def update(self, sp, refs):
title = [r'$\phi$', r'$\theta$', r'$\psi$']
legend = ['Ref1', 'Ref2', 'Setpoint']
for i in range(0, 3):
axis = self.f.add_subplot(331 + i)
axis.clear()
for ref in refs:
axis.plot(sp.time, pu.deg_of_rad(ref.euler[:, i]))
axis.plot(sp.time, pu.deg_of_rad(sp.euler[:, i]))
self.decorate(axis, title[i], *(('deg', legend) if i == 0 else (None, None)))
title = [r'$p$', r'$q$', r'$r$']
for i in range(0, 3):
axis = self.f.add_subplot(334 + i)
axis.clear()
for ref in refs:
axis.plot(sp.time, pu.deg_of_rad(ref.vel[:, i]))
self.decorate(axis, title[i], 'deg/s' if i == 0 else None)
title = [r'$\dot{p}$', r'$\dot{q}$', r'$\dot{r}$']
for i in range(0, 3):
axis = self.f.add_subplot(337 + i)
axis.clear()
for ref in refs:
axis.plot(sp.time, pu.deg_of_rad(ref.accel[:, i]))
self.decorate(axis, title[i], 'deg/s2' if i == 0 else None)
self.canvas.draw()
def plot_ref(time, xref=None, sp=None, figure=None):
margins = (0.05, 0.05, 0.98, 0.96, 0.20, 0.34)
figure = pu.prepare_fig(figure, window_title='Reference', figsize=(20.48, 10.24), margins=margins)
plots = [("$\phi$", "deg"), ("$\\theta$", "deg"), ("$\\psi$", "deg"),
("$p$", "deg/s"), ("$q$", "deg/s"), ("$r$", "deg/s"),
("$\dot{p}$", "deg/s2"), ("$\dot{q}$", "deg/s2"), ("$\dot{r}$", "deg/s2")]
for i, (title, ylab) in enumerate(plots):
ax = plt.subplot(3, 3, i + 1)
if xref is not None: plt.plot(time, pu.deg_of_rad(xref[:, i]))
pu.decorate(ax, title=title, ylab=ylab)
if sp is not None and i < 3:
plt.plot(time, pu.deg_of_rad(sp[:, i]))
return figure
def plot_ref(time, xref=None, sp=None, figure=None):
margins = (0.05, 0.05, 0.98, 0.96, 0.20, 0.34)
figure = pu.prepare_fig(figure,
window_title='Reference',
figsize=(20.48, 10.24),
margins=margins)
plots = [("$\phi$", "deg"), ("$\\theta$", "deg"), ("$\\psi$", "deg"),
("$p$", "deg/s"), ("$q$", "deg/s"), ("$r$", "deg/s"),
("$\dot{p}$", "deg/s2"), ("$\dot{q}$", "deg/s2"),
("$\dot{r}$", "deg/s2")]
for i, (title, ylab) in enumerate(plots):
ax = plt.subplot(3, 3, i + 1)
if xref is not None: plt.plot(time, pu.deg_of_rad(xref[:, i]))
pu.decorate(ax, title=title, ylab=ylab)
if sp is not None and i < 3:
plt.plot(time, pu.deg_of_rad(sp[:, i]))
return figure
def register_setpoint(self):
b = self.gui.b
c_sp_type = b.get_object("combo_sp_type")
for n in Setpoint.t_names:
c_sp_type.append_text(n)
c_sp_type.set_active(self.sp.type)
c_sp_type.connect("changed", self.on_sp_changed)
names = ["spin_sp_duration", "spin_sp_step_duration", "spin_sp_step_amplitude"]
widgets = [b.get_object(name) for name in names]
adjs = [Gtk.Adjustment(self.sp.duration, 1, 100, 1, 10, 0),
Gtk.Adjustment(self.sp.step_duration, 0.1, 10., 0.1, 1., 0),
Gtk.Adjustment(pu.deg_of_rad(self.sp.step_ampl), 0.1, 180., 1, 10., 0)]
for i, w in enumerate(widgets):
w.set_adjustment(adjs[i])
w.update()
w.connect("value-changed", self.on_sp_changed)
