added antenna LOS pointing to diagnostic plots

@rfSensor/plotPerformance.m

@@ -9,6 +9,12 @@ function f = plotPerformance(obj, altitude, otherSensorsPos, otherSensors)
         f (1, 1) {mustBeA(f, "matlab.ui.Figure")};
     end
 
+    % Clear local caches so this visualization always uses its own grid
+    obj.rssCache = [];
+    for ii = 1:numel(otherSensors)
+        otherSensors{ii}.rssCache = [];
+    end
+
     otherSensorsPos = otherSensorsPos + [0, 0, altitude];
 
     % Create grid on which to evalute SINR, SNR
@@ -29,7 +35,13 @@ function f = plotPerformance(obj, altitude, otherSensorsPos, otherSensors)
 
     % normalize in linear scale
     SINR = 10.^(SINR/10); SINR = SINR ./ max(SINR(:)); SINR = 10 * log10(SINR);
-    SNR  = 10.^(SNR/10);  SNR  = SNR  ./ max(SNR(:)); SNR = 10 * log10(SNR);
+    SNR  = 10.^(SNR/10);  SNR  = SNR  ./ max(SNR(:));  SNR  = 10 * log10(SNR);
+
+    % Collect sensor positions and boresight parameters for overlay
+    sensorXY      = [0, 0; otherSensorsPos(:, 1:2)];
+    sensorTilts   = [obj.tilt;    cellfun(@(s) s.tilt,    otherSensors)];
+    sensorAzimuths = [obj.azimuth; cellfun(@(s) s.azimuth, otherSensors)];
+    tailScale = 0.5 * d;
 
     f = figure;
     tiledlayout(1, 2, TileSpacing="compact", Padding="compact");
@@ -37,16 +49,42 @@ function f = plotPerformance(obj, altitude, otherSensorsPos, otherSensors)
     nexttile;
     imagesc(distances, distances, SNR);
     axis("image"); set(gca, 'YDir', 'normal');
-    colorbar;
+    colorbar; xlabel("X (m)"); ylabel("Y (m)");
-    xlabel("X (m)"); ylabel("Y (m)");
     title("Linearly Normalized SNR (dB)");
     subtitle("No interfering sources");
+    addSensorOverlay(gca, sensorXY, sensorTilts, sensorAzimuths, tailScale);
 
     nexttile;
     imagesc(distances, distances, SINR);
     axis("image"); set(gca, 'YDir', 'normal');
-    colorbar;
+    colorbar; xlabel("X (m)"); ylabel("Y (m)");
-    xlabel("X (m)"); ylabel("Y (m)");
     title("Linearly Normalized SINR (dB)");
     subtitle(sprintf("%d interfering source(s)", size(otherSensorsPos, 1)));
+    addSensorOverlay(gca, sensorXY, sensorTilts, sensorAzimuths, tailScale);
+end
+
+function addSensorOverlay(ax, sensorXY, tilts, azimuths, tailScale)
+    % Draw a marker + boresight arrow for each sensor.
+    % Tail direction follows azimuth convention (0=+Y, 90=+X, clockwise).
+    % Tail length = tailScale * sind(tilt), so nadir (0°) has no tail and
+    % horizon (90°) has the full tailScale length.
+    hold(ax, 'on');
+    for ii = 1:size(sensorXY, 1)
+        x = sensorXY(ii, 1);
+        y = sensorXY(ii, 2);
+        if ii == 1
+            c = [0, 0, 0];
+            mk = 'o';
+        else
+            c = [0.9, 0.2, 0.2];
+            mk = 'x';
+        end
+        scatter(ax, x, y, 80, c, mk, LineWidth=2);
+        if tilts(ii) > 0
+            u = tailScale * sind(tilts(ii)) * sind(azimuths(ii));
+            v = tailScale * sind(tilts(ii)) * cosd(azimuths(ii));
+            quiver(ax, x, y, u, v, 0, Color=c, LineWidth=2, MaxHeadSize=1.0);
+        end
+    end
+    hold(ax, 'off');
 end

test/test_rfSensor.m

@@ -91,11 +91,11 @@ classdef test_rfSensor < matlab.unittest.TestCase
             altitude = 30;
 
             sensor1 = rfSensor;
-            sensor1 = sensor1.initialize(P_TX, BW, f_c, G_RX_dBi, 0, 0);
+            sensor1 = sensor1.initialize(P_TX, BW, f_c, G_RX_dBi, 15, 45);
             sensor2 = rfSensor;
-            sensor2 = sensor2.initialize(P_TX, BW, f_c, G_RX_dBi, 0, 0);
+            sensor2 = sensor2.initialize(P_TX, BW, f_c, G_RX_dBi, 10, 150);
             sensor3 = rfSensor;
-            sensor3 = sensor3.initialize(P_TX, BW, f_c, G_RX_dBi, 0, 0);
+            sensor3 = sensor3.initialize(P_TX, BW, f_c, G_RX_dBi, 20, 200);
 
             pos1 = [0,  0,  altitude];
             pos2 = [6, -4,  altitude - 1];
@@ -107,49 +107,28 @@ classdef test_rfSensor < matlab.unittest.TestCase
             targetPos = [Xg(:), Yg(:), zeros(numel(Xg), 1)];
 
             % Call 1: cache empty, does all computations for this timestep
-            [SINR1, ~, sensor1, others] = sensor1.sensorPerformance(pos1, targetPos, [pos2; pos3], {sensor2; sensor3});
+            [~, ~, sensor1, others] = sensor1.sensorPerformance(pos1, targetPos, [pos2; pos3], {sensor2; sensor3});
             sensor2 = others{1};
             sensor3 = others{2};
 
             % Calls 2 and 3 use cached data
-            [SINR2, ~, sensor2, others] = sensor2.sensorPerformance(pos2, targetPos, [pos1; pos3], {sensor1; sensor3});
+            [~, ~, sensor2, others] = sensor2.sensorPerformance(pos2, targetPos, [pos1; pos3], {sensor1; sensor3});
             sensor1 = others{1};
             sensor3 = others{2};
 
-            [SINR3, ~, sensor3, ~] = sensor3.sensorPerformance(pos3, targetPos, [pos1; pos2], {sensor1; sensor2});
+            [~, ~, sensor3, ~] = sensor3.sensorPerformance(pos3, targetPos, [pos1; pos2], {sensor1; sensor2});
-
 
             % All caches should be populated after the three calls
             tc.assertNotEmpty(sensor1.rssCache);
             tc.assertNotEmpty(sensor2.rssCache);
             tc.assertNotEmpty(sensor3.rssCache);
 
-            % Plot SINR from each UAV's perspective
+            % Plot SINR from each UAV's perspective.
-            sz = size(Xg);
+            % otherSensorsPos for plotPerformance: XY = offset from calling sensor, Z = absolute_alt - calling_alt.
-            SINR1 = reshape(SINR1, sz);
+            % This is exactly posOther - posSelf for each row.
-            SINR2 = reshape(SINR2, sz);
+            sensor1.plotPerformance(pos1(3), [pos2 - pos1; pos3 - pos1], {sensor2; sensor3});
-            SINR3 = reshape(SINR3, sz);
+            sensor2.plotPerformance(pos2(3), [pos1 - pos2; pos3 - pos2], {sensor1; sensor3});
-
+            sensor3.plotPerformance(pos3(3), [pos1 - pos3; pos2 - pos3], {sensor1; sensor2});
-            f = figure;
-            tiledlayout(f, 1, 3, TileSpacing="compact", Padding="compact");
-
-            nexttile;
-            imagesc(distances, distances, SINR1); axis image; set(gca, YDir="normal"); hold on;
-            scatter(pos1(1), pos1(2), 80, "g", "o", LineWidth=2);
-            scatter([pos2(1), pos3(1)], [pos2(2), pos3(2)], 80, "r", "x", LineWidth=2);
-            hold off; cb = colorbar; cb.Label.String = "SINR (dB)"; xlabel("X (m)"); ylabel("Y (m)"); title("SINR: UAV 1");
-
-            nexttile;
-            imagesc(distances, distances, SINR2); axis image; set(gca, YDir="normal"); hold on;
-            scatter(pos2(1), pos2(2), 80, "g", "o", LineWidth=2);
-            scatter([pos1(1), pos3(1)], [pos1(2), pos3(2)], 80, "r", "x", LineWidth=2);
-            hold off; cb = colorbar; cb.Label.String = "SINR (dB)"; xlabel("X (m)"); ylabel("Y (m)"); title("SINR: UAV 2");
-
-            nexttile;
-            imagesc(distances, distances, SINR3); axis image; set(gca, YDir="normal"); hold on;
-            scatter(pos3(1), pos3(2), 80, "g", "o", LineWidth=2);
-            scatter([pos1(1), pos2(1)], [pos1(2), pos2(2)], 80, "r", "x", LineWidth=2);
-            hold off; cb = colorbar; cb.Label.String = "SINR (dB)"; xlabel("X (m)"); ylabel("Y (m)"); title("SINR: UAV 3");
         end
     end
 end