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Dean/PIDtoolbox

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PTplotLogViewer.m 31.57 KB
一键复制 编辑 原始数据 按行查看 历史
Brian White 提交于 2020-05-13 20:42 . Add files via upload
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%% PTplotLogViewer - script to plot main line graphs



% ----------------------------------------------------------------------------------

% "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

% ----------------------------------------------------------------------------------



% tic



try

    

if ~isempty(filenameA) || ~isempty(filenameB) 



    set(PTfig, 'pointer', 'watch')

    

    figure(1);



    maxY=1200;



    alpha_red=.8;

    alpha_blue=.8;



    prop_max_screen=(max([PTfig.Position(3) PTfig.Position(4)]));

    fontsz=(screensz_multiplier*prop_max_screen);



    % scale fonts according to size of window and/or screen

    guiHandles.fileA.FontSize=fontsz;

    guiHandles.fileB.FontSize=fontsz;

    guiHandles.runAll.FontSize=fontsz;

    guiHandles.Epoch1_A_text.FontSize=fontsz;

    guiHandles.Epoch1_A_Input.FontSize=fontsz;

    guiHandles.Epoch2_A_text.FontSize=fontsz;

    guiHandles.Epoch2_A_Input.FontSize=fontsz;

    guiHandles.Epoch1_B_text.FontSize=fontsz;

    guiHandles.Epoch1_B_Input.FontSize=fontsz;

    guiHandles.Epoch2_B_text.FontSize=fontsz;

    guiHandles.Epoch2_B_Input.FontSize=fontsz;

    guiHandles.spectrogramButton.FontSize=fontsz;

    guiHandles.PIDerrButton.FontSize=fontsz;

    guiHandles.TuningButton.FontSize=fontsz;

    guiHandles.DispInfoButton.FontSize=fontsz;

    guiHandles.flightStats.FontSize=fontsz;

    guiHandles.saveFig.FontSize=fontsz;

    guiHandles.wiki.FontSize=fontsz;

    guiHandles.checkbox0.FontSize=fontsz;

    guiHandles.checkbox1.FontSize=fontsz;

    guiHandles.checkbox2.FontSize=fontsz;

    guiHandles.checkbox3.FontSize=fontsz;

    guiHandles.checkbox4.FontSize=fontsz;

    guiHandles.checkbox5.FontSize=fontsz;

    guiHandles.checkbox6.FontSize=fontsz;

    guiHandles.checkbox7.FontSize=fontsz;

    guiHandles.checkbox8.FontSize=fontsz;

    guiHandles.checkbox9.FontSize=fontsz;

    guiHandles.checkbox10.FontSize=fontsz;

    guiHandles.checkbox11.FontSize=fontsz;

    guiHandles.checkbox12.FontSize=fontsz;

    guiHandles.checkbox13.FontSize=fontsz;

    guiHandles.checkbox14.FontSize=fontsz;

    guiHandles.checkbox15.FontSize=fontsz;

    guiHandles.linewidth.FontSize=fontsz;

    controlpanel.FontSize=fontsz;

    

    if plotall_flag>=0 

        guiHandles.checkbox0.Value=guiHandles.checkbox15.Value;

        guiHandles.checkbox1.Value=guiHandles.checkbox15.Value;

        guiHandles.checkbox2.Value=guiHandles.checkbox15.Value;

        guiHandles.checkbox3.Value=guiHandles.checkbox15.Value;

        guiHandles.checkbox4.Value=guiHandles.checkbox15.Value;

        guiHandles.checkbox5.Value=guiHandles.checkbox15.Value;

        guiHandles.checkbox6.Value=guiHandles.checkbox15.Value;

        guiHandles.checkbox7.Value=guiHandles.checkbox15.Value;

        guiHandles.checkbox8.Value=guiHandles.checkbox15.Value;

        guiHandles.checkbox9.Value=guiHandles.checkbox15.Value;

        guiHandles.checkbox10.Value=guiHandles.checkbox15.Value;

        guiHandles.checkbox11.Value=guiHandles.checkbox15.Value;

        guiHandles.checkbox12.Value=guiHandles.checkbox15.Value;

        guiHandles.checkbox13.Value=guiHandles.checkbox15.Value;

        guiHandles.checkbox14.Value=guiHandles.checkbox15.Value;

    end

    plotall_flag=-1;



    %%%%%%%% ui filenames %%%%%%%

    if ~isempty(filenameA)

    guiHandles.fileA.FontWeight='bold';

    guiHandles.fnameAText = uicontrol(PTfig,'style','text','string',['A:' filenameA],'fontsize',fontsz*.8,'units','normalized','BackgroundColor',bgcolor,'outerposition',[posInfo.fnameAText]);

    end

    if ~isempty(filenameB)

    guiHandles.fileB.FontWeight='bold';

    guiHandles.fnameBText = uicontrol(PTfig,'style','text','string',['B:' filenameB],'fontsize',fontsz*.8,'units','normalized','BackgroundColor',bgcolor,'outerposition',[posInfo.fnameBText]);

    end





    %% posinfo

    posInfo.linepos1=[0.095 0.805 0.77 0.125];

    posInfo.linepos2=[0.095 0.675 0.77 0.125];

    posInfo.linepos3=[0.095 0.545 0.77 0.125];



    posInfo.linepos4=[0.095 0.39 0.77 0.125];

    posInfo.linepos5=[0.095 0.26 0.77 0.125];

    posInfo.linepos6=[0.095 0.13 0.77 0.125];



    expand_sz=[0.05 0.07 0.82 0.86];





    %% where you want full range of data

    if ~isempty(filenameA),

        y=[epoch1_A*us2sec epoch2_A*us2sec];%%% used for fill in unused data range

        t1=(tta(find(tta>y(1),1))) / us2sec;

        t2=(tta(find(tta>y(2),1))) / us2sec;  

    end



    if ~isempty(filenameB),

        y=[epoch1_B*us2sec epoch2_B*us2sec];

        t3=(ttb(find(ttb>y(1),1))) / us2sec;

        t4=(ttb(find(ttb>y(2),1))) / us2sec;  

    end



    %% log viewer line plots

    %%%%%%%% PLOT %%%%%%%

    axLabel={'roll';'pitch';'yaw'};



    PTfig;

    dcm_obj = datacursormode(PTfig);

    set(dcm_obj,'UpdateFcn',@PTdatatip);    

    

     %%%% [A] LINE PLOTS

    if ~isempty(filenameA)

        for ii=1:3  

            if ~expandON,

                eval(['hlinepos' int2str(ii) '=subplot(' '''position''' ',posInfo.linepos' int2str(ii) ');cla;'])

            else

                eval(['if ~isempty(hexpand' int2str(ii) '),' 'subplot(hexpand' int2str(ii) ',' '''position''' ',expand_sz);cla; end'])

                warning off

            end



            if  ~expandON || (expandON && eval(['~isempty(hexpand' int2str(ii) ')']))

                xmax=max(tta/us2sec); 



                h=plot([0 xmax],[-maxY -maxY],'k');

                set(h,'linewidth',.2)

                hold on                         



                if expandON

                    if guiHandles.checkbox0.Value, h=plot(tta/us2sec, DATmainA.debug(ii,:));hold on;set(h,'color', [linec.col0],'LineWidth',guiHandles.linewidth.Value), end

                    if guiHandles.checkbox1.Value, h=plot(tta/us2sec, DATmainA.GyroFilt(ii,:));hold on;set(h,'color', [linec.col1],'LineWidth',guiHandles.linewidth.Value), end

                    if guiHandles.checkbox2.Value, h=plot(tta/us2sec, DATmainA.Pterm(ii,:));hold on;set(h,'color', [linec.col2],'LineWidth',guiHandles.linewidth.Value), end

                    if guiHandles.checkbox3.Value, h=plot(tta/us2sec, DATmainA.Iterm(ii,:));hold on;set(h,'color', [linec.col3],'LineWidth',guiHandles.linewidth.Value), end     

                    if guiHandles.checkbox4.Value && ii<3, h=plot(tta/us2sec, DATmainA.DtermRaw(ii,:));hold on;set(h,'color', [linec.col4],'LineWidth',guiHandles.linewidth.Value), end

                    if guiHandles.checkbox5.Value && ii<3, h=plot(tta/us2sec, DATmainA.DtermFilt(ii,:));hold on;set(h,'color', [linec.col5],'LineWidth',guiHandles.linewidth.Value), end

                    if guiHandles.checkbox6.Value, h=plot(tta/us2sec, DATmainA.Fterm(ii,:));hold on;set(h,'color', [linec.col6],'LineWidth',guiHandles.linewidth.Value), end

                    if guiHandles.checkbox7.Value, h=plot(tta/us2sec, DATmainA.RCRate(ii,:));hold on;set(h,'color', [linec.col7],'LineWidth',guiHandles.linewidth.Value), end

                    if guiHandles.checkbox8.Value, h=plot(tta/us2sec, DATmainA.PIDsum(ii,:));hold on;set(h,'color', [linec.col8],'LineWidth',guiHandles.linewidth.Value), end

                    if guiHandles.checkbox9.Value, h=plot(tta/us2sec, DATmainA.PIDerr(ii,:));hold on;set(h,'color', [linec.col9],'LineWidth',guiHandles.linewidth.Value), end

                    if guiHandles.checkbox10.Value, h=plot(tta/us2sec, (DATmainA.Motor(1,:)*(maxY/100))-(maxY*2));hold on;set(h,'color', [linec.col10],'LineWidth',guiHandles.linewidth.Value); end

                    if guiHandles.checkbox11.Value, h=plot(tta/us2sec, (DATmainA.Motor(2,:)*(maxY/100))-(maxY*2));hold on;set(h,'color', [linec.col11],'LineWidth',guiHandles.linewidth.Value); end

                    if guiHandles.checkbox12.Value, h=plot(tta/us2sec, (DATmainA.Motor(3,:)*(maxY/100))-(maxY*2));hold on;set(h,'color', [linec.col12],'LineWidth',guiHandles.linewidth.Value); end

                    if guiHandles.checkbox13.Value, h=plot(tta/us2sec, (DATmainA.Motor(4,:)*(maxY/100))-(maxY*2));hold on;set(h,'color', [linec.col13],'LineWidth',guiHandles.linewidth.Value); end

                    if guiHandles.checkbox10.Value && A_debugmode==DSHOT_RPM_TELEMETRY, h=plot(tta/us2sec, (DATmainA.debug(1,:)*(maxY/100))-(maxY*2));hold on;set(h,'color', 'k','LineWidth',guiHandles.linewidth.Value); end

                    if guiHandles.checkbox11.Value && A_debugmode==DSHOT_RPM_TELEMETRY, h=plot(tta/us2sec, (DATmainA.debug(2,:)*(maxY/100))-(maxY*2));hold on;set(h,'color', 'k','LineWidth',guiHandles.linewidth.Value); end

                    if guiHandles.checkbox12.Value && A_debugmode==DSHOT_RPM_TELEMETRY, h=plot(tta/us2sec, (DATmainA.debug(3,:)*(maxY/100))-(maxY*2));hold on;set(h,'color', 'k','LineWidth',guiHandles.linewidth.Value); end

                    if guiHandles.checkbox13.Value && A_debugmode==DSHOT_RPM_TELEMETRY, h=plot(tta/us2sec, (DATmainA.debug(4,:)*(maxY/100))-(maxY*2));hold on;set(h,'color', 'k','LineWidth',guiHandles.linewidth.Value); end

                    if guiHandles.checkbox10.Value && A_debugmode~=DSHOT_RPM_TELEMETRY && A_debugmode~=GYRO_SCALED && A_debugmode~=DEBUG_GYRO && A_debugmode~=0, h=plot(tta/us2sec, DATmainA.debug(1,:));hold on;set(h,'color', [linec.col10],'LineWidth',guiHandles.linewidth.Value); end

                    if guiHandles.checkbox11.Value && A_debugmode~=DSHOT_RPM_TELEMETRY && A_debugmode~=GYRO_SCALED && A_debugmode~=DEBUG_GYRO && A_debugmode~=0, h=plot(tta/us2sec, DATmainA.debug(2,:));hold on;set(h,'color', [linec.col11],'LineWidth',guiHandles.linewidth.Value); end

                    if guiHandles.checkbox12.Value && A_debugmode~=DSHOT_RPM_TELEMETRY && A_debugmode~=GYRO_SCALED && A_debugmode~=DEBUG_GYRO && A_debugmode~=0, h=plot(tta/us2sec, DATmainA.debug(3,:));hold on;set(h,'color', [linec.col12],'LineWidth',guiHandles.linewidth.Value); end

                    if guiHandles.checkbox13.Value && A_debugmode~=DSHOT_RPM_TELEMETRY && A_debugmode~=GYRO_SCALED && A_debugmode~=DEBUG_GYRO && A_debugmode~=0, h=plot(tta/us2sec, DATmainA.debug(4,:));hold on;set(h,'color', [linec.col13],'LineWidth',guiHandles.linewidth.Value); end

                    if guiHandles.checkbox14.Value, h=plot(tta/us2sec, (DATmainA.RCRate(4,:)*(maxY/100))-(maxY*2));hold on;set(h,'color', [linec.col14],'LineWidth',guiHandles.linewidth.Value); end

                    set(gca,'ytick',[2*-maxY -maxY -maxY+1 -600 0 600 maxY],'yticklabel',{'0%' '100%' '' '-600' '0' '600' ''},'YColor',[.2 .2 .2],'fontweight','bold') 

                    set(gca,'xtickmode','auto','XColor',[.2 .2 .2]) 

                else % downsampled for faster plotting performance

                    if guiHandles.checkbox0.Value, h=plot(DATdnsmplA.tta, DATdnsmplA.debug(ii,:));hold on;set(h,'color', [linec.col0],'LineWidth',guiHandles.linewidth.Value), end

                    if guiHandles.checkbox1.Value, h=plot(DATdnsmplA.tta, DATdnsmplA.GyroFilt(ii,:));hold on;set(h,'color', [linec.col1],'LineWidth',guiHandles.linewidth.Value), end

                    if guiHandles.checkbox2.Value, h=plot(DATdnsmplA.tta, DATdnsmplA.Pterm(ii,:));hold on;set(h,'color', [linec.col2],'LineWidth',guiHandles.linewidth.Value), end

                    if guiHandles.checkbox3.Value, h=plot(DATdnsmplA.tta, DATdnsmplA.Iterm(ii,:));hold on;set(h,'color', [linec.col3],'LineWidth',guiHandles.linewidth.Value), end     

                    if guiHandles.checkbox4.Value && ii<3, h=plot(DATdnsmplA.tta, DATdnsmplA.DtermRaw(ii,:));hold on;set(h,'color', [linec.col4],'LineWidth',guiHandles.linewidth.Value), end

                    if guiHandles.checkbox5.Value && ii<3, h=plot(DATdnsmplA.tta, DATdnsmplA.DtermFilt(ii,:));hold on;set(h,'color', [linec.col5],'LineWidth',guiHandles.linewidth.Value), end

                    if guiHandles.checkbox6.Value, h=plot(DATdnsmplA.tta, DATdnsmplA.Fterm(ii,:));hold on;set(h,'color', [linec.col6],'LineWidth',guiHandles.linewidth.Value), end

                    if guiHandles.checkbox7.Value, h=plot(DATdnsmplA.tta, DATdnsmplA.RCRate(ii,:));hold on;set(h,'color', [linec.col7],'LineWidth',guiHandles.linewidth.Value), end

                    if guiHandles.checkbox8.Value, h=plot(DATdnsmplA.tta, DATdnsmplA.PIDsum(ii,:));hold on;set(h,'color', [linec.col8],'LineWidth',guiHandles.linewidth.Value), end

                    if guiHandles.checkbox9.Value, h=plot(DATdnsmplA.tta, DATdnsmplA.PIDerr(ii,:));hold on;set(h,'color', [linec.col9],'LineWidth',guiHandles.linewidth.Value), end

                    if guiHandles.checkbox10.Value, h=plot(DATdnsmplA.tta, (DATdnsmplA.Motor(1,:)*(maxY/100))-(maxY*2));hold on;set(h,'color', [linec.col10],'LineWidth',guiHandles.linewidth.Value); end

                    if guiHandles.checkbox11.Value, h=plot(DATdnsmplA.tta, (DATdnsmplA.Motor(2,:)*(maxY/100))-(maxY*2));hold on;set(h,'color', [linec.col11],'LineWidth',guiHandles.linewidth.Value); end

                    if guiHandles.checkbox12.Value, h=plot(DATdnsmplA.tta, (DATdnsmplA.Motor(3,:)*(maxY/100))-(maxY*2));hold on;set(h,'color', [linec.col12],'LineWidth',guiHandles.linewidth.Value); end

                    if guiHandles.checkbox13.Value, h=plot(DATdnsmplA.tta, (DATdnsmplA.Motor(4,:)*(maxY/100))-(maxY*2));hold on;set(h,'color', [linec.col13],'LineWidth',guiHandles.linewidth.Value); end

                    if guiHandles.checkbox10.Value && A_debugmode==DSHOT_RPM_TELEMETRY, h=plot(DATdnsmplA.tta, (DATdnsmplA.debug(1,:)*(maxY/100))-(maxY*2));hold on;set(h,'color', 'k','LineWidth',guiHandles.linewidth.Value); end

                    if guiHandles.checkbox11.Value && A_debugmode==DSHOT_RPM_TELEMETRY, h=plot(DATdnsmplA.tta, (DATdnsmplA.debug(2,:)*(maxY/100))-(maxY*2));hold on;set(h,'color', 'k','LineWidth',guiHandles.linewidth.Value); end

                    if guiHandles.checkbox12.Value && A_debugmode==DSHOT_RPM_TELEMETRY, h=plot(DATdnsmplA.tta, (DATdnsmplA.debug(3,:)*(maxY/100))-(maxY*2));hold on;set(h,'color', 'k','LineWidth',guiHandles.linewidth.Value); end

                    if guiHandles.checkbox13.Value && A_debugmode==DSHOT_RPM_TELEMETRY, h=plot(DATdnsmplA.tta, (DATdnsmplA.debug(4,:)*(maxY/100))-(maxY*2));hold on;set(h,'color', 'k','LineWidth',guiHandles.linewidth.Value); end

                    if guiHandles.checkbox10.Value && A_debugmode~=DSHOT_RPM_TELEMETRY && A_debugmode~=GYRO_SCALED && A_debugmode~=DEBUG_GYRO && A_debugmode~=0, h=plot(DATdnsmplA.tta, DATdnsmplA.debug(1,:));hold on;set(h,'color', [linec.col10],'LineWidth',guiHandles.linewidth.Value); end

                    if guiHandles.checkbox11.Value && A_debugmode~=DSHOT_RPM_TELEMETRY && A_debugmode~=GYRO_SCALED && A_debugmode~=DEBUG_GYRO && A_debugmode~=0, h=plot(DATdnsmplA.tta, DATdnsmplA.debug(2,:));hold on;set(h,'color', [linec.col11],'LineWidth',guiHandles.linewidth.Value); end

                    if guiHandles.checkbox12.Value && A_debugmode~=DSHOT_RPM_TELEMETRY && A_debugmode~=GYRO_SCALED && A_debugmode~=DEBUG_GYRO && A_debugmode~=0, h=plot(DATdnsmplA.tta, DATdnsmplA.debug(3,:));hold on;set(h,'color', [linec.col12],'LineWidth',guiHandles.linewidth.Value); end

                    if guiHandles.checkbox13.Value && A_debugmode~=DSHOT_RPM_TELEMETRY && A_debugmode~=GYRO_SCALED && A_debugmode~=DEBUG_GYRO && A_debugmode~=0, h=plot(DATdnsmplA.tta, DATdnsmplA.debug(4,:));hold on;set(h,'color', [linec.col13],'LineWidth',guiHandles.linewidth.Value); end

                    if guiHandles.checkbox14.Value, h=plot(DATdnsmplA.tta, (DATdnsmplA.RCRate(4,:)*(maxY/100))-(maxY*2));hold on;set(h,'color', [linec.col14],'LineWidth',guiHandles.linewidth.Value); end

                    set(gca,'ytick',[2*-maxY -maxY -maxY+1 -600 0 600 maxY],'yticklabel',{'0%' '100%' '' '-600' '0' '600' ''},'YColor',[.2 .2 .2],'fontweight','bold') 

                    set(gca,'xtickmode','auto','XColor',[.2 .2 .2]) 

                end

                

                h=fill([0,t1,t1,0],[-maxY*2,-maxY*2,maxY,maxY],[.8 .8 .8]);

                set(h,'FaceAlpha',0.8,'EdgeColor',[.8 .8 .8]);

                h=fill([t2,xmax,xmax,t2],[-maxY*2,-maxY*2,maxY,maxY],[.8 .8 .8]);

                set(h,'FaceAlpha',0.8,'EdgeColor',[.8 .8 .8]);



                a = zoom(PTfig);

                if strcmp(a.Enable,'on'), 

                    v = axis;

                    axis(v)    

                else  

                    a.Enable='off'; 

                    axis([0 xmax -maxY*2 maxY])

                end



                box off            

                y=ylabel(['[A] ' axLabel{ii} '^o/s'],'fontweight','bold','rot', 90);               

                set(y,'Units','normalized', 'position', [-.035 .67 1],'color',[.2 .2 .2]); 

                y=xlabel('time (s)','fontweight','bold');

                set(y,'color',[.2 .2 .2]); 

                set(gca,'fontsize',fontsz)

            end



            if ii==1 && ~expandON,

                set(hlinepos1,'color',[1 1 1],'fontsize',fontsz,'tickdir','in','xminortick','on','yminortick','on','position',[posInfo.linepos1]), 

                set(hlinepos1,'buttondownfcn', ['expandON=1;hexpand1 = copyobj(hlinepos1, gcf); set(hexpand1, ''Units'', ''normal'',''fontweight'', ''bold'',' ...

                ' ''Position'', [expand_sz],' ...

                ' ''buttondownfcn'', ''delete(gca);expandON=0;hexpand1=[]; '');']);      

            end

            if ii==2 && ~expandON,

                set(hlinepos2,'color',[1 1 1],'fontsize',fontsz,'tickdir','in','xminortick','on','yminortick','on','position',[posInfo.linepos2]), 

                set(hlinepos2,'buttondownfcn', ['expandON=1;hexpand2 = copyobj(hlinepos2, gcf); set(hexpand2, ''Units'', ''normal'',''fontweight'', ''bold'',' ...

                ' ''Position'', [expand_sz],' ...

                ' ''buttondownfcn'', ''delete(gca);expandON=0;hexpand2=[]; '');']);

            end

            if ii==3 && ~expandON,

                set(hlinepos3,'color',[1 1 1],'fontsize',fontsz,'tickdir','in','xminortick','on','yminortick','on','position',[posInfo.linepos3]), 

                set(hlinepos3,'buttondownfcn', ['expandON=1;hexpand3 = copyobj(hlinepos3, gcf); set(hexpand3, ''Units'', ''normal'',''fontweight'', ''bold'',' ...

                ' ''Position'', [expand_sz],' ...

                ' ''buttondownfcn'', ''delete(gca);expandON=0;hexpand3=[]; '');']) 

            end           

        end

    end



    %%%% [B] LINE PLOTS

    if ~isempty(filenameB)

        for ii=1:3

            if ~expandON,

                eval(['hlinepos' int2str(ii+3) '=subplot(' '''position''' ',posInfo.linepos' int2str(ii+3) ');cla;'])

            else

                eval(['if ~isempty(hexpand' int2str(ii+3) '),' 'subplot(hexpand' int2str(ii+3) ',' '''position''' ',expand_sz);cla; end'])

                warning off

            end



            if ~expandON || (expandON && eval(['~isempty(hexpand' int2str(ii+3) ')']))

                xmax=max(ttb/us2sec);

 

                h=plot([0 xmax],[-maxY -maxY],'k');

                set(h,'linewidth',.2)

                hold on



                if expandON

                    if guiHandles.checkbox0.Value, h=plot(ttb/us2sec, DATmainB.debug(ii,:));hold on;set(h,'color', [linec.col0],'LineWidth',guiHandles.linewidth.Value), end

                    if guiHandles.checkbox1.Value, h=plot(ttb/us2sec, DATmainB.GyroFilt(ii,:));hold on;set(h,'color', [linec.col1],'LineWidth',guiHandles.linewidth.Value), end

                    if guiHandles.checkbox2.Value, h=plot(ttb/us2sec, DATmainB.Pterm(ii,:));hold on;set(h,'color', [linec.col2],'LineWidth',guiHandles.linewidth.Value), end

                    if guiHandles.checkbox3.Value, h=plot(ttb/us2sec, DATmainB.Iterm(ii,:));hold on;set(h,'color', [linec.col3],'LineWidth',guiHandles.linewidth.Value), end     

                    if guiHandles.checkbox4.Value && ii<3, h=plot(ttb/us2sec, DATmainB.DtermRaw(ii,:));hold on;set(h,'color', [linec.col4],'LineWidth',guiHandles.linewidth.Value), end

                    if guiHandles.checkbox5.Value && ii<3, h=plot(ttb/us2sec, DATmainB.DtermFilt(ii,:));hold on;set(h,'color', [linec.col5],'LineWidth',guiHandles.linewidth.Value), end

                    if guiHandles.checkbox6.Value, h=plot(ttb/us2sec, DATmainB.Fterm(ii,:));hold on;set(h,'color', [linec.col6],'LineWidth',guiHandles.linewidth.Value), end

                    if guiHandles.checkbox7.Value, h=plot(ttb/us2sec, DATmainB.RCRate(ii,:));hold on;set(h,'color', [linec.col7],'LineWidth',guiHandles.linewidth.Value), end

                    if guiHandles.checkbox8.Value, h=plot(ttb/us2sec, DATmainB.PIDsum(ii,:));hold on;set(h,'color', [linec.col8],'LineWidth',guiHandles.linewidth.Value), end

                    if guiHandles.checkbox9.Value, h=plot(ttb/us2sec, DATmainB.PIDerr(ii,:));hold on;set(h,'color', [linec.col9],'LineWidth',guiHandles.linewidth.Value), end

                    if guiHandles.checkbox10.Value, h=plot(ttb/us2sec, (DATmainB.Motor(1,:)*(maxY/100))-(maxY*2));hold on;set(h,'color', [linec.col10],'LineWidth',guiHandles.linewidth.Value), end

                    if guiHandles.checkbox11.Value, h=plot(ttb/us2sec, (DATmainB.Motor(2,:)*(maxY/100))-(maxY*2));hold on;set(h,'color', [linec.col11],'LineWidth',guiHandles.linewidth.Value), end

                    if guiHandles.checkbox12.Value, h=plot(ttb/us2sec, (DATmainB.Motor(3,:)*(maxY/100))-(maxY*2));hold on;set(h,'color', [linec.col12],'LineWidth',guiHandles.linewidth.Value), end

                    if guiHandles.checkbox13.Value, h=plot(ttb/us2sec, (DATmainB.Motor(4,:)*(maxY/100))-(maxY*2));hold on;set(h,'color', [linec.col13],'LineWidth',guiHandles.linewidth.Value), end

                    if guiHandles.checkbox10.Value && B_debugmode==DSHOT_RPM_TELEMETRY, h=plot(ttb/us2sec, (DATmainB.debug(1,:)*(maxY/100))-(maxY*2));hold on;set(h,'color', 'k','LineWidth',guiHandles.linewidth.Value), end

                    if guiHandles.checkbox11.Value && B_debugmode==DSHOT_RPM_TELEMETRY, h=plot(ttb/us2sec, (DATmainB.debug(2,:)*(maxY/100))-(maxY*2));hold on;set(h,'color', 'k','LineWidth',guiHandles.linewidth.Value), end

                    if guiHandles.checkbox12.Value && B_debugmode==DSHOT_RPM_TELEMETRY, h=plot(ttb/us2sec, (DATmainB.debug(3,:)*(maxY/100))-(maxY*2));hold on;set(h,'color', 'k','LineWidth',guiHandles.linewidth.Value), end

                    if guiHandles.checkbox13.Value && B_debugmode==DSHOT_RPM_TELEMETRY, h=plot(ttb/us2sec, (DATmainB.debug(4,:)*(maxY/100))-(maxY*2));hold on;set(h,'color', 'k','LineWidth',guiHandles.linewidth.Value), end    

                    if guiHandles.checkbox10.Value && B_debugmode~=DSHOT_RPM_TELEMETRY && B_debugmode~=GYRO_SCALED && B_debugmode~=DEBUG_GYRO && B_debugmode~=0, h=plot(ttb/us2sec, DATmainB.debug(1,:));hold on;set(h,'color', [linec.col10],'LineWidth',guiHandles.linewidth.Value); end

                    if guiHandles.checkbox11.Value && B_debugmode~=DSHOT_RPM_TELEMETRY && B_debugmode~=GYRO_SCALED && B_debugmode~=DEBUG_GYRO && B_debugmode~=0, h=plot(ttb/us2sec, DATmainB.debug(2,:));hold on;set(h,'color', [linec.col11],'LineWidth',guiHandles.linewidth.Value); end

                    if guiHandles.checkbox12.Value && B_debugmode~=DSHOT_RPM_TELEMETRY && B_debugmode~=GYRO_SCALED && B_debugmode~=DEBUG_GYRO && B_debugmode~=0, h=plot(ttb/us2sec, DATmainB.debug(3,:));hold on;set(h,'color', [linec.col12],'LineWidth',guiHandles.linewidth.Value); end

                    if guiHandles.checkbox13.Value && B_debugmode~=DSHOT_RPM_TELEMETRY && B_debugmode~=GYRO_SCALED && B_debugmode~=DEBUG_GYRO && B_debugmode~=0, h=plot(ttb/us2sec, DATmainB.debug(4,:));hold on;set(h,'color', [linec.col13],'LineWidth',guiHandles.linewidth.Value); end

                    if guiHandles.checkbox14.Value, h=plot(ttb/us2sec, (DATmainB.RCRate(4,:)*(maxY/100))-(maxY*2));hold on;set(h,'color', [linec.col14],'LineWidth',guiHandles.linewidth.Value), end

                    set(gca,'ytick',[2*-maxY -maxY -maxY+1 -600 0 600 maxY],'yticklabel',{'0%' '100%' '' '-600' '0' '600' ''},'YColor',[.2 .2 .2],'fontweight','bold') 

                    set(gca,'xtickmode','auto','XColor',[.2 .2 .2]) 

                else % downsampled for faster plotting performance

                    if guiHandles.checkbox0.Value, h=plot(DATdnsmplB.ttb, DATdnsmplB.debug(ii,:));hold on;set(h,'color', [linec.col0],'LineWidth',guiHandles.linewidth.Value), end

                    if guiHandles.checkbox1.Value, h=plot(DATdnsmplB.ttb, DATdnsmplB.GyroFilt(ii,:));hold on;set(h,'color', [linec.col1],'LineWidth',guiHandles.linewidth.Value), end

                    if guiHandles.checkbox2.Value, h=plot(DATdnsmplB.ttb, DATdnsmplB.Pterm(ii,:));hold on;set(h,'color', [linec.col2],'LineWidth',guiHandles.linewidth.Value), end

                    if guiHandles.checkbox3.Value, h=plot(DATdnsmplB.ttb, DATdnsmplB.Iterm(ii,:));hold on;set(h,'color', [linec.col3],'LineWidth',guiHandles.linewidth.Value), end     

                    if guiHandles.checkbox4.Value && ii<3, h=plot(DATdnsmplB.ttb, DATdnsmplB.DtermRaw(ii,:));hold on;set(h,'color', [linec.col4],'LineWidth',guiHandles.linewidth.Value), end

                    if guiHandles.checkbox5.Value && ii<3, h=plot(DATdnsmplB.ttb, DATdnsmplB.DtermFilt(ii,:));hold on;set(h,'color', [linec.col5],'LineWidth',guiHandles.linewidth.Value), end

                    if guiHandles.checkbox6.Value, h=plot(DATdnsmplB.ttb, DATdnsmplB.Fterm(ii,:));hold on;set(h,'color', [linec.col6],'LineWidth',guiHandles.linewidth.Value), end

                    if guiHandles.checkbox7.Value, h=plot(DATdnsmplB.ttb, DATdnsmplB.RCRate(ii,:));hold on;set(h,'color', [linec.col7],'LineWidth',guiHandles.linewidth.Value), end

                    if guiHandles.checkbox8.Value, h=plot(DATdnsmplB.ttb, DATdnsmplB.PIDsum(ii,:));hold on;set(h,'color', [linec.col8],'LineWidth',guiHandles.linewidth.Value), end

                    if guiHandles.checkbox9.Value, h=plot(DATdnsmplB.ttb, DATdnsmplB.PIDerr(ii,:));hold on;set(h,'color', [linec.col9],'LineWidth',guiHandles.linewidth.Value), end

                    if guiHandles.checkbox10.Value, h=plot(DATdnsmplB.ttb, (DATdnsmplB.Motor(1,:)*(maxY/100))-(maxY*2));hold on;set(h,'color', [linec.col10],'LineWidth',guiHandles.linewidth.Value); end

                    if guiHandles.checkbox11.Value, h=plot(DATdnsmplB.ttb, (DATdnsmplB.Motor(2,:)*(maxY/100))-(maxY*2));hold on;set(h,'color', [linec.col11],'LineWidth',guiHandles.linewidth.Value); end

                    if guiHandles.checkbox12.Value, h=plot(DATdnsmplB.ttb, (DATdnsmplB.Motor(3,:)*(maxY/100))-(maxY*2));hold on;set(h,'color', [linec.col12],'LineWidth',guiHandles.linewidth.Value); end

                    if guiHandles.checkbox13.Value, h=plot(DATdnsmplB.ttb, (DATdnsmplB.Motor(4,:)*(maxY/100))-(maxY*2));hold on;set(h,'color', [linec.col13],'LineWidth',guiHandles.linewidth.Value); end

                    if guiHandles.checkbox10.Value && B_debugmode==DSHOT_RPM_TELEMETRY, h=plot(DATdnsmplB.ttb, (DATdnsmplB.debug(1,:)*(maxY/100))-(maxY*2));hold on;set(h,'color', 'k','LineWidth',guiHandles.linewidth.Value); end

                    if guiHandles.checkbox11.Value && B_debugmode==DSHOT_RPM_TELEMETRY, h=plot(DATdnsmplB.ttb, (DATdnsmplB.debug(2,:)*(maxY/100))-(maxY*2));hold on;set(h,'color', 'k','LineWidth',guiHandles.linewidth.Value); end

                    if guiHandles.checkbox12.Value && B_debugmode==DSHOT_RPM_TELEMETRY, h=plot(DATdnsmplB.ttb, (DATdnsmplB.debug(3,:)*(maxY/100))-(maxY*2));hold on;set(h,'color', 'k','LineWidth',guiHandles.linewidth.Value); end

                    if guiHandles.checkbox13.Value && B_debugmode==DSHOT_RPM_TELEMETRY, h=plot(DATdnsmplB.ttb, (DATdnsmplB.debug(4,:)*(maxY/100))-(maxY*2));hold on;set(h,'color', 'k','LineWidth',guiHandles.linewidth.Value); end

                    if guiHandles.checkbox10.Value && B_debugmode~=DSHOT_RPM_TELEMETRY && B_debugmode~=GYRO_SCALED && B_debugmode~=DEBUG_GYRO && B_debugmode~=0, h=plot(DATdnsmplB.ttb, DATdnsmplB.debug(1,:));hold on;set(h,'color', [linec.col10],'LineWidth',guiHandles.linewidth.Value); end

                    if guiHandles.checkbox11.Value && B_debugmode~=DSHOT_RPM_TELEMETRY && B_debugmode~=GYRO_SCALED && B_debugmode~=DEBUG_GYRO && B_debugmode~=0, h=plot(DATdnsmplB.ttb, DATdnsmplB.debug(2,:));hold on;set(h,'color', [linec.col11],'LineWidth',guiHandles.linewidth.Value); end

                    if guiHandles.checkbox12.Value && B_debugmode~=DSHOT_RPM_TELEMETRY && B_debugmode~=GYRO_SCALED && B_debugmode~=DEBUG_GYRO && B_debugmode~=0, h=plot(DATdnsmplB.ttb, DATdnsmplB.debug(3,:));hold on;set(h,'color', [linec.col12],'LineWidth',guiHandles.linewidth.Value); end

                    if guiHandles.checkbox13.Value && B_debugmode~=DSHOT_RPM_TELEMETRY && B_debugmode~=GYRO_SCALED && B_debugmode~=DEBUG_GYRO && B_debugmode~=0, h=plot(DATdnsmplB.ttb, DATdnsmplB.debug(4,:));hold on;set(h,'color', [linec.col13],'LineWidth',guiHandles.linewidth.Value); end

                    if guiHandles.checkbox14.Value, h=plot(DATdnsmplB.ttb, (DATdnsmplB.RCRate(4,:)*(maxY/100))-(maxY*2));hold on;set(h,'color', [linec.col14],'LineWidth',guiHandles.linewidth.Value); end

                    set(gca,'ytick',[2*-maxY -maxY -maxY+1 -600 0 600 maxY],'yticklabel',{'0%' '100%' '' '-600' '0' '600' ''},'YColor',[.2 .2 .2],'fontweight','bold') 

                    set(gca,'xtickmode','auto','XColor',[.2 .2 .2]) 

                end

                

                h=fill([0,t3,t3,0],[-maxY*2,-maxY*2,maxY,maxY],[.8 .8 .8]);

                set(h,'FaceAlpha',0.8,'EdgeColor',[.8 .8 .8]);

                h=fill([t4,xmax,xmax,t4],[-maxY*2,-maxY*2,maxY,maxY],[.8 .8 .8]);

                set(h,'FaceAlpha',0.8,'EdgeColor',[.8 .8 .8]);



                a = zoom(PTfig);

                if strcmp(a.Enable,'on'), 

                    v = axis;

                    axis(v)

                else  

                    a.Enable='off'; 

                    axis([0 xmax -maxY*2 maxY])

                end

               

                box off   

                y=ylabel(['[B] ' axLabel{ii} '^o/s'],'fontweight','bold','rot', 90);                 

                set(y,'Units','normalized', 'position', [-.035 .67 1],'color',[.2 .2 .2]);  

                y=xlabel('time (s)','fontweight','bold');

                set(y,'color',[.2 .2 .2]); 

                set(gca,'fontsize',fontsz)

            end



            if ii==1 && ~expandON,

                set(hlinepos4,'color',[1 1 1],'fontsize',fontsz,'tickdir','in','xminortick','on','yminortick','on','position',[posInfo.linepos4]), 

                set(hlinepos4,'buttondownfcn', ['expandON=1;hexpand4 = copyobj(hlinepos4, gcf); set(hexpand4, ''Units'', ''normal'',''fontweight'', ''bold'',' ...

                ' ''Position'', [expand_sz],' ...

                ' ''buttondownfcn'', ''delete(gca);expandON=0;hexpand4=[]; '');']);            

            end

            if ii==2 && ~expandON, 

                set(hlinepos5,'color',[1 1 1],'fontsize',fontsz,'tickdir','in','xminortick','on','yminortick','on','position',[posInfo.linepos5]), 

                set(hlinepos5,'buttondownfcn', ['expandON=1;hexpand5 = copyobj(hlinepos5, gcf); set(hexpand5, ''Units'', ''normal'',''fontweight'', ''bold'',' ...

                ' ''Position'', [expand_sz],' ...

                ' ''buttondownfcn'', ''delete(gca);expandON=0;hexpand5=[]; '');']);            

            end

            if ii==3 && ~expandON,

                set(hlinepos6,'color',[1 1 1],'fontsize',fontsz,'tickdir','in','xminortick','on','yminortick','on','position',[posInfo.linepos6]), 

                set(hlinepos6,'buttondownfcn', ['expandON=1;hexpand6 = copyobj(hlinepos6, gcf); set(hexpand6, ''Units'', ''normal'',''fontweight'', ''bold'',' ...

                ' ''Position'', [expand_sz],' ...

                ' ''buttondownfcn'', ''delete(gca);expandON=0;hexpand6=[]; '');']);            

            end  

        end

    end



    set(PTfig, 'pointer', 'arrow')

else 

    errordlg('Please select file(s) then click ''load+run''', 'Error, no data');

    pause(2);

end



catch

    %close

end



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