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

The flightLogSignalMapping object has a set of predefined signals and plots. Use info object function to view the signals, and to check if a signal is already mapped and ready to plot.

Signals with the format SignalName# support mapping multiple signals of the same type. Replace # with incremental integer for each signal name of that type.

Predefined Signals

Signal Name	Description	Fields	Units
Accel#	Raw accelerometer reading from IMU sensor	AccelX, AccelY, AccelZ	m/s^2, m/s^2, m/s^2
Airspeed#	Airspeed reading of pressure differential, indicated air speed, and temperature	PressDiff, IndicatedAirSpeed, Temperature	Pa, m/s, degreeC
AttitudeEuler	Attitude of UAV in Euler (ZYX) form	Roll, Pitch, Yaw	rad, rad, rad
AttitudeRate	Angular velocity along each body axis	BodyRotationRateX, BodyRotationRateY, BodyRotationRateZ	rad/s, rad/s, rad/s
AttitudeTargetEuler	Target attitude of UAV in Euler (ZYX) form	TargetRoll, TargetPitch, TargetYaw	rad, rad, rad
Barometer#	Barometer readings for absolute pressure, relative pressure, and temperature	PressAbs, PressAltitude, Temperature	Pa, m, degreeC
Battery	Voltage readings for battery and remaining battery capacity (%)	Voltage1,Voltage2, ... Voltage16, RemainingCapacity	v, v, ... v, %
EstimatorInnovationAirspeed	Extended Kalman Filter (EKF) airspeed innovation and innovation variance	Airspeed, Var_Airspeed	m/s, (m/s)^2
EstimatorInnovationGPS	EKF GPS velocity and position innovations and innovation variances	V_X, V_Y, V_Z, P_X, P_Y, P_Z, Var_V_X, Var_V_Y, Var_V_Z, Var_P_X, Var_P_Y, Var_P_Z	m/s, m/s, m/s, m, m, m, (m/s)^2, (m/s)^2, (m/s)^2, m^2, m^2, m^2
EstimatorInnovationHeading	EKF heading innovation and innovation variance	Heading, Var_Heading	rad, rad^2
EstimatorInnovationHeight	EKF range sensor and barometer height innovations and innovation variances	RangeHeight, BaroHeight, Var_RangeHeight, Var_BaroHeight	m, m^2, m^2
EstimatorInnovationMagnetometer	EKF magnetometer innovation and innovation variance	X, Y, Z, Var_X, Var_Y, Var_Z	Gauss, Gauss, Gauss, Gauss^2, Gauss^2, Gauss^2
EstimatorInnovationOpticalFlow	EKF optical flow sensor innovation and innovation variance	X, Y, Var_X, Var_Y	rad/sec, rad/sec, (rad/sec)^2, (rad/sec)^2
EstimatorStatesIMUBias	EKF inertial measurement unit (IMU) delta angle and velocity bias estimates and bias estimate variances	DeltaAngleBiasX, DeltaAngleBiasY, DeltaAngleBiasZ", DeltaVelocityBiasX, DeltaVelocityBiasY, DeltaVelocityBiasZ, Var_DeltaAngleBiasX, Var_DeltaAngleBiasY, Var_DeltaAngleBiasZ, Var_DeltaVelocityBiasX, Var_DeltaVelocityBiasY, Var_DeltaVelocityBiasZ	rad, rad, rad, m/s, m/s, m/s, rad^2, rad^2, rad^2, (m/s)^2, (m/s)^2, (m/s)^2
EstimatorStatesMagnetometerBias	EKF Earth magnetic field and UAV body frame magnetic field bias estimates and bias estimate variances	EarthMagneticFieldN, EarthMagneticFieldE, EarthMagneticFieldD, BodyMagneticFieldX, BodyMagneticFieldY, BodyMagneticFieldZ, Var_EarthMagneticFieldN, Var_EarthMagneticFieldE, Var_EarthMagneticFieldD, Var_BodyMagneticFieldX, Var_BodyMagneticFieldY, Var_BodyMagneticFieldZ	gauss, gauss, gauss, gauss, gauss, gauss, gauss^2, gauss^2, gauss^2, gauss^2, gauss^2, gauss^2
EstimatorStatesWind	EKF wind estimate and estimate variance	WindNorth, WindEast, Var_WindNorth, Var_WindEast	m/s, m/s, (m/s)^2, (m/s)^2
EstimatorStatusControlMode	EKF logic states, specified as logical values	CS_TILT_ALIGN, CS_YAW_ALIGN, CS_GPS, CS_OPT_FLOW, CS_MAG_HDG, CS_MAG_3D, CS_MAG_DEC, CS_IN_AIR, CS_WIND, CS_BARO_HGT, CS_RNG_HGT, CS_GPS_HGT, CS_EV_POS, CS_EV_YAW, CS_EV_HGT, CS_BETA, CS_MAG_FIELD, CS_FIXED_WING, CS_MAG_FAULT, CS_ASPD, CS_GND_EFFECT, CS_RNG_STUCK, CS_GPS_YAW, CS_MAG_ALIGNED, CS_EV_VEL, CS_SYNTHETIC_MAG_Z, CS_VEHICLE_AT_REST, CS_GPS_YAW_FAULT, CS_RNG_FAULT	None
EstimatorStatusFlagAirspeed	Flag that indicates whether the EKF rejects the airspeed observation	RejectAirspeed	None
EstimatorStatusFlagHeightAboveGround	Flag that indicates whether the EKF rejects the height above ground observation	RejectHeightAboveGround	None
EstimatorStatusFlagHorizontalStates	Flags that indicate whether the EKF rejects the horizontal velocity and position observations	RejectVelocity, RejectPosition	None
EstimatorStatusFlagMagnetometer	Flags that indicate whether the EKF rejects the magnetometer and yaw observations	RejectX, RejectY, RejectZ, RejectYaw	None
EstimatorStatusFlagOpticalFlow	Flags that indicate whether the EKF rejects the optical flow observations	RejectX, RejectY	None
EstimatorStatusFlagSideslip	Flag that indicates whether the EKF rejects the synthetic sideslip observation	RejectSyntheticSideslip	None
EstimatorStatusFlagVerticalStates	Flags that indicate whether the EKF rejects the vertical velocity and position observations	RejectVelocity, RejectPosition	None
EstimatorStatusFilterFault	Flags that indicate whether the EKF encounters faults such as numerical errors, bad data, or clipping	NUMERIC_ERROR_MAG_X, NUMERIC_ERROR_MAG_Y, NUMERIC_ERROR_MAG_Z, NUMERIC_ERROR_MAG_HDG, NUMERIC_ERROR_MAG_DEC, NUMERIC_ERROR_ASPD, NUMERIC_ERROR_SYNTHETIC_BETA, NUMERIC_ERROR_OPT_FLOW_X, NUMERIC_ERROR_OPT_FLOW_Y, NUMERIC_ERROR_VEL_N, NUMERIC_ERROR_VEL_E, NUMERIC_ERROR_VEL_D, NUMERIC_ERROR_POS_N, NUMERIC_ERROR_POS_E, NUMERIC_ERROR_POS_D, NUMERIC_BAD_DELTA_VEL_BIAS, NUMERIC_BAD_VERTICAL_ACCEL, NUMERIC_DELTA_VEL_CLIPPING	None
EstimatorStatusGPSCheckFail	Flags that indicate the status of GPS checks	GPS_CHECK_FAIL_GPS_FIX, GPS_CHECK_FAIL_MIN_SAT_COUNT, GPS_CHECK_FAIL_MAX_PDOP GPS_CHECK_FAIL_MAX_HORZ_ERR, GPS_CHECK_FAIL_MAX_VERT_ERR, GPS_CHECK_FAIL_MAX_SPD_ERR, GPS_CHECK_FAIL_MAX_HORZ_DRIFT, GPS_CHECK_FAIL_MAX_VERT_DRIFT, GPS_CHECK_FAIL_MAX_HORZ_SPD_ERR, GPS_CHECK_FAIL_MAX_VERT_SPD_ERR, GPS_CHECK_FAIL_SPOOFED	None
EstimatorStatusTestRatio	Low-pass filtered ratio of the largest innovation to the innovation test limit	Heading, Velocity, Position, Height, TrueAirspeed, HeightAboveGround, SyntheticSideslip	None
GPS#	GPS readings for latitude, longitude, altitude, ground speed, course angle, and number of satellites visible	Latitude, Longitude, Altitude, GroundSpeed, CourseAngle, SatellitesVisible	degree, degree, m, m/s, degree, N/A
Gyro#	Raw body angular velocity readings from IMU sensor	GyroX, GyroY, GyroZ	rad/s, rad/s, rad/s
LocalENU	Local ENU coordinates estimated by the UAV	X, Y, Z	m, m, m
LocalENUTarget	Target location in local ENU coordinates	XTarget, YTarget, ZTarget	m, m, m
LocalENUVel	Local ENU velocity estimated by the UAV	VX, VY, VZ	m/s, m/s, m/s
LocalENUVelTarget	Target velocity in local ENU coordinates	VXTarget, VYTarget, VZTarget	m/s, m/s, m/s
LocalNED	Local NED coordinates estimated by the UAV	X, Y, Z	m, m, m
LocalNEDTarget	Target location in local NED coordinates	XTarget, YTarget, ZTarget	m, m, m
LocalNEDVel	Local NED velocity estimated by the UAV	VX, VY, VZ	m/s, m/s, m/s
LocalNEDVelTarget	Target velocity in local NED coordinates	VXTarget, VYTarget, VZTarget	m/s, m/s, m/s
Mag#	Raw magnetometer reading from IMU sensor	MagX, MagY, MagZ	Gs, Gs, Gs

Predefined Plots

After mapping signals to the list of predefined signals, you can use specific predefined plots with the show object function. To view a list of available plots and their associated signals for a flightLogSignalMapping object, use the info object function. If you want to define custom plots based on signals, use the updatePlot object function.

Each predefined plot has a set of required signals that it must map.

Predefined Plots

Plot	Description	Signals
AirspeedInnovations	Extended Kalman Filter (EKF) airspeed innovation and innovation variance	EstimatorInnovationAirspeed
Attitude	Stacked plot of roll, pitch, and yaw angles and body rotation rates	AttitudeEuler, AttitudeRate, Gyro#
AttitudeControl	Estimated attitude of the UAV and the attitude target set point	AttitudeEuler, AttitudeTargetEuler
Battery	Stacked plot of battery voltage	Battery
Compass	Estimated yaw and magnetometer readings	AttitudeEuler, Mag#, GPS#
EstimatorInnovationTestRatio	Stacked plot of the ratio of the largest EKF innovation to the innovation test limit	EstimatorStatusTestRatio
GPS2D	Raw Lat-Lon plot for GPS sensor readings	GPS#
GPSInnovations	Stacked plot of EKF GPS velocity and position innovations, and innovation variances	EstimatorInnovationGPS
HeadingInnovations	Stacked plot of EKF heading innovation and innovation variance	EstimatorInnovationHeading
Height	Stacked plots of barometer reading, GPS altitude reading, and fused height estimate	Barometer#, GPS#, LocalNED
HeightInnovations	Stacked plot of EKF range sensor and barometer height innovations and innovation variances	EstimatorInnovationHeight
IMUBias	Stacked plot of EKF inertial measurement unit (IMU) delta angle and velocity bias estimates and bias estimate variances	EstimatorStatesIMUBias
MagneticField	Stacked plot of EKF Earth magnetic field and UAV body frame magnetic field bias estimates and bias estimate variances	EstimatorStatesMagnetometerBias
MagnetometerInnovations	Stacked plot of EKF Earth magnetic field and UAV body frame magnetic field bias estimates and bias estimates variancest	EstimatorInnovationMagnetometert
Speed	Stacked plot of ground velocity and air speed	GPS#, Airspeed#
Trajectory	Trajectory in local NED 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
Wind	Wind estimate and estimate variance	EstimatorStatesWind

Version History

Introduced in R2020b