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added RTL and LAND capabilities

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This commit is contained in:
Kevin Dee
2026-01-30 18:16:33 -08:00
parent 9705c1e952
commit 4cdcb16ee3
5 changed files with 215 additions and 20 deletions
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49
aerpaw/controller.m
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@@ -14,7 +14,7 @@ targets = zeros(MAX_CLIENTS, 3);
% Load targets from file
if coder.target('MATLAB')
disp('Loading targets from file (simulation)...');
targetsLoaded = readmatrix('config/targets.txt');
targetsLoaded = readmatrix('aerpaw/config/targets.txt');
numTargets = min(size(targetsLoaded, 1), numClients);
targets(1:numTargets, :) = targetsLoaded(1:numTargets, :);
disp(['Loaded ', num2str(numTargets), ' targets']);
@@ -89,10 +89,51 @@ if coder.target('MATLAB')
disp('All UAVs at target positions.');
end
% Send COMPLETE to all clients before closing
% Wait for user input before closing experiment
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')
disp(['Sending COMPLETE to client ', num2str(i)]);
disp(['Sending RTL to client ', num2str(i)]);
else
coder.ceval('sendRTL', int32(i));
end
end
% Wait for RTL_COMPLETE from all clients (simultaneously using select())
if coder.target('MATLAB')
disp('Waiting for RTL_COMPLETE from all clients...');
disp('All UAVs returned to home.');
else
coder.ceval('waitForAllRTLComplete', int32(numClients));
end
% Send LAND command to all clients
for i = 1:numClients
if coder.target('MATLAB')
disp(['Sending LAND to client ', num2str(i)]);
else
coder.ceval('sendLAND', int32(i));
end
end
% Wait for LAND_COMPLETE from all clients (simultaneously using select())
if coder.target('MATLAB')
disp('Waiting for LAND_COMPLETE from all clients...');
disp('All UAVs landed and disarmed.');
else
coder.ceval('waitForAllLANDComplete', int32(numClients));
end
% Send FINISHED to all clients before closing
for i = 1:numClients
if coder.target('MATLAB')
disp(['Sending FINISHED to client ', num2str(i)]);
else
coder.ceval('sendFinished', int32(i));
end
@@ -103,4 +144,6 @@ if ~coder.target('MATLAB')
coder.ceval('closeServer');
end
disp('Experiment complete.');
end