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PX4 · May 23, 2024 · 3642248 · 3642248
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commit 3642248
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Showing 2 changed files with 9 additions and 8 deletions.
diff --git a/app/plot_app/configured_plots.py b/app/plot_app/configured_plots.py
@@ -207,7 +207,8 @@ def generate_plots(ulog, px4_ulog, db_data, vehicle_data, link_to_3d_page,
 
     # VTOL tailistter orientation conversion, if relevant
     if is_vtol_tailsitter:
-        [tailsitter_attitude, tailsitter_rates, tailsitter_rates_setpoint] = tailsitter_orientation(ulog, vtol_states)
+        [tailsitter_attitude, tailsitter_rates, tailsitter_rates_setpoint] = tailsitter_orientation(
+            ulog, vtol_states)
 
     # Roll/Pitch/Yaw angle & angular rate
     for index, axis in enumerate(['roll', 'pitch', 'yaw']):
@@ -253,7 +254,8 @@ def generate_plots(ulog, px4_ulog, db_data, vehicle_data, link_to_3d_page,
                                 np.rad2deg(tailsitter_rates[axis]))],
                                 colors3[0:1], [axis_name+' Rate Estimated'], mark_nan=True)
                 data_plot.change_dataset('vehicle_rates_setpoint')
-                data_plot.add_graph([lambda data: (axis, np.rad2deg(tailsitter_rates_setpoint[axis]))],
+                data_plot.add_graph([lambda data: (axis, np.rad2deg(
+                                tailsitter_rates_setpoint[axis]))],
                                 colors3[1:2], [axis_name+' Rate Setpoint'],
                                 mark_nan=True, use_step_lines=True)
         else:

diff --git a/app/plot_app/vtol_tailsitter.py b/app/plot_app/vtol_tailsitter.py
@@ -81,7 +81,7 @@ def tailsitter_orientation(ulog, vtol_states):
         w_y = cur_dataset.data['xyz[2]']
         w_t = cur_dataset.data['timestamp']
 
-        #fw rates and setpoints(roll and yaw swap, roll is negative axis)        
+        # fw rates and setpoints(roll and yaw swap, roll is negative axis)
         w_r_fw = w_y*-1
         w_y_fw = w_r*1 # *1 to get python to copy not reference
         # temporary variables for storing VTOL states
@@ -113,19 +113,18 @@ def tailsitter_orientation(ulog, vtol_states):
     except (KeyError, IndexError) as error:
         vtol_rates = {'roll': None, 'pitch': None, 'yaw': None}
         print("ERROR: Tailsitter rate ")
-
 
      # correct rates setpoint for VTOL tailsitter in FW mode
     try:
-      
+
         setp_dataset = ulog.get_dataset('vehicle_rates_setpoint')
         setp_r = setp_dataset.data['roll']
         setp_p = setp_dataset.data['pitch']
         setp_y = setp_dataset.data['yaw']
         w_t = setp_dataset.data['timestamp']
-     
+
         # fw setpoints(roll and yaw swap, roll is negative axis)
-        
+
         setp_r_fw = setp_y*-1
         setp_y_fw = setp_r*1
         # temporary variables for storing VTOL states
@@ -138,7 +137,7 @@ def tailsitter_orientation(ulog, vtol_states):
         # states: 1=transition, 2=FW, 3=MC
         # if in FW mode then used FW conversions
             if is_vtol_fw:
-                fw_end = i[0]               
+                fw_end = i[0]
                 setp_r[np.logical_and(w_t > fw_start, w_t < fw_end)] = \
                                 setp_r_fw[np.logical_and(w_t > fw_start, w_t < fw_end)]
                 setp_y[np.logical_and(w_t > fw_start, w_t < fw_end)] = \