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attitude plots: don't mark NaNs in the setpoint for fixed-wing #140

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Nov 8, 2018
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attitude plots: don't mark NaNs in the setpoint for fixed-wing #140

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8 changes: 6 additions & 2 deletions plot_app/configured_plots.py
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Original file line number Diff line number Diff line change
Expand Up @@ -44,7 +44,8 @@ def generate_plots(ulog, px4_ulog, db_data, vehicle_data, link_to_3d_page):
# initialize flight mode changes
flight_mode_changes = get_flight_mode_changes(ulog)

# VTOL state changes
# VTOL state changes & vehicle type
is_multicopter = False # this is False for VTOLs as well
vtol_states = None
try:
cur_dataset = ulog.get_dataset('vehicle_status')
Expand All @@ -57,6 +58,8 @@ def generate_plots(ulog, px4_ulog, db_data, vehicle_data, link_to_3d_page):
idx = np.argmax(cur_dataset.data['timestamp'] >= t) + 1
vtol_states[i] = (t, 2 + cur_dataset.data['is_rotary_wing'][idx])
vtol_states.append((ulog.last_timestamp, -1))
elif np.amax(cur_dataset.data['is_rotary_wing']) == 1:
is_multicopter = True
except (KeyError, IndexError) as error:
vtol_states = None

Expand Down Expand Up @@ -188,9 +191,10 @@ def generate_plots(ulog, px4_ulog, db_data, vehicle_data, link_to_3d_page):
data_plot.add_graph([lambda data: (axis, np.rad2deg(data[axis]))],
colors3[0:1], [axis_name+' Estimated'], mark_nan=True)
data_plot.change_dataset('vehicle_attitude_setpoint')
# in fixed-wing, the attitude setpoint is allowed to be NaN
data_plot.add_graph([lambda data: (axis+'_d', np.rad2deg(data[axis+'_d']))],
colors3[1:2], [axis_name+' Setpoint'],
mark_nan=True, use_step_lines=True)
mark_nan=is_multicopter, use_step_lines=True)
if axis == 'yaw':
data_plot.add_graph(
[lambda data: ('yaw_sp_move_rate', np.rad2deg(data['yaw_sp_move_rate']))],
Expand Down