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FlightLog.m
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FlightLog.m
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classdef FlightLog
properties
date;
log_number;
stabilization_trajectory = 0;
hostname;
trajlib_path;
trajlib;
name = 'field-test';
% data
MAV_STATE_EST_INITIALIZER
MAV_STATE_EST_INIT_COMPLETE
STATE_ESTIMATOR_STATE
airspeed
airspeed_unchecked
altimeter
altitude_reset
arm_for_takeoff
battery
beep
cpu
est
git_status_AAAZZZA
git_status_odroid_cam
git_status_odroid_gps
gps
imu
log_info_odroid_cam
log_info_odroid_gps
rad_to_servo
rc_switch_action
rc_trajectory_commands
servo_minmaxtrim
servo_to_rad
sideslip
state_machine_state
stereo
stereo_control
stereo_monitor
tvlqr
tvlqr_out
u
log
t_start;
t_end;
end
methods
function obj = FlightLog(date, plane_number, log_number, trajlib)
obj.date = date;
obj.log_number = log_number;
obj.hostname = ['odroid-gps' num2str(plane_number)];
obj.trajlib = trajlib;
% load the data
%disp(['Loading ' obj.trajlib_path '...']);
%load(obj.trajlib_path);
%obj.trajlib = lib;
dir = [obj.date '-' obj.name '/' obj.hostname '/'];
filename = ['lcmlog_' strrep(obj.date, '-', '_') '_' obj.log_number '.mat'];
dir_prefix = '/home/abarry/rlg/logs/';
dir = [ dir_prefix dir ];
addpath('/home/abarry/realtime/scripts/logs');
disp(['Loading ' filename '...']);
loadDeltawing
% save data
if (exist('MAV_STATE_EST_INITIALIZER', 'var'))
obj.MAV_STATE_EST_INITIALIZER = MAV_STATE_EST_INITIALIZER;
end
if (exist('MAV_STATE_EST_INIT_COMPLETE', 'var'))
obj.MAV_STATE_EST_INIT_COMPLETE = MAV_STATE_EST_INIT_COMPLETE;
end
if (exist('STATE_ESTIMATOR_STATE', 'var'))
obj.STATE_ESTIMATOR_STATE = STATE_ESTIMATOR_STATE;
end
obj.airspeed = airspeed2;
obj.airspeed_unchecked = airspeed_unchecked;
obj.altimeter = altimeter;
obj.altitude_reset = altitude_reset;
obj.arm_for_takeoff = arm_for_takeoff;
obj.battery = battery;
obj.beep = beep;
obj.cpu = cpu;
obj.est = est;
obj.git_status_AAAZZZA = git_status_AAAZZZA;
if (exist('git_status_odroid_cam1', 'var'))
obj.git_status_odroid_cam = git_status_odroid_cam1;
obj.git_status_odroid_gps = git_status_odroid_gps1;
end
if (exist('git_status_odroid_cam2', 'var'))
obj.git_status_odroid_cam = git_status_odroid_cam2;
obj.git_status_odroid_gps = git_status_odroid_gps2;
end
if (exist('git_status_odroid_cam3', 'var'))
obj.git_status_odroid_cam = git_status_odroid_cam3;
obj.git_status_odroid_gps = git_status_odroid_gps3;
end
obj.gps = gps;
obj.imu = imu;
if (exist('log_info_odroid_cam1', 'var'))
obj.log_info_odroid_cam = log_info_odroid_cam1;
obj.log_info_odroid_gps = log_info_odroid_gps1;
end
if (exist('log_info_odroid_cam2', 'var'))
obj.log_info_odroid_cam = log_info_odroid_cam2;
obj.log_info_odroid_gps = log_info_odroid_gps2;
end
if (exist('log_info_odroid_cam3', 'var'))
obj.log_info_odroid_cam = log_info_odroid_cam3;
obj.log_info_odroid_gps = log_info_odroid_gps3;
end
obj.log_number = log_number;
obj.rad_to_servo = rad_to_servo;
obj.rc_switch_action = rc_switch_action;
obj.rc_trajectory_commands = rc_trajectory_commands;
obj.servo_minmaxtrim = servo_minmaxtrim;
obj.servo_to_rad = servo_to_rad;
obj.sideslip = sideslip;
obj.state_machine_state = state_machine_state;
obj.stereo = stereo2;
if (exist('stereo_control', 'var'))
obj.stereo_control = stereo_control;
end
obj.stereo_monitor = stereo_monitor;
obj.tvlqr = tvlqr;
obj.tvlqr_out = tvlqr_out;
obj.u = u;
obj.log = log42;
% compute start and end for the flight
[obj.t_start, obj.t_end] = FindAutonomousFlight(obj);
end
end
end