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PTtuningParams.m
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PTtuningParams.m
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%% PTtuningParams - scripts for plotting tune-related parameters
% ----------------------------------------------------------------------------------
% "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
% ----------------------------------------------------------------------------------
PTtunefig=figure(4);
prop_max_screen=(max([PTtunefig.Position(3) PTtunefig.Position(4)]));
fontsz=(screensz_multiplier*prop_max_screen);
f = fields(guiHandlesTune);
for i = 1 : size(f,1)
eval(['guiHandlesTune.' f{i} '.FontSize=fontsz;']);
end
%% step resp computed directly from set point and gyro
ylab={'Roll';'Pitch';'Yaw'};
ylab2={'roll';'pitch';'yaw'};
axesOptions = find([guiHandlesTune.plotR.Value guiHandlesTune.plotP.Value guiHandlesTune.plotY.Value]);
lineStyle = {'-' ; '--' ; ':'};
lnLabels = {'solid' ; 'dashed'; 'dotted'}
p = {' P, I, D, Dm, F'; ' P, I, D, Dm, F'; ' P, I, D, cD'};
pidlabels = p{guiHandles.Firmware.Value};
%%%%%%%%%%%%% step resp %%%%%%%%%%%%%
figure(PTtunefig)
ymax = str2num(guiHandlesTune.maxYStepInput.String);
ypos = [(ymax/3)*2.9 (ymax/3)*1.85 (ymax/3)*.8];
hwarn=[];
if ~guiHandlesTune.clearPlots.Value
cnt = 0;
set(PTtunefig, 'pointer', 'watch')
pause(.05);
for f = guiHandlesTune.fileListWindowStep.Value
fcntSR = fcntSR + 1;
if fcntSR <= 10
cnt2 = 0;
for p = axesOptions
cnt = cnt + 1;
cnt2 = cnt2 + 1;
try
if ~updateStep
clear H G L
eval(['H = T{f}.setpoint_' int2str(p-1) '_(tIND{f});'])
eval(['G = T{f}.gyroADC_' int2str(p-1) '_(tIND{f});'])
[stepresp_A{p} tA] = PTstepcalc(H, G, A_lograte(f), guiHandlesTune.Ycorrection.Value, guiHandlesTune.smoothFactor_select.Value);
% xcorrLag(p) = finddelay(H, G) * A_lograte(f);
end
catch
stepresp_A{p}=[];
end
if guiHandlesTune.RPYcombo.Value == 0
h1=subplot('position',posInfo.TparamsPos(p,:));
hold on
if size(stepresp_A{p},1)>1
s = [];
s = stepresp_A{p};
m=nanmean(s);
h1=plot(tA,m);
set(h1, 'color',[multiLineCols(fcntSR,:)],'linewidth', guiHandles.linewidth.Value/1.5);
latencyHalfHeight(p, fcntSR) = (find(m>.5,1) / A_lograte(f)) - 1;
peakresp(p, fcntSR)=max(m(find(tA<150)));%max(m); %%%%%%%%%%%%% CONSTRAIN from 0-150ms %%%%%
peaktime(p, fcntSR)=find(m == max(m(find(tA<150)))) / A_lograte(f);
eval(['PID=' ylab2{p} 'PIDF{f};'])
if cnt <= 3, h=text(505, ymax, [pidlabels]);set(h,'fontsize',fontsz,'fontweight','bold'); end
h=text(505, ymax-(fcntSR*(ymax*.09)), [int2str(fcntSR) ') ' PID ' (n=' int2str(size(stepresp_A{p},1)) ')']);set(h,'fontsize',fontsz); % | Peak = ' num2str(peakresp(fcntSR)) ', Peak Time = ' num2str(peaktime) 'ms, Latency = ' num2str(latencyHalfHeight(fcntSR)) 'ms']);set(h,'fontsize',fontsz);
set(h, 'Color',[multiLineCols(fcntSR,:)],'fontweight','bold')
set(h,'fontsize',fontsz)
else
peakresp(p, fcntSR) = nan;
peaktime(p, fcntSR) = nan;
latencyHalfHeight(p, fcntSR) = nan;
if cnt <= 3, h=text(505, ymax, [pidlabels]);set(h,'fontsize',fontsz,'fontweight','bold'); end
h=text(505, ymax-(fcntSR*(ymax*.09)), [int2str(fcntSR) ') insufficient data']);
set(h,'Color',[multiLineCols(fcntSR,:)],'fontsize',fontsz, 'fontweight','bold')
end
set(gca,'fontsize',fontsz,'xminortick','on','yminortick','on','xtick',[0 100 200 300 400 500],'xticklabel',{'0' '100' '200' '300' '400' '500'},'ytick',[0 .25 .5 .75 1 1.25 1.5 1.75 2],'tickdir','out');
box off
if cnt <= 3, h=ylabel([ylab{p} ' Response '], 'fontweight','bold'); end
xlabel('Time (ms)', 'fontweight','bold');
if p==1, title('Step Response Functions');end
h=plot([0 500],[1 1],'k--');
set(h,'linewidth',.5)
axis([0 500 0 ymax])
grid on
h2=subplot('position',posInfo.TparamsPos(p+6,:));
h=plot(fcntSR, peakresp(p, fcntSR),'sk');
set(h,'Markersize',markerSz, 'MarkerFaceColor', [multiLineCols(fcntSR,:)])
set(gca,'fontsize',fontsz, 'ylim',[0.8 ymax],'ytick',[0.8:.1:ymax],'xlim',[0.5 fcntSR+0.5],'xtick',[1:fcntSR])
ylabel([ylab{p} ' Peak '], 'fontweight','bold');
xlabel('Test', 'fontweight','bold');
hold on
grid on
plot([0 10],[1 1],'--k')
h3=subplot('position',posInfo.TparamsPos(p+9,:));
h=plot(fcntSR, latencyHalfHeight(p, fcntSR),'sk');
set(h,'Markersize',markerSz, 'MarkerFaceColor', [multiLineCols(fcntSR,:)])
mn = min(latencyHalfHeight(p, :))-rem(min(latencyHalfHeight(p, :)),2);
mx = max(latencyHalfHeight(p, :))+rem(max(latencyHalfHeight(p, :)),2);
ymaxLat = mx+4;
yminLat = mn-4;
try
set(gca,'fontsize',fontsz,'ylim',[yminLat ymaxLat],'ytick',[yminLat:2:ymaxLat], 'xtick',[1:fcntSR],'xlim',[0.5 fcntSR+0.5])
catch
end
ylabel([ylab{p} ' Latency (ms) '], 'fontweight','bold');
xlabel('Test', 'fontweight','bold');
hold on
grid on
end
if guiHandlesTune.RPYcombo.Value == 1
h1=subplot('position',[0.0500 0.1 0.72 0.84])
hold on
if size(stepresp_A{p},1)>1
s = [];
s = stepresp_A{p};
m=nanmean(s);
h1=plot(tA,m);
set(h1, 'color',[multiLineCols(fcntSR,:)],'linewidth', guiHandles.linewidth.Value/1.5, 'linestyle', lineStyle{cnt2});
latencyHalfHeight(p, fcntSR) = (find(m>.5,1) / A_lograte(f)) - 1;
peakresp(p, fcntSR)=max(m(find(tA<150)));%max(m); %%%%%%%%%%%%% CONSTRAIN from 0-150ms %%%%%
peaktime(p, fcntSR)=find(m == max(m(find(tA<150)))) / A_lograte(f);
eval(['PID=' ylab2{p} 'PIDF{f};'])
if cnt <= 3
if size(axesOptions,2) < 2
h=text(505, ypos(p)+0.04, [ylab{p}]);
else
h=text(505, ypos(p)+0.04, [ylab{p} ' (' lnLabels{cnt2} ')']);
end
set(h,'fontsize',fontsz,'fontweight','bold');
h=text(505, ypos(p), [pidlabels]);
set(h,'fontsize',fontsz,'fontweight','bold');
end
h=text(505, ypos(p)-(fcntSR*.044), [int2str(fcntSR) ') ' PID ' (n=' int2str(size(stepresp_A{p},1)) ')']);set(h,'fontsize',fontsz); % | Peak = ' num2str(peakresp(fcntSR)) ', Peak Time = ' num2str(peaktime) 'ms, Latency = ' num2str(latencyHalfHeight(fcntSR)) 'ms']);set(h,'fontsize',fontsz);
set(h, 'Color',[multiLineCols(fcntSR,:)],'fontweight','bold')
set(h,'fontsize',fontsz)
else
peakresp(p, fcntSR) = nan;
peaktime(p, fcntSR) = nan;
latencyHalfHeight(p, fcntSR) = nan;
if cnt <= 3
if size(axesOptions,2) < 2
h=text(505, ypos(p)+0.04, [ylab{p}]);
else
h=text(505, ypos(p)+0.04, [ylab{p} ' (' lnLabels{cnt2} ')']);
end
set(h,'fontsize',fontsz,'fontweight','bold');
h=text(505, ypos(p), [pidlabels]);
set(h,'fontsize',fontsz,'fontweight','bold');
end
h=text(505, ypos(p)-(fcntSR*.044), [int2str(fcntSR) ') insufficient data']);
set(h,'Color',[multiLineCols(fcntSR,:)],'fontsize',fontsz, 'fontweight','bold')
end
set(gca,'fontsize',fontsz,'xminortick','on','yminortick','on','xtick',[0 100 200 300 400 500],'xticklabel',{'0' '100' '200' '300' '400' '500'},'ytick',[0 .25 .5 .75 1 1.25 1.5 1.75 2],'tickdir','out');
box off
if cnt <= 3, h=ylabel(['Response '], 'fontweight','bold'); end
xlabel('Time (ms)', 'fontweight','bold');
title('Step Response Functions');
h=plot([0 500],[1 1],'k--');
set(h,'linewidth',.5)
axis([0 500 0 ymax])
grid on
end
end
elseif fcntSR == 11
warndlg('10 files maximum. Click reset.');
end
end
set(PTtunefig, 'pointer', 'arrow')
updateStep=0;
else
for p = 1 : 3
delete(subplot('position',posInfo.TparamsPos(p,:)))
delete(subplot('position',posInfo.TparamsPos(p+3,:)))
delete(subplot('position',posInfo.TparamsPos(p+6,:)))
delete(subplot('position',posInfo.TparamsPos(p+9,:)))
peaktime = [];
peakresp = [];
latencyHalfHeight = [];
latencyHalfHeight_std = [];
peakresp_std = [];
end
end