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AERPAW bug fixes for first experiment

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This commit is contained in:
Kevin Dee
2026-04-05 14:54:56 -07:00
parent 789aecc560
commit 9564a5707f
7 changed files with 186 additions and 135 deletions
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@miSim/miSim.m
+1 -1
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@@ -69,7 +69,7 @@ classdef miSim
obj.obstacles = {rectangularPrism}; obj.obstacles = {rectangularPrism};
obj.agents = {agent}; obj.agents = {agent};
end end
[obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, minAlt, timestep, maxIter, obstacles, makePlots, makeVideo); [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, minAlt, timestep, maxIter, obstacles, makePlots, makeVideo, useDoubleIntegrator, dampingCoeff, useFixedTopology);
[obj] = initializeFromCsv(obj, csvPath); [obj] = initializeFromCsv(obj, csvPath);
[obj] = initializeFromInits(obj, initsPath); [obj] = initializeFromInits(obj, initsPath);
[obj] = plotFromSimHist(obj, initsPath, histPath); [obj] = plotFromSimHist(obj, initsPath, histPath);
aerpaw/controller.coderprj
+142 -125
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@@ -158,6 +158,11 @@
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<Timestamp>2026-04-05T13:43:54</Timestamp> <Timestamp>2026-04-05T14:48:49</Timestamp>
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</coderapp.internal.mlc.mfz.MatlabCoderProjectState> </coderapp.internal.mlc.mfz.MatlabCoderProjectState>
</MF0> </MF0>
aerpaw/controller.m
+1 -1
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@@ -57,7 +57,7 @@ if ~coder.target('MATLAB')
end end
% Load guidance scenario from CSV (parameters for guidance_step) % Load guidance scenario from CSV (parameters for guidance_step)
NUM_SCENARIO_PARAMS = 45; NUM_SCENARIO_PARAMS = 48;
MAX_OBSTACLES_CTRL = int32(8); MAX_OBSTACLES_CTRL = int32(8);
scenarioParams = zeros(1, NUM_SCENARIO_PARAMS); scenarioParams = zeros(1, NUM_SCENARIO_PARAMS);
obstacleMin = zeros(MAX_OBSTACLES_CTRL, 3); obstacleMin = zeros(MAX_OBSTACLES_CTRL, 3);
aerpaw/guidance_step.m
+12 -2
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@@ -29,6 +29,9 @@ function nextPositions = guidance_step(currentPositions, isInit, ...
% 39-40 objectivePos % 39-40 objectivePos
% 41-44 objectiveVar (2x2, col-major) % 41-44 objectiveVar (2x2, col-major)
% 45 sensorPerformanceMinimum % 45 sensorPerformanceMinimum
% 46 useDoubleIntegrator
% 47 dampingCoeff
% 48 useFixedTopology
% obstacleMin (MAX_OBSTACLES × 3) double column-major obstacle corners (compiled path) % obstacleMin (MAX_OBSTACLES × 3) double column-major obstacle corners (compiled path)
% obstacleMax (MAX_OBSTACLES × 3) double % obstacleMax (MAX_OBSTACLES × 3) double
% numObstacles (1,1) int32 actual obstacle count % numObstacles (1,1) int32 actual obstacle count
@@ -94,6 +97,9 @@ if isInit
OBJECTIVE_GROUND_POS = scenarioParams(39:40); OBJECTIVE_GROUND_POS = scenarioParams(39:40);
OBJECTIVE_VAR = reshape(scenarioParams(41:44), 2, 2); OBJECTIVE_VAR = reshape(scenarioParams(41:44), 2, 2);
SENSOR_PERFORMANCE_MINIMUM = scenarioParams(45); SENSOR_PERFORMANCE_MINIMUM = scenarioParams(45);
USE_DOUBLE_INTEGRATOR = logical(scenarioParams(46));
DAMPING_COEFF = scenarioParams(47);
USE_FIXED_TOPOLOGY = logical(scenarioParams(48));
% --- Build domain geometry --- % --- Build domain geometry ---
dom = rectangularPrism; dom = rectangularPrism;
@@ -146,7 +152,8 @@ if isInit
% --- Initialise simulation (plots and video disabled) --- % --- Initialise simulation (plots and video disabled) ---
sim = miSim; sim = miSim;
sim = sim.initialize(dom, agentList, BARRIER_GAIN, BARRIER_EXPONENT, ... 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);
end end
% On the init call return current positions unchanged % On the init call return current positions unchanged
@@ -176,7 +183,9 @@ else
sim.timestepIndex = sim.timestepIndex + 1; sim.timestepIndex = sim.timestepIndex + 1;
% 3. Update communications topology (Lesser Neighbour Assignment) % 3. Update communications topology (Lesser Neighbour Assignment)
if ~sim.useFixedTopology
sim = sim.lesserNeighbor(); sim = sim.lesserNeighbor();
end
% 4. Compute Voronoi partitioning % 4. Compute Voronoi partitioning
sim.partitioning = sim.agents{1}.partition(sim.agents, sim.domain.objective); sim.partitioning = sim.agents{1}.partition(sim.agents, sim.domain.objective);
@@ -184,7 +193,8 @@ else
% 5. Unconstrained gradient-ascent step for each agent % 5. Unconstrained gradient-ascent step for each agent
for ii = 1:size(sim.agents, 1) for ii = 1:size(sim.agents, 1)
sim.agents{ii} = sim.agents{ii}.run(sim.domain, sim.partitioning, ... 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 end
% 6. Apply CBF safety filter (collision / comms / domain constraints via QP) % 6. Apply CBF safety filter (collision / comms / domain constraints via QP)
aerpaw/impl/controller_impl.cpp
+24 -3
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@@ -186,7 +186,10 @@ static int readScenarioDataRow(const char* filename, char* line, int lineSize) {
// 35-37: domainMax (east, north, up) // 35-37: domainMax (east, north, up)
// 38-39: objectivePos (east, north) // 38-39: objectivePos (east, north)
// 40-43: objectiveVar (2x2 col-major: v11, v12, v21, v22) // 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. // Returns 1 on success, 0 on failure.
int loadScenario(const char* filename, double* params) { int loadScenario(const char* filename, double* params) {
char line[4096]; char line[4096];
@@ -198,8 +201,8 @@ int loadScenario(const char* filename, double* params) {
char* fields[32]; char* fields[32];
int nf = splitCSVRow(copy, fields, 32); int nf = splitCSVRow(copy, fields, 32);
if (nf < 19) { if (nf < 26) {
fprintf(stderr, "loadScenario: expected >=19 columns, got %d\n", nf); fprintf(stderr, "loadScenario: expected >=26 columns, got %d\n", nf);
return 0; return 0;
} }
@@ -290,6 +293,24 @@ int loadScenario(const char* filename, double* params) {
params[44] = atof(trimField(tmp)); 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", printf("Loaded scenario: domain [%g,%g,%g] to [%g,%g,%g]\n",
params[32], params[33], params[34], params[35], params[36], params[37]); params[32], params[33], params[34], params[35], params[36], params[37]);
return 1; return 1;
aerpaw/impl/controller_impl.h
+4 -1
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@@ -30,7 +30,10 @@ int loadTargets(const char* filename, double* targets, int maxClients);
// 38-39 objectivePos // 38-39 objectivePos
// 40-43 objectiveVar (2x2 col-major) // 40-43 objectiveVar (2x2 col-major)
// 44 sensorPerformanceMinimum // 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 #define MAX_CLIENTS_PER_PARAM 4
// Maximum number of obstacles (upper bound for pre-allocated arrays). // Maximum number of obstacles (upper bound for pre-allocated arrays).
#define MAX_OBSTACLES 8 #define MAX_OBSTACLES 8
aerpaw/results/resultsAnalysis.m
+1 -1
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@@ -4,7 +4,7 @@ resultsPath = fullfile(matlab.project.rootProject().RootFolder, "sandbox", "two_
% Plot GPS logged data and scenario information (domain, objective, obstacles) % Plot GPS logged data and scenario information (domain, objective, obstacles)
seaToGroundLevel = 110; % measured approximately from USGS national map viewer 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) 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 % Plot radio statistics
[fRadio, R] = plotRadioLogs(resultsPath); [fRadio, R] = plotRadioLogs(resultsPath);