kdee/miSim
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

removed prompt to continue

Browse Source
This commit is contained in:
Kevin Dee
2026-03-03 15:22:10 -08:00
parent 2b853466f2
commit 351a9bd16f
5 changed files with 35 additions and 31 deletions
Download Patch File Download Diff File Expand all files Collapse all files

17
aerpaw/controller.coderprj
View File

@@ -113,6 +113,21 @@
<Size type="coderapp.internal.codertype.Dimension"/>
<Size type="coderapp.internal.codertype.Dimension"/>
</Types>
<Types id="23" type="coderapp.internal.codertype.PrimitiveType">
<ClassName>int32</ClassName>
<Size type="coderapp.internal.codertype.Dimension"/>
<Size type="coderapp.internal.codertype.Dimension"/>
</Types>
<Types id="24" type="coderapp.internal.codertype.PrimitiveType">
<ClassName>int32</ClassName>
<Size type="coderapp.internal.codertype.Dimension"/>
<Size type="coderapp.internal.codertype.Dimension"/>
</Types>
<Types id="25" type="coderapp.internal.codertype.PrimitiveType">
<ClassName>int32</ClassName>
<Size type="coderapp.internal.codertype.Dimension"/>
<Size type="coderapp.internal.codertype.Dimension"/>
</Types>
</Types>
</coderapp.internal.interface.project.Interface>
</MF0>
@@ -1080,7 +1095,7 @@
</Artifacts>
<BuildFolder type="coderapp.internal.util.mfz.FileSpec"/>
<Success>true</Success>
<Timestamp>2026-03-02T18:23:05</Timestamp>
<Timestamp>2026-03-03T15:05:52</Timestamp>
</MainBuildResult>
</coderapp.internal.mlc.mfz.MatlabCoderProjectState>
</MF0>

14
aerpaw/controller.m
View File

@@ -107,13 +107,6 @@ end
MAX_GUIDANCE_STEPS = int32(100); % number of guidance iterations
GUIDANCE_RATE_MS = int32(5000); % ms between iterations (0.2 Hz default)
% Wait for user input to start guidance loop
if coder.target('MATLAB')
input('Press Enter to start guidance loop: ', 's');
else
coder.ceval('waitForUserInput');
end
% Enter guidance mode on all clients
if ~coder.target('MATLAB')
coder.ceval('sendGuidanceToggle', int32(numClients));
@@ -174,13 +167,6 @@ if ~coder.target('MATLAB')
end
% --------------------------------------------------------------------------
% Wait for user input before closing experiment (RTL + LAND)
if coder.target('MATLAB')
input('Press Enter to close experiment (RTL + LAND): ', 's');
else
coder.ceval('waitForUserInput');
end
% Send RTL command to all clients
for i = 1:numClients
if coder.target('MATLAB')

6
aerpaw/impl/controller_impl.cpp
View File

@@ -480,12 +480,6 @@ int waitForAllMessageType(int numClients, int expectedType) {
return 1;
}
// Wait for user to press Enter
void waitForUserInput() {
std::cout << "Press Enter to continue...\n";
std::cin.ignore(std::numeric_limits<std::streamsize>::max(), '\n');
}
// Broadcast GUIDANCE_TOGGLE to all clients
void sendGuidanceToggle(int numClients) {
for (int i = 1; i <= numClients; i++) {

3
aerpaw/impl/controller_impl.h
View File

@@ -41,9 +41,6 @@ int loadObstacles(const char* filename,
double* obstacleMax,
int maxObstacles);
// User interaction
void waitForUserInput();
// Binary protocol operations
int sendMessageType(int clientId, int msgType);
int sendTarget(int clientId, const double* coords);

26
aerpaw/results/plotGpsCsvs.m
View File

@@ -4,12 +4,23 @@ gf = geoglobe(f);
hold(gf, "on");
c = ["g", "b", "m", "c"]; % plotting colors
% paths
scenarioCsv = fullfile("aerpaw", "config", "scenario.csv");
% configured data
params = readScenarioCsv(scenarioCsv);
% coordinate system constants
seaToGroundLevel = 110; % meters, measured approximately from USGS national map viewer
lla0 = [35.72550610629396, -78.70019657805574, seaToGroundLevel]; % origin (LLA)
fID = fopen(fullfile("aerpaw", "config", "client.yaml"), 'r');
yaml = fscanf(fID, '%s');
fclose(fID);
% origin (LLA)
lla0 = [str2double(yaml((strfind(yaml, 'lat:') + 4):(strfind(yaml, 'lon:') - 1))), str2double(yaml((strfind(yaml, 'lon:') + 4):(strfind(yaml, 'alt:') - 1))), seaToGroundLevel];
% Paths to logs
gpsCsvs = dir(fullfile("sandbox", "test6", "*.csv"));
gpsCsvs = dir(fullfile("sandbox", "test9", "*.csv"));
G = cell(size(gpsCsvs));
for ii = 1:size(gpsCsvs, 1)
@@ -22,8 +33,9 @@ for ii = 1:size(gpsCsvs, 1)
verticalSpeed = movmean(abs(diff(G{ii}.Altitude)), [10, 0]);
% Automatically detect start/stop of algorithm flight (ignore takeoff, setup, return to liftoff, landing segments of flight)
startIdx = find(verticalSpeed <= prctile(verticalSpeed, 90), 1, 'first'); % 25 pct threshold may need adjusting
stopIdx = find(verticalSpeed <= prctile(verticalSpeed, 90), 1, 'last');
pctThreshold = 60; % pctThreshold may need adjusting depending on your flight
startIdx = find(verticalSpeed <= prctile(verticalSpeed, pctThreshold), 1, 'first');
stopIdx = find(verticalSpeed <= prctile(verticalSpeed, pctThreshold), 1, 'last');
% % Plot whole flight, including setup/cleanup
% startIdx = 1;
@@ -34,13 +46,13 @@ for ii = 1:size(gpsCsvs, 1)
end
% Plot objective
objectivePos = [35, 35, 0];
objectivePos = [params.objectivePos, 0];
llaObj = enu2lla(objectivePos, lla0, 'flat');
geoplot3(gf, [llaObj(1), llaObj(1)], [llaObj(2), llaObj(2)], [llaObj(3), llaObj(3) + 50], 'LineWidth', 3, "Color", 'y');
% Plot domain
altOffset = 1; % to avoid clipping into the ground when displayed
domain = [lla0; enu2lla([50, 50, 100], lla0, 'flat')];
domain = [lla0; enu2lla(params.domainMax, lla0, 'flat')];
geoplot3(gf, [domain(1, 1), domain(2, 1), domain(2, 1), domain(1, 1), domain(1, 1)], [domain(1, 2), domain(1, 2), domain(2, 2), domain(2, 2), domain(1, 2)], repmat(domain(1, 3) + altOffset, 1, 5), 'LineWidth', 3, 'Color', 'k');
geoplot3(gf, [domain(1, 1), domain(2, 1), domain(2, 1), domain(1, 1), domain(1, 1)], [domain(1, 2), domain(1, 2), domain(2, 2), domain(2, 2), domain(1, 2)], repmat(domain(2, 3) + altOffset, 1, 5), 'LineWidth', 3, 'Color', 'k');
geoplot3(gf, [domain(1, 1), domain(1, 1)], [domain(1, 2), domain(1, 2)], domain(:, 3) + altOffset, 'LineWidth', 3, 'Color', 'k');
@@ -49,7 +61,7 @@ geoplot3(gf, [domain(1, 1), domain(1, 1)], [domain(2, 2), domain(2, 2)], domain(
geoplot3(gf, [domain(2, 1), domain(2, 1)], [domain(2, 2), domain(2, 2)], domain(:, 3) + altOffset, 'LineWidth', 3, 'Color', 'k');
% Plot floor (minimum altitude constraint)
floorAlt = 30;
floorAlt = params.minAlt;
geoplot3(gf, [domain(1, 1), domain(2, 1), domain(2, 1), domain(1, 1), domain(1, 1)], [domain(1, 2), domain(1, 2), domain(2, 2), domain(2, 2), domain(1, 2)], repmat(domain(1, 3) + altOffset + floorAlt, 1, 5), 'LineWidth', 3, 'Color', 'r');
% finish