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two_around_wall experiment refinement

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Kevin Dee
2026-04-01 21:27:32 -07:00
parent 8db6c70f46
commit 7a3fcbd4dc
5 changed files with 104 additions and 494 deletions
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aerpaw/config/client1.yaml
+3 -3
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@@ -28,11 +28,11 @@ environments:
port: 5000 port: 5000
testbed: testbed:
# AERPAW testbed: E-VM listens, MAVLink Filter connects TO us (UDP) # AERPAW testbed: E-VM listens, MAVLink Filter connects to us (UDP)
mavlink: mavlink:
ip: "192.168.32.26" ip: "192.168.32.26"
port: 14550 port: 14550
# Controller runs on host machine (192.168.109.1 from E-VM perspective) # Controller runs on host machine (192.168.X.1, generally)
controller: controller:
ip: "192.168.109.1" ip: "192.168.112.1"
port: 5000 port: 5000
aerpaw/config/client2.yaml
+3 -3
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@@ -28,11 +28,11 @@ environments:
port: 5000 port: 5000
testbed: testbed:
# AERPAW testbed: E-VM listens, MAVLink Filter connects TO us (UDP) # AERPAW testbed: E-VM listens, MAVLink Filter connects to us (UDP)
mavlink: mavlink:
ip: "192.168.32.26" ip: "192.168.32.26"
port: 14550 port: 14550
# Controller runs on host machine (192.168.109.1 from E-VM perspective) # Controller runs on host machine (192.168.X.1, generally)
controller: controller:
ip: "192.168.109.1" ip: "192.168.112.1"
port: 5000 port: 5000
aerpaw/config/scenario.csv
+1 -1
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@@ -1,2 +1,2 @@
timestep, maxIter, minAlt, discretizationStep, protectedRange, initialStepSize, barrierGain, barrierExponent, collisionRadius, comRange, alphaDist, betaDist, alphaTilt, betaTilt, domainMin, domainMax, objectivePos, objectiveVar, sensorPerformanceMinimum, initialPositions, numObstacles, obstacleMin, obstacleMax, useDoubleIntegrator, dampingCoeff, useFixedTopology timestep, maxIter, minAlt, discretizationStep, protectedRange, initialStepSize, barrierGain, barrierExponent, collisionRadius, comRange, alphaDist, betaDist, alphaTilt, betaTilt, domainMin, domainMax, objectivePos, objectiveVar, sensorPerformanceMinimum, initialPositions, numObstacles, obstacleMin, obstacleMax, useDoubleIntegrator, dampingCoeff, useFixedTopology
1, 170, 30.0, 0.1, 2.0, 1, 1, 1, "5.0, 5.0", "25.0, 25.0", "80.0, 80.0", "0.25, 0.25", "5.0, 5.0", "0.1, 0.1", "0.0, 0.0, 0.0", "80.0, 80.0, 80.0", "55.0, 55.0", "40, 25, 25, 40", 0.15, "15.0, 10.0, 40.0, 5.0, 10.0, 45.0", 1, "1.0, 25.0, 0.0", "30.0, 30.0, 50.0", 1, 2.0, 1 1, 170, 30.0, 0.1, 2.0, 1, 1, 1, "6.0, 6.0", "25.0, 25.0", "80.0, 80.0", "0.25, 0.25", "5.0, 5.0", "0.1, 0.1", "0.0, 0.0, 0.0", "80.0, 80.0, 80.0", "55.0, 55.0", "40, 25, 25, 40", 0.15, "15.0, 10.0, 40.0, 5.0, 10.0, 45.0", 1, "1.0, 25.0, 0.0", "30.0, 30.0, 50.0", 1, 2.0, 1
1 timestep maxIter minAlt discretizationStep protectedRange initialStepSize barrierGain barrierExponent collisionRadius comRange alphaDist betaDist alphaTilt betaTilt domainMin domainMax objectivePos objectiveVar sensorPerformanceMinimum initialPositions numObstacles obstacleMin obstacleMax useDoubleIntegrator dampingCoeff useFixedTopology
2 1 170 30.0 0.1 2.0 1 1 1 5.0, 5.0 6.0, 6.0 25.0, 25.0 80.0, 80.0 0.25, 0.25 5.0, 5.0 0.1, 0.1 0.0, 0.0, 0.0 80.0, 80.0, 80.0 55.0, 55.0 40, 25, 25, 40 0.15 15.0, 10.0, 40.0, 5.0, 10.0, 45.0 1 1.0, 25.0, 0.0 30.0, 30.0, 50.0 1 2.0 1
aerpaw/controller.coderprj
+95 -486
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aerpaw/radio/updateScripts.sh
+2 -1
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@@ -12,4 +12,5 @@ cp ../scripts/startRadio.sh /root/Profiles/ProfileScripts/Radio/.
cp ../scripts/startVehicle.sh /root/Profiles/ProfileScripts/Vehicle/. cp ../scripts/startVehicle.sh /root/Profiles/ProfileScripts/Vehicle/.
echo "REMEMBER! Manually edit startexperiment.sh to point to the correct client.yaml" echo "REMEMBER! Manually edit startexperiment.sh to point to the correct client.yaml"
echo "REMEMBER! Manually copy startexperiment_controller.sh to startexperiment.sh on the fixed node" echo "REMEMBER! Manually copy startexperiment_controller.sh to startexperiment.sh on the fixed node"
echo "REMEMBER! Manually copy startVehicle_controller.sh to ~/Profiles/ProfileScripts/Vehicle/startVehicle.sh on the fixed node"