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plots: make sure the initial x-axis range is equal for all plots
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otherwise it can be confusing if some message stops being logged/published
at some point.
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@bkueng
bkueng committed Jun 12, 2017
1 parent 9af1d18 commit 6851ec2
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Showing 2 changed files with 53 additions and 29 deletions.
74 changes: 47 additions & 27 deletions plot_app/configured_plots.py
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Original file line number Diff line number Diff line change
Expand Up @@ -252,11 +252,14 @@ def generate_plots(ulog, px4_ulog, db_data, vehicle_data):

### Add all data plots ###

x_range_offset = (ulog.last_timestamp - ulog.start_timestamp) * 0.05
x_range = Range1d(ulog.start_timestamp - x_range_offset, ulog.last_timestamp + x_range_offset)


# Altitude estimate
data_plot = DataPlot(data, plot_config, 'vehicle_gps_position',
y_axis_label='[m]', title='Altitude Estimate',
changed_params=changed_params)
changed_params=changed_params, x_range=x_range)
data_plot.add_graph([lambda data: ('alt', data['alt']*0.001)],
colors8[0:1], ['GPS Altitude'])
data_plot.change_dataset('sensor_combined')
Expand All @@ -282,7 +285,8 @@ def generate_plots(ulog, px4_ulog, db_data, vehicle_data):
axis_name = axis.capitalize()
data_plot = DataPlot(data, plot_config, 'vehicle_attitude',
y_axis_label='[deg]', title=axis_name+' Angle',
plot_height='small', changed_params=changed_params)
plot_height='small', changed_params=changed_params,
x_range=x_range)
data_plot.add_graph([lambda data: (axis, np.rad2deg(data[axis]))],
colors2[0:1], [axis_name+' Estimated'])
data_plot.change_dataset('vehicle_attitude_setpoint')
Expand All @@ -298,7 +302,8 @@ def generate_plots(ulog, px4_ulog, db_data, vehicle_data):
# rate
data_plot = DataPlot(data, plot_config, 'vehicle_attitude',
y_axis_label='[deg/s]', title=axis_name+' Angular Rate',
plot_height='small', changed_params=changed_params)
plot_height='small', changed_params=changed_params,
x_range=x_range)
data_plot.add_graph([lambda data: (axis+'speed', np.rad2deg(data[axis+'speed']))],
colors2[0:1], [axis_name+' Rate Estimated'])
data_plot.change_dataset('vehicle_rates_setpoint')
Expand All @@ -317,7 +322,8 @@ def generate_plots(ulog, px4_ulog, db_data, vehicle_data):
for axis in ['x', 'y', 'z']:
data_plot = DataPlot(data, plot_config, 'vehicle_local_position',
y_axis_label='[m]', title='Local Position '+axis.upper(),
plot_height='small', changed_params=changed_params)
plot_height='small', changed_params=changed_params,
x_range=x_range)
data_plot.add_graph([axis], colors2[0:1], [axis.upper()+' Estimated'])
data_plot.change_dataset('vehicle_local_position_setpoint')
data_plot.add_graph([axis], colors2[1:2], [axis.upper()+' Setpoint'])
Expand All @@ -330,7 +336,8 @@ def generate_plots(ulog, px4_ulog, db_data, vehicle_data):
# Velocity
data_plot = DataPlot(data, plot_config, 'vehicle_local_position',
y_axis_label='[m/s]', title='Velocity',
plot_height='small', changed_params=changed_params)
plot_height='small', changed_params=changed_params,
x_range=x_range)
data_plot.add_graph(['vx', 'vy', 'vz'], colors3, ['X', 'Y', 'Z'])
plot_flight_modes_background(data_plot.bokeh_plot, flight_mode_changes, vtol_states)

Expand All @@ -341,7 +348,8 @@ def generate_plots(ulog, px4_ulog, db_data, vehicle_data):
if any(elem.name == 'vehicle_vision_position' for elem in data):
data_plot = DataPlot(data, plot_config, 'vehicle_vision_position',
y_axis_label='[m]', title='Vision Position',
plot_height='small', changed_params=changed_params)
plot_height='small', changed_params=changed_params,
x_range=x_range)
data_plot.add_graph(['x', 'y', 'z'], colors3, ['X', 'Y', 'Z'])
plot_flight_modes_background(data_plot.bokeh_plot, flight_mode_changes, vtol_states)

Expand All @@ -355,7 +363,8 @@ def generate_plots(ulog, px4_ulog, db_data, vehicle_data):
# Vision velocity
data_plot = DataPlot(data, plot_config, 'vehicle_vision_position',
y_axis_label='[m]', title='Vision Velocity',
plot_height='small', changed_params=changed_params)
plot_height='small', changed_params=changed_params,
x_range=x_range)
data_plot.add_graph(['vx', 'vy', 'vz'], colors3, ['X', 'Y', 'Z'])
plot_flight_modes_background(data_plot.bokeh_plot, flight_mode_changes, vtol_states)

Expand All @@ -369,7 +378,8 @@ def generate_plots(ulog, px4_ulog, db_data, vehicle_data):
if any(elem.name == 'vehicle_vision_attitude' for elem in data):
data_plot = DataPlot(data, plot_config, 'vehicle_vision_attitude',
y_axis_label='[deg]', title='Vision Attitude',
plot_height='small', changed_params=changed_params)
plot_height='small', changed_params=changed_params,
x_range=x_range)
data_plot.add_graph([lambda data: ('roll', np.rad2deg(data['roll'])),
lambda data: ('pitch', np.rad2deg(data['pitch'])),
lambda data: ('yaw', np.rad2deg(data['yaw']))],
Expand All @@ -393,7 +403,8 @@ def generate_plots(ulog, px4_ulog, db_data, vehicle_data):
if np.amax(control_state['airspeed_valid']) == 1:
data_plot = DataPlot(data, plot_config, 'vehicle_global_position',
y_axis_label='[m/s]', title='Airspeed',
plot_height='small', changed_params=changed_params)
plot_height='small',
changed_params=changed_params, x_range=x_range)
data_plot.add_graph([lambda data: ('groundspeed_estimated',
np.sqrt(data['vel_n']**2 + data['vel_e']**2))],
colors3[2:3], ['Ground Speed Estimated'])
Expand All @@ -412,7 +423,7 @@ def generate_plots(ulog, px4_ulog, db_data, vehicle_data):
data_plot = DataPlot(data, plot_config, 'rc_channels',
title='Raw Radio Control Inputs',
plot_height='small', y_range=Range1d(-1.1, 1.1),
changed_params=changed_params)
changed_params=changed_params, x_range=x_range)
num_rc_channels = 8
if data_plot.dataset:
max_channels = np.amax(data_plot.dataset.data['channel_count'])
Expand All @@ -435,7 +446,7 @@ def generate_plots(ulog, px4_ulog, db_data, vehicle_data):
# actuator controls 0
data_plot = DataPlot(data, plot_config, 'actuator_controls_0',
y_start=0, title='Actuator Controls 0', plot_height='small',
changed_params=changed_params)
changed_params=changed_params, x_range=x_range)
data_plot.add_graph(['control[0]', 'control[1]', 'control[2]', 'control[3]'],
colors8[0:4], ['Roll', 'Pitch', 'Yaw', 'Thrust'])
plot_flight_modes_background(data_plot.bokeh_plot, flight_mode_changes, vtol_states)
Expand All @@ -445,7 +456,8 @@ def generate_plots(ulog, px4_ulog, db_data, vehicle_data):
# (only present on VTOL, Fixed-wing config)
data_plot = DataPlot(data, plot_config, 'actuator_controls_1',
y_start=0, title='Actuator Controls 1 (VTOL in Fixed-Wing mode)',
plot_height='small', changed_params=changed_params)
plot_height='small', changed_params=changed_params,
x_range=x_range)
data_plot.add_graph(['control[0]', 'control[1]', 'control[2]', 'control[3]'],
colors8[0:4], ['Roll', 'Pitch', 'Yaw', 'Thrust'])
plot_flight_modes_background(data_plot.bokeh_plot, flight_mode_changes, vtol_states)
Expand All @@ -455,7 +467,7 @@ def generate_plots(ulog, px4_ulog, db_data, vehicle_data):
# actuator outputs 0: Main
data_plot = DataPlot(data, plot_config, 'actuator_outputs',
y_start=0, title='Actuator Outputs (Main)', plot_height='small',
changed_params=changed_params)
changed_params=changed_params, x_range=x_range)
num_actuator_outputs = 8
if data_plot.dataset:
max_outputs = np.amax(data_plot.dataset.data['noutputs'])
Expand All @@ -470,7 +482,8 @@ def generate_plots(ulog, px4_ulog, db_data, vehicle_data):
# actuator outputs 1: AUX
data_plot = DataPlot(data, plot_config, 'actuator_outputs',
y_start=0, title='Actuator Outputs (AUX)', plot_height='small',
changed_params=changed_params, topic_instance=1)
changed_params=changed_params, topic_instance=1,
x_range=x_range)
num_actuator_outputs = 8
if data_plot.dataset:
max_outputs = np.amax(data_plot.dataset.data['noutputs'])
Expand All @@ -486,7 +499,8 @@ def generate_plots(ulog, px4_ulog, db_data, vehicle_data):
# raw acceleration
data_plot = DataPlot(data, plot_config, 'sensor_combined',
y_axis_label='[m/s^2]', title='Raw Acceleration',
plot_height='small', changed_params=changed_params)
plot_height='small', changed_params=changed_params,
x_range=x_range)
data_plot.add_graph(['accelerometer_m_s2[0]', 'accelerometer_m_s2[1]',
'accelerometer_m_s2[2]'], colors3, ['X', 'Y', 'Z'])
if data_plot.finalize() is not None: plots.append(data_plot)
Expand All @@ -496,7 +510,8 @@ def generate_plots(ulog, px4_ulog, db_data, vehicle_data):
# raw angular speed
data_plot = DataPlot(data, plot_config, 'sensor_combined',
y_axis_label='[deg/s]', title='Raw Angular Speed (Gyroscope)',
plot_height='small', changed_params=changed_params)
plot_height='small', changed_params=changed_params,
x_range=x_range)
data_plot.add_graph([
lambda data: ('gyro_rad[0]', np.rad2deg(data['gyro_rad[0]'])),
lambda data: ('gyro_rad[1]', np.rad2deg(data['gyro_rad[1]'])),
Expand All @@ -509,7 +524,8 @@ def generate_plots(ulog, px4_ulog, db_data, vehicle_data):
# magnetic field strength
data_plot = DataPlot(data, plot_config, 'sensor_combined',
y_axis_label='[gauss]', title='Raw Magnetic Field Strength',
plot_height='small', changed_params=changed_params)
plot_height='small', changed_params=changed_params,
x_range=x_range)
data_plot.add_graph(['magnetometer_ga[0]', 'magnetometer_ga[1]',
'magnetometer_ga[2]'], colors3,
['X', 'Y', 'Z'])
Expand All @@ -519,7 +535,8 @@ def generate_plots(ulog, px4_ulog, db_data, vehicle_data):
# distance sensor
data_plot = DataPlot(data, plot_config, 'distance_sensor',
y_start=0, y_axis_label='[m]', title='Distance Sensor',
plot_height='small', changed_params=changed_params)
plot_height='small', changed_params=changed_params,
x_range=x_range)
data_plot.add_graph(['current_distance', 'covariance'], colors3[0:2],
['Distance', 'Covariance'])
if data_plot.finalize() is not None: plots.append(data_plot)
Expand All @@ -531,7 +548,8 @@ def generate_plots(ulog, px4_ulog, db_data, vehicle_data):
# y axis range to some sane values
data_plot = DataPlot(data, plot_config, 'vehicle_gps_position',
title='GPS Uncertainty', y_range=Range1d(0, 40),
plot_height='small', changed_params=changed_params)
plot_height='small', changed_params=changed_params,
x_range=x_range)
data_plot.add_graph(['eph', 'epv', 'satellites_used', 'fix_type'], colors8[::2],
['Horizontal position accuracy [m]', 'Vertical position accuracy [m]',
'Num Satellites used', 'GPS Fix'])
Expand All @@ -541,7 +559,8 @@ def generate_plots(ulog, px4_ulog, db_data, vehicle_data):
# gps noise & jamming
data_plot = DataPlot(data, plot_config, 'vehicle_gps_position',
y_start=0, title='GPS Noise & Jamming',
plot_height='small', changed_params=changed_params)
plot_height='small', changed_params=changed_params,
x_range=x_range)
data_plot.add_graph(['noise_per_ms', 'jamming_indicator'], colors3[0:2],
['Noise per ms', 'Jamming Indicator'])
if data_plot.finalize() is not None: plots.append(data_plot)
Expand All @@ -550,7 +569,7 @@ def generate_plots(ulog, px4_ulog, db_data, vehicle_data):
# thrust and magnetic field
data_plot = DataPlot(data, plot_config, 'sensor_combined',
y_start=0, title='Thrust and Magnetic Field', plot_height='small',
changed_params=changed_params)
changed_params=changed_params, x_range=x_range)
data_plot.add_graph(
[lambda data: ('len_mag', np.sqrt(data['magnetometer_ga[0]']**2 +
data['magnetometer_ga[1]']**2 +
Expand All @@ -563,10 +582,10 @@ def generate_plots(ulog, px4_ulog, db_data, vehicle_data):


# power
# TODO: dischared in Ah?
data_plot = DataPlot(data, plot_config, 'battery_status',
y_start=0, title='Power',
plot_height='small', changed_params=changed_params)
plot_height='small', changed_params=changed_params,
x_range=x_range)
data_plot.add_graph(['voltage_v', 'voltage_filtered_v',
'current_a', lambda data: ('discharged_mah', data['discharged_mah']/100)],
colors8[::2],
Expand All @@ -579,7 +598,8 @@ def generate_plots(ulog, px4_ulog, db_data, vehicle_data):
# estimator watchdog
data_plot = DataPlot(data, plot_config, 'estimator_status',
y_start=0, title='Estimator Watchdog',
plot_height='small', changed_params=changed_params)
plot_height='small', changed_params=changed_params,
x_range=x_range)
data_plot.add_graph(['nan_flags', 'health_flags',
'timeout_flags'], colors3,
['NaN Flags', 'Health Flags (vel, pos, hgt)',
Expand All @@ -591,7 +611,7 @@ def generate_plots(ulog, px4_ulog, db_data, vehicle_data):
# RC Quality
data_plot = DataPlot(data, plot_config, 'input_rc',
title='RC Quality', plot_height='small', y_range=Range1d(0, 1),
changed_params=changed_params)
changed_params=changed_params, x_range=x_range)
data_plot.add_graph([lambda data: ('rssi', data['rssi']/100), 'rc_lost'],
colors3[0:2], ['RSSI [0, 1]', 'RC Lost (Indicator)'])
data_plot.change_dataset('vehicle_status')
Expand All @@ -603,7 +623,7 @@ def generate_plots(ulog, px4_ulog, db_data, vehicle_data):
# cpu load
data_plot = DataPlot(data, plot_config, 'cpuload',
title='CPU & RAM', plot_height='small', y_range=Range1d(0, 1),
changed_params=changed_params)
changed_params=changed_params, x_range=x_range)
data_plot.add_graph(['ram_usage', 'load'], [colors3[1], colors3[2]],
['RAM Usage', 'CPU Load'])
data_plot.add_span('load', line_color=colors3[2])
Expand All @@ -617,7 +637,7 @@ def generate_plots(ulog, px4_ulog, db_data, vehicle_data):
data_plot = DataPlot(data, plot_config, 'sensor_combined', y_start=0,
y_axis_label='[us]',
title='Sampling Regularity of Sensor Data', plot_height='small',
changed_params=changed_params)
changed_params=changed_params, x_range=x_range)
sensor_combined = ulog.get_dataset('sensor_combined').data
sampling_diff = np.diff(sensor_combined['timestamp'])
min_sampling_diff = np.amin(sampling_diff)
Expand Down
8 changes: 6 additions & 2 deletions plot_app/plotting.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -320,7 +320,7 @@ class DataPlot:
def __init__(self, data, config, data_name, x_axis_label=None,
y_axis_label=None, title=None, plot_height='normal',
y_range=None, y_start=None, changed_params=None,
topic_instance=0):
topic_instance=0, x_range=None):

self._had_error = False
self._previous_success = False
Expand All @@ -336,7 +336,11 @@ def __init__(self, data, config, data_name, x_axis_label=None,
y_axis_label=y_axis_label, tools=TOOLS,
active_scroll=ACTIVE_SCROLL_TOOLS)
if y_range is not None:
self._p.y_range = y_range
self._p.y_range = Range1d(y_range.start, y_range.end)
if x_range is not None:
# we need a copy, otherwise x-axis zooming will be synchronized
# between all plots
self._p.x_range = Range1d(x_range.start, x_range.end)

if changed_params is not None:
self._param_change_label = \
Expand Down

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