AERPAW bug fixes for first experiment
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+142
-125
@@ -158,6 +158,11 @@
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+1
-1
@@ -57,7 +57,7 @@ if ~coder.target('MATLAB')
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end
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% Load guidance scenario from CSV (parameters for guidance_step)
|
||||
NUM_SCENARIO_PARAMS = 45;
|
||||
NUM_SCENARIO_PARAMS = 48;
|
||||
MAX_OBSTACLES_CTRL = int32(8);
|
||||
scenarioParams = zeros(1, NUM_SCENARIO_PARAMS);
|
||||
obstacleMin = zeros(MAX_OBSTACLES_CTRL, 3);
|
||||
|
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+13
-3
@@ -29,6 +29,9 @@ function nextPositions = guidance_step(currentPositions, isInit, ...
|
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% 39-40 objectivePos
|
||||
% 41-44 objectiveVar (2x2, col-major)
|
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% 45 sensorPerformanceMinimum
|
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% 46 useDoubleIntegrator
|
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% 47 dampingCoeff
|
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% 48 useFixedTopology
|
||||
% obstacleMin (MAX_OBSTACLES × 3) double column-major obstacle corners (compiled path)
|
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% obstacleMax (MAX_OBSTACLES × 3) double
|
||||
% numObstacles (1,1) int32 actual obstacle count
|
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@@ -94,6 +97,9 @@ if isInit
|
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OBJECTIVE_GROUND_POS = scenarioParams(39:40);
|
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OBJECTIVE_VAR = reshape(scenarioParams(41:44), 2, 2);
|
||||
SENSOR_PERFORMANCE_MINIMUM = scenarioParams(45);
|
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USE_DOUBLE_INTEGRATOR = logical(scenarioParams(46));
|
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DAMPING_COEFF = scenarioParams(47);
|
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USE_FIXED_TOPOLOGY = logical(scenarioParams(48));
|
||||
|
||||
% --- Build domain geometry ---
|
||||
dom = rectangularPrism;
|
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@@ -146,7 +152,8 @@ if isInit
|
||||
% --- Initialise simulation (plots and video disabled) ---
|
||||
sim = miSim;
|
||||
sim = sim.initialize(dom, agentList, BARRIER_GAIN, BARRIER_EXPONENT, ...
|
||||
MIN_ALT, TIMESTEP, MAX_ITER, obstacleList, false, false);
|
||||
MIN_ALT, TIMESTEP, MAX_ITER, obstacleList, false, false, ...
|
||||
USE_DOUBLE_INTEGRATOR, DAMPING_COEFF, USE_FIXED_TOPOLOGY);
|
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end
|
||||
|
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% On the init call return current positions unchanged
|
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@@ -176,7 +183,9 @@ else
|
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sim.timestepIndex = sim.timestepIndex + 1;
|
||||
|
||||
% 3. Update communications topology (Lesser Neighbour Assignment)
|
||||
sim = sim.lesserNeighbor();
|
||||
if ~sim.useFixedTopology
|
||||
sim = sim.lesserNeighbor();
|
||||
end
|
||||
|
||||
% 4. Compute Voronoi partitioning
|
||||
sim.partitioning = sim.agents{1}.partition(sim.agents, sim.domain.objective);
|
||||
@@ -184,7 +193,8 @@ else
|
||||
% 5. Unconstrained gradient-ascent step for each agent
|
||||
for ii = 1:size(sim.agents, 1)
|
||||
sim.agents{ii} = sim.agents{ii}.run(sim.domain, sim.partitioning, ...
|
||||
sim.timestepIndex, ii, sim.agents);
|
||||
sim.timestepIndex, ii, sim.agents, ...
|
||||
sim.useDoubleIntegrator, sim.dampingCoeff, sim.timestep);
|
||||
end
|
||||
|
||||
% 6. Apply CBF safety filter (collision / comms / domain constraints via QP)
|
||||
|
||||
@@ -186,7 +186,10 @@ static int readScenarioDataRow(const char* filename, char* line, int lineSize) {
|
||||
// 35-37: domainMax (east, north, up)
|
||||
// 38-39: objectivePos (east, north)
|
||||
// 40-43: objectiveVar (2x2 col-major: v11, v12, v21, v22)
|
||||
// 44 : sensorPerformanceMinimum
|
||||
// 44 : sensorPerformanceMinimum (CSV column 18)
|
||||
// 45 : useDoubleIntegrator (CSV column 23; 0=single-integrator, 1=double-integrator)
|
||||
// 46 : dampingCoeff (CSV column 24)
|
||||
// 47 : useFixedTopology (CSV column 25; 0=dynamic lesser-neighbor, 1=fixed)
|
||||
// Returns 1 on success, 0 on failure.
|
||||
int loadScenario(const char* filename, double* params) {
|
||||
char line[4096];
|
||||
@@ -198,8 +201,8 @@ int loadScenario(const char* filename, double* params) {
|
||||
|
||||
char* fields[32];
|
||||
int nf = splitCSVRow(copy, fields, 32);
|
||||
if (nf < 19) {
|
||||
fprintf(stderr, "loadScenario: expected >=19 columns, got %d\n", nf);
|
||||
if (nf < 26) {
|
||||
fprintf(stderr, "loadScenario: expected >=26 columns, got %d\n", nf);
|
||||
return 0;
|
||||
}
|
||||
|
||||
@@ -290,6 +293,24 @@ int loadScenario(const char* filename, double* params) {
|
||||
params[44] = atof(trimField(tmp));
|
||||
}
|
||||
|
||||
// useDoubleIntegrator: column 23
|
||||
{
|
||||
char tmp[64]; strncpy(tmp, fields[23], sizeof(tmp) - 1); tmp[sizeof(tmp)-1] = '\0';
|
||||
params[45] = atof(trimField(tmp));
|
||||
}
|
||||
|
||||
// dampingCoeff: column 24
|
||||
{
|
||||
char tmp[64]; strncpy(tmp, fields[24], sizeof(tmp) - 1); tmp[sizeof(tmp)-1] = '\0';
|
||||
params[46] = atof(trimField(tmp));
|
||||
}
|
||||
|
||||
// useFixedTopology: column 25
|
||||
{
|
||||
char tmp[64]; strncpy(tmp, fields[25], sizeof(tmp) - 1); tmp[sizeof(tmp)-1] = '\0';
|
||||
params[47] = atof(trimField(tmp));
|
||||
}
|
||||
|
||||
printf("Loaded scenario: domain [%g,%g,%g] to [%g,%g,%g]\n",
|
||||
params[32], params[33], params[34], params[35], params[36], params[37]);
|
||||
return 1;
|
||||
|
||||
@@ -30,7 +30,10 @@ int loadTargets(const char* filename, double* targets, int maxClients);
|
||||
// 38-39 objectivePos
|
||||
// 40-43 objectiveVar (2x2 col-major)
|
||||
// 44 sensorPerformanceMinimum
|
||||
#define NUM_SCENARIO_PARAMS 45
|
||||
// 45 useDoubleIntegrator (0=single-integrator, 1=double-integrator)
|
||||
// 46 dampingCoeff
|
||||
// 47 useFixedTopology (0=dynamic lesser-neighbor, 1=fixed)
|
||||
#define NUM_SCENARIO_PARAMS 48
|
||||
#define MAX_CLIENTS_PER_PARAM 4
|
||||
// Maximum number of obstacles (upper bound for pre-allocated arrays).
|
||||
#define MAX_OBSTACLES 8
|
||||
|
||||
@@ -4,7 +4,7 @@ resultsPath = fullfile(matlab.project.rootProject().RootFolder, "sandbox", "two_
|
||||
% Plot GPS logged data and scenario information (domain, objective, obstacles)
|
||||
seaToGroundLevel = 110; % measured approximately from USGS national map viewer
|
||||
plotWholeFlight = true; % do not attempt to automatically trim initial and final positioning and landing from flight plot (buggy)
|
||||
% [fGlobe, G] = plotGpsLogs(resultsPath, seaToGroundLevel, true);
|
||||
[fGlobe, G] = plotGpsLogs(resultsPath, seaToGroundLevel, true);
|
||||
|
||||
% Plot radio statistics
|
||||
[fRadio, R] = plotRadioLogs(resultsPath);
|
||||
|
||||
Reference in New Issue
Block a user