfo(:,1),'pid_process_denom'),2))));
A_looptime=str2num(char(string(dataA.SetupInfo(strcmp(dataA.SetupInfo(:,1),'looptime'),2))));
A_lograte=round(1000/median(diff(tta)));
if ~isempty(str2num(char(string(dataA.SetupInfo(strcmp(dataA.SetupInfo(:,1),'debug_mode'),2)))))
A_debugmode=str2num(char(string(dataA.SetupInfo(strcmp(dataA.SetupInfo(:,1),'debug_mode'),2))));
end
if A_lograte > 4
waitfor(msgbox(['File A lograte = ' num2str(A_lograte) 'kHz. For faster processing, please consider logging @ 2kHz!']));
end
if A_lograte < 1
waitfor(msgbox(['Caution, file A lograte = ' num2str(A_lograte) 'kHz. Spectrograms may be unreliable. Please consider logging @ 2kHz!']));
end
epoch1_A=round(tta(1)/us2sec)+2;
epoch2_A=round(tta(end)/us2sec)-2;
guiHandles.Epoch1_A_Input = uicontrol(PTfig,'style','edit','string',[int2str(epoch1_A)],'fontsize',fontsz,'units','normalized','outerposition',[posInfo.Epoch1_A_Input],...
'callback','@textinput_call; epoch1_A=str2num(guiHandles.Epoch1_A_Input.String); PTprocess;PTplotLogViewer;');
guiHandles.Epoch2_A_Input = uicontrol(PTfig,'style','edit','string',[int2str(epoch2_A)],'fontsize',fontsz,'units','normalized','outerposition',[posInfo.Epoch2_A_Input],...
'callback','@textinput_call;epoch2_A=str2num(guiHandles.Epoch2_A_Input.String); PTprocess;PTplotLogViewer;');
else
filenameA=[];
end
end
else
epoch1_A=[];epoch2_A=[];
A_lograte=nan;
A_looptime=nan;
tta=0;
end
%%%% file B
if ~isempty(filenameB)
if isempty(filenameBtmp)
filenameBtmp=filenameB;
clear dataB dat_B
try
[dataB] = PTimport(filenameB);
catch ME
errmsg.PTimport=PTerrorMessages('PTimport', ME);
end
if ~isempty(dataB)
dataB.VarLabels(size(dataB.VarLabels,2)+1)={'axisDuf[0]'};% to be computed below
dataB.VarLabels(size(dataB.VarLabels,2)+1)={'axisDuf[1]'};
dataB.VarLabels(size(dataB.VarLabels,2)+1)={'axisPID[0]'};
dataB.VarLabels(size(dataB.VarLabels,2)+1)={'axisPID[1]'};
dataB.VarLabels(size(dataB.VarLabels,2)+1)={'axisPID[2]'};
ttb=dataB.DataMain(:,find(strcmp(dataB.VarLabels, 'time')));
ttb=ttb-ttb(1);
%%%%%% Lograte and Looptime
B_gyro_sync_denom=str2num(char(string(dataB.SetupInfo(strcmp(dataB.SetupInfo(:,1),'gyro_sync_denom'),2))));
B_pid_process_denom=str2num(char(string(dataB.SetupInfo(strcmp(dataB.SetupInfo(:,1),'pid_process_denom'),2))));
B_looptime=str2num(char(string(dataB.SetupInfo(strcmp(dataB.SetupInfo(:,1),'looptime'),2))));
B_lograte=round(1000/median(diff(ttb)));
if ~isempty(str2num(char(string(dataB.SetupInfo(strcmp(dataB.SetupInfo(:,1),'debug_mode'),2)))))
B_debugmode=str2num(char(string(dataB.SetupInfo(strcmp(dataB.SetupInfo(:,1),'debug_mode'),2))));
end
if B_lograte > 4
waitfor(msgbox(['File B lograte = ' num2str(B_lograte) 'kHz. For faster processing, please consider logging @ 2kHz!']));
end
if B_lograte < 1
waitfor(msgbox(['File B lograte = ' num2str(B_lograte) 'kHz. Caution, spectrograms may be unreliable, please consider logging @ 2kHz!']));
end
epoch1_B=round(ttb(1)/us2sec)+2;
epoch2_B=round(ttb(end)/us2sec)-2;
guiHandles.Epoch1_B_Input = uicontrol(PTfig,'style','edit','string',[int2str(epoch1_B)],'fontsize',fontsz,'units','normalized','outerposition',[posInfo.Epoch1_B_Input],...
'callback','@textinput_call; epoch1_B=str2num(guiHandles.Epoch1_B_Input.String);PTprocess;PTplotLogViewer; ');
guiHandles.Epoch2_B_Input = uicontrol(PTfig,'style','edit','string',[int2str(epoch2_B)],'fontsize',fontsz,'units','normalized','outerposition',[posInfo.Epoch2_B_Input],...
'callback','@textinput_call; epoch2_B=str2num(guiHandles.Epoch2_B_Input.String);PTprocess;PTplotLogViewer; ');
else
filenameB=[];
end
end
else
epoch1_B=[];epoch2_B=[];
B_lograte=nan;
B_looptime=nan;
ttb=0;
end
%%%% if there is no data worth analyzing
if isempty(filenameA) && isempty(filenameB)
a=errordlg('there is no valid data to analyze. closing program...');pause(3);close(a);
close(waitbarFid);
close(figure(1));
clear
end
% collect full data here for time plots, and breakout plots
% where you want full range of data
if ~isempty(filenameA)
clear DATmainA
DATmainA.RCcommand(1,:)=dataA.DataMain(:,find(strcmp(dataA.VarLabels, 'rcCommand[0]')));
DATmainA.RCcommand(2,:)=dataA.DataMain(:,find(strcmp(dataA.VarLabels, 'rcCommand[1]')));
DATmainA.RCcommand(3,:)=dataA.DataMain(:,find(strcmp(dataA.VarLabels, 'rcCommand[2]')));
DATmainA.RCcommand(4,:)=dataA.DataMain(:,find(strcmp(dataA.VarLabels, 'rcCommand[3]')));
DATmainA.GyroFilt(1,:)=dataA.DataMain(:,find(strcmp(dataA.VarLabels, 'gyroADC[0]')));
DATmainA.GyroFilt(2,:)=dataA.DataMain(:,find(strcmp(dataA.VarLabels, 'gyroADC[1]')));
DATmainA.GyroFilt(3,:)=dataA.DataMain(:,find(strcmp(dataA.VarLabels, 'gyroADC[2]')));
% motors
for ii=1:4
minM=min(dataA.DataMain(:,find(strcmp(dataA.VarLabels, ['motor[' int2str(ii-1) ']']))));
maxM=max(dataA.DataMain(:,find(strcmp(dataA.VarLabels, ['motor[' int2str(ii-1) ']']))));
if maxM<maxMotorOutput,
MaxM=maxMotorOutput;
end
DATmainA.Motor(ii,:)=((dataA.DataMain(:,find(strcmp(dataA.VarLabels, ['motor[' int2str(ii-1) ']']))) - minM) / (maxM - minM)) * 100;
end
try
DATmainA.debug(1,:)=dataA.DataMain(:,find(strcmp(dataA.VarLabels, 'debug[0]')));
DATmainA.debug(2,:)=dataA.DataMain(:,find(strcmp(dataA.VarLabels, 'debug[1]')));
DATmainA.debug(3,:)=dataA.DataMain(:,find(strcmp(dataA.VarLabels, 'debug[2]')));
DATmainA.debug(4,:)=dataA.DataMain(:,find(strcmp(dataA.VarLabels, 'debug[3]')));
catch % empty
DATmainA.debug(1,:)=zeros(1,length(DATmainA.GyroFilt(1,:)));
DATmainA.debug(2,:)=zeros(1,length(DATmainA.GyroFilt(1,:)));
DATmainA.debug(3,:)=zeros(1,length(DATmainA.GyroFilt(1,:)));
DATmainA.debug(4,:)=zeros(1,length(DATmainA.GyroFilt(1,:)));
end
if A_debugmode==DSHOT_RPM_TELEMETRY % DSHOT_RPM_TELEMETRY
DATmainA.debug(1,:)=PTscale2ref( dataA.DataMain(:,find(strcmp(dataA.VarLabels, 'debug[0]'))), DATmainA.Motor(1,:));
DATmainA.debug(2,:)=PTscale2ref( dataA.DataMain(:,find(strcmp(dataA.VarLabels, 'debug[1]'))), DATmainA.Motor(2,:));
DATmainA.debug(3,:)=PTscale2ref( dataA.DataMain(:,find(strcmp(dataA.VarLabels, 'debug[2]'))), DATmainA.Motor(3,:));
DATmainA.debug(4,:)=PTscale2ref( dataA.DataMain(:,find(strcmp(dataA.VarLabels, 'debug[3]'))), DATmainA.Motor(4,:));
end
DATmainA.Pterm(1,:)=dataA.DataMain(:,find(strcmp(dataA.VarLabels, 'axisP[0]')));
DATmainA.Pterm(2,:)=dataA.DataMain(:,find(strcmp(dataA.VarLabels, 'axisP[1]')));
DATmainA.Pterm(3,:)=dataA.DataMain(:,find(strcmp(dataA.VarLabels, 'axisP[2]')));
DATmainA.Iterm(1,:)=dataA.DataMain(:,find(strcmp(dataA.VarLabels, 'axisI[0]')));
DATmainA.Iterm(2,:)=dataA.DataMain(:,find(strcmp(dataA.VarLabels, 'axisI[1]')));
DATmainA.Iterm(3,:)=dataA.DataMain(:,find(strcmp(dataA.VarLabels, 'axisI[2]')));
try %dterm is only PID term that if set to 0 will not generate axisD variable at all
DATmainA.DtermFilt(1,:)=dataA.DataMain(:,find(strcmp(dataA.VarLabels, 'axisD[0]')));
DATmainA.DtermFilt(2,:)=dataA.DataMain(:,find(strcmp(dataA.VarLabels, 'axisD[1]')));
catch
DATmainA.DtermFilt(1,:)=zeros(1,length(DATmainA.GyroFilt(1,:)));
DATmainA.DtermFilt(2,:)=zeros(1,length(DATmainA.GyroFilt(1,:)));
end
DATmainA.DtermRaw(1,:)=[-(diff(DATmainA.GyroFilt(1,:))) 0];
DATmainA.DtermRaw(2,:)=[-(diff(DATmainA.GyroFilt(2,:))) 0];
DATmainA.DtermRaw(1,:)=PTscale2ref(DATmainA.DtermRaw(1,:),DATmainA.DtermFilt(1,:));
DATmainA.DtermRaw(2,:)=PTscale2ref(DATmainA.DtermRaw(2,:),DATmainA.DtermFilt(2,:));
dataA.DataMain(:,find(strcmp(dataA.VarLabels,'axisDuf[0]')))=zeros(size(dataA.DataMain(:,1)));
dataA.DataMain(:,find(strcmp(dataA.VarLabels,'axisDuf[1]')))=zeros(size(dataA.DataMain(:,1)));
dataA.DataMain(:,find(strcmp(dataA.VarLabels,'axisDuf[0]')))=DATmainA.DtermRaw(1,:)';
dataA.DataMain(:,find(strcmp(dataA.VarLabels,'axisDuf[1]')))=DATmainA.DtermRaw(2,:)';
try
DATmainA.Fterm(1,:)=dataA.DataMain(:,find(strcmp(dataA.VarLabels, 'axisF[0]')));
DATmainA.Fterm(2,:)=dataA.DataMain(:,find(strcmp(dataA.VarLabels, 'axisF[1]')));
DATmainA.Fterm(3,:)=dataA.DataMain(:,find(strcmp(dataA.VarLabels, 'axisF[2]')));
catch
DATmainA.Fterm(1,:)=zeros(1,length(DATmainA.Pterm(1,:)));
DATmainA.Fterm(2,:)=zeros(1,length(DATmainA.Pterm(1,:)));
DATmainA.Fterm(3,:)=zeros(1,length(DATmainA.Pterm(1,:)));
end
DATmainA.PIDsum(1,:)=DATmainA.Pterm(1,:)+DATmainA.Iterm(1,:)+DATmainA.DtermFilt(1,:)+DATmainA.Fterm(1,:);
DATmainA.PIDsum(2,:)=DATmainA.Pterm(2,:)+DATmainA.Iterm(2,:)+DATmainA.DtermFilt(2,:)+DATmainA.Fterm(2,:);
DATmainA.PIDsum(3,:)=DATmainA.Pterm(3,:)+DATmainA.Iterm(3,:)+DATmainA.Fterm(3,:);
dataA.DataMain(:,find(strcmp(dataA.VarLabels,'axisPID[0]')))=DATmainA.PIDsum(1,:);
dataA.DataMain(:,find(strcmp(dataA.VarLabels,'axisPID[1]')))=DATmainA.PIDsum(2,:);
dataA.DataMain(:,find(strcmp(dataA.VarLabels,'axisPID[2]')))=DATmainA.PIDsum(3,:);
if ~isempty(find(strcmp(dataA.VarLabels, 'rcCommands[0]')))% old set point
DATmainA.RCRate(1,:)=dataA.DataMain(:,find(strcmp(dataA.VarLabels, 'rcCommands[0]')));
DATmainA.RCRate(2,:)=dataA.DataMain(:,find(strcmp(dataA.VarLabels, 'rcCommands[1]')));
DATmainA.RCRate(3,:)=dataA.DataMain(:,find(strcmp(dataA.VarLabels, 'rcCommands[2]')));
DATmainA.RCRate(4,:)=dataA.DataMain(:,find(strcmp(dataA.VarLabels, 'rcCommands[3]')));
elseif ~isempty(find(strcmp(dataA.VarLabels, 'setpoint[0]')))% new set point
disp('setpoint for A called')
DATmainA.RCRate(1,:)=dataA.DataMain(:,find(strcmp(dataA.VarLabels, 'setpoint[0]')));
DATmainA.RCRate(2,:)=dataA.DataMain(:,find(strcmp(dataA.VarLabels, 'setpoint[1]')));
DATmainA.RCRate(3,:)=dataA.DataMain(:,find(strcmp(dataA.VarLabels, 'setpoint[2]')));
DATmainA.RCRate(4,:)=dataA.DataMain(:,find(strcmp(dataA.VarLabels, 'setpoint[3]')))/10;% scale to 100
elseif ~isempty(find(strcmp(dataA.VarLabels, 'axisRate[0]')))% new set point
disp('axisRate for A called')
DATmainA.RCRate(1,:)=dataA.DataMain(:,find(strcmp(dataA.VarLabels, 'axisRate[0]')));
DATmainA.RCRate(2,:)=dataA.DataMain(:,find(strcmp(dataA.VarLabels, 'axisRate[1]')));
DATmainA.RCRate(3,:)=dataA.DataMain(:,find(strcmp(dataA.VarLabels, 'axisRate[2]')));
DATmainA.RCRate(4,:)=PTthrPercent(DATmainA.RCcommand(4,:));
else % if it doesnt exist
disp('PTrc2deg for A called')
DATmainA.RCRate(1,:)=PTrc2deg(DATmainA.RCcommand(1,:),dataA.rates(1,1), dataA.rates(2,1), dataA.rates(3,1), 200);
DATmainA.RCRate(2,:)=PTrc2deg(DATmainA.RCcommand(2,:),dataA.rates(1,2), dataA.rates(2,2), dataA.rates(3,2), 200);
DATmainA.RCRate(3,:)=PTrc2deg(DATmainA.RCcommand(3,:),dataA.rates(1,3), dataA.rates(2,3), dataA.rates(3,3), 200);
DATmainA.RCRate(4,:)=PTthrPercent(DATmainA.RCcommand(4,:));
dataA.VarLabels(size(dataA.VarLabels,2)+1)={'rcCommands[0]'};
dataA.VarLabels(size(dataA.VarLabels,2)+1)={'rcCommands[1]'};
dataA.VarLabels(size(dataA.VarLabels,2)+1)={'rcCommands[2]'};
dataA.VarLabels(size(dataA.VarLabels,2)+1)={'rcCommands[3]'};
dataA.DataMain(:,end+1)=DATmainA.RCRate(1,:)';
dataA.DataMain(:,end+1)=DATmainA.RCRate(2,:)';
dataA.DataMain(:,end+1)=DATmainA.RCRate(3,:)';
dataA.DataMain(:,end+1)=DATmainA.RCRate(4,:)';
end
try
DATmainA.PIDerr(1,:)=dataA.DataMain(:,find(strcmp(dataA.VarLabels, 'axisError[0]')));
DATmainA.PIDerr(2,:)=dataA.DataMain(:,find(strcmp(dataA.VarLabels, 'axisError[1]')));
DATmainA.PIDerr(3,:)=dataA.DataMain(:,find(strcmp(dataA.VarLabels, 'axisError[2]')));
catch
DATmainA.PIDerr(1,:)=DATmainA.GyroFilt(1,:)-DATmainA.RCRate(1,:);
DATmainA.PIDerr(2,:)=DATmainA.GyroFilt(2,:)-DATmainA.RCRate(2,:);
DATmainA.PIDerr(3,:)=DATmainA.GyroFilt(3,:)-DATmainA.RCRate(3,:);
dataA.VarLabels(size(dataA.VarLabels,2)+1)={'axisError[0]'};
dataA.VarLabels(size(dataA.VarLabels,2)+1)={'axisError[1]'};
dataA.VarLabels(size(dataA.VarLabels,2)+1)={'axisError[2]'};
dataA.DataMain(:,end+1)=DATmainA.PIDerr(1,:)';
dataA.DataMain(:,end+1)=DATmainA.PIDerr(2,:)';
dataA.DataMain(:,end+1)=DATmainA.PIDerr(3,:)';
end
end
if ~isempty(filenameB)
clear DATmainB
DATmainB.RCcommand(1,:)=dataB.DataMain(:,find(strcmp(dataB.VarLabels, 'rcCommand[0]')));
DATmainB.RCcommand(2,:)=dataB.DataMain(:,find(strcmp(dataB.VarLabels, 'rcCommand[1]')));
DATmainB.RCcommand(3,:)=dataB.DataMain(:,find(strcmp(dataB.VarLabels, 'rcCommand[2]')));
DATmainB.RCcommand(4,:)=dataB.DataMain(:,find(strcmp(dataB.VarLabels, 'rcCommand[3]')));
DATmainB.GyroFilt(1,:)=dataB.DataMain(:,find(strcmp(dataB.VarLabels, 'gyroADC[0]')));
DATmainB.GyroFilt(2,:)=dataB.DataMain(:,find(strcmp(dataB.VarLabels, 'gyroADC[1]')));
DATmainB.GyroFilt(3,:)=dataB.DataMain(:,find(strcmp(dataB.VarLabels, 'gyroADC[2]')));
% motors
for ii=1:4
minM=min(dataB.DataMain(:,find(strcmp(dataB.VarLabels, ['motor[' int2str(ii-1) ']']))));
maxM=max(dataB.DataMain(:,find(strcmp(dataB.VarLabels, ['motor[' int2str(ii-1) ']']))));
if maxM<maxMotorOutput,
MaxM=maxMotorOutput;
end
DATmainB.Motor(ii,:)=((dataB.DataMain(:,find(strcmp(dataB.VarLabels, ['motor[' int2str(ii-1) ']']))) - minM) / (maxM - minM)) * 100;
end
try
DATmainB.debug(1,:)=dataB.DataMain(:,find(strcmp(dataB.VarLabels, 'debug[0]')));
DATmainB.debug(2,:)=dataB.DataMain(:,find(strcmp(dataB.VarLabels, 'debug[1]')));
DATmainB.debug(3,:)=dataB.DataMain(:,find(strcmp(dataB.VarLabels, 'debug[2]')));
DATmainB.debug(4,:)=dataB.DataMain(:,find(strcmp(dataB.VarLabels, 'debug[3]')));
catch % empty
DATmainB.debug(1,:)=zeros(1,length(DATmainB.GyroFilt(1,:)));
DATmainB.debug(2,:)=zeros(1,length(DATmainB.GyroFilt(1,:)));
DATmainB.debug(3,:)=zeros(1,length(DATmainB.GyroFilt(1,:)));
DATmainB.debug(4,:)=zeros(1,length(DATmainB.GyroFilt(1,:)));
end
if B_debugmode==DSHOT_RPM_TELEMETRY % DSHOT_RPM_TELEMETRY
DATmainB.debug(1,:)=PTscale2ref( dataB.DataMain(:,find(strcmp(dataB.VarLabels, 'debug[0]'))), DATmainB.Motor(1,:));
DATmainB.debug(2,:)=PTscale2ref( dataB.DataMain(:,find(strcmp(dataB.VarLabels, 'debug[1]'))), DATmainB.Motor(2,:));
DATmainB.debug(3,:)=PTscale2ref( dataB.DataMain(:,find(strcmp(dataB.VarLabels, 'debug[2]'))), DATmainB.Motor(3,:));
DATmainB.debug(4,:)=PTscale2ref( dataB.DataMain(:,find(strcmp(dataB.VarLabels, 'debug[3]'))), DATmainB.Motor(4,:));
end
DATmainB.Pterm(1,:)=dataB.DataMain(:,find(strcmp(dataB.VarLabels, 'axisP[0]')));
DATmainB.Pterm(2,:)=dataB.DataMain(:,find(strcmp(dataB.VarLabels, 'axisP[1]')));
DATmainB.Pterm(3,:)=dataB.DataMain(:,find(strcmp(dataB.VarLabels, 'axisP[2]')));
DATmainB.Iterm(1,:)=dataB.DataMain(:,find(strcmp(dataB.VarLabels, 'axisI[0]')));
DATmainB.Iterm(2,:)=dataB.DataMain(:,find(strcmp(dataB.VarLabels, 'axisI[1]')));
DATmainB.Iterm(3,:)=dataB.DataMain(:,find(strcmp(dataB.VarLabels, 'axisI[2]')));
try %dterm is only PID term that if set to 0 will not generate axisD variable at all
DATmainB.DtermFilt(1,:)=dataB.DataMain(:,find(strcmp(dataB.VarLabels, 'axisD[0]')));
DATmainB.DtermFilt(2,:)=dataB.DataMain(:,find(strcmp(dataB.VarLabels, 'axisD[1]')));
catch
DATmainB.DtermFilt(1,:)=zeros(1,length(DATmainB.GyroFilt(1,:)));
DATmainB.DtermFilt(2,:)=zeros(1,length(DATmainB.GyroFilt(1,:)));
end
DATmainB.DtermRaw(1,:)=[-(diff(DATmainB.GyroFilt(1,:))) 0];
DATmainB.DtermRaw(2,:)=[-(diff(DATmainB.GyroFilt(2,:))) 0];
DATmainB.DtermRaw(1,:)=PTscale2ref(DATmainB.DtermRaw(1,:),DATmainB.DtermFilt(1,:));
DATmainB.DtermRaw(2,:)=PTscale2ref(DATmainB.DtermRaw(2,:),DATmainB.DtermFilt(2,:));
dataB.DataMain(:,find(strcmp(dataB.VarLabels,'axisDuf[0]')))=zeros(size(dataB.DataMain(:,1)));
dataB.DataMain(:,find(strcmp(dataB.VarLabels,'axisDuf[1]')))=zeros(size(dataB.DataMain(:,1)));
dataB.DataMain(:,find(strcmp(dataB.VarLabels,'axisDuf[0]')))=DATmainB.DtermRaw(1,:)';
dataB.DataMain(:,find(strcmp(dataB.VarLabels,'axisDuf[1]')))=DATmainB.DtermRaw(2,:)';
try
DATmainB.Fterm(1,:)=dataB.DataMain(:,find(strcmp(dataB.VarLabels, 'axisF[0]')));
DATmainB.Fterm(2,:)=dataB.DataMain(:,find(strcmp(dataB.VarLabels, 'axisF[1]')));
DATmainB.Fterm(3,:)=dataB.DataMain(:,find(strcmp(dataB.VarLabels, 'axisF[2]')));
catch
DATmainB.Fterm(1,:)=zeros(1,length(DATmainB.Pterm(1,:)));
DATmainB.Fterm(2,:)=zeros(1,length(DATmainB.Pterm(1,:)));
DATmainB.Fterm(3,:)=zeros(1,length(DATmainB.Pterm(1,:)));
end
DATmainB.PIDsum(1,:)=DATmainB.Pterm(1,:)+DATmainB.Iterm(1,:)+DATmainB.DtermFilt(1,:)+DATmainB.Fterm(1,:);
DATmainB.PIDsum(2,:)=DATmainB.Pterm(2,:)+DATmainB.Iterm(2,:)+DATmainB.DtermFilt(2,:)+DATmainB.Fterm(2,:);
DATmainB.PIDsum(3,:)=DATmainB.Pterm(3,:)+DATmainB.Iterm(3,:)+DATmainB.Fterm(3,:);
dataB.DataMain(:,find(strcmp(dataB.VarLabels,'axisPID[0]')))=DATmainB.PIDsum(1,:);
dataB.DataMain(:,find(strcmp(dataB.VarLabels,'axisPID[1]')))=DATmainB.PIDsum(2,:);
dataB.DataMain(:,find(strcmp(dataB.VarLabels,'axisPID[2]')))=DATmainB.PIDsum(3,:);
if ~isempty(find(strcmp(dataB.VarLabels, 'rcCommands[0]')))% old set point
DATmainB.RCRate(1,:)=dataB.DataMain(:,find(strcmp(dataB.VarLabels, 'rcCommands[0]')));
DATmainB.RCRate(2,:)=dataB.DataMain(:,find(strcmp(dataB.VarLabels, 'rcCommands[1]')));
DATmainB.RCRate(3,:)=dataB.DataMain(:,find(strcmp(dataB.VarLabels, 'rcCommands[2]')));
DATmainB.RCRate(4,:)=dataB.DataMain(:,find(strcmp(dataB.VarLabels, 'rcCommands[3]')));
elseif ~isempty(find(strcmp(dataB.VarLabels, 'setpoint[0]')))% new set point
disp('setpoint for B called')
DATmainB.RCRate(1,:)=dataB.DataMain(:,find(strcmp(dataB.VarLabels, 'setpoint[0]')));
DATmainB.RCRate(2,:)=dataB.DataMain(:,find(strcmp(dataB.VarLabels, 'setpoint[1]')));
DATmainB.RCRate(3,:)=dataB.DataMain(:,find(strcmp(dataB.VarLabels, 'setpoint[2]')));
DATmainB.RCRate(4,:)=dataB.DataMain(:,find(strcmp(dataB.VarLabels, 'setpoint[3]')))/10;% scale to 100
elseif ~isempty(find(strcmp(dataB.VarLabels, 'axisRate[0]')))% new set point
disp('axisRate for B called')
DATmainB.RCRate(1,:)=dataB.DataMain(:,find(strcmp(dataB.VarLabels, 'axisRate[0]')));
DATmainB.RCRate(2,:)=dataB.DataMain(:,find(strcmp(dataB.VarLabels, 'axisRate[1]')));
DATmainB.RCRate(3,:)=dataB.DataMain(:,find(strcmp(dataB.VarLabels, 'axisRate[2]')));
DATmainB.RCRate(4,:)=PTthrPercent(DATmainB.RCcommand(4,:));
else
disp('PTrc2deg for B called')
DATmainB.RCRate(1,:)=PTrc2deg(DATmainB.RCcommand(1,:),dataB.rates(1,1), dataB.rates(2,1), dataB.rates(3,1), 200);
DATmainB.RCRate(2,:)=PTrc2deg(DATmainB.RCcommand(2,:),dataB.rates(1,2), dataB.rates(2,2), dataB.rates(3,2), 200);
DATmainB.RCRate(3,:)=PTrc2deg(DATmainB.RCcommand(3,:),dataB.rates(1,3), dataB.rates(2,3), dataB.rates(3,3), 200);
DATmainB.RCRate(4,:)=PTthrPercent(DATmainB.RCcommand(4,:));
dataB.VarLabels(size(dataB.VarLabels,2)+1)={'rcCommands[0]'};
dataB.VarLabels(size(dataB.VarLabels,2)+1)={'rcCommands[1]'};
dataB.VarLabels(size(dataB.VarLabels,2)+1)={'rcCommands[2]'};
dataB.VarLabels(size(dataB.VarLabels,2)+1)={'rcCommands[3]'};
dataB.DataMain(:,end+1)=DATmainB.RCRate(1,:)';
dataB.DataMain(:,end+1)=DATmainB.RCRate(2,:)';
dataB.DataMain(:,end+1)=DATmainB.RCRate(3,:)';
dataB.DataMain(:,end+1)=DATmainB.RCRate(4,:)';
end
try
DATmainB.PIDerr(1,:)=dataB.DataMain(:,find(strcmp(dataB.VarLabels, 'axisError[0]')));
DATmainB.PIDerr(2,:)=dataB.DataMain(:,find(strcmp(dataB.VarLabels, 'axisError[1]')));
DATmainB.PIDerr(3,:)=dataB.DataMain(:,find(strcmp(dataB.VarLabels, 'axisError[2]')));
catch
DATmainB.PIDerr(1,:)=DATmainB.GyroFilt(1,:)-DATmainB.RCRate(1,:);
DATmainB.PIDerr(2,:)=DATmainB.GyroFilt(2,:)-DATmainB.RCRate(2,:);
DATmainB.PIDerr(3,:)=DATmainB.GyroFilt(3,:)-DATmainB.RCRate(3,:);
dataB.VarLabels(size(dataB.VarLabels,2)+1)={'axisError[0]'};
dataB.VarLabels(size(dataB.VarLabels,2)+1)={'axisError[1]'};
dataB.VarLabels(size(dataB.VarLabels,2)+1)={'axisError[2]'};
dataB.DataMain(:,end+1)=DATmainB.PIDerr(1,:)';
dataB.DataMain(:,end+1)=DATmainB.PIDerr(2,:)';
dataB.DataMain(:,end+1)=DATmainB.PIDerr(3,:)';
end
end
%%
clear Firmware_revision_A looptime_A frameIntervalPDenom_A rollPIDF_A pitchPIDF_A yawPIDF_A rc_rates_A rc_expo_A Super_rates_A gyro_lowpass_hz_A gyro_lowpass2_hz_A dterm_lpf_hz_A
clear Firmware_revision_B looptime_B frameIntervalPDenom_B rollPIDF_B pitchPIDF_B yawPIDF_B rc_rates_B rc_expo_B Super_rates_B gyro_lowpass_hz_B gyro_lowpass2_hz_B dterm_lpf_hz_B
FirmwareCode_A=[];
FirmwareCode_B=[];
%%%%% only for finding setup info from BBlog file directly
infoStr={'Firmware revision';'looptime';'rollPID';'pitchPID';'yawPID'; 'rc_rates';'rc_expo';'rates';'gyro_lowpass_hz';'gyro_lowpass2_hz';'dterm_lowpass_hz';'dterm_lowpass2_hz'};
infoStr2={'Firmware_revision';'looptime';'rollPIDF';'pitchPIDF';'yawPIDF'; 'rc_rates';'rc_expo';'Super_rates';'gyro_lowpass_hz';'gyro_lowpass2_hz';'dterm_lpf_hz';'dterm_lpf2_hz'};
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
if ~isempty(filenameA)
Firmware_revision_A=char(dataA.SetupInfo(find(strcmp(dataA.SetupInfo(:,1), 'Firmware revision')),:));
if strfind(Firmware_revision_A(2,:),'INAV'), FirmwareCode_A=INAV; end %2
if isempty(FirmwareCode_A), FirmwareCode_A=BF; end
looptime_A=(dataA.SetupInfo(find(strcmp(dataA.SetupInfo(:,1), 'looptime')),:));
frameIntervalPDenom_A=(dataA.SetupInfo(find(strcmp(dataA.SetupInfo(:,1), 'frameIntervalPDenom')),:));
rollPIDF_A=(dataA.SetupInfo(find(strcmp(dataA.SetupInfo(:,1), 'rollPID')),:));
pitchPIDF_A=(dataA.SetupInfo(find(strcmp(dataA.SetupInfo(:,1), 'pitchPID')),:));
yawPIDF_A=(dataA.SetupInfo(find(strcmp(dataA.SetupInfo(:,1), 'yawPID')),:));
rc_rates_A=(dataA.SetupInfo(find(strcmp(dataA.SetupInfo(:,1), 'rc_rates')),:));
rc_expo_A=(dataA.SetupInfo(find(strcmp(dataA.SetupInfo(:,1), 'rc_expo')),:));
Super_rates_A=(dataA.SetupInfo(find(strcmp(dataA.SetupInfo(:,1), 'rates')),:));
gyro_lowpass_hz_A=dataA.SetupInfo(find(strcmp(dataA.SetupInfo(:,1), 'gyro_lowpass_hz')),:);
gyro_lowpass2_hz_A=dataA.SetupInfo(find(strcmp(dataA.SetupInfo(:,1), 'gyro_lowpass2_hz')),:);
dterm_lpf_hz_A=dataA.SetupInfo(find(strcmp(dataA.SetupInfo(:,1), 'dterm_lpf_hz')),:);
dterm_lpf2_hz_A=dataA.SetupInfo(find(strcmp(dataA.SetupInfo(:,1), 'dterm_lpf2_hz')),:);
dmin_A=[0 0 0];
try
tmp=dataA.SetupInfo(find(strcmp(dataA.SetupInfo(:,1), 'd_min')),:);
dmin_A=[str2num(tmp{2}(1,:))];
catch
end
try
FF_A=str2num(char(dataA.SetupInfo(find(strcmp(dataA.SetupInfo(:,1), 'feedforward_weight')),2)));
Rtmp=num2str([str2num(rollPIDF_A{2}) dmin_A(1) FF_A(1)]); rollPIDF_A{2}=Rtmp;
Ptmp=num2str([str2num(pitchPIDF_A{2}) dmin_A(2) FF_A(2)]); pitchPIDF_A{2}=Ptmp;
Ytmp=num2str([str2num(yawPIDF_A{2}) dmin_A(3) FF_A(3)]); yawPIDF_A{2}=Ytmp;
catch
end
end
if ~isempty(filenameB)
Firmware_revision_B=char(dataB.SetupInfo(find(strcmp(dataB.SetupInfo(:,1), 'Firmware revision')),:));
if strfind(Firmware_revision_B(2,:),'INAV'), FirmwareCode_B=INAV; end %2
if isempty(Firmware_revision_B), FirmwareCode_B=BF; end
looptime_B=dataB.SetupInfo(find(strcmp(dataB.SetupInfo(:,1), 'looptime')),:);
frameIntervalPDenom_B=dataB.SetupInfo(find(strcmp(dataB.SetupInfo(:,1), 'frameIntervalPDenom')),:);
rollPIDF_B=(dataB.SetupInfo(find(strcmp(dataB.SetupInfo(:,1), 'rollPID')),:));
pitchPIDF_B=(dataB.SetupInfo(find(strcmp(dataB.SetupInfo(:,1), 'pitchPID')),:));
yawPIDF_B=(dataB.SetupInfo(find(strcmp(dataB.SetupInfo(:,1), 'yawPID')),:));
rc_rates_B=(dataB.SetupInfo(find(strcmp(dataB.SetupInfo(:,1), 'rc_rates')),:));
rc_expo_B=(dataB.SetupInfo(find(strcmp(dataB.SetupInfo(:,1), 'rc_expo')),:));
Super_rates_B=(dataB.SetupInfo(find(strcmp(dataB.SetupInfo(:,1), 'rates')),:));
gyro_lowpass_hz_B=dataB.SetupInfo(find(strcmp(dataB.SetupInfo(:,1), 'gyro_lowpass_hz')),:);
gyro_lowpass2_hz_B=dataB.SetupInfo(find(strcmp(dataB.SetupInfo(:,1), 'gyro_lowpass2_hz')),:);
dterm_lpf_hz_B=dataB.SetupInfo(find(strcmp(dataB.SetupInfo(:,1), 'dterm_lpf_hz')),:);
dterm_lpf2_hz_B=dataB.SetupInfo(find(strcmp(dataB.SetupInfo(:,1), 'dterm_lpf2_hz')),:);
dmin_B=[0 0 0];
try
tmp=dataB.SetupInfo(find(strcmp(dataB.SetupInfo(:,1), 'd_min')),:);
dmin_B=[str2num(tmp{2}(1,:))];
catch
end
try
FF_B=str2num(char(dataB.SetupInfo(find(strcmp(dataB.SetupInfo(:,1), 'feedforward_weight')),2)));
Rtmp=num2str([str2num(rollPIDF_B{2}) dmin_B(1) FF_B(1)]); rollPIDF_B{2}=Rtmp;
Ptmp=num2str([str2num(pitchPIDF_B{2}) dmin_B(2) FF_B(2)]); pitchPIDF_B{2}=Ptmp;
Ytmp=num2str([str2num(yawPIDF_B{2}) dmin_B(3) FF_B(3)]); yawPIDF_B{2}=Ytmp;
catch
end
end
%%
set(PTfig, 'pointer', 'arrow')
end
catch ME
errmsg.PTload=PTerrorMessages('PTload', ME);
end
%% some functions used within this script
function [throttlePercent] = PTthrPercent(X)
% converts raw throttle [RCcommand] to percent
rcCommandf = (X-1000);
throttlePercent = ((rcCommandf-0) / (1000-0)) * 100;
end