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analysis script fixes

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This commit is contained in:
Kevin Dee
2026-04-06 21:34:48 -07:00
parent f7902ee220
commit 87060ca123
4 changed files with 28 additions and 7 deletions
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aerpaw/controller.m
+18 -2
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@@ -42,9 +42,10 @@ end
% TRANSIT_ALT_STEP must exceed 2 * max(collisionRadius).
% Waypoint 1: each UAV flies to (finalX, finalY) at its unique transit altitude.
% Waypoint 2: each UAV adjusts to its actual target altitude.
% These constants are also used for the altitude-staggered return before RTL.
TRANSIT_ALT_BASE = 25.0; % must match drone.takeoff() altitude in uav_runner.py
TRANSIT_ALT_STEP = 25; % vertical separation per UAV (m); must exceed 2*collisionRadius
if ~coder.target('MATLAB')
TRANSIT_ALT_BASE = 25.0; % must match drone.takeoff() altitude in uav_runner.py
TRANSIT_ALT_STEP = 25; % vertical separation per UAV (m); must exceed 2*collisionRadius
for ii = double(totalLoaded):-1:1
transitRow = (ii - 1) * 2 + 1;
finalRow = (ii - 1) * 2 + 2;
@@ -190,6 +191,21 @@ if ~coder.target('MATLAB')
end
% --------------------------------------------------------------------------
% Altitude-staggered return: separate UAVs vertically before issuing RTL,
% mirroring the initial positioning stagger so UAVs transit laterally at
% unique altitudes and cannot collide during the return flight.
if ~coder.target('MATLAB')
for i = 1:numClients
transitAlt = TRANSIT_ALT_BASE + (double(i) - 1) * TRANSIT_ALT_STEP;
target = [positions(i, 1), positions(i, 2), transitAlt];
coder.ceval('sendTarget', int32(i), coder.ref(target));
end
coder.ceval('waitForAllMessageType', int32(numClients), int32(MESSAGE_TYPE.ACK));
coder.ceval('waitForAllMessageType', int32(numClients), int32(MESSAGE_TYPE.READY));
else
disp('Altitude-staggered return (simulation): UAVs commanded to transit altitudes.');
end
% Send RTL command to all clients
for i = 1:numClients
if coder.target('MATLAB')