%% PTplotPIDerror
% ----------------------------------------------------------------------------------
% "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
% ----------------------------------------------------------------------------------
try
set(PTerrfig, 'pointer', 'watch')
if ~isempty(filenameA) || ~isempty(filenameB)
%% update fonts
prop_max_screen=(max([PTerrfig.Position(3) PTerrfig.Position(4)]));
fontsz3=round(screensz_multiplier*prop_max_screen);
guiHandlesPIDerr.refresh.FontSize=fontsz3;
guiHandlesPIDerr.maxSticktext.FontSize=fontsz3;
guiHandlesPIDerr.maxStick.FontSize=fontsz3;
guiHandlesPIDerr.saveFig3.FontSize=fontsz3;
%% PID error distributions
ylab2={'roll';'pitch';'yaw'};
figure(PTerrfig);
for p=1:3
delete(subplot('position',posInfo.PIDerrAnalysis(p,:)))
h1=subplot('position',posInfo.PIDerrAnalysis(p,:)); cla
hold on
if ~isempty(filenameA)
RCRateALL_Thresh_A=abs(DATtmpA.RCRate(1,:)) < maxDegsec & abs(DATtmpA.RCRate(2,:)) < maxDegsec & abs(DATtmpA.RCRate(3,:)) < maxDegsec & abs(DATtmpA.PIDerr(1,:)) < maxDegsec & abs(DATtmpA.PIDerr(2,:)) < maxDegsec & abs(DATtmpA.PIDerr(3,:)) < maxDegsec;
[yA xA]=hist(DATtmpA.PIDerr(p,RCRateALL_Thresh_A),-1000:1:1000); %<maxDegsec),-maxDegsec:1:maxDegsec);
yA=yA/max(yA);
h=plot(xA, yA);
set(h, 'color',[colorA], 'Linewidth',2);
if p==3
set(h1,'xtick',[-40:10:40],'ytick',[0:.25:1],'tickdir','out','xminortick','on','yminortick','on','fontsize',fontsz3);
xlabel('PID error (deg/s)' ,'fontweight','bold');
else
set(h1,'xtick',[-40:10:40],'xticklabel',{},'ytick',[0:.25:1],'tickdir','out','xminortick','on','yminortick','on','fontsize',fontsz3);
end
ylabel(['normalized freq '] ,'fontweight','bold')
h=text(-37,.9, ylab2{p});
set(h,'fontsize',fontsz3,'fontweight','bold')
grid on
axis([-40 40 0 1])
h=text(10,.9,['[A]s.d.=' num2str(std(yA))]);
set(h,'fontsize',fontsz3,'color',colorA,'fontweight','bold')
end
if ~isempty(filenameB)
RCRateALL_Thresh_B=abs(DATtmpB.RCRate(1,:)) < maxDegsec & abs(DATtmpB.RCRate(2,:)) < maxDegsec & abs(DATtmpB.RCRate(3,:)) < maxDegsec & abs(DATtmpB.PIDerr(1,:)) < maxDegsec & abs(DATtmpB.PIDerr(2,:)) < maxDegsec & abs(DATtmpB.PIDerr(3,:)) < maxDegsec;
[yB xB]=hist(DATtmpB.PIDerr(p,RCRateALL_Thresh_B),-1000:1:1000);
yB=yB/max(yB);
h=plot(xB, yB);
set(h, 'color',[colorB], 'Linewidth',2);
if p==3
set(h1,'xtick',[-40:10:40],'ytick',[0:.25:1],'tickdir','out','xminortick','on','yminortick','on','fontsize',fontsz3);
xlabel('PID error (deg/s)' ,'fontweight','bold');
else
set(h1,'xtick',[-40:10:40],'xticklabel',{},'ytick',[0:.25:1],'tickdir','out','xminortick','on','yminortick','on','fontsize',fontsz3);
end
ylabel(['normalized freq '] ,'fontweight','bold')
h=text(-37,.9, ylab2{p});
set(h,'fontsize',fontsz3,'fontweight','bold')
grid on
axis([-40 40 0 1])
h=text(10,.8,['[B]s.d.=' num2str(std(yB))]);
set(h,'fontsize',fontsz3,'color',colorB,'fontweight','bold')
end
try
[h pval stat] = kstest2(yA,yB);
if pval<=.05, sigflag='*'; else, sigflag=''; end
h=text(10,.7,['p=' num2str(pval) sigflag]);set(h,'fontsize',fontsz3,'fontweight','bold')
catch
end
box off
if p==1,
title('normalized PID error distributions');
end
end
%% compute PID error and latency x % stick deflection
if ~updateErr
t=[.1 .2 .3 .4 .5 .6 .7 .8 .9 1];
% cutoff=100; % ignore less frequent error at the extremes, outliers
if ~isempty(filenameA)
for i=1:length(t)
clear RCRateALL_Thresh_A
m=max(max(abs(DATtmpA.RCRate))) * (t(i));
RCRateALL_Thresh_A=abs(DATtmpA.RCRate(1,:)) < m & abs(DATtmpA.RCRate(2,:)) < m & abs(DATtmpA.RCRate(3,:)) < m & abs(DATtmpA.PIDerr(1,:)) < m & abs(DATtmpA.PIDerr(2,:)) < m & abs(DATtmpA.PIDerr(3,:)) < m;
for j=1:3
perr_a=[];
perr_a=DATtmpA.PIDerr(j, RCRateALL_Thresh_A);
Perr_a_m(j,i)=nanmean(abs(perr_a));
Perr_a_se(j,i)=nanstd(abs(perr_a)) / sqrt(length(perr_a));
end
end
end
t=[.1 .2 .3 .4 .5 .6 .7 .8 .9 1];
if ~isempty(filenameB)
for i=1:length(t)
clear RCRateALL_Thresh_B
m=max(max(abs(DATtmpB.RCRate))) * (t(i));
RCRateALL_Thresh_B=abs(DATtmpB.RCRate(1,:)) < m & abs(DATtmpB.RCRate(2,:)) < m & abs(DATtmpB.RCRate(3,:)) < m & abs(DATtmpB.PIDerr(1,:)) < m & abs(DATtmpB.PIDerr(2,:)) < m & abs(DATtmpB.PIDerr(3,:)) < m;
for j=1:3
perr_b=[];
perr_b=DATtmpB.PIDerr(j, RCRateALL_Thresh_B);
Perr_b_m(j,i)=nanmean(abs(perr_b));
Perr_b_se(j,i)=nanstd(abs(perr_b)) / sqrt(length(perr_b));
end
end
end
updateErr=0;
end
%% PID error x stick
ylab=['R';'P';'Y'];
for p=1:3
delete(subplot('position',posInfo.PIDerrAnalysis(p+3,:)))
h1=subplot('position',posInfo.PIDerrAnalysis(p+3,:)); cla
posA=.8:1:9.8;
posB=1.2:1:10.2;
if ~isempty(filenameA)
minyA=min(Perr_a_m(p,:))-.5;if minyA<0, minyA=0;end
maxyA=max(Perr_a_m(p,:))+.5;
h=errorbar([posA],[Perr_a_m(p,:) ], [Perr_a_se(p,:) ] );hold on
set(h, 'color','k', 'LineStyle','none');
h=bar([posA], (Perr_a_m(p,:) ));
set(h, 'facecolor',[colorA],'facealpha',.8,'BarWidth',.4)
set(h1,'tickdir','out','xminortick','off','yminortick','on');
set(h1,'fontsize',fontsz3);
ylabel(['mean |' ylab(p) ' error| ^o/s'], 'fontweight','bold')
set(h1,'xtick',[0:2:10], 'xticklabel',{''},'ygrid','on');
axis([0 11 minyA maxyA])
box off
if p==3
set(h1,'xtick',[0:1:10], 'xticklabel',{'0', '', '20','','40','', '60','', '80','', '100'});
xlabel('stick deflection (% of max)', 'fontweight','bold')
else
set(h1,'xtick',[0:1:10], 'xticklabel',{'', '', '','','','', '','', '','', ''});
end
end
if ~isempty(filenameB)
minyB=min(Perr_b_m(p,:))-.5;if minyB<0, minyB=0;end
maxyB=max(Perr_b_m(p,:))+.5;
h=errorbar([posB],[ Perr_b_m(p,:)], [ Perr_b_se(p,:)] );
set(h, 'color','k', 'LineStyle','none');
h=bar([posB], (Perr_b_m(p,:)));
set(h, 'facecolor',[colorB],'facealpha',.8,'BarWidth',.4)
set(h1,'tickdir','out','xminortick','off','yminortick','on');
set(h1,'fontsize',fontsz3);
ylabel(['mean |' ylab(p) ' error| ^o/s'], 'fontweight','bold')
set(h1,'xtick',[0:2:10], 'xticklabel',{''},'ygrid','on');
axis([0 11 min([minyA minyB]) max([maxyA maxyB])])
box off
if p==3
set(h1,'xtick',[0:1:10], 'xticklabel',{'0', '', '20','','40','', '60','', '80','', '100'});
xlabel('stick deflection (% of max)', 'fontweight','bold')
else
set(h1,'xtick',[0:1:10], 'xticklabel',{'', '', '','','','', '','', '','', ''});
end
end
if p==1,
title('mean abs PID error X stick deflection');
end
end
%
end
set(PTerrfig, 'pointer', 'arrow')
catch err
msgPTplotPIDerror=PTerrorMessages('PTplotPIDerror', err);
end