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controller logging and analysis improvements

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This commit is contained in:
Kevin Dee
2026-04-08 00:02:54 -07:00
parent 87060ca123
commit 09a10abfd5
6 changed files with 107 additions and 40 deletions
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aerpaw/results/resultsAnalysis.m
+12 -11
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@@ -1,5 +1,5 @@
%% Plot AERPAW logs (trajectory, radio)
resultsPath = fullfile(matlab.project.rootProject().RootFolder, "sandbox", "test2"); % Define path to results copied from AERPAW platform
resultsPath = fullfile(matlab.project.rootProject().RootFolder, "sandbox", "two_around_wall"); % Define path to results copied from AERPAW platform
% Measure intervals between issuing commands from the controller
% (make sure this is ~4-5 seconds at minimum to avoid overwhelming the UAV autopilot)
@@ -8,16 +8,17 @@ controllerPath = fullfile(r(startsWith({r.name}, 'controller_')).folder, r(start
controllerPath = dir(controllerPath);
controllerPath = fullfile(controllerPath(endsWith({controllerPath.name}, '_controller_log.txt')).folder, controllerPath(endsWith({controllerPath.name}, '_controller_log.txt')).name);
controller = readControllerLogs(controllerPath);
rpIdx = startsWith(controller.message, "Sent REQUEST_POSITION to client 1");
rpTimes = controller.timestamp(rpIdx);
dt = diff(rpTimes);
dt.Format = "mm:ss.SSS";
fprintf("Minimum command spacing: %2.3f seconds\n", seconds(min(dt)));
fprintf("Maximum command spacing: %2.3f seconds\n", seconds(max(dt)));
fprintf("Mean command spacing: %2.3f seconds\n", seconds(mean(dt)));
fprintf("Median command spacing: %2.3f seconds\n", seconds(median(dt)));
if seconds(min(dt)) < 4
warning("Minimum command spacing %2.3f questionably short for AERPAW", seconds(min(dt)));
rpIdx = startsWith(controller.message, "Iteration duration: ");
s = split(controller.message(rpIdx), "Iteration duration: ");
s = split(s(:, 2), ' s');
s = duration(strcat("00:", s(:, 1)), "InputFormat", "mm:ss.SSS");
s.Format = "mm:ss.SSS";
fprintf("Minimum command spacing: %2.3f seconds\n", seconds(min(s)));
fprintf("Maximum command spacing: %2.3f seconds\n", seconds(max(s)));
fprintf("Mean command spacing: %2.3f seconds\n", seconds(mean(s)));
fprintf("Median command spacing: %2.3f seconds\n", seconds(median(s)));
if seconds(min(s)) < 4
warning("Minimum command spacing %2.3f questionably short for AERPAW", seconds(min(s)));
end
% Plot GPS logged data and scenario information (domain, objective, obstacles)