mapSignal

Map UAV flight log signal

Syntax

mapsignal(mapper,signalName,timeFunc,valueFunc)

mapsignal(mapper,signalName,timeFunc,valueFunc,varNames)

mapsignal(mapper,signalName,timeFunc,valueFunc,varNames,varUnits)

Description

mapsignal(mapper,signalName,timeFunc,valueFunc) maps the signal with name signalName to a pair of function handles, timeFunc and valueFunc. These functions define the time stamps and values of signals from a flight log file, which can be imported using mavlinktlog or ulogreader. For a list of preconfigured signals and plots, see Predefined Signals and Predefined Plots.

mapsignal(mapper,signalName,timeFunc,valueFunc,varNames) maps the signal with name signalName and specifies the variable names, varName, for the columns of a matrix generated from valueFunc.

mapsignal(mapper,signalName,timeFunc,valueFunc,varNames,varUnits) maps the signal with name signalName and specifies the units, varUnits for varName.

Input Arguments

mapper — Flight log signal mapping

flightLogSignalMapping object

Flight log signal mapping object, specified as a flightLogSignalMapping object.

signalName — Signal name to map data

string scalar | character vector

Signal name to map data, specified as a string scalar or character vector.

Example: "Gyro"

Data Types: char | string

timeFunc — Timestamps for signal

function handle

Timestamps for signal values , specified as a function handle. Typically, this function handle extracts time data from a flight log, which can be imported using mavlinktlog or ulogreader.

Example: @(x)x.Gyro.Time

Data Types: function_handle

valueFunc — Values for signal

function handle

Values for signal, specified as a function handle. Typically, this function handle extracts signal data from a flight log, which can be imported using mavlinktlog or ulogreader.

Example: @(x)x.Gyro.Value

Data Types: function_handle

varNames — Variable names for a matrix of values

string array | cell array of character vectors

Variable names for a matrix of values, specified as a string array or cell array of character vectors. Each element corresponds to a column in the matrix of values generated from valueFunc.

Example: ["xPos" "yPos" "zPos"]

Data Types: char | string

varUnits — Variable units for a matrix of values

string array | cell array of character vectors

Variable units for a matrix of values, specified as a string array or cell array of character vectors. Each element corresponds to an element in varNames.

Example: ["m" "m" "rad"]

Data Types: char | string

More About

Predefined Signals

A set of predefined signals and plots are configured in the flightLogSignalMapping object. Depending on your log file type, you can map specific signals to the provided signal names using mapSignal. You can also call info to view the table for your log type and see whether you have already mapped a signal to that plot type.

Specify the SignalName as the input to mapSignal. Signals with the format SignalName# support mapping multiple signals of the same type. Replace # with incremental integers for each signal name when calling mapSignal.

The predefined signals have specific names and required fields when mapping the signal.

Predefined Signals

Signal Name	Description	Fields	Units
Accel#	Raw magnetometer reading from IMU sensor	[ax ay az]	m/s2
Airspeed#	Airspeed reading of pressure differential, indicated air speed, and temperature	[PressDiff, AirSpeed, Temp]	Pa, m/s, ℃
AttitudeEuler	Attitude of UAV in Euler (ZYX) form	[Roll, Pitch, Yaw]	radians
AttitudeRate	Angular velocity along each body axis	[xRotRate, yRotRate, zRotRate]	rad/s
AttitudeTargetEuler	Target attitude of UAV in Euler (ZYX) form	[TargetRoll, TargetPitch, TargetYaw]	radians
Barometer#	Barometer readings for absolute pressure, relative pressure, and temperature	[PressAbs, PressAltitude, Temp]	Pa, m, ℃
Battery	Voltage readings for battery and remaining battery capacity (%)	[Volt1,Volt2, ... Volt16, RemainingCapacity	V, %
GPS#	GPS readings for latitude, longitude, altitude, ground speed, course angle, and number of satellites visible	[lat, long, alt, groundspeed, courseAngle, satellites]	degree, degree, m, m/s, degree, n/a
Gyro#	Raw body angular velocity readings from IMU sensor	[GyroX, GyroY, GyroZ]	rad/s
LocalNED	Local NED coordinates estimated by the UAV	[xNED, yNED, zNED]	meters
LocalNEDTarget	Target location in local NED coordinates	[xTarget, yTarget, zTarget]	meters
LocalNEDVel	Local NED velocity estimated by the UAV	[vx vy vz]	m/s
LocalNEDVelTarget	Target velocity in NED in local NED	[vxTarget, vyTarget, vzTarget]	m/s
Mag#	Raw magnetometer reading from IMU sensor	[x y z]	Gs

Predefined Plots

After mapping signals to the list of predefined signals using mapSignal, specific plots are made available when calling show. To view a list of available plots and their associated signals for your specific object, call info(mapper,"Plot"). If you want to define custom plots based on signals, use updatePlot.

Each predefined plot has a set of required signals that must be mapped.

Predefined Plots

Plot	Description	Signals
Attitude	Stacked plot of roll, pitch, yaw angles and body rotation rates	AttitudeEuler, AttitudeRate, Gyro#
AttitudeControl	Estimated attitude of UAV and the attitude target set point	AttitudeEuler, AttitudeTargetEuler
Battery	Battery consumption plot	Battery
Compass	Estimated yaw and magnetometer readings	AttitudeEuler, Mag#, GPS#
GPS2D	Raw Lat-Lon plot for GPS sensor readings.	GPS#
Height	Stacked plots of barometer reading, GPS altitude reading, and fused height estimate	Barometer#, GPS#, LocalNED
Speed	Stacked plot of ground velocity and air speed	GPS#, Airspeed#
Trajectory	Trajectory in local coordinates versus target set points	LocalNED, LocalNEDTarget
TrajectoryTracking	Error between desired and actual position in NED coordinates	LocalNED, LocalNEDTarget
TrajectoryVelTracking	Error between desired and actual velocity in NED coordinates	LocalNEDVel, LocalNEDVelTarget