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added radio plotting tools

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This commit is contained in:
Kevin Dee
2026-03-04 21:22:33 -08:00
parent 3c775cf814
commit 6da0c97abf
19 changed files with 299 additions and 123 deletions
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91
aerpaw/results/plotGpsLogs.m Normal file
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function f = plotGpsLogs(logDirs)
arguments (Input)
logDirs (1, 1) string;
end
arguments (Output)
f (1, 1) uifigure;
end
% Plot setup
f = uifigure;
gf = geoglobe(f);
hold(gf, "on");
c = ["g", "b", "m", "c"]; % plotting colors
% paths
scenarioCsv = fullfile(matlab.project.rootProject().RootFolder, "aerpaw", "config", "scenario.csv");
% configured data
params = readScenarioCsv(scenarioCsv);
% coordinate system constants
seaToGroundLevel = 110; % meters, measured approximately from USGS national map viewer
fID = fopen(fullfile(matlab.project.rootProject().RootFolder, "aerpaw", "config", "client1.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];
logDirs = dir(logDirs);
logDirs = logDirs(3:end);
logDirs = logDirs([logDirs.isdir] == 1);
G = cell(size(logDirs));
for ii = 1:size(logDirs, 1)
% Find GPS log CSV
gpsCsv = dir(fullfile(logDirs(ii).folder, logDirs(ii).name));
gpsCsv = gpsCsv(endsWith({gpsCsv(:).name}, "_gps_log.csv"));
gpsCsv = fullfile(gpsCsv.folder, gpsCsv.name);
% Read GPS log CSV
G{ii} = readGpsLogs(gpsCsv);
% Find when algorithm begins/ends (using ENU altitude rate change)
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)
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;
% stopIdx = length(verticalSpeed);
% Plot recorded trajectory over specified range of indices
geoplot3(gf, G{ii}.Latitude(startIdx:stopIdx), G{ii}.Longitude(startIdx:stopIdx), G{ii}.Altitude(startIdx:stopIdx) + seaToGroundLevel, c(mod(ii, length(c))), 'LineWidth', 2, "MarkerSize", 5);
end
% Plot domain
altOffset = 1; % to avoid clipping into the ground when displayed
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');
geoplot3(gf, [domain(2, 1), domain(2, 1)], [domain(1, 2), domain(1, 2)], domain(:, 3) + altOffset, 'LineWidth', 3, 'Color', 'k');
geoplot3(gf, [domain(1, 1), domain(1, 1)], [domain(2, 2), domain(2, 2)], domain(:, 3) + altOffset, 'LineWidth', 3, 'Color', 'k');
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 = 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');
% Plot objective
objectivePos = [params.objectivePos, 0];
llaObj = enu2lla(objectivePos, lla0, 'flat');
geoplot3(gf, [llaObj(1), llaObj(1)], [llaObj(2), llaObj(2)], [llaObj(3), domain(2, 3)], 'LineWidth', 3, "Color", 'y');
% Plot obstacles
for ii = 1:params.numObstacles
obstacle = enu2lla([params.obstacleMin((1 + (ii - 1) * 3):(ii * 3)); params.obstacleMax((1 + (ii - 1) * 3):(ii * 3))], lla0, 'flat');
geoplot3(gf, [obstacle(1, 1), obstacle(2, 1), obstacle(2, 1), obstacle(1, 1), obstacle(1, 1)], [obstacle(1, 2), obstacle(1, 2), obstacle(2, 2), obstacle(2, 2), obstacle(1, 2)], repmat(obstacle(1, 3) + altOffset, 1, 5), 'LineWidth', 3, 'Color', 'r');
geoplot3(gf, [obstacle(1, 1), obstacle(2, 1), obstacle(2, 1), obstacle(1, 1), obstacle(1, 1)], [obstacle(1, 2), obstacle(1, 2), obstacle(2, 2), obstacle(2, 2), obstacle(1, 2)], repmat(obstacle(2, 3) + altOffset, 1, 5), 'LineWidth', 3, 'Color', 'r');
geoplot3(gf, [obstacle(1, 1), obstacle(1, 1)], [obstacle(1, 2), obstacle(1, 2)], obstacle(:, 3) + altOffset, 'LineWidth', 3, 'Color', 'r');
geoplot3(gf, [obstacle(2, 1), obstacle(2, 1)], [obstacle(1, 2), obstacle(1, 2)], obstacle(:, 3) + altOffset, 'LineWidth', 3, 'Color', 'r');
geoplot3(gf, [obstacle(1, 1), obstacle(1, 1)], [obstacle(2, 2), obstacle(2, 2)], obstacle(:, 3) + altOffset, 'LineWidth', 3, 'Color', 'r');
geoplot3(gf, [obstacle(2, 1), obstacle(2, 1)], [obstacle(2, 2), obstacle(2, 2)], obstacle(:, 3) + altOffset, 'LineWidth', 3, 'Color', 'r');
end
% finish
hold(gf, "off");
end