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PTload.m
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PTload.m
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%% PTload - script to load and organize main data and create main directories
% ----------------------------------------------------------------------------------
% "THE BEER-WARE LICENSE" (Revision 42):
% <[email protected]> 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
try
if ~isempty(filenameA)
logfile_directory = filepathA;
us2sec = 1000000;
maxMotorOutput = 2000;
% set(PTfig, 'pointer', 'watch')
% set(guiHandles.runAll, 'FontWeight','Bold');
pause(.2)
try
cd(main_directory)
if ~strcmp(main_directory, logfile_directory)
fid = fopen('logfileDir.txt', 'w');
fprintf(fid, '%c', logfile_directory);
fclose(fid);
end
catch
end
try
cd(logfile_directory)
catch
errordlg('please select file then click ''load+run'' ', 'error - no file selected!');
end
cd(main_directory)
ldr = ['logfileDirectory: ' logfile_directory];
try
defaults = readtable('PTBdefaults.txt');
a = char([cellstr([char(defaults.Parameters) num2str(defaults.Values)]); {rdr}; {mdr}; {ldr}]);
t = uitable(PTfig, 'ColumnWidth', {500}, 'ColumnFormat', {'char'}, 'Data', [cellstr(a)]);
set(t, 'units', 'normalized', 'Position', [.89 vPos - .82 .105 .3], 'FontSize', fontsz * .8, 'ColumnName', [''])
catch
defaults = ' ';
a = char(['Unable to set user defaults '; {rdr}; {mdr}; {ldr}]);
t = uitable(PTfig, 'ColumnWidth', {500}, 'ColumnFormat', {'char'}, 'Data', [cellstr(a)]);
set(t, 'units', 'normalized', 'Position', [.89 vPos - .82 .105 .3], 'FontSize', fontsz * .8, 'ColumnName', [''])
end
fnameMaster = [fnameMaster filenameA];
% clear T dataA tta A_lograte epoch1_A epoch2_A SetupInfo rollPIDF pitchPIDF yawPIDF
n = size(filenameA, 2);
waitbarFid = waitbar(0, 'Please wait...');
for ii = 1:n
% temporarily copy logfile to 'main' where blackbox_decode is
try %
source = fullfile(logfile_directory, filenameA{ii});
destination = fullfile(main_directory, filenameA{ii});
if ~strcmp(source, destination)
copyfile(source, destination);
end
catch
end
clear subFiles;
[filenameA{ii} subFiles] = PTgetcsv(filenameA{ii}, get(guiHandles.Firmware, 'Value'));
for jj = 1:size(subFiles, 2)
waitbar((ii + jj) / (n + size(subFiles, 2) + 1), waitbarFid, ['Importing File ' int2str(ii) ', Subfile ' int2str(jj)]);
fcnt = fcnt + 1;
Nfiles = fcnt;
[dataA(fcnt) fnameMaster{fcnt}] = PTimport(subFiles{jj}, char(filenameA{ii}));
T{fcnt} = dataA(fcnt).T;
tta{fcnt} = T{fcnt}.time_us_ - T{fcnt}.time_us_(1);
if round(1000 / median(diff(tta{fcnt}))) < 1
A_lograte(fcnt) = round((1000 / median(diff(tta{fcnt}))) * 100) / 100;
else
A_lograte(fcnt) = round(1000 / median(diff(tta{fcnt})));
end
epoch1_A(fcnt) = round(((tta{fcnt}(1) / us2sec) + LogStDefault) * 10) / 10;
epoch2_A(fcnt) = round(((tta{fcnt}(end) / us2sec) - LogNdDefault) * 10) / 10;
clear a b r p y dm ff
SetupInfo{fcnt} = dataA(fcnt).SetupInfo;
r = (SetupInfo{fcnt}(find(strcmp(SetupInfo{fcnt}(:, 1), 'rollPID')), 2));
p = (SetupInfo{fcnt}(find(strcmp(SetupInfo{fcnt}(:, 1), 'pitchPID')), 2));
y = (SetupInfo{fcnt}(find(strcmp(SetupInfo{fcnt}(:, 1), 'yawPID')), 2));
%%%%%%%%%% collect debug mode info %%%%%%%%%%
try
debugmode(fcnt) = str2num(char(SetupInfo{fcnt}(find(strcmp(SetupInfo{fcnt}(:, 1), 'debug_mode')), 2)));
catch
debugmode(fcnt) = 6; % default to gyro_scaled
end
dm = {};
if ~isempty(SetupInfo{fcnt}(find(strcmp(SetupInfo{fcnt}(:, 1), 'd_min')), 2))
dm = (SetupInfo{fcnt}(find(strcmp(SetupInfo{fcnt}(:, 1), 'd_min')), 2));
else
dm = {' , , '};
end
ff = {};
if ~isempty(SetupInfo{fcnt}(find(strcmp(SetupInfo{fcnt}(:, 1), 'feedforward_weight') | strcmp(SetupInfo{fcnt}(:, 1), 'ff_weight')), 2))
ff = (SetupInfo{fcnt}(find(strcmp(SetupInfo{fcnt}(:, 1), 'feedforward_weight') | strcmp(SetupInfo{fcnt}(:, 1), 'ff_weight')), 2));
else
ff = {' , , '};
end
a = strfind(char(dm), ',');
b = strfind(char(ff), ',');
rollPIDF{fcnt} = [char(r) ',' dm{1}(1:a(1) - 1) ',' ff{1}(1:b(1) - 1)];
pitchPIDF{fcnt} = [char(p) ',' dm{1}(a(1) + 1:a(2) - 1) ',' ff{1}(b(1) + 1:b(2) - 1)];
yawPIDF{fcnt} = [char(y) ',' dm{1}(a(2) + 1:end) ',' ff{1}(b(2) + 1:end)];
if get(guiHandles.Firmware, 'Value') == 3% INAV
T{fcnt}.setpoint_0_ = T{fcnt}.axisRate_0_;
T{fcnt}.setpoint_1_ = T{fcnt}.axisRate_1_;
T{fcnt}.setpoint_2_ = T{fcnt}.axisRate_2_;
T{fcnt}.setpoint_3_ = (T{fcnt}.rcData_3_ - 1000);
end
for k = 0:3
try
eval(['T{fcnt}.debug_' int2str(k) '_(1);'])
catch
eval(['T{fcnt}.(''debug_' int2str(k) '_'')' '= zeros(length(T{fcnt}.loopIteration),1);']);
end
try
eval(['T{fcnt}.axisF_' int2str(k) '_(1);'])
catch
eval(['T{fcnt}.(''axisF_' int2str(k) '_'')' '= zeros(length(T{fcnt}.loopIteration),1);']);
end
if get(guiHandles.Firmware, 'Value') == 3% INAV
eval(['T{fcnt}.motor_' int2str(k) '_ = ((T{fcnt}.motor_' int2str(k) '_ - 1000)) / 10;'])% scale motor sigs to%
try
eval(['T{fcnt}.motor_' int2str(k + 4) '_ = ((T{fcnt}.motor_' int2str(k + 4) '_ - 1000)) / 10;'])% scale motor sigs 4-7 for x8 configuration
catch
end
else
eval(['T{fcnt}.motor_' int2str(k) '_ = ((T{fcnt}.motor_' int2str(k) '_) / 2000) * 100;'])% scale motor sigs to%
try
eval(['T{fcnt}.motor_' int2str(k + 4) '_ = ((T{fcnt}.motor_' int2str(k + 4) '_) / 2000) * 100;'])% scale motor sigs 4-7 for x8 configuration
catch
end
end
if k < 3
if k < 2% compute prefiltered dterm and scale
eval(['T{fcnt}.axisDpf_' int2str(k) '_ = -[0; diff(T{fcnt}.gyroADC_' int2str(k) '_)];'])
clear d1 d2 d3 sclr
eval(['d1 = smooth(T{fcnt}.axisDpf_' int2str(k) '_, 100);'])
eval(['d2 = smooth(T{fcnt}.axisD_' int2str(k) '_, 100);'])
d3 = (d2 ./ d1);
sclr = nanmedian(d3(~isinf(d3) & d3 > 0));
eval(['T{fcnt}.axisDpf_' int2str(k) '_ = T{fcnt}.axisDpf_' int2str(k) '_ * sclr;'])
end
eval(['T{fcnt}.(''piderr_' int2str(k) '_'') = T{fcnt}.gyroADC_' int2str(k) '_ - T{fcnt}.setpoint_' int2str(k) '_;'])
try
eval(['T{fcnt}.(''pidsum_' int2str(k) '_'') = T{fcnt}.axisP_' int2str(k) '_ + T{fcnt}.axisI_' int2str(k) '_ + T{fcnt}.axisD_' int2str(k) '_ + T{fcnt}.axisF_' int2str(k) '_;'])
catch
eval(['T{fcnt}.(''pidsum_' int2str(k) '_'') = T{fcnt}.axisP_' int2str(k) '_ + T{fcnt}.axisI_' int2str(k) '_ + T{fcnt}.axisF_' int2str(k) '_;'])
end
end
end
end
% delete bbl from main directory only if not same as logfile_directory
if ~strcmp(main_directory, logfile_directory)
delete(filenameA{ii})
end
end
end
try close(waitbarFid), catch, end
catch ME
errmsg.PTload = PTerrorMessages('PTload', ME);
end