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PTplotStats.m
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PTplotStats.m
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%% PTplotStats - script to plot flight statistics
% ----------------------------------------------------------------------------------
% "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
% ----------------------------------------------------------------------------------
if ~isempty(filenameA) ||~isempty(filenameB)
set(PTstatsfig, 'pointer', 'watch')
pause(.05)
%% update fonts
prop_max_screen = (max([get(PTstatsfig, 'Position')(3) get(PTstatsfig, 'Position')(4)]));
fontsz5 = round(screensz_multiplier * prop_max_screen);
guiHandlesStats.saveFig5.FontSize = fontsz5;
guiHandlesStats.refresh.FontSize = fontsz5;
guiHandlesStats.degsecStick.FontSize = fontsz5;
guiHandlesStats.crossAxesStats.FontSize = fontsz5;
guiHandlesStats.crossAxesStats_text.FontSize = fontsz5;
guiHandlesStats.crossAxesStats_input.FontSize = fontsz5;
guiHandlesStats.crossAxesStats_text2.FontSize = fontsz5;
guiHandlesStats.crossAxesStats_input2.FontSize = fontsz5;
%% Histograms
if get(guiHandlesStats.crossAxesStats, 'Value') == 1
if ~isempty(filenameA)
if ~updateStats
rcRates = dataA.rates(1, :);
rcExpo = dataA.rates(2, :);
Srates = dataA.rates(3, :);
const = 200;
if FirmwareCode_A == INAV, const = 1000; end
RateCurveRoll_A = PTrc2deg([0:5:500], dataA.rates(1, 1), dataA.rates(2, 1), dataA.rates(3, 1), const);
RateCurvePitch_A = PTrc2deg([0:5:500], dataA.rates(1, 2), dataA.rates(2, 2), dataA.rates(3, 2), const);
RateCurveYaw_A = PTrc2deg([0:5:500], dataA.rates(1, 3), dataA.rates(2, 3), dataA.rates(3, 3), const);
Yscale = round((max([max(RateCurveRoll_A) max(RateCurvePitch_A) max(RateCurveYaw_A)])) / 50) * 50;
if get(guiHandlesStats.degsecStick, 'Value') == 1,
RateCurveRoll_A = (diff(RateCurveRoll_A));
RateCurvePitch_A = (diff(RateCurvePitch_A));
RateCurveYaw_A = (diff(RateCurveYaw_A));
Yscale = round(max([max(RateCurveRoll_A) max(RateCurvePitch_A) max(RateCurveYaw_A)]));
end
Rpercent_A = PTPercent(DATtmpA.RCcommand(1, :));
Ppercent_A = PTPercent(DATtmpA.RCcommand(2, :));
Ypercent_A = PTPercent(DATtmpA.RCcommand(3, :));
Tpercent_A = DATtmpA.RCRate(4, :); % already computed for throttle
end
hhist = subplot('position', posInfo.statsPos(1, :));
cla
h = histogram(Rpercent_A, 'Normalization', 'probability', 'BinWidth', 1);
y = xlabel('% roll', 'fontweight', 'bold');
set(y, 'Units', 'normalized', 'position', [.5 -.1 1], 'color', [.2 .2 .2]);
ylabel('% of flight', 'fontweight', 'bold')
set(h, 'FaceColor', [colorA], 'FaceAlpha', .9, 'edgecolor', [colorA], 'EdgeAlpha', .7)
hold on
[ax, h1, h2] = plotyy(0, 0, [1:length(RateCurveRoll_A) - 1], RateCurveRoll_A(1, 2:end));
set(ax(1), 'Ycolor', [colorA])
set(ax(2), 'Xlim', [1 100], 'YLim', [0 Yscale], 'ytick', [0 round(Yscale / 2) Yscale], 'Ycolor', 'k', 'fontsize', fontsz5)
set(ax(2).YLabel, 'String', 'deg/s');
if get(guiHandlesStats.degsecStick, 'Value') == 1,
set(ax(2).YLabel, 'String', 'deg/s/stick travel units');
end
set(h2, 'color', [.5 .5 .5], 'LineWidth', 1.5)
hold(ax(2), 'on'); h = plot([20 40 60 80], [RateCurveRoll_A(20) RateCurveRoll_A(40) RateCurveRoll_A(60) RateCurveRoll_A(80)], 'ko', 'Parent', ax(2));
set(h, 'markerfacecolor', 'k')
set(hhist, 'tickdir', 'in', 'xlim', [1 100], 'xtick', [1 20 40 60 80 100], 'ylim', [0 .1], 'ytick', [0 .05 .1], 'xticklabel', {0 20 40 60 80 100}, 'yticklabel', {0 5 10}, 'fontsize', fontsz5, 'Position', [posInfo.statsPos(1, :)]);
axis([1 100 0 .1])
text(21, RateCurveRoll_A(20), [int2str(RateCurveRoll_A(20)) 'deg/s'], 'Parent', ax(2), 'fontsize', fontsz5);
text(41, RateCurveRoll_A(40), [int2str(RateCurveRoll_A(40)) 'deg/s'], 'Parent', ax(2), 'fontsize', fontsz5);
text(61, RateCurveRoll_A(60), [int2str(RateCurveRoll_A(60)) 'deg/s'], 'Parent', ax(2), 'fontsize', fontsz5);
text(81, RateCurveRoll_A(80), [int2str(RateCurveRoll_A(80)) 'deg/s'], 'Parent', ax(2), 'fontsize', fontsz5);
text(2, .095, ['rates: ' num2str(rcRates(1))], 'Parent', ax(1), 'fontsize', fontsz5);
text(2, .085, ['expo: ' num2str(rcExpo(1))], 'Parent', ax(1), 'fontsize', fontsz5);
text(2, .075, ['super: ' num2str(Srates(1))], 'Parent', ax(1), 'fontsize', fontsz5);
axis([1 100 0 .1])
grid on
hhist = subplot('position', posInfo.statsPos(2, :));
cla
h = histogram(Ppercent_A, 'Normalization', 'probability', 'BinWidth', 1);
set(h, 'FaceColor', [colorA], 'FaceAlpha', .9, 'edgecolor', [colorA], 'EdgeAlpha', .7)
y = xlabel('% pitch', 'fontweight', 'bold');
set(y, 'Units', 'normalized', 'position', [.5 -.1 1], 'color', [.2 .2 .2]);
ylabel('% of flight', 'fontweight', 'bold')
hold on
[ax, h1, h2] = plotyy(0, 0, [1:length(RateCurvePitch_A) - 1], RateCurvePitch_A(1, 2:end));
set(ax(1), 'Ycolor', [colorA])
set(ax(2), 'Xlim', [1 100], 'YLim', [0 Yscale], 'ytick', [0 round(Yscale / 2) Yscale], 'Ycolor', 'k', 'fontsize', fontsz5)
set(ax(2).YLabel, 'String', 'deg/s');
if get(guiHandlesStats.degsecStick, 'Value') == 1,
set(ax(2).YLabel, 'String', 'deg/s/stick travel units');
end
set(h2, 'color', [.5 .5 .5], 'LineWidth', 1.5)
hold(ax(2), 'on'); h = plot([20 40 60 80], [RateCurvePitch_A(20) RateCurvePitch_A(40) RateCurvePitch_A(60) RateCurvePitch_A(80)], 'ko', 'Parent', ax(2));
set(h, 'markerfacecolor', 'k')
set(hhist, 'tickdir', 'in', 'xlim', [1 100], 'xtick', [1 20 40 60 80 100], 'ylim', [0 .1], 'ytick', [0 .05 .1], 'xticklabel', {0 20 40 60 80 100}, 'yticklabel', {0 5 10}, 'fontsize', fontsz5, 'Position', [posInfo.statsPos(2, :)]);
axis([1 100 0 .1])
text(21, RateCurvePitch_A(20), [int2str(RateCurvePitch_A(20)) 'deg/s'], 'Parent', ax(2), 'fontsize', fontsz5);
text(41, RateCurvePitch_A(40), [int2str(RateCurvePitch_A(40)) 'deg/s'], 'Parent', ax(2), 'fontsize', fontsz5);
text(61, RateCurvePitch_A(60), [int2str(RateCurvePitch_A(60)) 'deg/s'], 'Parent', ax(2), 'fontsize', fontsz5);
text(81, RateCurvePitch_A(80), [int2str(RateCurvePitch_A(80)) 'deg/s'], 'Parent', ax(2), 'fontsize', fontsz5);
text(2, .095, ['rates: ' num2str(rcRates(2))], 'Parent', ax(1), 'fontsize', fontsz5);
text(2, .085, ['expo: ' num2str(rcExpo(2))], 'Parent', ax(1), 'fontsize', fontsz5);
text(2, .075, ['super: ' num2str(Srates(2))], 'Parent', ax(1), 'fontsize', fontsz5);
axis([1 100 0 .1])
grid on
hhist = subplot('position', posInfo.statsPos(3, :));
cla
h = histogram(Ypercent_A, 'Normalization', 'probability', 'BinWidth', 1);
set(h, 'FaceColor', [colorA], 'FaceAlpha', .9, 'edgecolor', [colorA], 'EdgeAlpha', .7)
y = xlabel('% yaw', 'fontweight', 'bold');
set(y, 'Units', 'normalized', 'position', [.5 -.1 1], 'color', [.2 .2 .2]);
ylabel('% of flight', 'fontweight', 'bold')
hold on
[ax, h1, h2] = plotyy(0, 0, [1:length(RateCurveYaw_A) - 1], RateCurveYaw_A(1, 2:end));
set(ax(1), 'Ycolor', [colorA])
set(ax(2), 'Xlim', [1 100], 'YLim', [0 Yscale], 'ytick', [0 round(Yscale / 2) Yscale], 'Ycolor', 'k', 'fontsize', fontsz5)
set(ax(2).YLabel, 'String', 'deg/s');
if get(guiHandlesStats.degsecStick, 'Value') == 1,
set(ax(2).YLabel, 'String', 'deg/s/stick travel units');
end
set(h2, 'color', [.5 .5 .5], 'LineWidth', 1.5)
hold(ax(2), 'on'); h = plot([20 40 60 80], [RateCurveYaw_A(20) RateCurveYaw_A(40) RateCurveYaw_A(60) RateCurveYaw_A(80)], 'ko', 'Parent', ax(2));
set(h, 'markerfacecolor', 'k')
set(hhist, 'tickdir', 'in', 'xlim', [1 100], 'xtick', [1 20 40 60 80 100], 'ylim', [0 .1], 'ytick', [0 .05 .1], 'xticklabel', {0 20 40 60 80 100}, 'yticklabel', {0 5 10}, 'fontsize', fontsz5, 'Position', [posInfo.statsPos(3, :)]);
axis([1 100 0 .1])
text(21, RateCurveYaw_A(20), [int2str(RateCurveYaw_A(20)) 'deg/s'], 'Parent', ax(2), 'fontsize', fontsz5);
text(41, RateCurveYaw_A(40), [int2str(RateCurveYaw_A(40)) 'deg/s'], 'Parent', ax(2), 'fontsize', fontsz5);
text(61, RateCurveYaw_A(60), [int2str(RateCurveYaw_A(60)) 'deg/s'], 'Parent', ax(2), 'fontsize', fontsz5);
text(81, RateCurveYaw_A(80), [int2str(RateCurveYaw_A(80)) 'deg/s'], 'Parent', ax(2), 'fontsize', fontsz5);
text(2, .095, ['rates: ' num2str(rcRates(3))], 'Parent', ax(1), 'fontsize', fontsz5);
text(2, .085, ['expo: ' num2str(rcExpo(3))], 'Parent', ax(1), 'fontsize', fontsz5);
text(2, .075, ['super: ' num2str(Srates(3))], 'Parent', ax(1), 'fontsize', fontsz5);
axis([1 100 0 .1])
grid on
hhist = subplot('position', posInfo.statsPos(4, :));
cla
h = histogram(Tpercent_A, 'Normalization', 'probability', 'BinWidth', 1);
set(h, 'FaceColor', [colorA], 'FaceAlpha', .9, 'edgecolor', [colorA], 'EdgeAlpha', .7);
grid on
y = xlabel('% throttle', 'fontweight', 'bold');
set(y, 'Units', 'normalized', 'position', [.5 -.1 1], 'color', [.2 .2 .2]);
ylabel('% of flight', 'color', [colorA], 'fontweight', 'bold')
set(hhist, 'ycolor', [colorA], 'tickdir', 'in', 'xlim', [1 100], 'xtick', [1 20 40 60 80 100], 'ylim', [0 .1], 'ytick', [0 .05 .1], 'xticklabel', {0 20 40 60 80 100}, 'yticklabel', {0 5 10}, 'fontsize', fontsz5, 'Position', [posInfo.statsPos(4, :)]);
axis([1 100 0 .1])
end
if ~isempty(filenameB)
if ~updateStats
rcRates = dataB.rates(1, :);
rcExpo = dataB.rates(2, :);
Srates = dataB.rates(3, :);
const = 200;
if FirmwareCode_B == INAV, const = 1000; end
RateCurveRoll_B = PTrc2deg([0:5:500], dataB.rates(1, 1), dataB.rates(2, 1), dataB.rates(3, 1), const);
RateCurvePitch_B = PTrc2deg([0:5:500], dataB.rates(1, 2), dataB.rates(2, 2), dataB.rates(3, 2), const);
RateCurveYaw_B = PTrc2deg([0:5:500], dataB.rates(1, 3), dataB.rates(2, 3), dataB.rates(3, 3), const);
Yscale = round((max([max(RateCurveRoll_B) max(RateCurvePitch_B) max(RateCurveYaw_B)])) / 50) * 50;
if get(guiHandlesStats.degsecStick, 'Value') == 1,
RateCurveRoll_B = (diff(RateCurveRoll_B));
RateCurvePitch_B = (diff(RateCurvePitch_B));
RateCurveYaw_B = (diff(RateCurveYaw_B));
Yscale = round(max([max(RateCurveRoll_B) max(RateCurvePitch_B) max(RateCurveYaw_B)]));
end
Rpercent_B = PTPercent(DATtmpB.RCcommand(1, :));
Ppercent_B = PTPercent(DATtmpB.RCcommand(2, :));
Ypercent_B = PTPercent(DATtmpB.RCcommand(3, :));
Tpercent_B = DATtmpB.RCRate(4, :); % already computed for throttle
end
hhist = subplot('position', posInfo.statsPos(5, :));
cla
h = histogram(Rpercent_B, 'Normalization', 'probability', 'BinWidth', 1);
y = xlabel('% roll', 'fontweight', 'bold');
set(y, 'Units', 'normalized', 'position', [.5 -.1 1], 'color', [.2 .2 .2]);
ylabel('% of flight', 'fontweight', 'bold')
set(h, 'FaceColor', [colorB], 'FaceAlpha', .9, 'edgecolor', [colorB], 'EdgeAlpha', .7)
hold on
[ax, h1, h2] = plotyy(0, 0, [1:length(RateCurveRoll_B) - 1], RateCurveRoll_B(1, 2:end));
set(ax(1), 'Ycolor', [colorB])
set(ax(2), 'Xlim', [1 100], 'YLim', [0 Yscale], 'ytick', [0 round(Yscale / 2) Yscale], 'Ycolor', 'k', 'fontsize', fontsz5)
set(ax(2).YLabel, 'String', 'deg/s');
if get(guiHandlesStats.degsecStick, 'Value') == 1,
set(ax(2).YLabel, 'String', 'deg/s/stick travel units');
end
set(h2, 'color', [.5 .5 .5], 'LineWidth', 1.5)
hold(ax(2), 'on'); h = plot([20 40 60 80], [RateCurveRoll_B(20) RateCurveRoll_B(40) RateCurveRoll_B(60) RateCurveRoll_B(80)], 'ko', 'Parent', ax(2));
set(h, 'markerfacecolor', 'k')
set(hhist, 'tickdir', 'in', 'xlim', [1 100], 'xtick', [1 20 40 60 80 100], 'ylim', [0 .1], 'ytick', [0 .05 .1], 'xticklabel', {0 20 40 60 80 100}, 'yticklabel', {0 5 10}, 'fontsize', fontsz5, 'Position', [posInfo.statsPos(5, :)]);
axis([1 100 0 .1])
text(21, RateCurveRoll_B(20), [int2str(RateCurveRoll_B(20)) 'deg/s'], 'Parent', ax(2), 'fontsize', fontsz5);
text(41, RateCurveRoll_B(40), [int2str(RateCurveRoll_B(40)) 'deg/s'], 'Parent', ax(2), 'fontsize', fontsz5);
text(61, RateCurveRoll_B(60), [int2str(RateCurveRoll_B(60)) 'deg/s'], 'Parent', ax(2), 'fontsize', fontsz5);
text(81, RateCurveRoll_B(80), [int2str(RateCurveRoll_B(80)) 'deg/s'], 'Parent', ax(2), 'fontsize', fontsz5);
text(2, .095, ['rates: ' num2str(rcRates(1))], 'Parent', ax(1), 'fontsize', fontsz5);
text(2, .085, ['expo: ' num2str(rcExpo(1))], 'Parent', ax(1), 'fontsize', fontsz5);
text(2, .075, ['super: ' num2str(Srates(1))], 'Parent', ax(1), 'fontsize', fontsz5);
axis([1 100 0 .1])
grid on
hhist = subplot('position', posInfo.statsPos(6, :));
cla
h = histogram(Ppercent_B, 'Normalization', 'probability', 'BinWidth', 1);
set(h, 'FaceColor', [colorB], 'FaceAlpha', .9, 'edgecolor', [colorB], 'EdgeAlpha', .7)
y = xlabel('% pitch', 'fontweight', 'bold');
set(y, 'Units', 'normalized', 'position', [.5 -.1 1], 'color', [.2 .2 .2]);
ylabel('% of flight', 'fontweight', 'bold');
hold on
[ax, h1, h2] = plotyy(0, 0, [1:length(RateCurvePitch_B) - 1], RateCurvePitch_B(1, 2:end));
set(ax(1), 'Ycolor', [colorB])
set(ax(2), 'Xlim', [1 100], 'YLim', [0 Yscale], 'ytick', [0 round(Yscale / 2) Yscale], 'Ycolor', 'k', 'fontsize', fontsz5)
set(ax(2).YLabel, 'String', 'deg/s');
if get(guiHandlesStats.degsecStick, 'Value') == 1,
set(ax(2).YLabel, 'String', 'deg/s/stick travel units');
end
set(h2, 'color', [.5 .5 .5], 'LineWidth', 1.5)
hold(ax(2), 'on'); h = plot([20 40 60 80], [RateCurvePitch_B(20) RateCurvePitch_B(40) RateCurvePitch_B(60) RateCurvePitch_B(80)], 'ko', 'Parent', ax(2));
set(h, 'markerfacecolor', 'k')
set(hhist, 'tickdir', 'in', 'xlim', [1 100], 'xtick', [1 20 40 60 80 100], 'ylim', [0 .1], 'ytick', [0 .05 .1], 'xticklabel', {0 20 40 60 80 100}, 'yticklabel', {0 5 10}, 'fontsize', fontsz5, 'Position', [posInfo.statsPos(6, :)]);
axis([1 100 0 .1])
text(21, RateCurvePitch_B(20), [int2str(RateCurvePitch_B(20)) 'deg/s'], 'Parent', ax(2), 'fontsize', fontsz5);
text(41, RateCurvePitch_B(40), [int2str(RateCurvePitch_B(40)) 'deg/s'], 'Parent', ax(2), 'fontsize', fontsz5);
text(61, RateCurvePitch_B(60), [int2str(RateCurvePitch_B(60)) 'deg/s'], 'Parent', ax(2), 'fontsize', fontsz5);
text(81, RateCurvePitch_B(80), [int2str(RateCurvePitch_B(80)) 'deg/s'], 'Parent', ax(2), 'fontsize', fontsz5);
text(2, .095, ['rates: ' num2str(rcRates(2))], 'Parent', ax(1), 'fontsize', fontsz5);
text(2, .085, ['expo: ' num2str(rcExpo(2))], 'Parent', ax(1), 'fontsize', fontsz5);
text(2, .075, ['super: ' num2str(Srates(2))], 'Parent', ax(1), 'fontsize', fontsz5);
axis([1 100 0 .1])
grid on
hhist = subplot('position', posInfo.statsPos(7, :));
cla
h = histogram(Ypercent_B, 'Normalization', 'probability', 'BinWidth', 1);
set(h, 'FaceColor', [colorB], 'FaceAlpha', .9, 'edgecolor', [colorB], 'EdgeAlpha', .7)
y = xlabel('% yaw', 'fontweight', 'bold');
set(y, 'Units', 'normalized', 'position', [.5 -.1 1], 'color', [.2 .2 .2]);
ylabel('% of flight', 'fontweight', 'bold')
hold on
[ax, h1, h2] = plotyy(0, 0, [1:length(RateCurveYaw_B) - 1], RateCurveYaw_B(1, 2:end));
set(ax(1), 'Ycolor', [colorB])
set(ax(2), 'Xlim', [1 100], 'YLim', [0 Yscale], 'ytick', [0 round(Yscale / 2) Yscale], 'Ycolor', 'k', 'fontsize', fontsz5)
set(ax(2).YLabel, 'String', 'deg/s');
if get(guiHandlesStats.degsecStick, 'Value') == 1,
set(ax(2).YLabel, 'String', 'deg/s/stick travel units');
end
set(h2, 'color', [.5 .5 .5], 'LineWidth', 1.5)
hold(ax(2), 'on'); h = plot([20 40 60 80], [RateCurveYaw_B(20) RateCurveYaw_B(40) RateCurveYaw_B(60) RateCurveYaw_B(80)], 'ko', 'Parent', ax(2));
set(h, 'markerfacecolor', 'k')
set(hhist, 'tickdir', 'in', 'xlim', [1 100], 'xtick', [1 20 40 60 80 100], 'ylim', [0 .1], 'ytick', [0 .05 .1], 'xticklabel', {0 20 40 60 80 100}, 'yticklabel', {0 5 10}, 'fontsize', fontsz5, 'Position', [posInfo.statsPos(7, :)]);
axis([1 100 0 .1])
text(21, RateCurveYaw_B(20), [int2str(RateCurveYaw_B(20)) 'deg/s'], 'Parent', ax(2), 'fontsize', fontsz5);
text(41, RateCurveYaw_B(40), [int2str(RateCurveYaw_B(40)) 'deg/s'], 'Parent', ax(2), 'fontsize', fontsz5);
text(61, RateCurveYaw_B(60), [int2str(RateCurveYaw_B(60)) 'deg/s'], 'Parent', ax(2), 'fontsize', fontsz5);
text(81, RateCurveYaw_B(80), [int2str(RateCurveYaw_B(80)) 'deg/s'], 'Parent', ax(2), 'fontsize', fontsz5);
text(2, .095, ['rates: ' num2str(rcRates(3))], 'Parent', ax(1), 'fontsize', fontsz5);
text(2, .085, ['expo: ' num2str(rcExpo(3))], 'Parent', ax(1), 'fontsize', fontsz5);
text(2, .075, ['super: ' num2str(Srates(3))], 'Parent', ax(1), 'fontsize', fontsz5);
axis([1 100 0 .1])
grid on
hhist = subplot('position', posInfo.statsPos(8, :));
cla
h = histogram(Tpercent_B, 'Normalization', 'probability', 'BinWidth', 1);
set(h, 'FaceColor', [colorB], 'FaceAlpha', .9, 'edgecolor', [colorB], 'EdgeAlpha', .7)
grid on
y = xlabel('% throttle', 'fontweight', 'bold');
set(y, 'Units', 'normalized', 'position', [.5 -.1 1], 'color', [.2 .2 .2]);
ylabel('% of flight', 'color', [colorB], 'fontweight', 'bold')
set(hhist, 'ycolor', [colorB], 'tickdir', 'in', 'xlim', [1 100], 'xtick', [1 20 40 60 80 100], 'ylim', [0 .1], 'ytick', [0 .05 .1], 'xticklabel', {0 20 40 60 80 100}, 'yticklabel', {0 5 10}, 'fontsize', fontsz5, 'Position', [posInfo.statsPos(8, :)]);
axis([1 100 0 .1])
end
end
%% means/standard deviations
if get(guiHandlesStats.crossAxesStats, 'Value') == 2
cols = [0.06 0.3 0.54 0.78];
rows = [0.76 0.53 0.3 0.08];
k = 0;
for c = 1:length(cols)
for r = 1:length(rows)
k = k + 1;
posInfo.statsPos2(k, :) = [cols(c) rows(r) 0.18 0.16];
end
end
lineThickness = 2;
if ~isempty(filenameA)
Rpercent_A = DATtmpA.RCcommand(1, :) / 5;
Ppercent_A = DATtmpA.RCcommand(2, :) / 5;
Ypercent_A = DATtmpA.RCcommand(3, :) / 5;
Tpercent_A = DATtmpA.RCRate(4, :);
N = length(DATtmpA.GyroFilt(1, :));
% gyro
h1 = subplot('position', posInfo.statsPos2(1, :)); cla
s1 = errorbar([1], mean(abs(DATtmpA.GyroFilt(1, :))), std(abs(DATtmpA.GyroFilt(1, :)))); hold on
set(s1, 'color', 'k', 'linewidth', lineThickness)
s1 = bar([1], mean(abs(DATtmpA.GyroFilt(1, :)))); hold on
set(s1, 'FaceColor', [colorA]); %[ColorSet(11,:)])
s1 = errorbar([2], mean(abs(DATtmpA.GyroFilt(2, :))), std(abs(DATtmpA.GyroFilt(2, :)))); hold on
set(s1, 'color', 'k', 'linewidth', lineThickness)
s2 = bar([2], mean(abs(DATtmpA.GyroFilt(2, :))));
set(s2, 'FaceColor', [colorA]); %,[ColorSet(12,:)])
s1 = errorbar([3], mean(abs(DATtmpA.GyroFilt(1, :))), std(abs(DATtmpA.GyroFilt(1, :)))); hold on
set(s1, 'color', 'k', 'linewidth', lineThickness)
s3 = bar([3], mean(abs(DATtmpA.GyroFilt(1, :))));
set(s3, 'FaceColor', [colorA]); %,[ColorSet(13,:)])
set(gca, 'Xtick', [1 2 3], 'xticklabel', {'R'; 'P'; 'Y'}, 'xcolor', [colorA], 'ycolor', [colorA], 'YMinorGrid', 'on')
set(h1, 'fontsize', fontsz5);
xlabel('|Gyro| [A]', 'fontsize', fontsz5, 'fontweight', 'bold', 'color', [colorA]);
ylabel('Mean +SD ', 'fontsize', fontsz5, 'fontweight', 'bold', 'color', [colorA]);
ymax = ceil(max(mean(abs(DATtmpA.GyroFilt), 2)) + max((std(abs(DATtmpA.GyroFilt)')')));
axis([.5 3.5 0 ymax])
box off
% RCRate
h1 = subplot('position', posInfo.statsPos2(5, :)); cla
s1 = errorbar([1], mean(abs(Rpercent_A)), std(abs(Rpercent_A))); hold on
set(s1, 'color', 'k', 'linewidth', lineThickness)
s1 = bar([1], mean(abs(Rpercent_A))); hold on
set(s1, 'FaceColor', [colorA]); %
s1 = errorbar([2], mean(abs(Ppercent_A)), std(abs(Ppercent_A))); hold on
set(s1, 'color', 'k', 'linewidth', lineThickness)
s2 = bar([2], mean(abs(Ppercent_A)));
set(s2, 'FaceColor', [colorA]); %
s1 = errorbar([3], mean(abs(Ypercent_A)), std(abs(Ypercent_A))); hold on
set(s1, 'color', 'k', 'linewidth', lineThickness)
s3 = bar([3], mean(abs(Ypercent_A)));
set(s3, 'FaceColor', [colorA]); %
s1 = errorbar([4], mean(abs(Tpercent_A)), std(abs(Tpercent_A))); hold on
set(s1, 'color', 'k', 'linewidth', lineThickness)
s4 = bar([4], mean(Tpercent_A));
set(s4, 'FaceColor', [colorA]); %
set(gca, 'Xtick', [1 2 3 4], 'xticklabel', {'R'; 'P'; 'Y'; 'T'}, 'xcolor', [colorA], 'ycolor', [colorA], 'YMinorGrid', 'on')
set(h1, 'fontsize', fontsz5);
xlabel('% RPYT [A]', 'fontsize', fontsz5, 'fontweight', 'bold', 'color', [colorA]);
ylabel('Mean % +SD ', 'fontsize', fontsz5, 'fontweight', 'bold', 'color', [colorA]);
axis([0.5 4.5 0 100])
box off
% pterm
h1 = subplot('position', posInfo.statsPos2(2, :)); cla
s1 = errorbar([1], mean(abs(DATtmpA.Pterm(1, :))), std(abs(DATtmpA.Pterm(1, :)))); hold on
set(s1, 'color', 'k', 'linewidth', lineThickness)
s1 = bar([1], mean(abs(DATtmpA.Pterm(1, :)))); hold on
set(s1, 'FaceColor', [colorA]); %
s1 = errorbar([2], mean(abs(DATtmpA.Pterm(2, :))), std(abs(DATtmpA.Pterm(2, :)))); hold on
set(s1, 'color', 'k', 'linewidth', lineThickness)
s2 = bar([2], mean(abs(DATtmpA.Pterm(2, :))));
set(s2, 'FaceColor', [colorA]); %
s1 = errorbar([3], mean(abs(DATtmpA.Pterm(3, :))), std(abs(DATtmpA.Pterm(3, :)))); hold on
set(s1, 'color', 'k', 'linewidth', lineThickness)
s3 = bar([3], mean(abs(DATtmpA.Pterm(3, :))));
set(s3, 'FaceColor', [colorA]); %
set(gca, 'Xtick', [1 2 3], 'xticklabel', {'R'; 'P'; 'Y'}, 'xcolor', [colorA], 'ycolor', [colorA], 'YMinorGrid', 'on')
set(h1, 'fontsize', fontsz5);
xlabel('|Pterm| [A]', 'fontsize', fontsz5, 'fontweight', 'bold', 'color', [colorA]);
ylabel('Mean +SD ', 'fontsize', fontsz5, 'fontweight', 'bold', 'color', [colorA]);
ymax = ceil(max(mean(abs(DATtmpA.Pterm), 2)) + max((std(abs(DATtmpA.Pterm)')')));
axis([.5 3.5 0 ymax])
box off
% fterm
h1 = subplot('position', posInfo.statsPos2(6, :)); cla
s1 = errorbar([1], mean(abs(DATtmpA.Fterm(1, :))), std(abs(DATtmpA.Fterm(1, :)))); hold on
set(s1, 'color', 'k', 'linewidth', lineThickness)
s1 = bar([1], mean(abs(DATtmpA.Fterm(1, :)))); hold on
set(s1, 'FaceColor', [colorA]); %
s1 = errorbar([2], mean(abs(DATtmpA.Fterm(2, :))), std(abs(DATtmpA.Fterm(2, :)))); hold on
set(s1, 'color', 'k', 'linewidth', lineThickness)
s2 = bar([2], mean(abs(DATtmpA.Fterm(2, :))));
set(s2, 'FaceColor', [colorA]); %%
s1 = errorbar([3], mean(abs(DATtmpA.Fterm(3, :))), std(abs(DATtmpA.Fterm(3, :)))); hold on
set(s1, 'color', 'k', 'linewidth', lineThickness)
s3 = bar([3], mean(abs(DATtmpA.Fterm(3, :))));
set(s3, 'FaceColor', [colorA]);
set(gca, 'Xtick', [1 2 3], 'xticklabel', {'R'; 'P'; 'Y'}, 'xcolor', [colorA], 'ycolor', [colorA], 'YMinorGrid', 'on')
set(h1, 'fontsize', fontsz5);
xlabel('|Fterm| [A]', 'fontsize', fontsz5, 'fontweight', 'bold', 'color', [colorA]);
ylabel('Mean +SD ', 'fontsize', fontsz5, 'fontweight', 'bold', 'color', [colorA]);
ymax = ceil(max(mean(abs(DATtmpA.Fterm), 2)) + max((std(abs(DATtmpA.Fterm)')')));
if ymax < 1, ymax = 10, end
axis([.5 3.5 0 ymax])
box off
% Iterm
h1 = subplot('position', posInfo.statsPos2(3, :)); cla
s1 = errorbar([1], mean(abs(DATtmpA.Iterm(1, :))), std(abs(DATtmpA.Iterm(1, :)))); hold on
set(s1, 'color', 'k', 'linewidth', lineThickness)
s1 = bar([1], mean(abs(DATtmpA.Iterm(1, :)))); hold on
set(s1, 'FaceColor', [colorA]); %
s1 = errorbar([2], mean(abs(DATtmpA.Iterm(2, :))), std(abs(DATtmpA.Iterm(2, :)))); hold on
set(s1, 'color', 'k', 'linewidth', lineThickness)
s2 = bar([2], mean(abs(DATtmpA.Iterm(2, :))));
set(s2, 'FaceColor', [colorA]); %
s1 = errorbar([3], mean(abs(DATtmpA.Iterm(3, :))), std(abs(DATtmpA.Iterm(3, :)))); hold on
set(s1, 'color', 'k', 'linewidth', lineThickness)
s3 = bar([3], mean(abs(DATtmpA.Iterm(3, :))));
set(s3, 'FaceColor', [colorA]); %
set(gca, 'Xtick', [1 2 3], 'xticklabel', {'R'; 'P'; 'Y'}, 'xcolor', [colorA], 'ycolor', [colorA], 'YMinorGrid', 'on')
set(h1, 'fontsize', fontsz5);
xlabel('|Iterm| [A]', 'fontsize', fontsz5, 'fontweight', 'bold', 'color', [colorA]);
ylabel('Mean +SD ', 'fontsize', fontsz5, 'fontweight', 'bold', 'color', [colorA]);
ymax = ceil(max(mean(abs(DATtmpA.Iterm), 2)) + max((std(abs(DATtmpA.Iterm)')')));
axis([.5 3.5 0 ymax])
box off
% dterm
h1 = subplot('position', posInfo.statsPos2(7, :)); cla
s1 = errorbar([1], mean(abs(DATtmpA.DtermFilt(1, :))), std(abs(DATtmpA.DtermFilt(1, :)))); hold on
set(s1, 'color', 'k', 'linewidth', lineThickness)
s1 = bar([1], mean(abs(DATtmpA.DtermFilt(1, :)))); hold on
set(s1, 'FaceColor', [colorA]); %
s1 = errorbar([2], mean(abs(DATtmpA.DtermFilt(2, :))), std(abs(DATtmpA.DtermFilt(2, :)))); hold on
set(s1, 'color', 'k', 'linewidth', lineThickness)
s2 = bar([2], mean(abs(DATtmpA.DtermFilt(2, :))));
set(s2, 'FaceColor', [colorA]); %
set(gca, 'Xtick', [1 2], 'xticklabel', {'R'; 'P'}, 'xcolor', [colorA], 'ycolor', [colorA], 'YMinorGrid', 'on')
set(h1, 'fontsize', fontsz5);
xlabel('|Dterm| [A]', 'fontsize', fontsz5, 'fontweight', 'bold', 'color', [colorA]);
ylabel('Mean +SD ', 'fontsize', fontsz5, 'fontweight', 'bold', 'color', [colorA]);
ymax = ceil(max(mean(abs(DATtmpA.DtermFilt), 2)) + max((std(abs(DATtmpA.DtermFilt)')')));
axis([.5 2.5 0 ymax])
box off
h1 = subplot('position', posInfo.statsPos2(4, :)); cla
s1 = errorbar([1], mean(DATtmpA.Motor12(1, :)), std(DATtmpA.Motor12(1, :))); hold on
set(s1, 'color', 'k', 'linewidth', lineThickness)
s1 = bar([1], mean(DATtmpA.Motor12(1, :))); hold on
set(s1, 'FaceColor', [colorA]);
s1 = errorbar([2], mean(DATtmpA.Motor12(2, :)), std(DATtmpA.Motor12(2, :))); hold on
set(s1, 'color', 'k', 'linewidth', lineThickness)
s2 = bar([2], mean(DATtmpA.Motor12(2, :)));
set(s2, 'FaceColor', [colorA]); %
s1 = errorbar([3], mean(DATtmpA.Motor34(1, :)), std(DATtmpA.Motor34(1, :))); hold on
set(s1, 'color', 'k', 'linewidth', lineThickness)
s3 = bar([3], mean(DATtmpA.Motor34(1, :)));
set(s3, 'FaceColor', [colorA]); %
s1 = errorbar([4], mean(DATtmpA.Motor34(2, :)), std(DATtmpA.Motor34(2, :))); hold on
set(s1, 'color', 'k', 'linewidth', lineThickness)
s4 = bar([4], mean(DATtmpA.Motor34(2, :)));
set(s4, 'FaceColor', [colorA]); %
set(gca, 'Xtick', [1 2 3 4], 'xcolor', [colorA], 'ycolor', [colorA], 'YMinorGrid', 'on')
set(h1, 'fontsize', fontsz5);
xlabel('Motors [A]', 'fontsize', fontsz5, 'fontweight', 'bold', 'color', [colorA]);
ylabel('Mean +SD ', 'fontsize', fontsz5, 'fontweight', 'bold', 'color', [colorA]);
axis([0.5 4.5 0 100])
box off
h1 = subplot('position', posInfo.statsPos2(8, :)); cla
s1 = errorbar([1], mean(abs(DATtmpA.debug12(1, :))), std(abs(DATtmpA.debug12(1, :)))); hold on
set(s1, 'color', 'k', 'linewidth', lineThickness)
s1 = bar([1], mean(abs(DATtmpA.debug12(1, :)))); hold on
set(s1, 'FaceColor', [colorA]); %
s1 = errorbar([2], mean(abs(DATtmpA.debug12(2, :))), std(abs(DATtmpA.debug12(2, :)))); hold on
set(s1, 'color', 'k', 'linewidth', lineThickness)
s2 = bar([2], mean(abs(DATtmpA.debug12(2, :))));
set(s2, 'FaceColor', [colorA]); %
s1 = errorbar([3], mean(abs(DATtmpA.debug34(1, :))), std(abs(DATtmpA.debug34(1, :)))); hold on
set(s1, 'color', 'k', 'linewidth', lineThickness)
s3 = bar([3], mean(abs(DATtmpA.debug34(1, :))));
set(s3, 'FaceColor', [colorA]); %
s1 = errorbar([4], mean(abs(DATtmpA.debug34(2, :))), std(abs(DATtmpA.debug34(2, :)))); hold on
set(s1, 'color', 'k', 'linewidth', lineThickness)
s4 = bar([4], mean(abs(DATtmpA.debug34(2, :))));
set(s4, 'FaceColor', [colorA]); %
set(gca, 'Xtick', [1 2 3 4], 'xcolor', [colorA], 'ycolor', [colorA], 'YMinorGrid', 'on')
set(h1, 'fontsize', fontsz5);
xlabel('|Debug| [A]', 'fontsize', fontsz5, 'fontweight', 'bold', 'color', [colorA]);
ylabel('Mean +SD ', 'fontsize', fontsz5, 'fontweight', 'bold', 'color', [colorA]);
ymax = ceil(max([max(mean(abs(DATtmpA.debug12), 2)) max(mean(abs(DATtmpA.debug34), 2))]) + max([max((std(abs(DATtmpA.debug12)')')) max((std(abs(DATtmpA.debug34)')'))]));
axis([.5 4.5 0 ymax])
box off
end
if ~isempty(filenameB)
Rpercent_B = DATtmpB.RCcommand(1, :) / 5;
Ppercent_B = DATtmpB.RCcommand(2, :) / 5;
Ypercent_B = DATtmpB.RCcommand(3, :) / 5;
Tpercent_B = DATtmpB.RCRate(4, :);
N = length(DATtmpB.GyroFilt(1, :));
% gyro
h1 = subplot('position', posInfo.statsPos2(9, :)); cla
s1 = errorbar([1], mean(abs(DATtmpB.GyroFilt(1, :))), std(abs(DATtmpB.GyroFilt(1, :)))); hold on
set(s1, 'color', 'k', 'linewidth', lineThickness)
s1 = bar([1], mean(abs(DATtmpB.GyroFilt(1, :)))); hold on
set(s1, 'FaceColor', [colorB]); %[ColorSet(11,:)])
s1 = errorbar([2], mean(abs(DATtmpB.GyroFilt(2, :))), std(abs(DATtmpB.GyroFilt(2, :)))); hold on
set(s1, 'color', 'k', 'linewidth', lineThickness)
s2 = bar([2], mean(abs(DATtmpB.GyroFilt(2, :))));
set(s2, 'FaceColor', [colorB]); %,[ColorSet(12,:)])
s1 = errorbar([3], mean(abs(DATtmpB.GyroFilt(1, :))), std(abs(DATtmpB.GyroFilt(1, :)))); hold on
set(s1, 'color', 'k', 'linewidth', lineThickness)
s3 = bar([3], mean(abs(DATtmpB.GyroFilt(1, :))));
set(s3, 'FaceColor', [colorB]); %,[ColorSet(13,:)])
set(gca, 'Xtick', [1 2 3], 'xticklabel', {'R'; 'P'; 'Y'}, 'xcolor', [colorB], 'ycolor', [colorB], 'YMinorGrid', 'on')
set(h1, 'fontsize', fontsz5);
xlabel('|Gyro| [B]', 'fontsize', fontsz5, 'fontweight', 'bold', 'color', [colorB]);
ylabel('Mean +SD ', 'fontsize', fontsz5, 'fontweight', 'bold', 'color', [colorB]);
ymax = ceil(max(mean(abs(DATtmpB.GyroFilt), 2)) + max((std(abs(DATtmpB.GyroFilt)')')));
axis([.5 3.5 0 ymax])
box off
% RCRate
h1 = subplot('position', posInfo.statsPos2(13, :)); cla
s1 = errorbar([1], mean(abs(Rpercent_B)), std(abs(Rpercent_B))); hold on
set(s1, 'color', 'k', 'linewidth', lineThickness)
s1 = bar([1], mean(abs(Rpercent_B))); hold on
set(s1, 'FaceColor', [colorB]); %
s1 = errorbar([2], mean(abs(Ppercent_B)), std(abs(Ppercent_B))); hold on
set(s1, 'color', 'k', 'linewidth', lineThickness)
s2 = bar([2], mean(abs(Ppercent_B)));
set(s2, 'FaceColor', [colorB]); %
s1 = errorbar([3], mean(abs(Ypercent_B)), std(abs(Ypercent_B))); hold on
set(s1, 'color', 'k', 'linewidth', lineThickness)
s3 = bar([3], mean(abs(Ypercent_B)));
set(s3, 'FaceColor', [colorB]); %
s1 = errorbar([4], mean(abs(Tpercent_B)), std(abs(Tpercent_B))); hold on
set(s1, 'color', 'k', 'linewidth', lineThickness)
s4 = bar([4], mean(Tpercent_B));
set(s4, 'FaceColor', [colorB]); %
set(gca, 'Xtick', [1 2 3 4], 'xticklabel', {'R'; 'P'; 'Y'; 'T'}, 'xcolor', [colorB], 'ycolor', [colorB], 'YMinorGrid', 'on')
set(h1, 'fontsize', fontsz5);
xlabel('% RPYT [B]', 'fontsize', fontsz5, 'fontweight', 'bold', 'color', [colorB]);
ylabel('Mean % +SD ', 'fontsize', fontsz5, 'fontweight', 'bold', 'color', [colorB]);
axis([0.5 4.5 0 100])
box off
% pterm
h1 = subplot('position', posInfo.statsPos2(10, :)); cla
s1 = errorbar([1], mean(abs(DATtmpB.Pterm(1, :))), std(abs(DATtmpB.Pterm(1, :)))); hold on
set(s1, 'color', 'k', 'linewidth', lineThickness)
s1 = bar([1], mean(abs(DATtmpB.Pterm(1, :)))); hold on
set(s1, 'FaceColor', [colorB]); %
s1 = errorbar([2], mean(abs(DATtmpB.Pterm(2, :))), std(abs(DATtmpB.Pterm(2, :)))); hold on
set(s1, 'color', 'k', 'linewidth', lineThickness)
s2 = bar([2], mean(abs(DATtmpB.Pterm(2, :))));
set(s2, 'FaceColor', [colorB]); %
s1 = errorbar([3], mean(abs(DATtmpB.Pterm(3, :))), std(abs(DATtmpB.Pterm(3, :)))); hold on
set(s1, 'color', 'k', 'linewidth', lineThickness)
s3 = bar([3], mean(abs(DATtmpB.Pterm(3, :))));
set(s3, 'FaceColor', [colorB]); %
set(gca, 'Xtick', [1 2 3], 'xticklabel', {'R'; 'P'; 'Y'}, 'xcolor', [colorB], 'ycolor', [colorB], 'YMinorGrid', 'on')
set(h1, 'fontsize', fontsz5);
xlabel('|Pterm| [B]', 'fontsize', fontsz5, 'fontweight', 'bold', 'color', [colorB]);
ylabel('Mean +SD ', 'fontsize', fontsz5, 'fontweight', 'bold', 'color', [colorB]);
ymax = ceil(max(mean(abs(DATtmpB.Pterm), 2)) + max((std(abs(DATtmpB.Pterm)')')));
axis([.5 3.5 0 ymax])
box off
% fterm
h1 = subplot('position', posInfo.statsPos2(14, :)); cla
s1 = errorbar([1], mean(abs(DATtmpB.Fterm(1, :))), std(abs(DATtmpB.Fterm(1, :)))); hold on
set(s1, 'color', 'k', 'linewidth', lineThickness)
s1 = bar([1], mean(abs(DATtmpB.Fterm(1, :)))); hold on
set(s1, 'FaceColor', [colorB]); %
s1 = errorbar([2], mean(abs(DATtmpB.Fterm(2, :))), std(abs(DATtmpB.Fterm(2, :)))); hold on
set(s1, 'color', 'k', 'linewidth', lineThickness)
s2 = bar([2], mean(abs(DATtmpB.Fterm(2, :))));
set(s2, 'FaceColor', [colorB]); %%
s1 = errorbar([3], mean(abs(DATtmpB.Fterm(3, :))), std(abs(DATtmpB.Fterm(3, :)))); hold on
set(s1, 'color', 'k', 'linewidth', lineThickness)
s3 = bar([3], mean(abs(DATtmpB.Fterm(3, :))));
set(s3, 'FaceColor', [colorB]);
set(gca, 'Xtick', [1 2 3], 'xticklabel', {'R'; 'P'; 'Y'}, 'xcolor', [colorB], 'ycolor', [colorB], 'YMinorGrid', 'on')
set(h1, 'fontsize', fontsz5);
xlabel('|Fterm| [B]', 'fontsize', fontsz5, 'fontweight', 'bold', 'color', [colorB]);
ylabel('Mean +SD ', 'fontsize', fontsz5, 'fontweight', 'bold', 'color', [colorB]);
ymax = ceil(max(mean(abs(DATtmpB.Fterm), 2)) + max((std(abs(DATtmpB.Fterm)')')));
if ymax < 1, ymax = 10, end
axis([.5 3.5 0 ymax])
box off
% Iterm
h1 = subplot('position', posInfo.statsPos2(11, :)); cla
s1 = errorbar([1], mean(abs(DATtmpB.Iterm(1, :))), std(abs(DATtmpB.Iterm(1, :)))); hold on
set(s1, 'color', 'k', 'linewidth', lineThickness)
s1 = bar([1], mean(abs(DATtmpB.Iterm(1, :)))); hold on
set(s1, 'FaceColor', [colorB]); %
s1 = errorbar([2], mean(abs(DATtmpB.Iterm(2, :))), std(abs(DATtmpB.Iterm(2, :)))); hold on
set(s1, 'color', 'k', 'linewidth', lineThickness)
s2 = bar([2], mean(abs(DATtmpB.Iterm(2, :))));
set(s2, 'FaceColor', [colorB]); %
s1 = errorbar([3], mean(abs(DATtmpB.Iterm(3, :))), std(abs(DATtmpB.Iterm(3, :)))); hold on
set(s1, 'color', 'k', 'linewidth', lineThickness)
s3 = bar([3], mean(abs(DATtmpB.Iterm(3, :))));
set(s3, 'FaceColor', [colorB]); %
set(gca, 'Xtick', [1 2 3], 'xticklabel', {'R'; 'P'; 'Y'}, 'xcolor', [colorB], 'ycolor', [colorB], 'YMinorGrid', 'on')
set(h1, 'fontsize', fontsz5);
xlabel('|Iterm| [B]', 'fontsize', fontsz5, 'fontweight', 'bold', 'color', [colorB]);
ylabel('Mean +SD ', 'fontsize', fontsz5, 'fontweight', 'bold', 'color', [colorB]);
ymax = ceil(max(mean(abs(DATtmpB.Iterm), 2)) + max((std(abs(DATtmpB.Iterm)')')));
axis([.5 3.5 0 ymax])
box off
% dterm
h1 = subplot('position', posInfo.statsPos2(15, :)); cla
s1 = errorbar([1], mean(abs(DATtmpB.DtermFilt(1, :))), std(abs(DATtmpB.DtermFilt(1, :)))); hold on
set(s1, 'color', 'k', 'linewidth', lineThickness)
s1 = bar([1], mean(abs(DATtmpB.DtermFilt(1, :)))); hold on
set(s1, 'FaceColor', [colorB]); %
s1 = errorbar([2], mean(abs(DATtmpB.DtermFilt(2, :))), std(abs(DATtmpB.DtermFilt(2, :)))); hold on
set(s1, 'color', 'k', 'linewidth', lineThickness)
s2 = bar([2], mean(abs(DATtmpB.DtermFilt(2, :))));
set(s2, 'FaceColor', [colorB]); %
set(gca, 'Xtick', [1 2], 'xticklabel', {'R'; 'P'}, 'xcolor', [colorB], 'ycolor', [colorB], 'YMinorGrid', 'on')
set(h1, 'fontsize', fontsz5);
xlabel('|Dterm| [B]', 'fontsize', fontsz5, 'fontweight', 'bold', 'color', [colorB]);
ylabel('Mean +SD ', 'fontsize', fontsz5, 'fontweight', 'bold', 'color', [colorB]);
ymax = ceil(max(mean(abs(DATtmpB.DtermFilt), 2)) + max((std(abs(DATtmpB.DtermFilt)')')));
axis([.5 2.5 0 ymax])
box off
h1 = subplot('position', posInfo.statsPos2(12, :)); cla
s1 = errorbar([1], mean(DATtmpB.Motor12(1, :)), std(DATtmpB.Motor12(1, :))); hold on
set(s1, 'color', 'k', 'linewidth', lineThickness)
s1 = bar([1], mean(DATtmpB.Motor12(1, :))); hold on
set(s1, 'FaceColor', [colorB]);
s1 = errorbar([2], mean(DATtmpB.Motor12(2, :)), std(DATtmpB.Motor12(2, :))); hold on
set(s1, 'color', 'k', 'linewidth', lineThickness)
s2 = bar([2], mean(DATtmpB.Motor12(2, :)));
set(s2, 'FaceColor', [colorB]); %
s1 = errorbar([3], mean(DATtmpB.Motor34(1, :)), std(DATtmpB.Motor34(1, :))); hold on
set(s1, 'color', 'k', 'linewidth', lineThickness)
s3 = bar([3], mean(DATtmpB.Motor34(1, :)));
set(s3, 'FaceColor', [colorB]); %
s1 = errorbar([4], mean(DATtmpB.Motor34(2, :)), std(DATtmpB.Motor34(2, :))); hold on
set(s1, 'color', 'k', 'linewidth', lineThickness)
s4 = bar([4], mean(DATtmpB.Motor34(2, :)));
set(s4, 'FaceColor', [colorB]); %
set(gca, 'Xtick', [1 2 3 4], 'xcolor', [colorB], 'ycolor', [colorB], 'YMinorGrid', 'on')
set(h1, 'fontsize', fontsz5);
xlabel('Motors [B]', 'fontsize', fontsz5, 'fontweight', 'bold', 'color', [colorB]);
ylabel('Mean +SD ', 'fontsize', fontsz5, 'fontweight', 'bold', 'color', [colorB]);
axis([0.5 4.5 0 100])
box off
h1 = subplot('position', posInfo.statsPos2(16, :)); cla
s1 = errorbar([1], mean(abs(DATtmpB.debug12(1, :))), std(abs(DATtmpB.debug12(1, :)))); hold on
set(s1, 'color', 'k', 'linewidth', lineThickness)
s1 = bar([1], mean(abs(DATtmpB.debug12(1, :)))); hold on
set(s1, 'FaceColor', [colorB]); %
s1 = errorbar([2], mean(abs(DATtmpB.debug12(2, :))), std(abs(DATtmpB.debug12(2, :)))); hold on
set(s1, 'color', 'k', 'linewidth', lineThickness)
s2 = bar([2], mean(abs(DATtmpB.debug12(2, :))));
set(s2, 'FaceColor', [colorB]); %
s1 = errorbar([3], mean(abs(DATtmpB.debug34(1, :))), std(abs(DATtmpB.debug34(1, :)))); hold on
set(s1, 'color', 'k', 'linewidth', lineThickness)
s3 = bar([3], mean(abs(DATtmpB.debug34(1, :))));
set(s3, 'FaceColor', [colorB]); %
s1 = errorbar([4], mean(abs(DATtmpB.debug34(2, :))), std(abs(DATtmpB.debug34(2, :)))); hold on
set(s1, 'color', 'k', 'linewidth', lineThickness)
s4 = bar([4], mean(abs(DATtmpB.debug34(2, :))));
set(s4, 'FaceColor', [colorB]); %
set(gca, 'Xtick', [1 2 3 4], 'xcolor', [colorB], 'ycolor', [colorB], 'YMinorGrid', 'on')
set(h1, 'fontsize', fontsz5);
xlabel('|Debug| [B]', 'fontsize', fontsz5, 'fontweight', 'bold', 'color', [colorB]);
ylabel('Mean +SD ', 'fontsize', fontsz5, 'fontweight', 'bold', 'color', [colorB]);
ymax = ceil(max([max(mean(abs(DATtmpB.debug12), 2)) max(mean(abs(DATtmpB.debug34), 2))]) + max([max((std(abs(DATtmpB.debug12)')')) max((std(abs(DATtmpB.debug34)')'))]));
axis([.5 4.5 0 ymax])
box off
end
end
%% Mode 1 topography
if get(guiHandlesStats.crossAxesStats, 'Value') == 3
cols = [0.06 0.52];
rows = [0.55 0.08];
k = 0;
for c = 1:2
for r = 1:2
k = k + 1;
posInfo.statsPos2(k, :) = [cols(c) rows(r) 0.38 0.4];
end
end
lineThickness = 2;
if ~isempty(filenameA)
Rpercent_A = DATtmpA.RCcommand(1, :) / 5;
Ppercent_A = DATtmpA.RCcommand(2, :) / 5;
Ypercent_A = DATtmpA.RCcommand(3, :) / 5;
Tpercent_A = DATtmpA.RCRate(4, :);
Tacceleration_A = [0 (smooth(diff((Tpercent_A) * 10) * A_lograte, 50))'];
col = Tacceleration_A;
cmap_crossaxisStat = b2r(-1, 1);
h1 = subplot('position', posInfo.statsPos2(1, :)); cla
s1 = surface([Ypercent_A; Ypercent_A], [Ppercent_A; Ppercent_A], [Tacceleration_A; Tacceleration_A], [col; col], 'facecol', 'no', 'edgecol', 'interp', 'linew', lineThickness);
colormap(cmap_crossaxisStat);
set(gca, 'CLim', [-zScale zScale], 'xtick', [-100:20:100], 'ytick', [-100:20:100])
set(h1, 'fontsize', fontsz5);
xlabel('% Yaw [A]', 'fontsize', fontsz5, 'fontweight', 'bold');
ylabel('% Pitch [A]', 'fontsize', fontsz5, 'fontweight', 'bold');
axis([-100 100 -100 100])
set(s1, 'EdgeAlpha', zTransparency);
hold on; plot([0 0], [-100 100], ':k');
plot([-100 100], [0 0], ':k');
h2 = subplot('position', posInfo.statsPos2(2, :)); cla
s2 = surface([Rpercent_A; Rpercent_A], [Tpercent_A; Tpercent_A], [Tacceleration_A; Tacceleration_A], [col; col], 'facecol', 'no', 'edgecol', 'interp', 'linew', lineThickness);
colormap(cmap_crossaxisStat);
set(gca, 'CLim', [-zScale zScale], 'xtick', [-100:20:100], 'ytick', [0:20:100])
set(h2, 'fontsize', fontsz5);
xlabel('% Roll [A]', 'fontsize', fontsz5, 'fontweight', 'bold');
ylabel('% Throttle [A]', 'fontsize', fontsz5, 'fontweight', 'bold');
axis([-100 100 0 100])
set(s2, 'EdgeAlpha', zTransparency);
hold on; plot([0 0], [0 100], ':k');
plot([-100 100], [50 50], ':k');
end
if ~isempty(filenameB)
Rpercent_B = DATtmpB.RCcommand(1, :) / 5;
Ppercent_B = DATtmpB.RCcommand(2, :) / 5;
Ypercent_B = DATtmpB.RCcommand(3, :) / 5;
Tpercent_B = DATtmpB.RCRate(4, :);
Tacceleration_B = [0 (smooth(diff((Tpercent_B) * 10) * B_lograte, 50))'];
col = Tacceleration_B;
h3 = subplot('position', posInfo.statsPos2(3, :)); cla
s3 = surface([Ypercent_B; Ypercent_B], [Ppercent_B; Ppercent_B], [Tacceleration_B; Tacceleration_B], [col; col], 'facecol', 'no', 'edgecol', 'interp', 'linew', lineThickness);
colormap(cmap_crossaxisStat);
set(gca, 'CLim', [-zScale zScale], 'xtick', [-100:20:100], 'ytick', [-100:20:100])
set(h3, 'fontsize', fontsz5);
xlabel('% Yaw [B]', 'fontsize', fontsz5, 'fontweight', 'bold');
ylabel('% Pitch [B]', 'fontsize', fontsz5, 'fontweight', 'bold');
axis([-100 100 -100 100])
set(s3, 'EdgeAlpha', zTransparency);
hold on; plot([0 0], [-100 100], ':k');
plot([-100 100], [0 0], ':k');
h4 = subplot('position', posInfo.statsPos2(4, :)); cla
s4 = surface([Rpercent_B; Rpercent_B], [Tpercent_B; Tpercent_B], [Tacceleration_B; Tacceleration_B], [col; col], 'facecol', 'no', 'edgecol', 'interp', 'linew', lineThickness);
colormap(cmap_crossaxisStat);
set(gca, 'CLim', [-zScale zScale], 'xtick', [-100:20:100], 'ytick', [0:20:100])
set(h4, 'fontsize', fontsz5);
xlabel('% Roll [B]', 'fontsize', fontsz5, 'fontweight', 'bold');
ylabel('% Throttle [B]', 'fontsize', fontsz5, 'fontweight', 'bold');
axis([-100 100 0 100])
set(s4, 'EdgeAlpha', zTransparency);
hold on; plot([0 0], [0 100], ':k');
plot([-100 100], [50 50], ':k');
end
end
%% Mode 2 topography
if get(guiHandlesStats.crossAxesStats, 'Value') == 4
cols = [0.06 0.52];
rows = [0.55 0.08];
k = 0;
for c = 1:2
for r = 1:2
k = k + 1;
posInfo.statsPos2(k, :) = [cols(c) rows(r) 0.38 0.4];
end
end
lineThickness = 2;
if ~isempty(filenameA)
Rpercent_A = DATtmpA.RCcommand(1, :) / 5;
Ppercent_A = DATtmpA.RCcommand(2, :) / 5;
Ypercent_A = DATtmpA.RCcommand(3, :) / 5;
Tpercent_A = DATtmpA.RCRate(4, :);
Tacceleration_A = [0 (smooth(diff((Tpercent_A) * 10) * A_lograte, 50))'];
col = Tacceleration_A;
cmap_crossaxisStat = b2r(-1, 1);
h1 = subplot('position', posInfo.statsPos2(1, :)); cla
s1 = surface([Ypercent_A; Ypercent_A], [Tpercent_A; Tpercent_A], [Tacceleration_A; Tacceleration_A], [col; col], 'facecol', 'no', 'edgecol', 'interp', 'linew', lineThickness);
colormap(cmap_crossaxisStat);
set(gca, 'CLim', [-zScale zScale], 'xtick', [-100:20:100], 'ytick', [0:20:100])
set(h1, 'fontsize', fontsz5);
xlabel('% Yaw [A]', 'fontsize', fontsz5, 'fontweight', 'bold');
ylabel('% Throttle [A]', 'fontsize', fontsz5, 'fontweight', 'bold');
axis([-100 100 0 100])
set(s1, 'EdgeAlpha', zTransparency);
hold on; plot([0 0], [0 100], ':k');
plot([-100 100], [50 50], ':k');
h2 = subplot('position', posInfo.statsPos2(2, :)); cla
s2 = surface([Rpercent_A; Rpercent_A], [Ppercent_A; Ppercent_A], [Tacceleration_A; Tacceleration_A], [col; col], 'facecol', 'no', 'edgecol', 'interp', 'linew', lineThickness);
colormap(cmap_crossaxisStat);
set(gca, 'CLim', [-zScale zScale], 'xtick', [-100:20:100], 'ytick', [-100:20:100])
set(h2, 'fontsize', fontsz5);
xlabel('% Roll [A]', 'fontsize', fontsz5, 'fontweight', 'bold');
ylabel('% Pitch [A]', 'fontsize', fontsz5, 'fontweight', 'bold');
axis([-100 100 -100 100])
set(s2, 'EdgeAlpha', zTransparency);
hold on; plot([0 0], [-100 100], ':k');
plot([-100 100], [0 0], ':k');
end
if ~isempty(filenameB)
Rpercent_B = DATtmpB.RCcommand(1, :) / 5;
Ppercent_B = DATtmpB.RCcommand(2, :) / 5;
Ypercent_B = DATtmpB.RCcommand(3, :) / 5;
Tpercent_B = DATtmpB.RCRate(4, :);
Tacceleration_B = [0 (smooth(diff((Tpercent_B) * 10) * B_lograte, 50))'];
col = Tacceleration_B;
h3 = subplot('position', posInfo.statsPos2(3, :)); cla
s3 = surface([Ypercent_B; Ypercent_B], [Tpercent_B; Tpercent_B], [Tacceleration_B; Tacceleration_B], [col; col], 'facecol', 'no', 'edgecol', 'interp', 'linew', lineThickness);
colormap(cmap_crossaxisStat);
set(gca, 'CLim', [-zScale zScale], 'xtick', [-100:20:100], 'ytick', [0:20:100])
set(h3, 'fontsize', fontsz5);
xlabel('% Yaw [B]', 'fontsize', fontsz5, 'fontweight', 'bold');
ylabel('% Throttle [B]', 'fontsize', fontsz5, 'fontweight', 'bold');
axis([-100 100 0 100])
set(s3, 'EdgeAlpha', zTransparency);
hold on; plot([0 0], [0 100], ':k');
plot([-100 100], [50 50], ':k');
h4 = subplot('position', posInfo.statsPos2(4, :)); cla
s4 = surface([Rpercent_B; Rpercent_B], [Ppercent_B; Ppercent_B], [Tacceleration_B; Tacceleration_B], [col; col], 'facecol', 'no', 'edgecol', 'interp', 'linew', lineThickness);
colormap(cmap_crossaxisStat);
set(gca, 'CLim', [-zScale zScale], 'xtick', [-100:20:100], 'ytick', [-100:20:100])
set(h4, 'fontsize', fontsz5);
xlabel('% Roll [B]', 'fontsize', fontsz5, 'fontweight', 'bold');
ylabel('% Pitch [B]', 'fontsize', fontsz5, 'fontweight', 'bold');
axis([-100 100 -100 100])
set(s4, 'EdgeAlpha', zTransparency);
hold on; plot([0 0], [-100 100], ':k');
plot([-100 100], [0 0], ':k');
end
end
%% each against throttle
if get(guiHandlesStats.crossAxesStats, 'Value') == 5
cols = [0.06 0.54];
rows = [0.69 0.385 0.08];
k = 0;
for c = 1:2
for r = 1:3
k = k + 1;
posInfo.statsPos2(k, :) = [cols(c) rows(r) 0.39 0.24];
end
end
lineThickness = 2;
if ~isempty(filenameA)
Rpercent_A = DATtmpA.RCcommand(1, :) / 5;
Ppercent_A = DATtmpA.RCcommand(2, :) / 5;
Ypercent_A = DATtmpA.RCcommand(3, :) / 5;
Tpercent_A = DATtmpA.RCRate(4, :);
Tacceleration_A = [0 (smooth(diff((Tpercent_A) * 10) * A_lograte, 50))'];
col = Tacceleration_A;
cmap_crossaxisStat = b2r(-1, 1);
h1 = subplot('position', posInfo.statsPos2(1, :)); cla
s1 = surface([Rpercent_A; Rpercent_A], [Tpercent_A; Tpercent_A], [Tacceleration_A; Tacceleration_A], [col; col], 'facecol', 'no', 'edgecol', 'interp', 'linew', lineThickness);
colormap(cmap_crossaxisStat);
set(gca, 'CLim', [-zScale zScale], 'xtick', [-100:20:100], 'ytick', [0:20:100])
set(h1, 'fontsize', fontsz5);
xlabel('% Roll [A]', 'fontsize', fontsz5, 'fontweight', 'bold');
ylabel('% Throttle [A]', 'fontsize', fontsz5, 'fontweight', 'bold');
axis([-100 100 0 100])
set(s1, 'EdgeAlpha', zTransparency);
hold on; plot([0 0], [0 100], ':k');
plot([-100 100], [50 50], ':k');
h2 = subplot('position', posInfo.statsPos2(2, :)); cla
s2 = surface([Ppercent_A; Ppercent_A], [Tpercent_A; Tpercent_A], [Tacceleration_A; Tacceleration_A], [col; col], 'facecol', 'no', 'edgecol', 'interp', 'linew', lineThickness);
colormap(cmap_crossaxisStat);
set(gca, 'CLim', [-zScale zScale], 'xtick', [-100:20:100], 'ytick', [0:20:100])
set(h2, 'fontsize', fontsz5);
xlabel('% Pitch [A]', 'fontsize', fontsz5, 'fontweight', 'bold');
ylabel('% Throttle [A]', 'fontsize', fontsz5, 'fontweight', 'bold');
axis([-100 100 0 100])
set(s2, 'EdgeAlpha', zTransparency);
hold on; plot([0 0], [0 100], ':k');
plot([-100 100], [50 50], ':k');
h3 = subplot('position', posInfo.statsPos2(3, :)); cla
s3 = surface([Ypercent_A; Ypercent_A], [Tpercent_A; Tpercent_A], [Tacceleration_A; Tacceleration_A], [col; col], 'facecol', 'no', 'edgecol', 'interp', 'linew', lineThickness);
colormap(cmap_crossaxisStat);
set(gca, 'CLim', [-zScale zScale], 'xtick', [-100:20:100], 'ytick', [0:20:100])
set(h3, 'fontsize', fontsz5);
xlabel('% Yaw [A]', 'fontsize', fontsz5, 'fontweight', 'bold');
ylabel('% Throttle [A]', 'fontsize', fontsz5, 'fontweight', 'bold');
axis([-100 100 0 100])
set(s3, 'EdgeAlpha', zTransparency);
hold on; plot([0 0], [0 100], ':k');
plot([-100 100], [50 50], ':k');
end
if ~isempty(filenameB)
Rpercent_B = DATtmpB.RCcommand(1, :) / 5;
Ppercent_B = DATtmpB.RCcommand(2, :) / 5;
Ypercent_B = DATtmpB.RCcommand(3, :) / 5;
Tpercent_B = DATtmpB.RCRate(4, :);
Tacceleration_B = [0 (smooth(diff((Tpercent_B) * 10) * B_lograte, 50))'];
col = Tacceleration_B;
h4 = subplot('position', posInfo.statsPos2(4, :)); cla
s4 = surface([Rpercent_B; Rpercent_B], [Tpercent_B; Tpercent_B], [Tacceleration_B; Tacceleration_B], [col; col], 'facecol', 'no', 'edgecol', 'interp', 'linew', lineThickness);
colormap(cmap_crossaxisStat);
set(gca, 'CLim', [-zScale zScale], 'xtick', [-100:20:100], 'ytick', [0:20:100])
set(h4, 'fontsize', fontsz5);
xlabel('% Roll [B]', 'fontsize', fontsz5, 'fontweight', 'bold');
ylabel('% Throttle [B]', 'fontsize', fontsz5, 'fontweight', 'bold');
axis([-100 100 0 100])
set(s4, 'EdgeAlpha', zTransparency);
hold on; plot([0 0], [0 100], ':k');
plot([-100 100], [50 50], ':k');